A special tool for installing a ground potential R pin and its use method

Abstract

The present application relates to the technical field of ground potential R pin replacement, and specifically to a special tool for ground potential R pin replacement and a method for using the same, the method comprising: placing the R pin into a fixture so that it is on the same vertical central axis as the ball screw; pressing the ball screw upward against the bolt, turning on the photoelectric sensor, rotating the frame, and stopping the rotation when the ball screw is aligned with the pin hole and the baffle blocks the light path; starting the servo motor to drive the R pin electric propulsion rod to move the pin downward, and adjusting the power of the servo motor according to the vibration frequency obtained by the acquisition, the adjustment process being: obtaining the abnormal vibration coefficient and vibration abnormality at each acquisition moment; obtaining the expected power of the servo motor at the current acquisition moment through the actual power of the servo motor at the current acquisition moment and the degree of change in the vibration abnormality; and adjusting the actual power of the servo motor. The present application aims to improve the stability of the professional tool for R pin replacement by adjusting the power of the servo motor.

Description

Technical Field

[0001] The present application relates to the technical field of ground potential R pin reinstallation, and in particular to a special tool for ground potential R pin reinstallation and a method for using the same. Background Art

[0002] R pins, also known as "locking pins", are crucial on transmission lines. However, since R pins on transmission lines are placed in the natural environment for a long time, they are easily attacked by various weather conditions and other adverse external factors. In addition, the hardware vibrates under the action of electricity, which can easily cause the R pins to wear out or even fall off. This may cause the suspension clamp to disengage or even the transmission line to fall, endangering the safety of the line. Therefore, maintenance personnel need to replace the R pins in time.

[0003] Because the R-pin reinstallation location is relatively narrow, the R-pin reinstallation tool must align the R-pin, ball screw, and pin hole on the same vertical axis. The servo motor is then activated to drive the R-pin electric propulsion rod, which moves the pin downward, ultimately completing the ground potential R-pin reinstallation. However, during the actual operation of ground potential R-pin reinstallation, existing technology has difficulty accurately controlling and adjusting the servo motor's power. This can easily cause the R-pin electric propulsion rod to vibrate while moving the pin downward, and even cause the R-pin to fall off, affecting the stability of the R-pin reinstallation tool. Summary of the Invention

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

[0005] Improved stability of reactor liquid level control:

[0006] In a first aspect, an embodiment of the present application provides a special tool for replacing a ground potential R pin, the tool comprising a frame, a clamp, a baffle, a ball 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;

[0007] Among them, the baffle, ball screw, R-pin electric propulsion rod, photoelectric sensor, fixture, vibration sensor, servo motor, power sensor and R-pin controller are fixed to 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 propulsion rod; the photoelectric sensor is used to position the pin hole so that the R-pin, ball screw and 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; 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 for real-time collection of the actual power of the servo motor, and the vibration sensor is connected to the R-pin electric propulsion rod for real-time collection of the vibration frequency on the R-pin electric propulsion rod when the R-pin electric propulsion rod drives the pin to move; the power sensor and vibration sensor are connected to the R-pin controller for obtaining the control signal of the R-pin controller; the R-pin controller is connected to the servo motor for analyzing the collected vibration frequency and controlling and adjusting the power of the servo motor according to the analysis results.

[0008] In a second aspect, an embodiment of the present application further provides a method for using a special tool for reinstalling a ground potential R pin, the method comprising the following steps:

[0009] Place the R pin into the fixture, ensuring that the R pin and the ball screw are on the same vertical center axis;

[0010] Move the ball screw upward against the bolt, turn on the photoelectric sensor, and rotate the frame. When the ball screw rotates to the position where the pin hole exists, the ball screw moves upward, and at the same time drives the baffle to move upward. When the baffle moves upward, it blocks the light path between the photoelectric sensors. Stop rotating the frame so that the R pin, ball screw and pin hole are on the same vertical central axis.

[0011] The servo motor is started to drive the R-pin electric propulsion rod to move the pin downward, and the power of the servo motor is controlled and adjusted by the R-pin controller according to the collected vibration frequency.

