本文選題：雙輪銑槽機　切入點：短纖維增強橡膠　出處：《武漢大學》2014年博士論文　論文類型：學位論文

【摘要】：雙輪銑槽機是專用防滲連續(xù)墻施工設備,國內(nèi)地下工程的高速發(fā)展導致該設備市場需求日趨旺盛,然而,我國目前尚不具備研制和生產(chǎn)具有自主知識產(chǎn)權的同類型產(chǎn)品的能力,因此,其國產(chǎn)化研制已成為亟需解決的重要問題。 銑輪系統(tǒng)是雙輪銑槽機設計難度最大的核心系統(tǒng)之一。設備成槽尺寸限制了系統(tǒng)的設計空間,導致其傳動系統(tǒng)無法直接承受巖土銑削作業(yè)時產(chǎn)生的重載、隨機和沖擊的外部激勵,因而需在刀具和傳動系統(tǒng)之間設置減振環(huán)節(jié),形成了一條巖土→刀具→減振→傳動→驅動的載荷傳遞路線。其中,減振系統(tǒng)和傳動系統(tǒng)是該載荷傳遞路線中兩個極其重要的子系統(tǒng),其動態(tài)特性直接影響著銑輪系統(tǒng)銑削功能的實現(xiàn)以及整機運行的可靠性、穩(wěn)定性和壽命,研究并改善減振系統(tǒng)和傳動系統(tǒng)的動力學特性是實現(xiàn)雙輪銑槽機國產(chǎn)化研制所必須解決的兩個關鍵問題。 本文結合理論建模、數(shù)值分析和物理實驗,對雙輪銑槽機工作裝置銑輪系統(tǒng)的動力學特性,包括橡膠減振系統(tǒng)減振與隔沖特性,以及多級行星齒輪傳動系統(tǒng)動態(tài)特性和均載特性,進行了較為深入的研究,從而為雙輪銑槽機國產(chǎn)化研制和銑輪系統(tǒng)動力學特性改善提供了理論依據(jù)和技術支持。論文主要研究內(nèi)容與成果如下： 1.針對銑輪橡膠減振系統(tǒng)的兩種減振材料,即各向同性天然橡膠(NR60)和各向異性短纖維增強橡膠(FR75),研究了NR60材料靜態(tài)和動態(tài)力學性能的計算方法,在此基礎上,通過在超彈性和彈塑性模型中加以表征纖維方向的單元,建立了FR75材料的各向異性超彈性—粘彈性—彈塑性一維疊加力學模型；通過擬合材料靜態(tài)和動態(tài)力學實驗數(shù)據(jù),完成了兩種橡膠材料模型的參數(shù)辨識,驗證了所建模型的正確性,為銑輪減振系統(tǒng)在實際工況下的減振和隔沖性能分析提供了材料參數(shù)。 2.規(guī)劃了銑輪橡膠減振系統(tǒng)的動態(tài)設計流程,按此流程,分析了系統(tǒng)銑削作業(yè)時的外部激勵,綜合考慮成槽尺寸和傳動系統(tǒng)設計空間等約束條件,依次確定了銑輪橡膠減振系統(tǒng)的設計要求,結構形式及其尺寸邊界條件,建立了系統(tǒng)的有限元模型,實現(xiàn)了橡膠材料各向異性及其疊加力學性能的材料屬性配置,對系統(tǒng)的動態(tài)響應進行了求解和分析。結果表明,NR60和FR75材料均能滿足系統(tǒng)的減振性能需求,但針對銑輪系統(tǒng)的重載銑削工況,FR75材料在強度方面具有明顯優(yōu)勢,因此更適合作為系統(tǒng)的減振材料；隨著截面橡膠厚度的增大,系統(tǒng)周向隔振系數(shù)減小,沖擊衰減時間增長,經(jīng)比較,橡膠厚度為15mm時系統(tǒng)的綜合性能最佳；通過增加系統(tǒng)軸向內(nèi)外圈殼體間的橡膠厚度,有效改善了系統(tǒng)橡膠材料的受力狀態(tài)。最終完成了系統(tǒng)的動態(tài)設計,并應用于銑輪系統(tǒng)樣機制造中,實踐證明,該設計能夠滿足系統(tǒng)減振和傳遞扭矩的要求。 3.通過分析銑輪傳動系統(tǒng)的設計要求和約束條件,確定了系統(tǒng)的傳動方案；采用集中質量法,建立了銑輪兩級行星齒輪傳動系統(tǒng)包含級間耦合剛度、時變嚙合剛度、嚙合誤差以及齒側間隙的純扭轉非線性動力學模型,并運用第二類Lagrange方程推導了對應的系統(tǒng)運動微分方程。此動力學模型和運動微分方程適用于任意級數(shù)、任意行星輪個數(shù)以及任意功率流形式的多級行星齒輪傳動系統(tǒng),為考察銑輪傳動系統(tǒng)非線性動態(tài)特性提供了理論模型。 4.基于銑輪兩級行星齒輪傳動系統(tǒng)純扭轉動力學模型,采用Gill積分法對系統(tǒng)的非線性動態(tài)響應進行了求解；結合全局分岔圖,分析了激勵頻率、嚙合阻尼比以及齒側間隙對系統(tǒng)分岔與混沌特性的影響,探索了系統(tǒng)進入混沌運動的途徑。