CN111337368B - Method and device for testing abrasion derivative condition of single pin of robot electric connector - Google Patents
Method and device for testing abrasion derivative condition of single pin of robot electric connector Download PDFInfo
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Abstract
The invention discloses a method and a device for testing the abrasion and derivative condition of a single pin of a robot electric connector. The existing connector reliability test cannot deeply understand the specific failure reason of the connector and acquire the abrasion derivative curve of the connector. The invention is as follows: 1. and establishing a test transverse and angle offset parameter set. 2. A model establishment test was performed. 3. And establishing a derivative model of the average volume of the grinding marks. 4. And respectively establishing the grinding mark derivation functions of the tested connector under two acceleration conditions. 5. The final used acceleration condition and derivation function are selected by fuzzy decision. The method establishes the derivation model by taking the angular deviation and the transverse deviation as acceleration conditions, selects the optimal derivation model in a fuzzy decision mode, fully considers the influence of the installation precision of the contact pin on the wear-resisting property of the plug-in unit when the contact pin is installed on the plug-in unit, and makes up the defects of the existing robot plug-in unit reliability test method.
Description
Technical Field
The invention belongs to the technical field of accelerated reliability test of multi-pin connectors, and particularly relates to a method and a device for testing the wear-resisting reliability of a single pin of a multi-pin electric connector of a robot.
Background
The connector, one of the indispensable components in the electrical system, is the main tool for realizing the transmission of electrical signals in different control loops. The presence of the connector allows the bulky project to be broken down and made up of different smaller components in a modular manner. The reliability of the connector is therefore of paramount importance. Meanwhile, the function of the connector in the field of industrial robots is particularly important, and the connector reliability testing method is particularly necessary for testing the reliability of the connector of the industrial robot, and the friction testing of the connector is important in the reliability tests. All this is due to the fact that the docking insert generates a slight fretting friction during the high frequency movements of the robot, which causes the failure of the connector.
At present, more tests on the reliability of the connector are tests on the whole connector, and a patent with the patent number of 201110101719.0 provides a device capable of simultaneously testing the plugging and unplugging service life of a plurality of groups of connectors, and related parameters can be set automatically according to test requirements, so that the plugging and unplugging service life test requirements of different connectors are met. In this invention the connector is considered as a whole, however the actual connector function is achieved by virtue of the pins within the connector and therefore their failure is also the failure of their pins. Such a simple and crude reliability test of the entire mating connector does not provide an in-depth understanding of the particular connector failure cause.
The plug-in and plug-out test of the whole connector obtains relevant test data such as plug-in and plug-out characteristics and the like, which are caused by different spatial positions of the male end and the female end of the connector of the plug-in and plug-out pins installed in the connector one by one, and the result is a multivariate multi-parameter nonlinear coupling result. It is necessary to test the spatial positions of the male and female terminals of a single connector pin. According to the analysis to the actual contact pin, the different spatial position of connector public end and connector female end can conclude the simplification to the lateral deviation of different intervals and the angular deflection of different angles.
Disclosure of Invention
The invention aims to provide a method for testing the wear resistance reliability of a single pin of a multi-pin type electric connector of a robot by taking transverse deviation and angular deviation as test acceleration conditions.
A method for testing the abrasion derivation condition of a single pin of a robot electric connector comprises the following steps:
step one, establishing a test transverse offset parameter set delta = { delta = 0 ,δ 1 ,...,δ n }, trial angle offset parameter set θ = { θ = 0 ,θ 1 ,...,θ n }; setting the test plug speed as v 0 And a test insertion and extraction force of F 0 . Wherein, delta 0 ＜δ 1 ＜...＜δ n ，θ 0 ＜θ 1 ＜...＜θ n 。
And step two, performing a model establishment test.
2-1, recording the test times as i, i =0,1,2, \8230, n, and sequentially executing the steps 2-2 and 2-3.
2-2, setting the transverse offset of the test to be delta i The offset of the test angle is theta 0 The test plug speed is v 0 And the number of test plugging and unplugging times is s, performing plugging and unplugging test, and obtaining the average volume s of the ith grinding mark under the condition of transverse deviation 1,i . Transverse offset of test delta i The distance between the central axes of the male end and the female end of the plug connector is delta in the plug-in test i 。
2-3, setting the transverse offset of the test to be delta 0 The offset of the test angle is theta i The test plug speed is v 0 And the number of test plugging and unplugging times is s, performing plugging and unplugging test, and obtaining the average volume s of the ith grinding mark under the condition of angular deviation 2,i . The offset of the test angle is theta i The included angle between the central axes of the male end and the female end of the plug connector in the plug-in test is represented as theta i 。
And step three, establishing a derivative model of the average volume of the grinding scars.
