CN117606773A - Device and method for testing contact stiffness and damping of lubrication joint surface under complex load - Google Patents
Device and method for testing contact stiffness and damping of lubrication joint surface under complex load Download PDFInfo
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- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
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Abstract
The invention discloses a device for testing contact stiffness and damping of a lubrication joint surface under complex load, which comprises an excitation structure, a high-precision linear motion assembly, a test piece assembly and a bevel gear transmission mechanism, wherein the excitation structure is arranged on the lubrication joint surface; the high-precision linear motion assembly is arranged on the bottom plate of the box body; the normal static and dynamic power assembly is connected to the top of the box body in a penetrating way and is perpendicular to the high-precision linear motion assembly; the bevel gear transmission mechanism and the test piece assembly are arranged between the high-precision linear motion assembly and the normal static dynamic power assembly. According to the method, a rotating torque loading screw rod and a normal/tangential vibration exciter are used for applying normal/tangential static and dynamic external loads to a mixed lubrication joint surface, a servo motor is used for driving a workbench indirectly connected with a screw nut to enable an upper test piece and a lower test piece to generate relative motion, and a bevel gear transmission mechanism enables the lower test piece and the upper test piece to generate relative rotation motion; the static and dynamic contact characteristic parameters of the mixed lubrication joint surface are obtained more accurately and reliably, and theoretical and experimental foundations are provided for optimizing the dynamic performance of the sliding guide rail of the machine tool.
Description
Technical Field
The invention belongs to the technical field of dynamic characteristic testing of a precision feeding system of a machine tool, and particularly relates to a device for testing contact stiffness and damping of a lubrication joint surface under a complex load, and a method for testing contact stiffness and damping of the lubrication joint surface under the complex load.
Background
There are a large number of mechanical interfaces in machine tool equipment. Such as: the combination surface of the machine tool structure, the combination surface of the machine frame and the machine base, the combination surface of the sliding guide rail, the combination surface of the rolling guide rail and the roller-track combination surface of the rolling guide rail, etc. It is particularly notable that the contact stiffness and damping characteristics of the joint surface of the sliding guide rail have a significant influence on the machining accuracy of the machine tool equipment during the machining of the parts. In order to reveal the rule and mechanism of influence of the sliding guide rail combination on the vibration characteristics of the machine tool, an experimental platform for testing the contact rigidity and damping of the sliding guide rail combination surface on a unit area is invented. Thereby realizing the accurate test of the contact rigidity and damping characteristic parameters of the mixed lubrication combination surface of the sliding guide rail.
Most of the existing mechanical joint surface contact parameter test experimental devices are fixed joint surface contact characteristic parameter test devices without lubricating medium or joint surface contact characteristic test devices under the action of static load. Regarding the device for testing the contact characteristics of the joint surface under the action of dynamic load, the device is only used for testing the contact characteristics of the mechanical joint surface under the working condition of vertical load at present, and the experimental devices cannot be used for testing the dynamic characteristics of the mixed lubrication joint surface with macroscopic relative movement under the action of complex load. However, the combined lubrication interface formed by the sliding guide rails during actual operation of the machine tool is usually subjected to complex load actions (such as coupling actions of static and dynamic loads such as normal, tangential, bending and torsion). Therefore, in order to reveal the influence of complex load on the contact characteristic parameters of the mixed lubrication joint surface, a contact characteristic experiment platform for testing the mixed lubrication joint surface under the action of complex load is developed. Based on the experimental platform, the contact stiffness and damping parameters of the mixed lubrication joint surface under different load working conditions can be obtained, and factors such as complex external load, lubricating medium characteristics, contact surface characteristic parameters and the like can be evaluated, so that the influence rules of normal and tangential contact stiffness and damping of the sliding guide rail in unit area can be evaluated.
Disclosure of Invention
The invention aims to provide a device for testing the contact stiffness and damping of a lubrication joint surface under a complex load, and solves the problem that the conventional contact characteristic testing device cannot be used for testing the dynamic characteristic of a mixed lubrication joint surface with macroscopic relative movement under the action of the complex load.
The invention also aims to provide a method for testing the contact stiffness and damping of the lubrication joint surface under complex load.
The first technical scheme adopted by the invention is as follows: the device for testing the contact stiffness and damping of the lubrication joint surface under the complex load comprises an excitation structure, a high-precision linear motion assembly, a test piece assembly and a bevel gear transmission mechanism; the high-precision linear motion assembly is fixedly arranged on the bottom plate of the box body; the normal static and dynamic power assembly is connected to the top of the box body in a penetrating way and is perpendicular to a workbench connected with the high-precision linear motion assembly; installing a bevel gear transmission mechanism and a test piece assembly between the high-precision linear motion assembly and the normal static dynamic power assembly, and enabling the inside of the upper test piece and the lower test piece to form a relative motion joint surface by applying load; the tangential static and dynamic force application component applies acting force in the tangential direction of the upper test piece and the lower test piece to generate static and dynamic force in the tangential direction, and the normal direction and the tangential load act together to enable the mixed lubrication joint surface formed between the upper test piece and the lower test piece to generate relative vibration under the action of complex load.
The present invention is also characterized in that,
the high-precision linear motion assembly comprises an alternating current servo motor b, and the alternating current servo motor b is fixed on a motor support b; the motor shaft of the alternating current servo motor b is parallel to the horizontal plane of the bottom plate of the box body; an output shaft of the alternating current servo motor b is connected with a ball screw through a coupler b, a ball screw supporting seat arranged at the tail end of the ball screw is fixedly arranged on the upper surface of a box bottom plate, a linear guide rail is arranged on the box bottom plate, and the linear guide rail is positioned on two sides of the ball screw on the upper surface of the box bottom plate; the linear guide rail is connected with a sliding block in a matched manner, the sliding block is fixedly connected with the workbench, and the linear guide rail and the sliding block play a limiting role on the horizontal forward and backward movement of the workbench; a grating ruler for measuring the displacement of the workbench is fixed on the bottom plate of the box body;
the workbench is connected with the ball screw through a nut bushing and a screw nut; when the alternating current servo motor b drives the ball screw to rotate through the coupler b, the workbench and the nut bushing do not rotate, the screw nut moves back and forth relative to the ball screw, and then the workbench is driven to horizontally move, so that the relative movement of the mixed lubrication joint surfaces of the upper test piece and the lower test piece is realized.