[0012] In one embodiment, the process of controlling and adjusting the power of the servo motor is as follows:

[0013] Obtain the frequency vibration value of any collection moment by comparing the vibration degree of the vibration frequency at any collection moment in a preset time period with that of all other collection moments; obtain the abnormal vibration coefficient of each collection moment by presetting the vibration frequencies and frequency vibration values of each neighboring collection moment;

[0014] For all neighboring collection moments of each collection moment, analyze the differences in changes between the vibration frequency and the abnormal vibration coefficient, as well as the degree of increase in the abnormal vibration coefficient, to obtain the vibration abnormality degree of each collection moment;

[0015] The expected power of the servo motor at the current acquisition moment is obtained by the actual power at the current acquisition moment and the degree of change in vibration abnormality at the current acquisition moment compared with the previous acquisition moment; the actual power of the servo motor is adjusted according to the difference between the actual power and the expected power.

[0016] In one embodiment, the method for obtaining the frequency vibration value is:

[0017] Processing the vibration frequency within the preset time period using a detrended fluctuation analysis algorithm;

[0018] The average of the differences between the processed vibration frequency at any collection moment and the processed vibration frequencies at all other collection moments within the preset time period is used as the frequency vibration value at any collection moment.

[0019] In one embodiment, the abnormal vibration coefficient is a weighted sum of the vibration frequencies of all neighboring collection moments of each collection moment, wherein the weight of the vibration frequency of each neighboring collection moment is a normalized value of the frequency vibration value of each collection moment.

[0020] In one embodiment, the method for obtaining the vibration abnormality is:

[0021] For each acquisition moment, the vibration frequencies and abnormal vibration coefficients of all neighboring acquisition moments are arranged in time sequence to form a vibration sequence and a jitter sequence; fitting curves of the vibration sequence and the jitter sequence are obtained and recorded as vibration curves and jitter curves; the slopes of corresponding positions of all neighboring acquisition moments on the vibration curve and the jitter curve are arranged in time sequence to form a vibration slope sequence and a jitter slope sequence; the distance between the vibration slope sequence and the jitter slope sequence is calculated;

[0022] The vibration enhancement trend value at each acquisition moment is obtained through the rising degree;

[0023] The vibration abnormality is negatively correlated with the distance at each collection moment, and positively correlated with the vibration enhancement trend value.

[0024] In one embodiment, the method for obtaining the vibration enhancement trend value is:

[0025] 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 value of all positive numbers in the first-order difference sequence;

[0026] The vibration enhancement trend value is the product of the ratio and the accumulated value.

[0027] In one embodiment, the process of obtaining the expected power is:

[0028] Calculate the difference between the vibration anomaly degree at each collection moment and the previous collection moment;

[0029] Mapping the vibration abnormality degree at the previous acquisition moment into a positive value, and calculating the ratio of the difference to the positive value;

[0030] The expected power is positively correlated with the actual power at the current acquisition moment, and negatively correlated with the ratio result.

[0031] In one embodiment, the expected power is calculated as follows:

[0032] The difference between 1 and the ratio result is recorded as the correction difference;

[0033] The expected power is the product of the actual power at the current acquisition moment and the correction difference.

[0034] In one embodiment, the process of adjusting the actual power of the servo motor is:

[0035] The R-pin controller obtains the power control signal 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.

[0036] This application has at least the following beneficial effects:

[0037] The ground potential R pin replacement tool in this 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 vibration of the R pin electric propulsion rod, so as to avoid the vibration of the R pin electric propulsion rod in the process of driving the pin downward, which affects the stability of the ground potential R pin replacement tool.

[0038] This application analyzes the vibration degree of the vibration frequency at each collection moment compared to the vibration frequencies at other collection moments, and combines the vibration frequencies at each collection moment to obtain the abnormal vibration coefficient, thereby improving the accuracy of analyzing the abnormal jitter interference characteristics of the R-pin electric propulsion rod, which is conducive to more accurate feedback adjustment of the servo motor power;

[0039] Furthermore, by analyzing the vibration frequency and abnormal vibration interference change characteristics of 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 of the R-pin electric propulsion rod, avoid the accident of R-pin falling off, and improve the safety of ground potential R-pin supplementary professional tools;

[0040] Furthermore, the expected power of the servo motor is measured by the severity of the change in the driving risk on the R-pin electric propulsion rod, and the power of the servo motor is more accurately controlled and adjusted using the R-pin controller, thereby improving the stability of the R-pin replacement professional tool and effectively improving the work efficiency of R-pin replacement. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions and advantages of the embodiments of the present application or the prior art, the following is a brief introduction to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0042] Figure 1 A flowchart of a method for using a special tool for reinstalling a ground potential R pin provided in one embodiment of the present application;