3-1, establishing an average volume equation of the grinding marks under the condition of n +1 transverse deviations as shown in the formula (1); establishing an average volume equation of the grinding marks under the condition of n +1 angular deviations as shown in a formula (2);
in the formulas (1) and (2), i =0,1, \8230;, n; s 0 Indicating the base wear volume of the plug.
M being a connectorAnd (4) limiting plugging and unplugging times.
For the ith laterally offset acceleration factor,
the acceleration factor is offset for the ith angle.
3-2, respectively solving the average volume equation of the grinding scars under the condition of n +1 transverse deviation to obtain
Respectively solving the average volume equation of the grinding marks under the condition of n +1 angular deviations to obtain
Will be provided with
As ordinate, δ 0 ,δ 1 ,...,δ n Drawing a transverse offset acceleration factor discrete point diagram as an abscissa; will be provided with
As ordinate, θ 0 ,θ 1 ,...,θ n As an abscissa, an angular offset acceleration factor scatter diagram is drawn.
3-3, respectively fitting the transverse offset acceleration factor discrete point diagram and the angular offset acceleration factor discrete point diagram to obtain a transverse offset target function
Angular offset objective function
Gamma and beta are transverse offset influence factors and angle offset influence factors determined in fitting; δ is the lateral offset and θ is the angular offset, both independent variables of the function. Delta m 、θ m The maximum allowable lateral offset and the maximum allowable angle of the tested connector respectivelyAn offset.
Step four, establishing a grinding mark derivation function of the tested connector under the condition of transverse deviation acceleration
Establishing a function of the grinding mark derivation of the tested connector under the angular deviation acceleration condition
In the two grinding mark derivation functions, m is an independent variable and represents the plugging times;
to be d 0 Substitution of the argument into the laterally shifted objective function
A lateral offset acceleration factor obtained in time;
to be theta 0 Substituting angle offset objective function as argument
The resulting angle is offset by the acceleration factor.
And step five, selecting the finally used acceleration condition and derivation function through fuzzy decision.
And 5-1, setting a factor set U = { lateral offset and angular offset }, and setting a judgment set V = { excellent, good, medium and poor }.
5-2, establishing membership function A of average grinding scar volume 1 (x) It follows a normal distribution, as shown in equation (3);
in the formula (3), a 1 Is a membership influence factor.
5-3, respectively substituting the average volumes of n +1 grinding marks obtained in the step 2-3 into the average volumes as self-variationSubstituting the quantity x into a formula (3) to obtain n +1 membership degrees under the condition of transverse offset acceleration, and dividing the n +1 membership degrees into four groups of 'excellent', 'good', 'medium' and 'poor' according to the numerical value from large to small; calculating the proportion r of the n +1 membership degree to the superior, good, medium and poor ones 11 ，r 12 ，r 13 ，r 14 . Establishing a transverse offset membership matrix
5-4, respectively substituting the average volume of n +1 grinding marks obtained in the step 2-4 into a formula (3) as an independent variable x to obtain n +1 membership degrees under the angular offset acceleration condition, and dividing the n +1 membership degrees into four groups of 'excellent', 'good', 'medium' and 'poor' according to the numerical values from large to small; calculating the proportion r of the n +1 membership degree to the superior, good, medium and poor ones 21 ，r 22 ，r 23 ，r 24 . Establishing an angular offset membership matrix
5-5, establishing a factor distribution weight matrix as B = (B) 1 ,b 2 ,b 3 ,b 4 ). Calculating the lateral deviation comprehensive judgment characteristic value
Calculating angle deviation comprehensive judgment characteristic value
Wherein the symbols
Representing a fuzzy logic operator.
And 5-6, taking the condition that c corresponds to the maximum value in c' as the optimal acceleration condition. And taking the grinding mark derivation function corresponding to the optimal acceleration condition as the most accurate derivation model. Then, a wear-out derivative curve of the plug-in unit with respect to the number of times of insertion and extraction is obtained using the derivative model.