結果表明,系統(tǒng)處于混沌運動狀態(tài)時,構件的振動響應幅值遠大于系統(tǒng)處于穩(wěn)定周期運動狀態(tài)時的響應幅值；從抑制混沌的角度出發(fā),系統(tǒng)的輸入轉速應避開255r/min~310r/min,380r/min~390r/min和570r/min~615r/min范圍；隨著嚙合阻尼比的增大,系統(tǒng)非周期運動范圍及其動態(tài)響應幅值呈減小趨勢；減小齒側間隙,有利于改善系統(tǒng)的動態(tài)特性。 5.在銑輪兩級行星齒輪傳動系統(tǒng)純扭轉動力學模型的基礎上,通過附加考慮系統(tǒng)各中心構件的橫向振動位移,建立了系統(tǒng)平移—扭轉耦合動力學模型,基于此模型,對系統(tǒng)的動力學均載系數(shù)進行了數(shù)值求解與分析。結果表明,增大負載和浮動一個或多個中心構件可改善系統(tǒng)均載性能,對于銑輪傳動系統(tǒng),同時浮動太陽輪和行星架時系統(tǒng)的均載性能最好；在滿足靜態(tài)強度條件時,減少行星輪個數(shù)有利于提升系統(tǒng)的均載性能；相比于裝配誤差和齒厚偏差,構件的加工誤差對系統(tǒng)均載性能影響最大。以上結論在系統(tǒng)樣機研制中得到了良好驗證,有效改善了銑輪傳動系統(tǒng)的均載性能和承載能力。
[Abstract]:The slotting machine is a special construction equipment of continuous wall seepage, the domestic high-speed development of underground engineering in the equipment market needs more and more, however, China currently does not have the ability, development and production of the same type of products with independent intellectual property rights, therefore, the domestic research has become an important problem to be solved urgently.
Milling wheel system is one of the slotting machine design difficulty. Maximum core system equipment slot size limits the system design space, resulting in the transmission system can not bear rock milling operations directly overloading, and the impact of random external excitation, and therefore need to set the vibration between the tool and the link in the transmission system, the formation of a transmission line load of rock and soil, and to drive to drive the tool vibration. The vibration control system and transmission system is the transmission of the two important subsystems in the load line, its dynamic characteristics directly affect the milling gear milling function and the reliability of machine operation, stability and life dynamics and improve the damping system and transmission system are the two key problems to realize the localization of double wheel groove milling machine developed to solve.