[0043] Figure 2 This is a structural diagram of a special tool for reinstalling the ground potential R pin;

[0044] Figure 3 A flow chart for controlling and regulating the power of a servo motor;

[0045] Figure 4 Schematic diagram of the process of obtaining the expected power;

[0046] Figure 5 This is a structural diagram of the servo motor power control. DETAILED DESCRIPTION

[0047] In the description of the embodiments of this application, words such as "exemplary," "or," and "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of this application should not be construed as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary," "or," and "for example" is intended to present the relevant concepts in a concrete manner.

[0048] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application relates. The terms used in this application are for the purpose of describing specific embodiments only and are not intended to limit this application. It should be understood that, unless otherwise indicated, " / " represents or.

[0049] It should also be noted that the terms "first" and "second" in this application are used to distinguish similar objects, rather than to describe a specific order or sequence.

[0050] The present application provides a special tool for replacing the ground potential R pin, including: a frame, a clamp, a baffle, a ball 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 diagram of the special tool for replacing the ground potential R pin is shown in the figure below. Figure 2 As shown, Figure 2 In the figure, 1 is the frame, 2 is the baffle, 3 is the ball screw, 4 is the pin hole, 5 is the photoelectric sensor, 6 is the R pin, 7 is the clamp, 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.

[0051] Among them, the baffle 2, ball screw 3, R pin electric propulsion rod, photoelectric sensor 5, fixture 7, vibration sensor 9, servo motor 10, power sensor 11 and R pin controller 12 are fixed to the frame 1 by bolts, the R pin 6 is connected and fixed to the fixture 7, and an insulating rod is installed on the R pin electric propulsion rod; the photoelectric sensor 5 is used to position the pin hole 4 so that the R pin 6, ball screw 3 and pin hole 4 are on the same vertical central axis; one end of the R pin electric propulsion 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 propulsion rod 8 and drive the pin to move downward; the photoelectric sensor 5, power sensor 11, vibration sensor The device 9, servo motor 10, and R-pin controller 12 are all equipped with power supply batteries for power supply. The power sensor 11 is connected to the servo motor 10 for real-time acquisition of the actual power of the servo motor 10. The vibration sensor 9 is connected to the R-pin electric propulsion rod 8 for real-time acquisition of the vibration frequency of the R-pin electric propulsion rod 8 when the R-pin electric propulsion rod 8 drives the pin to move. The power sensor 11 and the vibration sensor 9 are connected to the R-pin controller 12 for acquiring the control signal of the R-pin controller 12. The R-pin controller 12 is connected to the servo motor 10 for analyzing the acquired vibration frequency and controlling and adjusting the power of the servo motor 10 based on the analysis results. During the ground potential R-pin reinstallation work, the staff can perform the R-pin reinstallation work without directly contacting the high-voltage live parts.

[0052] 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 actual conditions.

[0053] An embodiment of the present application provides a method for using a special tool for reinstalling a ground potential R pin, comprising the following steps:

[0054] Step 1: Place the R pin 6 into the fixture 7, ensuring that the R pin 6 and the ball screw 3 with a positioning function are on the same vertical center axis;

[0055] Step 2: Move the ball screw 3 upward against the bolt, then open the photoelectric sensor 5 and rotate the frame 1. When the ball screw 3 rotates to the position where the pin hole 4 exists, the ball 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 sensor 5. At this time, stop rotating the frame 1 so that the R pin 6, the ball screw 3 and the pin hole 4 are on the same vertical central axis;

[0056] Step 3: Start the servo motor 10 to drive the R pin electric propulsion rod 8 to move the pin downward, and the R pin controller 12 controls and adjusts the power of the servo motor 10 according to the collected vibration frequency. Figure 1 shown.

[0057] The flow chart for controlling and regulating the power of the servo motor 10 is as follows: Figure 3 As shown, combined Figure 3 The process of controlling and adjusting the power of the servo motor 10 is described in detail, specifically:

[0058] First, the frequency vibration value of any collection moment is obtained by comparing the vibration degree of the vibration frequency at any collection moment in a preset time period with that of all other collection moments; the abnormal vibration coefficient of each collection moment is obtained by presetting the vibration frequencies and frequency vibration values of each neighboring collection moment.