Preferably, v 0 The method for acquiring the standard plugging speed comprises the following steps: when the staff carries out 50 times plug under standard operating mode butt joint plug-in components public end and the female end of plug-in components, the average value of plug-in speed. The insertion speed is obtained by dividing the insertion stroke by the insertion time. The plugging stroke is the relative displacement between the male end of the connector and the female end of the connector from contact to tight plugging. F 0 The average value of the insertion force is the average value of the insertion force when the male end of the plug-in unit and the female end of the plug-in unit are plugged and unplugged for 50 times by workers under the standard working condition. The detection method of the insertion force comprises the following steps: when the worker is plugged, the worker holds the male end of the connector by one hand and holds the pressure sensor by the other hand. The pressure sensor is fixed at the female end of the connector; then, splicing is carried out; the peak value detected by the pressure sensor in the plugging process is the plugging force.
Preferably, the insertion and extraction test in steps 2-2 and 2-3 is carried out as follows:
(1) Taking a pair of intact plug connectors.
(2) And repeatedly plugging and unplugging the male end and the female end of the plug connector under the test condition.
(3) Scanning the male end of the connector by using a surface topography scanner to obtain a scanned image of the male end of the connector; measuring the width, the length and the depth of each grinding mark on all the contact pins at the male end of the connector on a scanning picture of the male end of the connector; calculating the volume of each grinding mark through the width, the length and the depth; and averaging the volumes of the grinding marks to obtain the average volume of the grinding marks.
Preferably, the plug base wear volume represents a test lateral offset δ 0 The offset of the test angle is theta 0 The test plug speed is v 0 After 50 times of insertion and extraction under the condition (1), the pin on the male end of the tested connector is ground to obtain the volume average value of each trace.
Preferably, δ m 、θ m Respectively taking 0.05mm and 1.5 degrees.
Preferably, b in step 5-5 1 ,b 2 ,b 3 ,b 4 Respectively taking 0.5,0.3,0.1 and 0.1.
A second objective of the present invention is to provide an accelerated testing apparatus for the reliability testing method.
An accelerated test device for the abrasion and derivatization condition of a robot connector comprises an installation bottom plate, a longitudinal guide rail, a female end installation assembly, a male end installation assembly and an electric sliding table. The female end mounting assembly comprises a fixed pedestal, a female end fixed frame, an insertion and extraction force sensor and a female end mounting block. The longitudinal guide rail is fixed on the mounting bottom plate. The fixed pedestal is fixed with the longitudinal guide rail. The female end fixing frame is fixed on the fixing pedestal. One end of the insertion and extraction force sensor is fixed with the top end of the female end fixing frame, and the other end of the insertion and extraction force sensor is fixed with the female end mounting block. The male end mounting assembly comprises a sliding frame, a male end fixer, an angle deviation steering engine, an angle deviation mounting seat and a transverse deviation mechanism. The sliding rack and the longitudinal guide rail constitute sliding pair. The carriage is driven by an electric slide. The angle deviation mounting seat is mounted on the sliding frame through a transverse deviation mechanism. The angle deviation steering engine is installed on the angle deviation installation seat. And the male end fixer is fixed on an output shaft of the angle deviation steering engine. The male end fixer and the female end mounting block are arranged at the same height.
Preferably, the transverse deviation mechanism comprises a transverse deviation servo motor, a transverse moving guide rail, a transverse moving lead screw and a transverse moving grating ruler. And a transverse guide rail is fixed on the sliding frame, and a transverse screw rod is supported on the sliding frame. The transverse moving guide rail is vertical to the longitudinal guide rail; the angle deviation mounting seat and the transverse moving guide rail form a sliding pair, and the angle deviation mounting seat and the transverse moving guide rail form a screw pair. The traversing lead screw is driven by a transverse offset servo motor. And a scale grating in the transverse grating ruler is fixed with the sliding frame, and a grating reading head is fixed with the angle deviation mounting seat.
Preferably, the angular deviation steering engine is provided with an angular deviation encoder.
Preferably, the male end fixer comprises a connector male end upper end cover and a connector male end lower end cover. The upper end cover of the male end of the connector and the lower end cover of the male end of the connector are vertically arranged and fixed through bolts, and the opposite side faces are provided with contact pin accommodating grooves corresponding in position.
The invention has the beneficial effects that:
1. according to the method, the angle deviation and the transverse deviation are used as acceleration conditions to establish the derivation model, the optimal derivation model is selected in a fuzzy decision mode, the derivation model fully considers the acceleration influence of the deviation condition of each contact pin in the connector on the wear resistance of the connector, the defect of the existing robot connector reliability acceleration test method is overcome, and the connector reliability acceleration test is more complete and accurate.
2. The invention simplifies the reliability acceleration test process of the connector; the device is simple to operate, and convenient and automatic integration level is high.
