本文選題：氣缸摩擦力 + 振動(dòng)減摩�。� 參考：《哈爾濱工業(yè)大學(xué)》2017年博士論文

【摘要】：氣壓傳動(dòng)具有清潔度高、維護(hù)簡(jiǎn)單、成本較低、便于集中供氣和中遠(yuǎn)距離輸送等特點(diǎn),因此被廣泛應(yīng)用于食品、藥品加工、半導(dǎo)體與微電子制造業(yè),以及醫(yī)療輔助器械等領(lǐng)域�；钊綒飧字械膹椥韵鹉z圈在提供氣缸腔體間密封或與外界的密封的同時(shí)引入了不可避免的摩擦力,它是影響氣缸定位精度和傳遞穩(wěn)定性的最重要因素之一。振動(dòng)減摩,即作用于摩擦副表面的高頻振動(dòng)可以減小摩擦力的現(xiàn)象,引起了很多相關(guān)領(lǐng)域?qū)W者的重視。因此,將高頻振動(dòng)作用于氣缸摩擦副成為了一種全新的改善氣缸摩擦力特性的方法。本文首先分析了一般摩擦副的摩擦力模型,并對(duì)氣缸摩擦力模型進(jìn)行了比較與分析,然后對(duì)幾種不同方向振動(dòng)對(duì)彈性密封摩擦副之間摩擦力減小的特性進(jìn)行研究。得到通過振動(dòng)方式減小氣缸摩擦力的理論與實(shí)驗(yàn)基礎(chǔ)。當(dāng)振動(dòng)方向與摩擦副所在平面平行時(shí),高頻振動(dòng)的引入時(shí)刻在改變摩擦力的方向,因而通過計(jì)算可以得到摩擦力的平均值有明顯的減小。分別基于庫倫摩擦力模型及達(dá)爾摩擦力模型研究了振速-滑動(dòng)速度比對(duì)振動(dòng)摩擦系數(shù)的影響,探索更適用于描述氣缸在振動(dòng)條件下的摩擦力規(guī)律的物理模型。當(dāng)振動(dòng)方向垂直于摩擦副所在平面時(shí),摩擦力是通過減小實(shí)際接觸面積而降低的。通過理論分析得到,振幅這一參數(shù)對(duì)減摩幅度起到非常重要的作用,即振幅越大,摩擦力越小。通過對(duì)激振區(qū)域?yàn)闇p摩效果產(chǎn)生影響的理論計(jì)算得知,優(yōu)化被激振體的位置從而使得摩擦副間的平均振幅得到提高將有助于減摩效果的提升。這也對(duì)后續(xù)減摩氣缸的研制提供了理論依據(jù)。通過研究平面接觸的橡膠與鋁合金材料之間的振動(dòng)減摩效果初步證實(shí)了將振動(dòng)應(yīng)用于氣缸減摩的可行性。然后經(jīng)過等效后的密封圈與缸筒摩擦副之間的摩擦力特性進(jìn)一步論證了橡膠圈與缸筒材料間的接觸形式的振動(dòng)減摩適用性。在一個(gè)更加貼近于氣缸真實(shí)工作條件的摩擦力環(huán)境下,高頻振動(dòng)有效提高了整合了壓電疊堆的氣缸結(jié)構(gòu)的摩擦特性。通過實(shí)驗(yàn)研究了與振動(dòng)密切相關(guān)的一些主要參數(shù)對(duì)減摩的影響,以指導(dǎo)后續(xù)利用振動(dòng)方式減小氣缸摩擦力的研究。上述主要參數(shù)包括振動(dòng)下的法向壓力、振幅、振-滑速度比、激振區(qū)域等。驗(yàn)證了無論有、無振動(dòng),庫倫定律均適用于氣缸摩擦副,同時(shí),隨著振幅的增大,摩擦副間的靜摩擦力隨之減小,其數(shù)值最大可以減小為初始摩擦力的22.6%。在有潤滑劑存在時(shí),振動(dòng)減摩效應(yīng)依然存在,其減摩比例在50%左右。在對(duì)振速-滑動(dòng)速度比對(duì)振動(dòng)摩擦系數(shù)的影響的實(shí)驗(yàn)中發(fā)現(xiàn),通過基于達(dá)爾摩擦力模型計(jì)算出的結(jié)果是更適用于描述振動(dòng)條件下的摩擦力變化規(guī)律的。它考慮了摩擦副材料的剪切剛度及其在微觀條件下的滑前位移,因此更適用于描述氣缸中的摩擦力在振動(dòng)下的變化。在對(duì)橡膠材料與金屬平板之間摩擦力的研究中發(fā)現(xiàn),當(dāng)摩擦副處于振動(dòng)平板的平均振幅最大的位置上可以實(shí)現(xiàn)最佳的減摩效果,這為后續(xù)對(duì)減摩氣缸結(jié)構(gòu)的合理研制提供了依據(jù)�；趯�(duì)本研究中振動(dòng)條件下氣缸摩擦力及其影響因素的分析,提出了一種基于壓電疊堆的逆壓電效應(yīng)、可實(shí)現(xiàn)彎曲振動(dòng)與縱向振動(dòng)兩種模態(tài)的減摩氣缸。搭建了能夠完成對(duì)氣缸樣機(jī)進(jìn)行靜、動(dòng)摩擦力測(cè)試的摩擦力測(cè)試系統(tǒng)。通過分別測(cè)試兩種模態(tài)下氣缸的摩擦力變化情況來檢驗(yàn)氣缸在兩種振動(dòng)模態(tài)下的摩擦力特性。彎曲、縱向振動(dòng)模態(tài)下氣缸的靜摩擦力可以分別降低為原摩擦力的33%和52.6%左右。通過對(duì)氣缸在兩種模態(tài)下的動(dòng)摩擦力研究,并進(jìn)一步比較兩種條件下的減摩效果可以看出,具有振幅放大作用的彎振模態(tài)具有更好的減摩效果,在諧振頻率下其減摩比可以達(dá)到50%。當(dāng)工況條件下提高氣缸的工作壓力時(shí),減摩效果被削弱。在對(duì)振速與滑動(dòng)速度的比對(duì)振動(dòng)摩擦系數(shù)的影響的研究中發(fā)現(xiàn),工作于縱向振動(dòng)模態(tài)的減摩氣缸出現(xiàn)減摩效果的條件是振速與滑動(dòng)速度之比要大于1,即當(dāng)振幅與頻率一定時(shí),滑動(dòng)速度要低于某個(gè)臨界值。為了使減摩氣缸的體積更小、結(jié)構(gòu)更加簡(jiǎn)單、集成化程度更高,從而在一些特定應(yīng)用場(chǎng)合中有更大的應(yīng)用潛力,提出了一種可實(shí)現(xiàn)氣缸活塞桿密封處徑向振動(dòng)模態(tài)的減摩氣缸。利用直線電機(jī)輔助驅(qū)動(dòng)的的摩擦力實(shí)驗(yàn)臺(tái)完成對(duì)氣缸樣機(jī)的靜、動(dòng)摩擦力測(cè)試。通過實(shí)驗(yàn)測(cè)試的手段分析與驗(yàn)證振動(dòng)氣缸的減摩原理,在諧振頻率為144 k Hz左右的徑向振動(dòng)模態(tài)下,氣缸的靜摩擦力可以降低為原摩擦力的53.3%左右。在工況條件下提高氣缸的工作壓力時(shí),減摩效果被削弱,這也為該領(lǐng)域研究中氣體壓力對(duì)減摩氣缸的影響提供參考。在對(duì)低速動(dòng)摩擦力的研究中發(fā)現(xiàn),增大氣缸摩擦副處的振幅將使得其位移及動(dòng)摩擦力曲線更加光滑,從而使粘-滑現(xiàn)象消失,運(yùn)動(dòng)變得更加平穩(wěn)。這也進(jìn)一步表明了摩擦副間處于振動(dòng)狀態(tài)有利于提高氣缸低速運(yùn)動(dòng)時(shí)速度與力的穩(wěn)定性。這為后續(xù)開展通過振動(dòng)方式來減小氣缸摩擦力,提高氣缸低速運(yùn)動(dòng)穩(wěn)定性與定位精度的應(yīng)用研究提供基礎(chǔ)。
[Abstract]:Pneumatic transmission has the characteristics of high cleanliness, simple maintenance, low cost, easy to centralized gas supply and medium distance transportation, so it is widely used in the fields of food, drug processing, semiconductor and microelectronic manufacturing, and medical auxiliary instruments. The elastic rubber ring in piston cylinder is used to provide the seal of cylinder cavity or the density of the outside. The inevitable friction force is introduced at the same time. It is one of the most important factors that affect the positioning accuracy and transmission stability