[0059] During the process of the servo motor 10 driving the R-pin electric propulsion rod 8, the power of the driving motor needs to be controlled and adjusted more accurately to drive the R-pin electric propulsion rod 8 more stably and drive the pin to move downward, thereby avoiding shaking in the process of the R-pin electric propulsion rod 8 driving the pin to move downward, and improving the stability of the R-pin replacement professional tool.

[0060] Analyze the short-term vibration characteristics of the R-pin electric propulsion rod 8. Take the t-th collection moment as an example. For a preset period before the t-th collection moment, arrange the vibration frequencies of all collection moments within the preset period in time sequence to form a vibration sequence for the t-th collection moment.

[0061] In this embodiment, the preset time period is the time interval of 1 second before the t-th acquisition moment, where 1 second is only an embodiment of the present application. The implementer can set its specific value at will, and the present application does not impose any special restrictions.

[0062] Furthermore, to more accurately analyze the abnormal phenomenon of strong vibration on the R-pin electric propulsion rod 8, the vibration sequence at the t-th acquisition moment is used as the input of the detrended fluctuation analysis algorithm, and the detrended vibration sequence at the t-th acquisition moment is output. The detrended vibration sequence eliminates the interference of the vibration frequency trend 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 described in detail in this application.

[0063] Higher abnormal vibration changes in the vibration frequency, and higher vibration frequencies, can more significantly highlight the strong shaking of the R-pin electric propulsion rod 8. Therefore, the mean of the difference between the jth data point and all remaining data points in the detrended vibration sequence at the tth collection moment is calculated as the frequency vibration value corresponding to the jth data point. The larger the frequency vibration value, the higher the abnormal vibration level of the jth data point in the detrended vibration sequence, and the more significantly it highlights the strong shaking of the R-pin electric propulsion rod 8.

[0064] Furthermore, the frequency vibration values of all data in the detrended vibration sequence corresponding to the collection time are normalized to obtain the weight of the vibration frequency of each data in the detrended vibration sequence corresponding to the collection time.

[0065] In this embodiment, the Softmax function is used to normalize the frequency vibration value.

[0066] The abnormal vibration coefficient at the tth collection moment is obtained by the vibration frequency and frequency vibration value of all collection moments within the preset period, and the expression is:

[0067] Where, represents the abnormal vibration coefficient at the t-th collection moment; M represents the total number of collection moments within the preset period at the t-th collection moment; represents the normalized value of the frequency vibration value at the jth acquisition moment within the preset time period at the tth acquisition moment; Represents the vibration frequency at the jth collection moment within the preset time period of the tth collection moment.

[0068] It should be noted that the abnormal vibration coefficient reflects the abnormal jitter interference characteristics in the process of the servo motor 10 driving the R-pin electric propulsion rod 8. Using the normalized value of the frequency vibration value as the weight and weighted summing the vibration frequency can more significantly highlight the phenomenon of strong jitter interference in the R-pin electric propulsion rod 8; the larger the abnormal vibration coefficient, the more unfavorable it is to maintain the stability of the R-pin replacement professional tool, and at this time, it is more necessary to accurately control and adjust the power of the servo motor 10.

[0069] The abnormal vibration coefficient at each acquisition moment is calculated using the same calculation method as that for the abnormal vibration coefficient at the t-th acquisition moment.

[0070] Then, for all neighboring collection moments of each collection moment, the difference in changes between the vibration frequency and the abnormal vibration coefficient, as well as the degree of increase in the abnormal vibration coefficient, are analyzed to obtain the vibration abnormality degree of each collection moment.

[0071] As the servo motor 10 drives the R-pin electric propulsion rod 8 and drives the pin to move downward, if the abnormal vibration coefficient on the R-pin electric propulsion rod 8 is more similar to the change rate of the vibration frequency, and the abnormal vibration coefficient shows an upward trend, to a certain extent, it means that the vibration risk level on the R-pin electric propulsion rod 8 is higher at this time, and it is more likely to affect the stability of the R-pin replacement professional tool.

[0072] The abnormal vibration coefficients of all collection moments within the preset time period before the jth collection moment are arranged in time sequence to form a jitter sequence of the jth collection moment. The jitter sequence reflects the changing characteristics of the vibration interference on the R-pin electric propulsion rod 8 in a short period of time before the jth collection moment; wherein, each collection moment within the preset time period is the neighboring collection moment of the jth collection moment.