3. The invention provides a wear derivation model of the tested type connector pin unit through a transverse offset and angle offset pin plugging test, can provide professional technical support for the reliability quality of the robot connector, and can provide data support for the reliability design of the robot connector.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic structural diagram of a pluggable module according to the present invention;
FIG. 3 is a schematic structural view of a lateral shifting mechanism according to the present invention;
FIG. 4 is a schematic view of the test condition of the present invention without offset;
FIG. 5 is a schematic view of the invention in a test condition with lateral offset;
fig. 6 is a schematic diagram of the experimental state of the present invention under the condition of angular deviation.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
As shown in FIG. 1, an accelerated testing device for abrasion and derivatization condition of a robot connector comprises a mounting base plate 1, a longitudinal guide rail 3, a female end mounting assembly, a male end mounting assembly and an electric sliding table 4. The female end mounting assembly comprises a fixed pedestal 5, a female end fixing frame 6, an insertion and extraction force sensor 7 and a female end mounting block 14. Two longitudinal guide 3 that the interval set up all fix on mounting plate 1 through the guide rail mount pad. The stationary stand 5 is fixed to the longitudinal rail 3 by a set screw. The female end fixing frame 6 is fixed on the fixing pedestal 5 through screws. One end of the insertion force sensor 7 is fixed with the top end of the female end fixing frame 6, and the other end of the insertion force sensor is fixed with the female end mounting block 14. The insertion force sensor 7 can detect the force when the male end of the connector is inserted. The female end mounting block 14 is provided with a female end 8 of the connector.
As shown in fig. 1,2 and 3, the electric slide table 4 is mounted on the mounting base plate 1 between the two longitudinal rails 3. The male end mounting assembly comprises a sliding frame 2, a male end fixer 10, an angle deviation steering engine 11, an angle deviation mounting seat 12 and a transverse deviation mechanism 13. The bottom of the sliding frame 2 forms a sliding pair with the longitudinal guide rail 3 through two sliding blocks. The bottom of the sliding frame 2 is fixed with a sliding block on the electric sliding table 4. The lateral shift mechanism 13 includes a lateral shift servo motor 17, a lateral shift guide rail 18, a lateral shift lead screw, and a lateral shift grating 19. A transverse guide rail 18 is fixed on the sliding frame 2 and supports a transverse screw rod. The transverse moving guide rail 18 is vertical to the longitudinal guide rail; the angle deviation mounting seat 12 and the traverse guide rail 18 form a sliding pair through a sliding block, and form a screw pair with the traverse lead screw. A lateral offset servo motor 17 is fixed to the carriage 2 and the output shaft is fixed to one end of the lateral movement screw. The scale grating in the traversing grating scale 19 is fixed with the sliding frame 2, and the grating reading head is fixed with the angle deviation mounting seat 12. The angle deviation steering engine 11 is fixed on the angle deviation mounting base 12, and the output shaft is arranged vertically. And an angle deviation encoder is arranged on the angle deviation steering engine 11 and used for feeding back the space pose of the output shaft of the angle deviation steering engine 11.
And the male end fixer 10 is fixed on an output shaft of the angle deviation steering engine 11. The male end holder 10 and the female end mounting block 14 are arranged at the same height. The male end 9 of the connector is mounted on a male end retainer 10. The transverse guide rail 18 can ensure that the male end 9 of the connector does not generate angular deviation when generating transverse deviation, namely the angular deviation is completely generated by the angular deviation steering engine 11. The male end retainer 10 includes a connector male end upper end cap 15 and a connector male end lower end cap 16. The upper end cover 15 of the male end of the connector and the lower end cover 16 of the male end of the connector are arranged up and down and fixed through bolts, and the opposite side faces are provided with contact pin accommodating grooves corresponding to the positions of the contact pins for clamping the contact pins.
The industrial personal computer controls the motion of the angular deviation steering engine 11 and the transverse deviation servo motor 17, and the angular deviation encoder and the traverse grating ruler 19 form closed loop control, so that the accurate set transverse deviation and angular deviation are achieved. The plugging and unplugging actions of the connector are realized through the electric sliding table 4 fixed on the mounting base plate 1, in order to ensure that the transverse offset generated by the plugging and unplugging actions is completely realized by installing the male end and the female end of the pin generated by the transverse offset mechanism 13 on the fixed pedestal 5, and the transverse offset generated in the plugging and unplugging actions is ensured to be zero through the longitudinal guide rails 3 with two sides. The industrial personal computer adopts a PLC or a computer.