The bevel gear transmission mechanism comprises an alternating current servo motor support a arranged on the upper surface of the workbench, an alternating current servo motor a is fixedly arranged on the alternating current servo motor support a, and an output shaft of the alternating current servo motor a is connected with a bevel pinion main shaft through a coupler a; the alternating current servo motor support a and the bearing seat are fixedly arranged on the surface of the workbench, so that the installation of the small bevel gear main shaft along a plane perpendicular to the large bevel gear main shaft in the middle of the workbench is ensured; a deep groove ball bearing and a key are arranged on the bevel pinion main shaft; the bevel pinion is connected with the bevel pinion spindle through keys, so that circumferential fixation between the shaft and the gear is realized, and motion and torque are transmitted.
The upper surface of the workbench is provided with a lower test piece fixing frame, a large bevel gear main shaft is just opposite to the high-precision linear motion assembly, and main components on the large bevel gear main shaft are a tapered roller bearing, a large bevel gear, a thrust ball bearing a and a lower test piece; the large bevel gear, the lower test piece and the large bevel gear main shaft are in key connection, the thrust ball bearing a and the tapered roller bearing are respectively arranged on the inner side and the outer side of the lower test piece fixing frame, and the lower test piece is connected with the thrust ball bearing; the alternating current servo motor b drives the small bevel gear main shaft to rotate through the coupler b, the bevel gear is meshed and driven to enable the large bevel gear main shaft to rotate, and the large bevel gear main shaft is transmitted to the lower test piece through the thrust ball bearing to drive the lower test piece to rotate; the steering and rotating speed of the lower test piece can be changed by controlling the alternating current servo motor b, so that relative rotation movement occurs between the lower test piece and the upper test piece joint surface.
The normal static and dynamic force application component and the static and dynamic force application component comprise a loading screw rod and a moment loading screw rod which are connected with the upper surface of the box body in a penetrating way and are perpendicular to the position of the high-precision linear motion component, the loading screw rod is connected with the threaded sleeve through threads, the bottom of the loading screw rod is connected with a thrust ball bearing c, the bottom of the thrust ball bearing c is connected with a normal positioning block, and the bottom of the normal positioning block is sequentially connected with a dynamic force sensor, a sensor axial gear block and a static force sensor; the loading screw rod moves downwards relative to the threaded sleeve and can apply normal static force to the test piece assembly; the dynamic force sensor is connected to the upper surface of the upper test piece; the loading screw, the thrust ball bearing c, the normal positioning block, the static force sensor, the axial gear block of the sensor and the dynamic force sensor are coaxially connected with the excitation structure;
the torque loading screw is connected with the threaded sleeve through threads, the bottom of the torque loading screw is connected with the top end of the thrust ball bearing b, the bottom end of the thrust ball bearing b is connected with the torque loading axial positioning block, and the bottom of the torque loading axial positioning block is connected with the static force sensor;
the static force sensor is used for detecting the magnitude of the static force applied to the upper test piece; the dynamic force sensor is used for detecting the magnitude of dynamic force applied to the upper test piece;
the normal positioning block enables the thrust ball bearing a and the axis of the static force sensor to be positioned at the same axis; the axial gear block of the sensor ensures that the axes of the static force sensor and the dynamic force sensor are positioned at the same axis, and ensures that the loading force is uniformly applied to the upper surface of the upper test piece after sequentially passing through the thrust ball bearing a, the normal positioning block, the static force sensor, the axial gear block of the sensor and the dynamic force sensor.
The excitation structure comprises a normal vibration exciter and a tangential vibration exciter which are arranged on the upper part and the side surface of the box body, wherein the normal vibration exciter is connected with a normal excitation rod, and the tangential vibration exciter is connected with the tangential excitation rod; the normal exciting rod sequentially passes through the moment loading screw rod, the thrust ball bearing b, the normal positioning block, the static force sensor, the sensor axial gear block and the dynamic force sensor to be connected to a threaded hole at the top of the upper test piece, and applies normal dynamic force to the upper part of the upper test piece; the tangential excitation rod is in direct contact with the side surface of the upper test piece, and tangential excitation force is applied to the upper test piece through the tangential excitation rod.
The test piece assembly comprises an upper test piece and a lower test piece which are in contact connection with the upper surface and the lower surface; the upper test piece is connected with an eddy current displacement sensor and a triaxial acceleration sensor, and the triaxial acceleration sensor is used for measuring acceleration generated when the upper test piece moves relatively; the vortex displacement sensor can monitor the relative dynamic displacement of the upper test piece and the lower test piece in real time under the action of normal/tangential load; the lower test piece is connected with the high-precision linear motion assembly and the bevel gear transmission mechanism, and a mixed lubrication joint surface is formed between the lower surface of the upper test piece and the upper surface of the lower test piece.
The influence of static and dynamic external load on the normal and tangential contact rigidity and damping characteristic parameters of the joint surface can be measured by applying normal, tangential, bending and torsion and coupling loads to the mixed lubrication joint surface formed by the upper and lower test pieces; different types of lubricating liquid are added between the joint surfaces, and the influence rule of the characteristics of the lubricating liquid on the contact stiffness damping performance of the lubricating liquid can be measured.
According to the second technical scheme, the method for testing the contact stiffness and damping of the lubrication joint surface under complex load is characterized in that a normal/tangential static and dynamic external load is applied to the mixed lubrication joint surface through a rotary loading screw rod and a normal/tangential vibration exciter, a servo motor drives a workbench indirectly connected with a screw nut to enable an upper test piece and a lower test piece to generate relative sliding motion, and a bevel gear transmission mechanism is driven by the servo motor to enable the lower test piece and the upper test piece to generate relative rotation motion; the displacement deformation generated by the joint surface is measured and obtained by a high-precision non-contact vortex displacement sensor, a static pressure sensor is adopted to monitor the normal load in real time, the normal displacement response of the joint surface is measured by the vortex displacement sensor arranged on the upper test piece, and the normal contact stiffness of the joint surface can be obtained by deriving the normal load from the displacement; the method comprises the following steps:
(1) testing normal static contact stiffness of a mixed lubrication joint surface: the normal vibration exciter is rotated, so that normal static force generated by the normal vibration exciter is transmitted to a joint surface through a thrust ball bearing b and a static pressure sensor, displacement deformation generated by the joint surface is obtained by measuring a high-precision non-contact vortex displacement sensor, the static pressure sensor is adopted to monitor normal load in real time, the normal displacement response of the joint surface is measured through the vortex displacement sensor arranged on an upper test piece, and the normal contact stiffness of the normal load can be obtained by deriving the normal load from the displacement.