[0073] The fitting curves of the vibration sequence and the jitter sequence at the jth acquisition moment are respectively obtained and recorded as the vibration curve and the jitter curve. The slopes of the corresponding positions on the vibration curve and the jitter curve at all acquisition moments within the preset time period are arranged in time sequence to form a vibration slope sequence and a jitter slope sequence. The slope can more accurately represent the changing characteristics of the vibration frequency and abnormal vibration interference, which is conducive to more accurate measurement of the driving risk of the electric propulsion rod in the future.

[0074] In this embodiment, a vibration curve and its function, and a jitter curve and its function are obtained respectively using a nonlinear least squares fitting algorithm. The function of the vibration curve and the function of the jitter curve are respectively recorded as the vibration curve function and the jitter curve function. The slopes of each point on the vibration curve and the jitter curve are respectively calculated using the vibration curve function and the jitter curve function. The nonlinear least squares fitting algorithm and the calculation of the slopes of each point on the curve using the function are both well-known technologies and will not be described in detail in this application.

[0075] Furthermore, the distance between the vibration slope sequence and the jitter slope sequence is calculated; 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 vibration frequency on the R-pin electric propulsion rod 8 is more likely to cause abnormal jitter interference on the R-pin electric propulsion rod 8, and the higher the driving risk level on the R-pin electric propulsion rod 8.

[0076] In this embodiment, the distance between the vibration slope sequence and the jitter slope sequence is the Mahalanobis distance. The Mahalanobis distance is a well-known technology and will not be described in detail in this application. As other implementation methods, on the basis of being able to measure the distance between the vibration slope sequence and the jitter slope sequence, the implementer may adopt other existing technologies, such as the Dynamic Time Warping distance, etc., and this application does not impose any special restrictions.

[0077] 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 number of all data, and calculate the cumulative value of all positive numbers in the first-order difference sequence; use the product of the ratio and the cumulative value as the vibration enhancement trend value at the jth acquisition moment; the larger the vibration enhancement trend value, the higher the risk level of the servo motor 10 driving the R-pin electric propulsion rod 8.

[0078] Through the above analysis, the vibration abnormality at the jth collection moment is obtained by the distance and the vibration enhancement trend value at the jth collection moment. Specifically, the vibration abnormality at the jth collection moment is negatively correlated with the distance at the jth collection moment, and positively correlated with the vibration enhancement trend value at the jth collection moment.

[0079] In this embodiment, the expression of the vibration abnormality degree at the jth collection moment is:

[0080] Where, Indicates the vibration abnormality at the tth acquisition moment; Indicates the vibration enhancement trend value at the tth acquisition moment; represents an exponential function with a natural constant as its base; represents the distance at the tth acquisition moment.

[0081] In another embodiment, the expression of the vibration abnormality at the jth acquisition moment is:

[0082] Where, Indicates the vibration abnormality at the tth acquisition moment; Indicates the vibration enhancement trend value at the tth acquisition moment; represents the distance at the tth acquisition moment; Indicates a preset positive number to avoid the denominator being 0 and to avoid affecting the calculation results of the vibration abnormality. The value range of is (0.001, 0.01). In this embodiment, The value of is 0.005.

[0083] It should be noted that the vibration abnormality reflects the risk level characteristics in the process of the motor driving the R-pin electric propulsion rod 8; the greater the driving risk level, the more timely the power of the servo motor 10 should be reduced, so as to avoid the shaking phenomenon caused by the R-pin electric propulsion rod 8 driving the pin downward, and improve the stability of the R-pin replacement professional tool.

[0084] The vibration abnormality at each collection moment is calculated using the same calculation method as that for the vibration abnormality at the t-th collection moment.

[0085] Finally, the expected power of the servo motor 10 at the current acquisition moment is obtained through the actual power at the current acquisition moment and the degree of change in the vibration abnormality at the current acquisition moment compared with the previous acquisition moment; the actual power of the servo motor 10 is adjusted according to the difference between the actual power and the expected power.

[0086] Furthermore, the expected power of the servo motor 10 at the current acquisition moment is obtained by using 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 expression is:

[0087] Where, Indicates 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 degree at the current collection moment; is the vibration abnormality degree at the previous collection moment of the current collection moment; The result of mapping the vibration abnormality degree at the previous collection time of the current collection time into a positive number. The purpose of mapping the vibration abnormality degree into a positive number is to avoid the denominator being 0. Recorded as the corrected difference.