of the cylinder. Vibration reduction, that is, the high-frequency vibration of the surface of the friction pair can reduce the friction force, which has aroused the attention of many scholars in the related fields. Therefore, the high frequency vibration is applied to the cylinder friction pair. In order to improve the friction force characteristics of cylinder, this paper first analyzes the friction force model of the general friction pair, compares and analyzes the friction force model of the cylinder, and then studies the characteristics of the friction force decreasing between the different directions of vibration on the friction pairs of the elastic seal. When the vibration direction is parallel to the plane of the friction pair, the introduction time of the high frequency vibration is changed in the direction of the friction force, so the average value of the friction force can be obviously reduced by calculation. Based on the friction force model in Kulun and the Dahl friction force model, the velocity slip velocity ratio is studied respectively. The effect of the vibration friction coefficient is explored more suitable for describing the physical model of the friction law of the cylinder under the vibration condition. When the direction of the vibration is perpendicular to the plane of the friction pair, the friction force is reduced by reducing the actual contact area. The greater the amplitude, the smaller the friction force. Through the theoretical calculation of the effect of the excitation region on the effect of friction reduction, it is found that the optimization of the position of the excited vibrator and the increase of the average amplitude of the friction pair will help to improve the friction reduction effect. This also provides a theoretical basis for the development of the subsequent friction reducing cylinder. The vibration reduction effect between the contact rubber and the aluminum alloy material preliminarily confirms the feasibility of applying the vibration to the friction reduction of the cylinder. Then the applicability of the friction between the rubber ring and the cylinder cylinder material is further demonstrated by the frictional force characteristic between the equivalent seal ring and the cylinder cylinder friction pair. The applicability of the vibration reduction in the contact form between the rubber ring and the cylinder material is further demonstrated. High frequency vibration effectively improves the friction characteristics of the cylinder structure integrating the piezoelectric stack under the friction environment of the cylinder's actual working conditions. The effect of some main parameters closely related to the vibration on the friction reduction is investigated by experiments to guide the subsequent use of vibration mode to reduce the friction force of the cylinder. The dynamic pressure, amplitude, the ratio of vibration and sliding velocity, the excitation region, etc., verify that no matter, no vibration, the Kulun law is applicable to the cylinder friction pair. At the same time, as the amplitude increases, the static friction between the friction pairs decreases, and the maximum value can be reduced to the initial friction force of 22.6%. in the presence of lubricants, vibration reduction effect. It still exists, the friction reduction ratio is about 50%. In the experiment on the effect of the velocity to sliding velocity ratio on the vibration friction coefficient, it is found that the results calculated by the Dahl friction force model are more suitable for describing the law of the friction force change under the vibration condition. It takes into account the shear stiffness of the