(2) And (3) testing normal dynamic contact stiffness and damping of the mixed lubrication joint surface: the normal vibration exciter generates normal dynamic force, the value of the normal dynamic force is measured by the dynamic force sensor, the generated dynamic deformation is obtained by monitoring the eddy current displacement sensor in real time, and the triaxial acceleration sensor can measure the acceleration of the dynamic deformation. And transmitting the acquired data to an m+p vibration and dynamic signal acquisition and analysis system through a power amplifier for processing, feeding the acquired signals back to the m+p vibration and dynamic signal acquisition and analysis system through a charge amplifier, recording and outputting the acquired data by the m+p vibration and dynamic signal acquisition and analysis system, and processing and analyzing the acquired data to obtain the contact rigidity and damping of the mixed lubrication joint surface under the normal dynamic load.
(3) Testing tangential static contact stiffness of a mixed lubrication joint surface: tangential displacement response of the mixed lubrication joint surface is measured by adopting an eddy current displacement sensor through rotating the tangential vibration exciter, tangential displacement deformation generated by tangential load is derived, and tangential contact stiffness of the tangential vibration exciter can be obtained.
(4) And (3) tangential dynamic contact stiffness and damping test of the mixed lubrication joint surface: the tangential vibration exciter generates tangential dynamic force, the dynamic force sensor measures the dynamic force, the dynamic deformation is obtained by monitoring the eddy current displacement sensor in real time, and the triaxial acceleration sensor can measure the acceleration of the dynamic deformation. And the acquired data are transmitted to an m+p vibration and dynamic signal acquisition and analysis system through a power amplifier for processing, the acquired signals are fed back to the m+p vibration and dynamic signal acquisition and analysis system through a charge amplifier, the m+p vibration and dynamic signal acquisition and analysis system records and outputs the acquired data, and the acquired data are processed and analyzed so as to obtain the contact rigidity and damping of the mixed lubrication joint surface under the action of tangential dynamic load.
The present invention is also characterized in that,
the method for testing the contact stiffness and damping of the lubrication joint surface under the complex load comprises the following specific operation steps:
taking the normal dynamic force acting on the mixed lubrication contact surface as an example, the normal dynamic force is sinusoidal exciting force F nd ＝F nm cos (ωt), its physical model can be built as:
F n ＝F ns +F nd ＝F ns +F nm cos(ωt)＝F nA cos(ωt) (1)
wherein F is nA For normal vibration amplitude, F ns For normal static force, F nd Is normal dynamic force, normal equivalent exciting force F nm The deformation of cos (ωt) in the upper and lower test pieces is X n1 And X n2 The relative deformation of the joint surface is:
wherein,is the phase difference between the exciting force and the deformation;
the relative deformation speed is:the kinematic equation of the junction is:
wherein m is 1 The mass of the upper test piece; k (K) n And C n The contact rigidity and the damping of the two test pieces are respectively; in order to obtain the contact rigidity and damping of the bonding surface, the bonding surface is set to be an ideal contact surface without mass, and the following steps are obtained:
substituting the formulas (2) and (3) into (5) to obtain the contact stiffness K of the bonding surface n And damping C n Formula divisionThe following are distinguished:
from formulae (6) and (7), it can be found that: the normal excitation amplitude F of the mixed lubrication joint surface can be obtained through the sensor nA Angular frequency omega and deflection amplitude X nm And phase differenceThe normal contact dynamic rigidity and damping of the mixed lubrication joint surface can be measured, and the tangential contact rigidity and damping calculation formulas are the same; when the normal load and the tangential load act together, according to F A ＝F nA +F τA Can calculate F A ，F τA And (5) for tangential vibration amplitude, the contact stiffness and damping parameters are obtained.
The beneficial effects of the invention are as follows:
the invention is used for testing the contact rigidity and damping characteristics of the mixed lubrication joint surface under the normal, tangential, bending, torsion and coupling actions, and the influence rule of each factor on the contact rigidity and damping of the mixed lubrication joint surface is revealed by adjusting or changing the parameters such as external load, relative motion speed, vibration frequency and amplitude, lubricating medium, surface roughness and the like. The method can measure the influence rule of normal, tangential, bending and torsion static and dynamic loads and coupling actions thereof on the hybrid lubrication joint surface method/tangential dynamic contact rigidity and damping, thereby providing experimental data support for the design and optimization of static and dynamic performance of the sliding guide rail of the machine tool. Therefore, the design and construction of the experimental platform have extremely important engineering application value for optimizing the performance of high-speed precise machine tool equipment. The method can measure the influence rule of normal, tangential, bending and torsion static and dynamic loads and coupling actions thereof on the hybrid lubrication joint surface method/tangential dynamic contact rigidity and damping, thereby providing experimental data support for the design and optimization of static and dynamic performance of the sliding guide rail of the machine tool.
Drawings
FIG. 1 is a general construction diagram of the apparatus of the present invention;
FIG. 2 is a left side view of the device of the present invention;
FIG. 3 is a top view of the device of the present invention;
FIG. 4 is a schematic view of the high precision linear motion assembly of the apparatus of the present invention;
FIG. 5 is a schematic view of the horizontal movement structure of the device of the present invention;
FIG. 6 is a schematic view of a bevel gear drive mechanism of the apparatus of the present invention;
FIG. 7 is a cross-sectional view of the bevel gear drive mechanism of the apparatus of the present invention;
FIG. 8 is a schematic view of the normal and tangential excitation components of the device of the present invention.
In the figure: 1. the device comprises a normal vibration exciter, a static force sensor, a upper test piece, a box body, a tangential vibration excitation rod, a tangential vibration exciter, a7 alternating current servo motor, a 8, a ball screw, a9, a motor support, a10, a shaft coupling, a 11, a bearing seat, a 12, a connecting plate, a 13, a grating ruler, a 14, a workbench, a 15, a box bottom plate, a 16, an alternating current servo motor, b,17, a laser displacement sensor, 18, a lower test piece fixing frame, a20, a thrust ball bearing, a 21, a laser temperature sensor, 22, a positioning shaft pin, 23, a sliding block, 24, a linear guide rail, a 25, a screw nut, 26, a motor support, b,27, a shaft coupling b,28, a large bevel gear spindle, 29, a reading head, 30, a ball screw support seat, a 31, a large bevel gear 32, a tapered roller bearing, a 33, a small bevel gear 34, a deep groove ball bearing, a 35, a small bevel gear, a 36, a moment loading screw, a 37, a thrust ball bearing b, a 38, a moment loading axial positioning block, 39, a triaxial sensor, a 40, a dynamic bearing, a linear guide block, a 41, a linear guide rail, a 42, a bearing, a 45, a bearing, a 43 and a loading sleeve.