[0088] In this embodiment, the purpose of mapping the vibration abnormality to a positive number is achieved by calculating the sum of the vibration abnormality at the previous collection moment and γ, where 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 for mapping data to positive numbers. The implementer can choose other feasible methods at his own discretion. This application does not impose any special restrictions.

[0089] It should be noted that: the more serious the change in the driving risk level of the R pin electric propulsion rod 8 at the current acquisition moment, the more the power of the servo motor 10 should be reduced to avoid the shaking phenomenon in the process of the R pin electric propulsion rod 8 driving the pin downward; conversely, the more the power of the servo motor 10 should be increased to effectively improve the efficiency of the R pin replacement. The flowchart of obtaining the expected power is shown in the figure below. Figure 4 shown.

[0090] Furthermore, the power of the servo motor 10 at the current acquisition moment is controlled and adjusted by the R-pin controller 12. 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 of the power of the servo motor 10 based on the difference between the actual power and the expected power of the servo motor 10. The control signal is transmitted to the servo motor 10 so that the actual power of the servo motor 10 is adjusted to the expected power. The structural diagram of the servo motor power control is shown in FIG. Figure 5 shown.

[0091] In summary, the ground potential R pin replacement tool 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 of the R pin electric propulsion rod, thereby avoiding the jitter phenomenon caused by the R pin electric propulsion rod in the process of driving the pin downward, which affects the stability of the ground potential R pin replacement tool;

[0092] This application analyzes the vibration degree of the vibration frequency at each collection moment compared to the vibration frequencies at other collection moments, and combines the vibration frequencies at each collection moment to obtain the abnormal vibration coefficient, thereby improving the accuracy of analyzing the abnormal jitter interference characteristics of the R-pin electric propulsion rod, which is conducive to more accurate feedback adjustment of the servo motor power;

[0093] Furthermore, by analyzing the vibration frequency and abnormal vibration interference change characteristics of 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 of the R-pin electric propulsion rod, avoid the accident of R-pin falling off, and improve the safety of ground potential R-pin supplementary professional tools;

[0094] Furthermore, the expected power of the servo motor is measured by the severity of the change in the driving risk on the R-pin electric propulsion rod, and the power of the servo motor is more accurately controlled and adjusted using the R-pin controller, thereby improving the stability of the R-pin replacement professional tool and effectively improving the work efficiency of R-pin replacement.

[0095] The flowcharts and block diagrams in the accompanying drawings show the possible implementation architectures, functions and operations of the systems, methods and computer program products according to the embodiments of the present disclosure. In this regard, each box in the flowchart or block diagram can represent a module, program segment or part of the code, and the module, program segment or part of the code contains one or more executable instructions for implementing the specified logical functions. In some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, or they can sometimes be executed in the opposite order, which can depend 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 boxes can also occur in an order different from that disclosed in the description, and sometimes there is no specific order between different operations or steps. For example, two consecutive operations or steps can actually be executed substantially in parallel, or they can sometimes be executed in the opposite order, which can depend on the functions involved. Each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented by a dedicated hardware-based system that performs the specified function or action, or may be implemented by a combination of dedicated hardware and computer instructions.

[0096] It is obvious to those skilled in the art that the present application is not limited to the details of the above exemplary embodiments, and that the present application can be implemented in other specific forms without departing from the basic characteristics of the present application. Therefore, from all perspectives, the above embodiments of the present application should be regarded as exemplary and non-restrictive.