As shown in fig. 4, when the lateral deviation and the angular deviation are all 0, the spatial mutual position relationship of the male end 9 and the female end 8 of the connector is located, the central axis shown in the figure coincides with the motion path of the slider in the electric sliding table 4, and the plugging cycle process of the male end 9 and the female end 8 of the connector is realized through the reciprocating motion of the slider in the electric sliding table 4.
As shown in fig. 5, the lateral offset is δ i When the angular offset is 0, the spatial mutual position relationship of the connector male end 9 and the connector female end 8 is such that the central axes of the connector male end 9 and the connector female end 8 are not coincident but are at a distance δ from each other i Parallel.
As shown in FIG. 6, the lateral offset is 0 and the angular offset is θ i In the drawing, the central axes of the male end 9 and the female end 8 of the connector are not parallel but intersect at an angle θ i Angled and the male end 9 of the connector is shown as being centered on the female end 8 of the connector.
A method for testing the abrasion derivation condition of a single pin of a robot electric connector comprises the following steps:
step one, establishing a test transverse offset parameter set delta = { delta = { (delta) } 0 ,δ 1 ,...,δ n }, trial angle offset parameter set θ = { θ = 0 ,θ 1 ,...,θ n }; setting the test plug speed as v 0 And a test insertion and extraction force of F 0 . Wherein, delta 0 ＜δ 1 ＜...＜δ n ，θ 0 ＜θ 1 ＜...＜θ n 。v 0 The method for acquiring the standard plugging speed comprises the following steps: when the staff carries out 50 times plug under standard operating mode butt joint plug-in components public end and the female end of plug-in components, the average value of plug-in speed. The insertion speed is obtained by dividing the insertion stroke by the insertion time. The plugging stroke is the relative displacement between the male end of the connector and the female end of the connector from contact to tight plugging. F 0 The average value of the insertion force is obtained when the worker inserts and withdraws the male end and the female end of the connector for 50 times under the standard working condition. The detection method of the insertion force comprises the following steps: when the worker is plugged, the worker holds the male end of the connector in one hand and holds the pressure sensor in the other hand. The pressure sensor is fixed at the female end of the connector; then carrying out splicing; the peak value detected by the pressure sensor in the plugging process is the plugging force.
And step two, performing a model establishment test.
2-1, recording the test times as i, i =0,1,2, \8230, n, and sequentially executing the steps 2-2 and 2-3.
2-2, setting the transverse offset of the test to be delta i The offset of the test angle is theta 0 The test plug speed is v 0 And the test plugging and unplugging times are s, a plugging and unplugging test is carried out, and the average volume s of the ith grinding mark under the transverse offset condition is obtained 1,i . The average volume of the grinding marks represents the average of the volumes of the respective grinding marks (groove-like) on the male end 9 of the connector. As a preferred technical scheme, s is taken 1000 times.
2-3, setting the transverse offset of the test to be delta 0 The offset of the test angle is theta i The test plug speed is v 0 And the number of test plugging and unplugging times is s, performing plugging and unplugging test, and obtaining the average volume s of the ith grinding mark under the condition of angular deviation 2,i 。
The process of the insertion and extraction test in steps 2-2 and 2-3 is as follows:
(1) Taking a pair of unused plug connectors (a female connector end and a male connector end) to check whether the unused plug connectors are intact; the male end 9 of the connector and the female end 8 of the connector are respectively arranged on the male end fixer 10 and the female end mounting block 14.
(2) The angle deviation steering engine 11 rotates, so that the included angle between the axis of the male end of the plug connector and the axis of the female end of the plug connector reaches the test angle deviation. Then, the lateral shift servo motor 17 is rotated so that the shift amount between the outer end of the male end of the connector and the outer end of the female end of the connector reaches the test lateral shift amount
(3) The electric sliding table 4 drives the sliding frame 2 to move at the test plugging speed, so that the male end of the plug connector is inserted into the female end of the plug connector, and the electric sliding table 4 stops moving until the pressure value detected by the plugging force sensor 7 reaches the test plugging force.
(4) The electric sliding table 4 drives the sliding seat to move, so that the male end of the connector is separated from the female end of the connector.
(5) And (4) repeatedly executing the steps (3) and (4) according to the number of the test plugging times (namely repeatedly executing s times). Thereafter, the process proceeds to step (6).
(6) Scanning the male end of the connector by using a surface topography scanner to obtain a scanned image of the male end of the connector; measuring the width, the length and the depth of each grinding mark on all the contact pins at the male end of the connector on a scanning picture of the male end of the connector; the volume of each grinding mark is obtained through the width, the length and the depth; and averaging the volumes of the grinding marks to obtain the average volume of the grinding marks.