Detailed Description
The invention will now be described in detail with reference to the drawings and specific examples.
Example 1
The device for testing the contact rigidity and damping of the lubrication joint surface under complex load is disclosed. As shown in fig. 1, 2 and 3, the device mainly comprises an excitation structure, a high-precision linear motion assembly, a test piece assembly, a bevel gear transmission mechanism, a box body and the like. The high-precision linear motion assembly is fixedly arranged on the bottom plate 15 of the box body; the normal static and dynamic power assembly is connected to the top of the box body 4 in a penetrating way and is perpendicular to a workbench 14 connected with the high-precision linear motion assembly; installing a bevel gear transmission mechanism and a test piece assembly between the high-precision linear motion assembly and the normal static dynamic power assembly, and enabling the inside of the upper test piece and the lower test piece to form a relative motion joint surface by applying load; the tangential static and dynamic force application component applies acting force in the tangential direction of the upper test piece and the lower test piece to generate static and dynamic force in the tangential direction, and the normal direction and the tangential force application component act together to enable the mixed lubrication joint surface formed between the upper test piece and the lower test piece to generate relative vibration under the action of complex load.
Example 2
The difference from the embodiment 1 is that,
the box body 4, the ball screw supporting seat 30, the ball screw 8, the guide rail 24 and the grating ruler 13 in the high-precision linear motion assembly are fixedly arranged on the box body bottom plate 15. The normal static and dynamic power assembly is connected to the top of the box 4 in a penetrating way and is perpendicular to the high-precision linear motion assembly workbench 14. The bevel gear transmission mechanism and the test piece assembly are arranged between the high-precision linear motion assembly and the normal static and dynamic force application assembly, a relative motion joint surface is formed inside the upper test piece and the lower test piece by applying a load, the ball screw 8 rotates to drive the workbench 14 to linearly move along the horizontal direction, the alternating current servo motor a7 drives the bevel gear transmission mechanism to rotate, and the lower test piece 18 can horizontally move or rotate under the combined action to form relative motion with the upper test piece 3. Similarly, the tangential static and dynamic force application component parallel to the horizontal direction applies acting force in the tangential direction of the upper test piece and the lower test piece, and static and dynamic force in the tangential direction is generated. The combined action of normal and tangential loads causes the combined lubrication joint surface formed between the upper test piece and the lower test piece to generate relative vibration due to the complex load action.
Fig. 4 shows a high precision linear motion assembly of the experimental platform apparatus. The box bottom plate 15 is fixed with an alternating current servo motor b16 through a motor support b26, so that a motor shaft of the alternating current servo motor b16 is parallel to the horizontal plane of the box bottom plate 15, an output shaft of the alternating current servo motor b16 is connected with the ball screw 8 through a coupler b27, and a ball screw support seat 30 arranged at the tail end of the ball screw 8 is fixedly arranged on the upper surface of the box bottom plate 15. The linear guide rail 24 is connected with the workbench 14 of the hollow mechanism, is fixedly arranged on the upper surface of the box bottom plate 15, the workbench 14 is fixedly connected with the screw nut bushing 45 through a screw, the screw nut 25 is fixedly connected with the screw nut bushing 45, the bushing is fixedly connected with the lower surface of the workbench 14, the workbench 14 and the screw nut bushing 45 do not rotate when the alternating current servo motor b16 drives the ball screw 8 to rotate through the coupler b27, the screw nut 25 moves forwards/backwards relative to the ball screw 8, and the workbench 14 is driven to move horizontally, so that the relative movement of the upper test piece and the lower test piece mixed lubrication joint surface is realized. The lower test piece fixing frame 19 and the bevel gear transmission mechanism are arranged on the upper surface of the workbench 14. When the ac servo motor b16 rotates the ball screw 8, the table 14 moves horizontally forward/backward in the axial direction of the ball screw 8. The main scale of the grating ruler is fixed on the bottom plate 15 of the box body, the workbench 14 is connected with the sliding scale through the grating ruler head connecting plate 12, the reading head 29 is fixedly connected to the sliding scale, the grating ruler 13 is formed by combining the main scale, the sliding scale and the reading head, and the grating ruler 13 is used for measuring the displacement of the workbench 14.
The linear guide rail 24 is positioned on two sides of the ball screw on the upper surface of the bottom plate 15 of the box body, the guide rail is matched and connected with the sliding block 23, and the sliding block 23 is fixedly connected with the workbench 14. The linear guide rail 24 and the sliding block 23 play a limiting role on the horizontal forward/backward movement of the workbench 14, ensure that the workbench 14 moves along a fixed direction, prevent deflection and cause asymmetric moment in the horizontal direction, and cause serious influence on experimental results due to vibration of the workbench 14 in the movement process.
As shown in fig. 2, the positioning shaft pin 22 is used for limiting the relative position of the upper test piece and the box body, so as to ensure that the upper test piece and the lower test piece cannot be shifted by other factors.
Fig. 6 and 7 show bevel gear drives. An alternating current servo motor support a9 is arranged on the upper surface of the workbench 14, and an alternating current servo motor a7 is connected with a bevel pinion main shaft 35 through a coupler a10 and is arranged on the plane of the workbench 14. The motor support a9 and the bearing seat 11 are fixedly arranged on the surface of the workbench 14, so that the bevel pinion main shaft 35 is ensured to be arranged along a plane vertical to the middle workbench 14. The main shaft 35 of the bevel pinion is mainly provided with parts including the bevel pinion 33, keys, deep groove ball bearings 34, etc. The bevel pinion 33 is keyed to the spindle 35 to achieve circumferential fixation between the shaft and the gear and to transfer motion and torque.