Claims

1. A special tool for installing a ground potential R pin, characterized in that: The tool comprises a frame, a fixture, a baffle, a ball 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 baffle, ball screw, R-pin electric propulsion rod, photoelectric sensor, fixture, vibration sensor, servo motor, power sensor and R-pin controller are fixed to 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 propulsion rod; the photoelectric sensor and baffle are used to position the pin hole so that the R-pin, ball screw and 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, power sensor, vibration sensor The sensor, servo motor and R-pin controller are all equipped with power supply batteries for power supply; the power sensor is connected to the servo motor to collect the actual power of the servo motor in real time; the vibration sensor is connected to the R-pin electric propulsion rod to collect the vibration frequency of 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 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 to analyze the collected vibration frequency and control and adjust the power of the servo motor according to the analysis result; The process of controlling and regulating the power of the servo motor is as follows: Obtain the frequency vibration value of any collection moment by comparing the vibration degree of the vibration frequency at any collection moment in a preset time period with that of all other collection moments; obtain the abnormal vibration coefficient of each collection moment by presetting the vibration frequencies and frequency vibration values of each neighboring collection moment; For all neighboring collection moments of each collection moment, analyze the differences in changes between the vibration frequency and the abnormal vibration coefficient, as well as the degree of increase in the abnormal vibration coefficient, to obtain the vibration abnormality degree of each collection moment; The expected power of the servo motor at the current acquisition moment is obtained by the actual power at the current acquisition moment and the degree of change in vibration abnormality at the current acquisition moment compared with the previous acquisition moment; the actual power of the servo motor is adjusted according to the difference between the actual power and the expected power.

2. A method for using a special tool for reinstalling a ground potential R pin, applied to a special tool for reinstalling a ground potential R pin in claim 1, characterized in that: The method comprises the following steps: Place the R pin into the fixture, ensuring that the R pin and the ball screw are on the same vertical center axis; Move the ball screw upward against the bolt, turn on the photoelectric sensor, and rotate the frame. When the ball screw rotates to the position where the pin hole exists, the ball screw moves upward, and at the same time drives the baffle to move upward. When the baffle moves upward, it blocks the light path between the photoelectric sensors. Stop rotating the frame so that the R pin, ball screw and pin hole are on the same vertical central axis. The servo motor is started to drive the R-pin electric propulsion rod to move the pin downward, and the power of the servo motor is controlled and adjusted by the R-pin controller according to the collected vibration frequency.

3. The method for using the special tool for reinstalling the ground potential R pin according to claim 2, characterized in that: The method for obtaining the frequency vibration value is: Processing the vibration frequency within the preset time period using a detrended fluctuation analysis algorithm; The average of the differences between the processed vibration frequency at any collection moment and the processed vibration frequencies at all other collection moments within the preset time period is used as the frequency vibration value at any collection moment.

4. The method for using the special tool for reinstalling the ground potential R pin according to claim 2, characterized in that: The abnormal vibration coefficient is the weighted sum of the vibration frequencies of all neighboring collection moments of each collection moment, wherein the weight of the vibration frequency of each neighboring collection moment is the normalized value of the frequency vibration value of each collection moment.

5. The method for using the special tool for reinstalling the ground potential R pin according to claim 2, characterized in that: The method for obtaining the vibration abnormality is: For each acquisition moment, the vibration frequencies and abnormal vibration coefficients of all neighboring acquisition moments are arranged in time sequence to form a vibration sequence and a jitter sequence; fitting curves of the vibration sequence and the jitter sequence are obtained and recorded as vibration curves and jitter curves; the slopes of corresponding positions of all neighboring acquisition moments on the vibration curve and the jitter curve are arranged in time sequence to form a vibration slope sequence and a jitter slope sequence; the distance between the vibration slope sequence and the jitter slope sequence is calculated; The vibration enhancement trend value at each acquisition moment is obtained through the rising degree; The vibration abnormality is negatively correlated with the distance at each collection moment, and positively correlated with the vibration enhancement trend value.

6. The method for using the special tool for reinstalling the ground potential R pin according to claim 5, characterized in that: The method for obtaining the vibration enhancement trend value is: 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 value of all positive numbers in the first-order difference sequence; The vibration enhancement trend value is the product of the ratio and the accumulated value.

7. The method for using the special tool for reinstalling the ground potential R pin according to claim 2, characterized in that: The process of obtaining the expected power is as follows: Calculate the difference between the vibration anomaly degree at each collection moment and the previous collection moment; Mapping the vibration abnormality degree at the previous acquisition moment into a positive value, and calculating the ratio 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.

8. The method for using the special tool for reinstalling the ground potential R pin according to claim 2, characterized in that: The expected power is calculated as follows: The difference between 1 and the ratio result is recorded as the correction difference; The expected power is the product of the actual power at the current acquisition moment and the correction difference.

9. The method for using the special tool for reinstalling the ground potential R pin according to claim 2, characterized in that: The process of adjusting the actual power of the servo motor is as follows: The R-pin controller obtains the power control signal 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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