And step three, establishing a derivative model of the average volume of the grinding scars.
3-1, establishing an average volume equation of the grinding marks under the condition of n +1 transverse deviations as shown in the formula (1); establishing an average volume equation of the grinding marks under the condition of n +1 angular deviations as shown in a formula (2);
in the formulas (1) and (2), i =0,1, \8230;, n; s 0 Is tested for a transverse offset of δ 0 The offset of the test angle is theta 0 The test plug speed is v 0 After 50 times of plugging and unplugging under the condition, the volume average value of the ground trace of the pin on the male end of the tested connector is obtained;
m is the limit plugging and unplugging times of the connector, and the value is set to 10 6 。
For the ith laterally offset acceleration factor,
and shifting the acceleration factor for the ith angle, and obtaining the quantity to be solved of the equation.
3-2, respectively solving the average volume equation of the grinding scars under the condition of n +1 transverse deviation, namely the formula (1), to obtain
Respectively solving the average volume equation of the grinding marks under the condition of n +1 angular deviations, namely the formula (2), to obtain
Will be provided with
As ordinate, δ 0 ,δ 1 ,...,δ n Drawing a transverse offset acceleration factor discrete point diagram as a horizontal coordinate; will be provided with
As ordinate, θ 0 ,θ 1 ,...,θ n As an abscissa, an angular offset acceleration factor scatter diagram is drawn.
3-3, respectively fitting the transverse offset acceleration factor discrete point diagram and the angular offset acceleration factor discrete point diagram to obtain a transverse offset target function
Angular offset objective function
Gamma and beta are the influence factor and angle of lateral shift determined in fittingA degree shift impact factor; δ is the lateral offset and θ is the angular offset, both independent variables of the function. Delta m 、θ m The maximum allowable lateral offset and the maximum allowable angular offset of the tested connector are respectively determined by different types of connectors, and the test is carried out at 0.05mm and 1.5 degrees.
Step four, establishing a corresponding grinding mark derivation function of the tested connector when the test transverse offset is the acceleration condition
Establishing a grinding mark derivation function of the tested connector under the corresponding angle deviation condition when the test angle deviation is the acceleration condition
In the two grinding mark derivation functions, m is an independent variable and represents the plugging times;
to be delta 0 Substitution of the argument into the laterally shifted objective function
A lateral offset acceleration factor obtained from the time;
to be theta 0 Substituting angle offset objective function as argument
The resulting angular offset acceleration factor.
The two grinding trace derivation functions respectively reflect the derivation characteristics of the wear condition of the tested connector under the conditions of transverse offset acceleration and angular offset acceleration; therefore, the relation between the pin abrasion condition and the pin movement working condition in the multi-pin type connector can be explored according to the derivation function, and technical support can be provided for the pin reliability detection.
And step five, selecting the finally used acceleration condition and derivation function through fuzzy decision.
And 5-1, setting a factor set U = { lateral offset and angular offset }, and setting a judgment set V = { excellent, good, medium and poor }.
5-2, establishing a membership function A of the average volume of the grinding marks according to the change condition of the average volume of the grinding marks along with the transverse offset and the angular offset 1 (x) As shown in formula (3), it follows a normal distribution;
in the formula (3), a 1 Is a membership influence factor; a is a 1 =0.812, the value of which is selected according to the trend of the average volume of the grinding traces, and the selection method is not described in detail in the prior art.
5-3, respectively substituting the average volume of n +1 grinding marks obtained in the step 2-3 into a formula (3) as an independent variable x to obtain n +1 membership degrees under the condition of transverse offset acceleration, and dividing the n +1 membership degrees into four groups of 'excellent', 'good', 'medium' and 'poor' according to the numerical value from large to small; calculating the respective proportions r of the superior, the good, the middle and the poor in the n +1 membership degrees 11 ，r 12 ，r 13 ，r 14 . Establishing a lateral offset membership matrix
5-4, respectively substituting the average volume of n +1 grinding marks obtained in the step 2-4 into a formula (3) as an independent variable x to obtain n +1 membership degrees under the angular offset acceleration condition, and dividing the n +1 membership degrees into four groups of 'excellent', 'good', 'medium' and 'poor' according to the numerical values from large to small; calculating the respective proportions r of the superior, the good, the middle and the poor in the n +1 membership degrees 21 ，r 22 ，r 23 ，r 24 . Establishing an angular offset membership matrix
5-5, establishing a factor to assign the weight matrix to B = (B) 1 ,b 2 ,b 3 ,b 4 ) The value is obtained through manual setting, the specific range is determined by the requirement degree of the reliability of the plug-in connector, and the value is (0.5, 0.3,0.1 and 0.1).