The lower test piece fixing frame 19 is fixedly arranged on the upper surface of the workbench 14, the large bevel gear main shaft 28 is just opposite to the high-precision linear motion assembly (along the vertical horizontal plane), main components on the main shaft are a tapered roller bearing 32, a large bevel gear 31, a thrust ball bearing a20, a lower test piece 18 and the like, the large bevel gear 31, the lower test piece 18 and the main shaft are all arranged through key connection, the thrust ball bearing a20 and the tapered roller bearing 32 are respectively arranged on the inner side/outer side of the lower test piece fixing frame 19, and the lower test piece 18 is connected with the thrust ball bearing a 20. The alternating current servo motor a7 drives the pinion main shaft 35 to rotate through the coupler a10, the bevel gear engagement enables the large bevel gear main shaft 28 to rotate, and the large bevel gear main shaft is transmitted to the lower test piece 18 through the thrust ball bearing a20, so that the lower test piece 18 is driven to rotate. The steering and rotating speed of the lower test piece 18 can be changed by controlling the alternating current servo motor a7, so that the relative rotation movement between the lower test piece and the joint surface of the upper test piece 3 can be realized.
The box body 4 is also provided with a laser displacement sensor 17, and the installation height of the laser displacement sensor 17 is in the same horizontal line with the upper test piece 3 and is used for measuring the deformation parameters of the upper test piece.
Fig. 8 shows a normal and tangential static and dynamic force application assembly, which comprises a threaded sleeve penetrating through the upper surface of the box body 4 and perpendicular to the position of the high-precision linear motion assembly, wherein a loading screw 42 is in threaded connection with the threaded sleeve, the bottom of the loading screw is connected with a thrust ball bearing c43, the bottom of the thrust ball bearing c43 is connected with a normal positioning block, and the bottom of the normal positioning block is sequentially connected with a dynamic force sensor 40, a sensor axial gear block 41 and a static force sensor 2; the moment loading screw 36 is connected with the threaded sleeve through threads, the bottom is connected with the top end of a thrust ball bearing b37, the bottom end of the thrust ball bearing b37 is connected with a moment loading axial positioning block 38, and the bottom of the moment loading axial positioning block 38 is connected with the static force sensor 2. The loading screw rod 42 is screwed, the loading screw rod 42 moves downwards relative to the threaded sleeve, normal static force is applied to the test piece assembly, the bottom of the dynamic force sensor 40 is connected with the upper surface of the test piece assembly, and the loading screw rod 42, the thrust ball bearing c43, the normal positioning block, the static force sensor 2, the sensor axial gear block 41 and the dynamic force sensor 40 are coaxially connected with the excitation structure; the screw thread at the bottom of the excitation rod is connected with the screw hole at the top of the upper test piece 3, and normal dynamic force can be applied to the upper part of the test piece assembly through the excitation structure. The tangential excitation rod 5 of the tangential exciter 6 is in direct contact with the side surface of the upper test piece 3, and can load tangential excitation force to the test piece structure through the tangential excitation rod and measure through a sensor.
The static force sensor 2 detects the magnitude of the static force applied to the upper test piece 3; the dynamic force sensor 40 detects the magnitude of the dynamic force applied to the upper test piece 3.
The thrust ball bearing c43 of the present invention can ensure uniform pressure distribution on the mixing such as lubrication bonding surface; the normal positioning block enables the thrust ball bearing c43 to be positioned on the same axis as the axis of the static force sensor 2; the axial gear block 41 of the sensor ensures that the axes of the static force sensor 2 and the dynamic force sensor 40 are positioned at the same axis, and ensures that the loading force is uniformly applied to the upper surface of the upper test piece 3 after sequentially passing through the thrust ball bearing c43, the normal positioning block, the static force sensor 2, the axial gear block of the sensor and the dynamic force sensor 40.
The excitation structure comprises a normal vibration exciter 1 and a tangential vibration exciter 6 which are arranged on the upper part and the side surface of the box body, wherein the normal vibration exciter 1 is connected with a normal excitation rod, and the tangential vibration exciter 6 is connected with a tangential excitation rod 5; the normal exciting rod sequentially passes through the torque loading screw rod 36, the thrust ball bearing b37, the normal positioning block, the static force sensor 2, the sensor axial gear block 41 and the dynamic force sensor 40 to be connected to a threaded hole at the top of the upper test piece 3, and applies normal dynamic force to the upper part of the upper test piece 3; the tangential vibration excitation rod 5 is in direct contact with the side surface of the upper test piece 3, and the tangential vibration exciter 6 loads tangential vibration excitation force on the upper test piece 3 through the tangential vibration excitation rod 5.
Fig. 7 shows a test piece assembly, in which an upper test piece 3 is in contact connection with the inner surface of a lower test piece 18, and is connected with an eddy current displacement sensor 44 and a triaxial acceleration sensor 39, wherein the triaxial acceleration sensor 39 can be used for measuring acceleration generated during relative movement of the upper test piece 3, and the eddy current displacement sensor 44 can monitor the relative dynamic displacement of the upper test piece 3 and the lower test piece 18 under normal/tangential load. The upper test piece 3 is connected with a method/tangential static and dynamic force application component, the lower test piece 18 is connected with a high-precision linear motion component and a gear transmission mechanism, and the lower surface of the upper test piece 3 and the upper surface of the lower test piece 18 form a mixed lubrication joint surface in a linear manner.
As shown in fig. 8, the bottoms of the upper test piece 3 and the lower test piece 18 are both planes, and a limit groove is processed in the region, which is opposite to the upper test piece 3, on the lower test piece 18, so that the upper test piece 3 can slide in the limit groove, and the contact surface in the limit groove is formed by uniformly distributed planes of 10mm multiplied by 10mm and is used for storing lubricating media.
The test device loads the screw rod, the normal/tangential vibration exciter and the normal/tangential static/dynamic external load (F) ns ,F nd )/(F τs ,F τd ) Applied to the mixed lubrication joint surface, the workbench 14 indirectly connected with the screw nut 25 is driven by the servo motor to enable the upper test piece 18 and the lower test piece 18 to generate relative sliding motion, and the bevel gear transmission mechanism is driven by the servo motor to enable the lower test piece 18 and the upper test piece 3 to generate relative rotation motion.
