含润滑间隙和曲轴转子-轴承结构的平面柔性多连杆机构多体动力学建模与动态误差分析

doi:10.3901/JME.2020.03.106

机械工程学报 ›› 2020, Vol. 56 ›› Issue (3): 106-120.doi: 10.3901/JME.2020.03.106

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含润滑间隙和曲轴转子-轴承结构的平面柔性多连杆机构多体动力学建模与动态误差分析

郑恩来¹, 储磊¹, 蒋书运², 朱松青³, 康敏¹, 史金飞³

1. 南京农业大学工学院南京 210031;
2. 东南大学机械工程学院南京 211189;
3. 南京工程学院机械工程学院南京 211167

收稿日期:2019-03-11 修回日期:2019-09-18 出版日期:2020-02-05 发布日期:2020-04-09
通讯作者: 康敏(通信作者),男,1965年出生,博士,教授,博士研究生导师。主要研究方向为复杂机电系统动力学与智能控制。E-mail:kangmin@njau.edu.cn
作者简介:郑恩来,男,1986年出生,博士,副教授,硕士研究生导师。主要研究方向为多体系统动力学与振动控制。E-mail:enlaizheng@njau.edu.cn
基金资助:
国家自然科学基金（51405238），中央高校基本科研业务费重大专项（KYTZ201603）资助项目。

Multi-body Dynamic Modeling and Error Analysis of Planar Flexible Multi-link Mechanism with Lubricated Revolute Clearance Joints and Crankshaft-bearing Structure

ZHENG Enlai¹, CHU Lei¹, JIANG Shuyun², ZHU Songqing³, KANG Min¹, SHI Jinfei³

1. College of Engineering, Nanjing Agricultural University, Nanjing 210031;
2. School of Mechanical Engineering, Southeast University, Nanjing 211189;
3. School of Mechanical Engineering, Nanjing Institute of Technology, Nanjing 211167

Received:2019-03-11 Revised:2019-09-18 Online:2020-02-05 Published:2020-04-09

摘要/Abstract

摘要： 为预测多连杆高速精密压力机的动态精度，有必要建立多连杆机构的动力学模型。传统模型仅考虑间隙和构件柔性等因素，通常忽略了曲轴转子-轴承系统结构的影响，导致多连杆高速精密压力机的动态分析精度下降。本文提出了一种含润滑间隙和曲轴转子-轴承结构平面柔性多连杆机构多体动力学建模与仿真方法并构建了滑块与曲轴两者之间的动态尺寸链，该方法同时考虑了间隙，连杆和曲轴的柔性以及轴承的刚度等因素。仿真结果表明，在空载和冲裁两种工况下，基于含润滑间隙和曲轴转子-轴承结构平面柔性多连杆机构多体动力学模型的动态响应比传统模型更接近实验结果，验证了所提出方法的有效性。实验结果表明，在空载工况下，滑块在下死点位置存在剧烈加速度波动，而冲裁工况下，滑块在下死点位置产生冲击峰。曲轴转子-轴承结构的存在加剧了滑块位移偏离误差，润滑油的存在对整个机构起到了缓冲作用，但并不能显著提高滑块的运动精度。下滑块与连杆之间运动副间隙处润滑油膜不足以抵消运动副元素之间的碰撞和冲击，导致润滑油膜在运行过程中破裂，销轴与轴承衬套之间只存在一种永久接触状态。此外，研究了间隙尺寸、打击力以及轴承的接触角对机构动态误差的影响规律。

关键词: 多连杆机构, 间隙, 润滑, 柔性, 多体动力学

Abstract: To predict the dynamic precision of multilink high-speed precision presses (MLHSPPs), it is essential to develop a dynamic model of the multilink mechanism (MLM). Previous models only considered the effect of the clearance, flexible linkages and crank shaft, and often neglected the effect of supporting bearings' stiffness on the crankshaft system, which lowers the dynamic analysis accuracy of the MLM for MLHSPPs. In this work, a computational methodology for modeling and simulation of planar flexible MLM with lubricated clearance joints and spindle-bearing structure is proposed considering the effect of clearance, flexibility of crankshaft and linkage, and bearing stiffness together, and its corresponding dynamic dimension chain between the slider and crankshaft is constructed. It is demonstrated that the simulated dynamic responses from the flexible model with lubricated clearance joints and spindle-bearing structure under no-load and blanking conditions agree better with the experimental data than those from traditional ones, and the effectiveness of the proposed methodology is verified. The measured results show that the acceleration of slider under no-load condition has severe fluctuations at the position of bottom dead center, while that under blanking condition produces a shock peak. The existence of crankshaft-bearing structure aggravates the displacement deviation of slider. The lubricating oil acted as a cushion for MLM, but it cannot improve the motion accuracy of slider. The lubricating oil film in the revolute clearance joint between slider and linkage is insufficient to counteract the impact between bushing and pin, which causes the rupture of lubricating film during operation. The motion of the pin center for revolute joint between lower slider and link was characterized by only one permanent contact state. Furthermore, the effect of the clearance size, the blanking force and the contact angle of the bearing on the dynamic deviation errors are also investigated.

Key words: multilink mechanism, clearance, lubrication, flexibility, multibody dynamic

中图分类号:

TH113

郑恩来, 储磊, 蒋书运, 朱松青, 康敏, 史金飞. 含润滑间隙和曲轴转子-轴承结构的平面柔性多连杆机构多体动力学建模与动态误差分析[J]. 机械工程学报, 2020, 56(3): 106-120.

ZHENG Enlai, CHU Lei, JIANG Shuyun, ZHU Songqing, KANG Min, SHI Jinfei. Multi-body Dynamic Modeling and Error Analysis of Planar Flexible Multi-link Mechanism with Lubricated Revolute Clearance Joints and Crankshaft-bearing Structure[J]. Journal of Mechanical Engineering, 2020, 56(3): 106-120.

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含润滑间隙和曲轴转子-轴承结构的平面柔性多连杆机构多体动力学建模与动态误差分析

Multi-body Dynamic Modeling and Error Analysis of Planar Flexible Multi-link Mechanism with Lubricated Revolute Clearance Joints and Crankshaft-bearing Structure

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