Calculating the lateral deviation comprehensive judgment characteristic value
Calculating angle deviation comprehensive judgment characteristic value
Wherein, the symbol
A fuzzy logic operator is shown which is used to represent the multiplication of two fuzzy matrices, much like the matrix product in linear algebra, except that the multiplication between corresponding elements in the normal matrix multiplication is replaced by a small operation and the addition between elements is replaced by a large operation.
And 5-6, selecting the most accurate derivation model according to the transverse deviation comprehensive judgment characteristic value c and the angle deviation comprehensive judgment characteristic value c'. And taking the condition that c corresponds to the maximum value in c' as the optimal acceleration condition. And taking the grinding mark derivation function corresponding to the optimal acceleration condition as the most accurate derivation model.
And determining the average volume of the grinding marks generated by the tested connector under different plugging times according to the derivative model, so that the tested connector can be replaced in time when the parameters of the tested connector do not meet the use conditions. The method specifically comprises the following steps: and substituting the plugging times into the grinding mark derivation function corresponding to the optimal acceleration condition to obtain the average volume of the grinding marks under the plugging times under the normal plugging condition. And obtaining a relation curve of the abrasion degree of the plug connector and the plugging times according to the grinding mark derivation function.
Claims (6)
1. A method for testing the abrasion derivation condition of a single pin of a robot electric connector is characterized by comprising the following steps: step one, establishing a test horizontal barTo offset parameter set
Test angle offset parameter set
(ii) a Setting the test plug speed to
And a test insertion and extraction force of
(ii) a Wherein the content of the first and second substances,
， 
；
step two, performing a model establishment test;
2-1, recording the test times asi，iN, sequentially performing steps 2-2 and 2-3;
2-2, setting the transverse offset of the test to be
The test angle offset is
The test plug speed is
The number of test insertion and extraction times issPerforming a plug-in test to obtain the second time under the condition of transverse deviationiAverage volume of grinding trace
(ii) a The transverse offset of the test is
The distance between the central axes of the male end and the female end of the plug connector in the plug-in test is shown as
；
2-3, setting the transverse offset of the test to be
The offset of the test angle is
The test plug speed is
The number of test insertion and extraction times issPerforming a plug-in test to obtain the first step under the condition of angular deviationiAverage volume of grinding trace
(ii) a The offset of the test angle is
The included angle between the central axes of the male end and the female end of the plug connector in the plug-in test is shown as
；
Step three, establishing a derivative model of the average volume of the grinding scars;
3-1. EstablishmentnThe average volume equation of the grinding marks under the condition of +1 strips of transverse deviation is shown as the formula (1); establishingnThe average volume equation of the grinding marks under the condition of +1 angular offset is shown as the formula (2);
in the formulas (1) and (2),i=0,1,…,n；
representing the base wear volume of the plug;
；
the number of the plugging and unplugging of the connector is the limit;
is as followsiThe acceleration factor is offset laterally by an amount that,
is as followsiAn angular offset acceleration factor;
3-2, respectively solvingnThe average volume equation of the grinding marks under the condition of +1 transverse deviation is obtained
(ii) a Respectively solve fornThe average volume equation of the grinding scar under the condition of +1 angular deviation is obtained
(ii) a Will be provided with
As a function of the ordinate, the position of the,
drawing a transverse offset acceleration factor discrete point diagram as an abscissa; will be provided with
As a function of the ordinate, the position of the,
drawing an angle offset acceleration factor discrete point diagram as an abscissa;
3-3, respectively fitting the transverse deviation acceleration factor discrete point diagram and the angle deviation acceleration factor discrete point diagram to obtain a transverse deviation target function
Angular offset of the objective function
；
、
Determining a transverse offset influence factor and an angle offset influence factor in the fitting;
in order to be offset in the lateral direction,
are angular offsets, which are independent variables of a function;
、
the maximum allowable transverse offset and the maximum allowable angle offset of the tested connector are respectively;
step four, establishing a grinding mark derivation function of the tested connector under the condition of lateral deviation acceleration
(ii) a Establishing a function of the grinding mark derivation of the tested connector under the angular deviation acceleration condition
(ii) a In the two function derived from the grinding mark,mis an independent variable and represents the plugging times;
to be composed of
Substitution of the argument into the laterally shifted objective function