Taking the normal dynamic force acting on the mixed lubrication contact surface as an example, it is assumed that the normal dynamic force is a sine exciting force F nd ＝F nm cos (ωt), its physical model can be built as:
F n ＝F ns +F nd ＝F ns +F nm cos(ωt)＝F nA cos(ωt) (1)
wherein F is nA Is the normal vibration amplitude and the normal equivalent exciting force F nm cos(ωt)F nm cos (ωt) is X as the deformation amount of the upper test piece 3 and the lower test piece 18 n1 And X n2 The relative deformation of the joint surface is:
is the phase difference between the exciting force and the deformation amount. The relative deformation speed is:
the kinematic equation of the junction is:
m 1 the mass of the upper test piece 3; k (K) n And C n The contact rigidity and the damping of the two test pieces are respectively. In order to obtain the contact stiffness and damping of the joint surface, it is assumed that the joint surface is an ideal contact surface without mass, and it is possible to obtain:
substituting formulas (2) and (3) into (5) to obtain the contact stiffness and damping formula of the joint surface are respectively as follows:
from formulae (6) and (7), it can be found that: the normal vibration amplitude F of the mixed lubrication joint surface can be obtained by a sensor nA Angular frequency omega and deflection amplitude X nm And phase differenceThe normal contact dynamic stiffness and damping (tangential contact stiffness and damping calculation formulas are the same) of the mixed lubrication joint surface can be measured. When the normal load and the tangential load act together, according to F A ＝F nA +F τA Can calculate F A ，F τA And (5) for tangential vibration amplitude, the contact stiffness and damping parameters are obtained.
Example 3
The invention is used for testing the contact rigidity and damping of a mixed lubrication joint surface, and the installation and use method comprises the following steps:
the ac servo motor b16, the coupling b27 and the ball screw nut 25 are firstly mounted on the bottom plate 15 of the box body, the linear guide 24, the slide block 23 and the grating scale 13 are fixedly mounted, and then the workbench 14 and the slide block 23 are fixedly connected through screws. An alternating current servo motor a7, a coupler a10, a bearing seat 11 and a bevel pinion structure are sequentially arranged on the workbench 14, and then the alternating current servo motor b16 drives the ball screw 8 to enable the workbench 14 to move to a position convenient for installing a lower test piece 18; the large bevel gear main shaft 28 is arranged at a fixed position on the lower side of the lower test piece 18, and is sequentially provided with a bearing, a key, a large bevel gear and other components, after the installation is finished, the lower test piece 18 is fixed on the surface of the workbench by using a screw, and the whole bevel gear transmission structure is finished. Placing the upper test piece 3 at the test piece fixing ring to make the upper test piece 3 concentric with the test piece fixing ring; then, an alternating current servo motor b16 drives the ball screw 8 to enable the center of the workbench 14 to be positioned below the center line of the force application component, and the upper test piece 3 is placed on the lower test piece 18 connected with the workbench 14, so that the lower surface of the upper test piece 3 is overlapped with the upper surface of the lower test piece 18; screwing the torque loading screw into the threaded sleeve; then sequentially placing the moment loading screw, the thrust ball bearing c43, the normal positioning block, the static force sensor 2, the sensor axial gear block and the dynamic force sensor 40 from the bottom of the moment loading screw; then a dynamic torque loading screw is screwed to enable the dynamic force sensor to be in contact with the upper test piece 3; a triaxial acceleration sensor 39 and an eddy current displacement sensor 44 are then inserted into the upper test piece 3. And then adding a lubricating medium on the upper surface of the lower test piece 18, and driving the lower test piece 18 and the upper test piece 3 to perform relative uniform motion by the high-precision linear motion assembly to form a mixed lubrication joint surface.
When static force is applied, the torque loading screw rod is rotated to enable the torque loading screw rod to move downwards through the threaded sleeve arranged on the box body 4, the bottom of the torque loading screw rod presses the thrust ball bearing c43 in the downward movement process, the static force is uniformly transmitted to the normal positioning block, then the static force is applied to the sensor axial stop block and the dynamic force sensor 40 through the static force sensor 2, the dynamic force sensor 40 is pressed on the upper surface of the upper test piece 3, and the static force applied to the upper test piece 3 can be measured through the static force sensor 2. The lower surface of the upper test piece 3 is contacted with the upper surface of the lower test piece 18 to form a mixed lubrication joint surface. The two high-precision non-contact eddy current displacement sensors 44 symmetrically distributed on the side edge of the upper test piece 3 are used for monitoring the relative dynamic displacement of the upper test piece 3 and the lower test piece 18 in the normal direction in real time, and the triaxial acceleration sensor 39 arranged on the upper test piece 3 is used for measuring the acceleration of the upper test piece 3 relative to the lower test piece 18. The relative displacement of the two test pieces is measured through a main scale of the grating ruler 13 arranged on the bottom plate and a sliding scale arranged on the side edge of the workbench 14, the relative displacement of the upper test piece 18 and the lower test piece 18 is indirectly obtained, and compared with signals given by a servo motor driver, so that the accurate control of the position is realized by adopting a difference value. The rotation angular velocity of the servo motor is obtained by an encoder in the servo motor, and then the relative movement velocity of the two test pieces is calculated according to the lead of the lead screw nut 25.
When normal dynamic force is applied, the top of the excitation rod is fixed with the shaft end of the vibration exciter, and the vibration exciter is suspended to the top of the test platform system by adopting rubber bands, so that resonance can be reduced. The exciting force is applied to the upper test piece 3 through the exciting lever. The vibration signal amplitude and frequency are set through an SOAnalyzer vibration noise test system developed by m+p company in Germany, the vibration signal amplitude and frequency are output to a power amplifier through m+p VibPilot, the power is amplified and then transmitted to a normal vibration exciter 1, the vibration exciter is controlled to generate exciting force with corresponding amplitude and frequency, the exciting force is transmitted to an upper test piece 3 through an exciting rod, normal relative vibration is further generated, and the dynamic deformation amplitude and phase difference are measured through a dynamic force sensor 40. Substituting the obtained data into formulas (6) and (7) to obtain the normal dynamic contact stiffness and damping of the mixed lubrication joint surface.
When tangential dynamic force is applied, the top of the excitation rod is fixedly connected with the side end of the upper test piece 3. The exciting force is applied to the upper test piece 3 through the exciting lever. The vibration signal amplitude and frequency are set through an SOAnalyzer vibration noise test system developed by m+p company in Germany, the vibration signal amplitude and frequency are output to a power amplifier through m+p VibPilot, the power is amplified and then transmitted to a tangential vibration exciter 6, the vibration exciter is controlled to generate exciting force with corresponding amplitude and frequency, the exciting force is transmitted to an upper test piece 3 through an exciting rod, tangential relative vibration is further generated, and the dynamic deformation amplitude and phase difference are measured through a dynamic force sensor 40. Substituting the obtained data into formulas (6) and (7) to obtain the tangential dynamic contact stiffness and damping of the mixed lubrication joint surface.