This paper combines the theory analysis and numerical modeling, physical experiment, dynamic characteristics of wheel groove milling machine milling device of wheel system, including rubber vibration isolation and damping characteristics of punching and multi-stage planetary gear transmission system, dynamic characteristics and load characteristics are studied, which provides theoretical basis and technical support for the dynamic characteristics of wheel groove milling machine developed domestically and milling wheel system improvement. The main research contents and results are as follows:
Two kinds of materials for milling wheel rubber vibration system of 1. vibration, isotropic natural rubber (NR60) and anisotropy of short fiber reinforced rubber (FR75), the calculation method of static and dynamic mechanical properties of NR60 materials, on the basis of this, through to characterization of fiber orientation in the super elastic and elastoplastic model of unit, established FR75 anisotropic hyperelastic viscoelastic elastoplastic mechanics model by fitting the superposition of one-dimensional materials; static and dynamic experimental data, complete the parameter identification of two kinds of rubber material model, validated the model, for the milling wheel vibration damping in the actual working conditions and the shock isolation performance analysis provides material parameters.
2. planning dynamic design process of milling wheel rubber damping system. In this process, the paper analyzes the external incentive system for milling operation, considering the slot size and transmission system design space constraints, in order to determine the design requirements of milling wheel rubber damping system, structure and size of boundary conditions, established the finite element the model of the system, the material properties of rubber material configuration anisotropy and superposition mechanical properties, solution and analysis the dynamic response of the system. The results show that the NR60 and FR75 materials can meet the demand of performance of vibration reduction system, but the conditions for heavy milling milling wheel system, the FR75 material has obvious advantages in strength therefore, more suitable for damping material system; with the increase of the thickness of the rubber section, system circumferential isolation coefficient decreases, the impact of the decay time of growth, by comparison, thick rubber For the comprehensive performance of 15mm system when the best; by increasing the thickness of rubber outer ring axial shell, effectively improve the stress state of the system of rubber materials. The final completion of the dynamic design of the system, and applied to the milling wheel system prototype, practice has proved that the design can meet the system vibration and torque the requirements.
3. through the design requirements analysis of milling wheel transmission system and constraint conditions, determine the transmission scheme of the system; using the lumped mass method, a milling wheel two stage planetary gear system includes coupling stiffness, time-varying meshing stiffness meshing error and pure torsion backlash to nonlinear dynamic model, and the use of second types of Lagrange equation deduced the differential equations of motion of the corresponding differential equations. The dynamics model and motion for arbitrary series multistage planetary gear transmission system flow form any number of planetary gear and arbitrary power, provides a theoretical model for the study of nonlinear dynamic characteristics of milling wheel drive system.
Based on the 4. round of the two stage planetary gear milling system pure torsional dynamic model, the nonlinear dynamic response was solved by Gill integral method; combined with the global bifurcation graph, analyzes the influence of excitation frequency, damping ratio and meshing backlash of bifurcation and chaos, explore the route leading to chaotic motion. The results show that the system is in chaos state, the amplitude is far higher than the system in response amplitude stable periodic motion response of the vibration component; from the point of view of suppressing chaos angle, input speed of the system should avoid 255r/min~310r/min, 380r/min~390r/min and 570r/min~615r/min; with the meshing damping ratio increases, the amplitude of non periodic responses decreased range of motion and the dynamic system; reduce tooth side clearance, to improve the dynamic characteristics of the system.
In the 5. round of the two stage planetary gear milling system of pure torsion based on a kinetic model, through the additional consideration of transverse vibration displacement of the center of the system components, a coupling dynamics model of reverse translation system, based on this model, the system dynamic load sharing coefficient was solved with numerical analysis. The results show that the increase of load and floating one or more central component can improve system load performance for milling wheel transmission system, while the floating sun gear and the planetary gear system are set in the best performance; meet the static strength conditions, load sharing properties to reduce the number of star wheel is conducive to enhancing the system; compared to the assembly error and tooth thickness deviation of machining error component on system load sharing characteristics of the greatest influence. In the above conclusion system prototype has been verified, can effectively improve the milling wheel driving system of load performance and bearing Ability.

【學位授予單位】：武漢大學
【學位級別】：博士
【學位授予年份】：2014
【分類號】：TU69

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