A lateral offset acceleration factor obtained in time;
to be composed of
Substituting angle offset objective function as argument
Angular offset acceleration factor obtained from time to time;
step five, selecting the finally used acceleration condition and derivation function through fuzzy decision;
5-1, setting a factor setU= { lateral offset, angular offset }, evaluation setV= excellent, good, medium, poor;
5-2, establishing membership function of average volume of grinding marks
As shown in formula (3), it follows a normal distribution;
in the formula (3), the reaction mixture is,a 1 is a membership influence factor;
5-3. Subjecting the product obtained in the step 2-2nThe average volumes of +1 grinding marks are respectively substituted as independent variablesxSubstitution of equation (3) to obtain acceleration under lateral offsetn+1 membership degree size, willnThe +1 membership degrees are divided into four groups of 'excellent', 'good', 'middle' and 'poor' according to the numerical value from large to small; calculate thenThe ratio of the +1 membership degree to the "excellent", "good", "medium" and "poor" respectively
，
，
，
(ii) a Establishing a lateral offset membership matrix
；
5-4. Subjecting the product obtained in step 2-3nThe average volumes of +1 grinding marks are respectively substituted as independent variablesxSubstituting formula (3) to obtain angular offset under accelerationn+1 membership degree size, willnThe +1 membership degrees are divided into four groups of 'excellent', 'good', 'middle' and 'poor' according to the numerical value from large to small; calculate thenThe ratio of the +1 membership degree to the "excellent", "good", "medium" and "poor" respectively
，
，
，
(ii) a Establishing an angular offset membership matrix
；
5-5, establishing a factor distribution weight matrix of
(ii) a Calculating the lateral deviation comprehensive judgment characteristic value
(ii) a Calculating angle deviation comprehensive judgment characteristic value
(ii) a Wherein, the symbol "
"represents a fuzzy logic operator;
5-6, taking the condition that c corresponds to the maximum value in c' as the optimal acceleration condition; taking a grinding mark derivation function corresponding to the optimal acceleration condition as the most accurate derivation model; then, a wear-out derivation curve of the plug-in connector relative to the plugging times is obtained by using a derivation model.
2. The method for testing the abrasion derivation of the single pin of the robot electrical connector as claimed in claim 1, wherein:v 0 the method for acquiring the standard plugging speed comprises the following steps: the average value of the insertion speed is obtained when a worker inserts and withdraws the male end of the plug-in unit and the female end of the plug-in unit for 50 times under the standard working condition; the inserting speed is obtained by dividing the inserting travel by the inserting time; the plugging stroke is the male end of the connector and pluggingThe relative displacement of the female end of the element from contact to tight insertion;
the average value of the insertion force is obtained when a worker inserts and withdraws the male end of the plug-in unit and the female end of the plug-in unit for 50 times under the standard working condition; the detection method of the insertion force comprises the following steps: when the worker is plugged, one hand holds the male end of the connector and the other hand holds the pressure sensor; the pressure sensor is fixed at the female end of the connector; then carrying out splicing; the peak value detected by the pressure sensor in the plugging process is the plugging force.
3. The method for testing the abrasion derivation condition of the single pin of the robot electric connector according to claim 1, wherein: the process of the insertion and extraction test in steps 2-2 and 2-3 is as follows:
(1) Taking a pair of intact plug connectors;
(2) Repeatedly plugging and unplugging the male end and the female end of the plug connector under the test condition;
(3) Scanning the male end of the connector by a surface topography scanner to obtain a scanning picture of the male end of the connector; measuring the width, the length and the depth of each grinding mark on all the contact pins at the male end of the connector on a scanning picture of the male end of the connector; calculating the volume of each grinding mark through the width, the length and the depth; and averaging the volumes of the grinding marks to obtain the average volume of the grinding marks.
4. The method for testing the abrasion derivation condition of the single pin of the robot electric connector according to claim 1, wherein: the volume of the base wear of the plug-in connector represents the transverse offset of the test
The test angle offset is
The test plug speed is
After 50 times of insertion and extraction under the condition (1), the pin on the male end of the tested connector is ground to obtain the volume average value of each trace.
5. The method for testing the abrasion derivation of the single pin of the robot electrical connector as claimed in claim 1, wherein:
、
respectively taking 0.05mm and 1.5 degrees.
6. The method for testing the abrasion derivation condition of the single pin of the robot electric connector according to claim 1, wherein: in step 5-5
Respectively taking 0.5,0.3,0.1 and 0.1.
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