The change of static and dynamic load can be realized by rotating the torque loading screw rod and changing the vibration frequency and amplitude of the vibration exciter, so that the influence rule of external load on the contact characteristic of the mixed lubrication joint surface under the independent action of normal/tangential load and the influence rule of external load on the contact characteristic of the mixed lubrication joint surface under the simultaneous action are obtained; the influence of different material properties, surface morphology features and lubricating medium properties on the static and dynamic contact performance of the mixed lubrication joint surface can be obtained by changing the material of a test piece in the test device, the processing method of the contact surface and the lubricating medium; the upper test piece 3 and the lower test piece 18 generate different matching modes by changing the processing mode of the lower surface of the upper test piece 3, so that the influence of the contact anisotropy on the contact rigidity and damping of the mixed lubrication joint surface is obtained; by adjusting the rotating speed of the servo motor, the relative movement speed of the upper test piece 18 and the lower test piece 18 is changed, and the influence of the relative speed on the dynamic contact performance of the mixed lubrication joint surface is obtained.
Claims (10)
1. The device for testing the contact stiffness and damping of the lubrication joint surface under the complex load is characterized by comprising an excitation structure, a high-precision linear motion assembly, a test piece assembly and a bevel gear transmission mechanism; the high-precision linear motion assembly is fixedly arranged on a bottom plate (15) of the box body; the normal static and dynamic power assembly is connected to the top of the box body (4) in a penetrating way and is perpendicular to a workbench (14) connected with the high-precision linear motion assembly; installing a bevel gear transmission mechanism and a test piece assembly between the high-precision linear motion assembly and the normal static dynamic power assembly, and enabling the inside of the upper test piece and the lower test piece to form a relative motion joint surface by applying load; the tangential static and dynamic force application component applies acting force in the tangential direction of the upper test piece and the lower test piece to generate static and dynamic force in the tangential direction, and the normal direction and the tangential load act together to enable the mixed lubrication joint surface formed between the upper test piece and the lower test piece to generate relative vibration under the action of complex load.
2. The device for testing the contact stiffness and damping of a lubrication joint surface under a complex load according to claim 1, wherein the high-precision linear motion assembly comprises an alternating current servo motor b (16), and the alternating current servo motor b (16) is fixed on a motor support b (26); the motor shaft of the alternating current servo motor b (16) is parallel to the horizontal plane of the bottom plate (15) of the box body; the output shaft of the alternating current servo motor b (16) is connected with the ball screw (8) through a coupler b (27), a ball screw supporting seat (30) arranged at the tail end of the ball screw (8) is fixedly arranged on the upper surface of a box bottom plate (15), a linear guide rail (24) is arranged on the box bottom plate (15), and the linear guide rails (24) are positioned on two sides of the ball screw (8) on the upper surface of the box bottom plate; the linear guide rail (24) is connected with a sliding block (23) in a matched mode, the sliding block (23) is fixedly connected with the workbench (14), and the linear guide rail (24) and the sliding block (23) play a limiting role in the horizontal forward and backward movement of the workbench (14); a grating ruler (13) for measuring the displacement of the workbench (14) is fixed on the bottom plate (15) of the box body;
the workbench (14) is connected with the ball screw (8) through a nut bushing (45) and a screw nut (25); when the alternating current servo motor b (16) drives the ball screw (8) to rotate through the coupler b (27), the workbench (14) and the nut bushing (45) do not rotate, the screw nut (25) and the nut bushing (45) move back and forth relative to the ball screw (8), and then the workbench (14) is driven to move horizontally, so that the relative movement of the mixed lubrication joint surfaces of the upper test piece and the lower test piece is realized.
3. The device for testing the contact stiffness and damping of a lubrication joint surface under a complex load according to claim 2, wherein the bevel gear transmission mechanism comprises an alternating current servo motor support a (9) arranged on the upper surface of a workbench (14), an alternating current servo motor a (7) is fixedly arranged on the alternating current servo motor support a (9), and an output shaft of the alternating current servo motor a (7) is connected with a bevel pinion main shaft (35) through a coupler a (10); the alternating current servo motor support a (9) and the bearing seat (11) are fixedly arranged on the surface of the workbench (14), so that the main shaft of the bevel pinion (33) is arranged along a plane perpendicular to a main shaft (28) of the bevel gear in the middle of the workbench (14); a deep groove ball bearing (34), a key and a bevel pinion (33) are arranged on the bevel pinion main shaft (35); the bevel pinion (33) is keyed to the bevel pinion spindle (35) to effect circumferential securement between the shaft and the gear to transfer motion and torque.
4. The device for testing the contact stiffness and damping of a lubrication joint surface under a complex load according to claim 3, wherein a lower test piece fixing frame (19) is arranged on the upper surface of the workbench (14), the large bevel gear main shaft (28) is vertically opposite to the high-precision linear motion assembly, and main components on the large bevel gear main shaft (28) are a tapered roller bearing (32), a large bevel gear (31), a thrust ball bearing a (20), a lower test piece (18) and a key; the large bevel gear (31), the lower test piece (18) and the large bevel gear main shaft (28) are connected by keys, the thrust ball bearing a (20) and the tapered roller bearing (32) are respectively arranged on the inner side and the outer side of the lower test piece fixing frame (19), and the lower test piece (18) is connected with the thrust ball bearing a (20); the alternating current servo motor b (16) drives the bevel pinion main shaft (35) to rotate through the coupler b (27), the bevel gear is meshed and driven to enable the bevel pinion main shaft (28) to rotate, and the bevel pinion main shaft is transmitted to the lower test piece (18) through the thrust ball bearing a (20) to drive the lower test piece (18) to rotate; the steering and rotating speed of the lower test piece (18) can be changed by controlling the alternating current servo motor a (10), so that relative rotation movement occurs between the lower test piece and the joint surface of the upper test piece (3).