friction material and its micro conditions. The sliding front displacement is more suitable for describing the change of the friction force in the cylinder. In the study of the friction between the rubber material and the metal plate, it is found that the best friction reduction effect can be achieved when the friction pair is at the maximum average amplitude of the vibrating plate, which is the reasonable development of the subsequent anti friction cylinder structure. Based on the analysis of the friction force of cylinder and its influencing factors under the vibration condition in this study, a kind of anti piezoelectric effect based on piezoelectric stack is proposed, which can realize two modes of friction reducing cylinder with bending vibration and longitudinal vibration. A friction force testing system can be built to test the static and dynamic friction force of the cylinder prototype. The friction force characteristics under the two modes of cylinder are tested by testing the friction force changes of the cylinder in two modes. The static friction force of the cylinder can be reduced to 33% and 52.6% of the original friction force respectively under the bending and longitudinal vibration modes. The dynamic friction force of the cylinder in two modes is studied and compared further. The anti friction effect of the two conditions can be seen that the bending vibration mode with amplitude amplification has better friction reduction effect. Under the resonant frequency, the antifriction effect can be reduced when the working pressure of the cylinder is raised under the working condition of 50%.. The study on the effect of the ratio of vibration friction coefficient to the vibration velocity and the sliding velocity has been studied. It is found that the friction reducing effect of the friction reducing cylinder working in the longitudinal vibration mode is more than 1, that is, the sliding velocity is lower than a certain critical value when the amplitude and the frequency are fixed. In order to make the cylinder smaller, the structure is simpler and the integration degree is higher, and in some specific applications. With greater application potential, a friction reducing cylinder which can realize the radial vibration mode of cylinder piston rod seal is put forward. The static and dynamic friction force test of the cylinder prototype is completed by the friction force test bench driven by the linear motor. The friction reducing principle of the cylinder is analyzed and verified by the means of experimental test. The resonant frequency is at the resonant frequency. Under the radial vibration mode of 144 K Hz, the static friction force of the cylinder can be reduced to about 53.3% of the original friction force. When the working pressure of the cylinder is raised under working conditions, the friction reduction effect is weakened. This also provides a reference for the effect of gas pressure on the friction reducing cylinder in this field. The amplitude of the cylinder friction supplement will make the displacement and the dynamic friction curve more smooth, so that the stick slip phenomenon is disappearing and the motion becomes more stable. This further indicates that the vibration state between the friction pairs is helpful to improve the stability of the velocity and force when the cylinder is moving at low speed. This will reduce the cylinder by the vibration mode. Friction provides the basis for improving the stability and positioning accuracy of cylinders at low speed.

【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級(jí)別】：博士
【學(xué)位授予年份】：2017
【分類號(hào)】：TH138.51

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