5. The device for testing the contact stiffness and damping of the lubrication joint surface under the complex load according to claim 4, wherein the normal static and dynamic force application component and the shear static and dynamic force application component comprise a loading screw (42) and a moment loading screw (36) which penetrate through the upper surface of the box body and are perpendicular to the position of the high-precision linear motion component, the loading screw (42) is connected with a threaded sleeve through threads, the bottom of the loading screw is connected with a thrust ball bearing c (43), the bottom of the thrust ball bearing c (43) is connected with a normal positioning block, and the bottom of the normal positioning block is sequentially connected with a dynamic force sensor (40), a sensor axial gear block (41) and a static force sensor (2); the loading screw (42) moves downwards relative to the threaded sleeve and can apply normal static force to the test piece assembly; the dynamic force sensor (40) is connected to the upper surface of the upper test piece (3); the loading screw (42), the thrust ball bearing c (43), the normal positioning block, the static force sensor (2), the sensor axial gear block (41) and the dynamic force sensor (40) are coaxially connected with the excitation structure;
the torque loading screw (36) is connected with the threaded sleeve through threads, the bottom of the torque loading screw is connected with the top end of the thrust ball bearing b (37), the bottom end of the thrust ball bearing b (37) is connected with the torque loading axial positioning block (38), and the bottom of the torque loading axial positioning block (38) is connected with the static force sensor (2);
the static force sensor (2) is used for detecting the magnitude of static force applied to the upper test piece; the dynamic force sensor (40) is used for detecting the dynamic force applied to the upper test piece;
the normal positioning block enables the thrust ball bearing a (20) and the axis of the static force sensor (2) to be positioned in the same axis; the axial gear block (41) of the sensor enables the axes of the static force sensor (2) and the dynamic force sensor (40) to be located at the same axis, and the loading force is ensured to be uniformly applied to the upper surface of the upper test piece (3) after sequentially passing through the thrust ball bearing a (20), the normal positioning block, the static force sensor (2), the axial gear block (41) of the sensor and the dynamic force sensor (40).
6. The device for testing the contact stiffness and damping of a lubrication joint surface under a complex load according to claim 5, wherein the vibration excitation structure comprises a normal vibration exciter (1) and a tangential vibration exciter (6) which are arranged on the upper part and the side surface of the box body, the normal vibration exciter (1) is connected with a normal vibration excitation rod, and the tangential vibration exciter (6) is connected with a tangential vibration excitation rod (5); the normal excitation rod sequentially passes through the moment loading screw rod (36), the thrust ball bearing b (37), the normal positioning block, the static force sensor (2), the sensor axial gear block (41) and the dynamic force sensor (40) to be connected to a threaded hole at the top of the upper test piece (3), and applies normal dynamic force to the upper part of the upper test piece (3); the tangential vibration excitation rod (5) is in direct contact with the side surface of the upper test piece (3), and the tangential vibration exciter (6) loads tangential vibration excitation force on the upper test piece (3) through the tangential vibration excitation rod (5).
7. A device for testing the contact stiffness and damping of a lubrication joint surface under a complex load according to claim 3, wherein the test piece assembly comprises an upper test piece (3) and a lower test piece which are in contact connection with each other on the upper surface and the lower surface; the upper test piece (3) is connected with an eddy current displacement sensor (44) and a triaxial acceleration sensor (39), and the triaxial acceleration sensor (39) is used for measuring acceleration generated when the upper test piece (3) moves relatively; the vortex displacement sensor (44) can monitor the relative dynamic displacement of the upper test piece (3) and the lower test piece (18) under the action of normal/tangential load in real time; the lower test piece (18) is connected with the high-precision linear motion assembly and the gear transmission mechanism, and a mixed lubrication joint surface is formed by the lower surface of the upper test piece (3) and the upper surface of the lower test piece (18) in a linear manner.
8. The device for testing the contact stiffness and damping of a lubrication joint surface under a complex load according to claim 7, wherein the bottoms of the upper test piece (3) and the lower test piece (18) are both planes, a limiting groove is processed in a region, which is opposite to the upper test piece (3), on the lower test piece (18), so that the upper test piece (3) can slide in the limiting groove, and the contact surface in the limiting groove is formed by uniformly distributed planes of 10mm multiplied by 10mm and is used for storing a lubrication medium.
9. A method for testing the contact rigidity and damping of a lubrication joint surface under complex load is characterized in that a rotating torque is used for loading a screw rod and a normal/tangential vibration exciter, normal/tangential static and dynamic external loads are applied to a mixed lubrication joint surface, a servo motor drives a workbench indirectly connected with a screw nut to enable an upper test piece and a lower test piece to generate relative sliding movement, and a bevel gear transmission mechanism is driven by the servo motor to enable relative rotation movement between the lower test piece and the upper test piece.
10. The method for testing the contact stiffness and damping of a lubricated joint surface under a complex load according to claim 9, wherein the specific operating steps are as follows:
acting on mixed lubrication contact with normal dynamic forceThe normal dynamic force is a sine exciting force F nd ＝F nm cos (ωt), its physical model can be built as:
F n ＝F ns +F nd ＝F ns +F nm cos(ωt)＝F nA cos(ωt) (1)
wherein F is nA For normal vibration amplitude, F ns For normal static force, F nd Is normal dynamic force, normal equivalent exciting force F nm The deformation of cos (ωt) in the upper and lower test pieces is X n1 And X n2 The relative deformation of the joint surface is:
wherein,is the phase difference between the exciting force and the deformation;
the relative deformation speed is:
the kinematic equation of the junction is:
wherein m is 1 The mass of the upper test piece; k (K) n And C n The contact rigidity and the damping of the two test pieces are respectively; in order to obtain the contact rigidity and damping of the bonding surface, the bonding surface is set to be an ideal contact surface without mass, and the following steps are obtained:
substituting the formulas (2) and (3) into (5) to obtain the contact stiffness K of the bonding surface n And damping C n The formulas are as follows:
from formulae (6) and (7), it can be found that: the normal excitation amplitude F of the mixed lubrication joint surface can be obtained through the sensor nA Angular frequency omega and deflection amplitude X nm And phase differenceThe normal contact dynamic rigidity and damping of the mixed lubrication joint surface can be measured, and the tangential contact rigidity and damping calculation formulas are the same; when the normal load and the tangential load act together, according to F A ＝F nA +F τA Can calculate F A ，F τA And (5) for tangential vibration amplitude, the contact stiffness and damping parameters are obtained.
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| CN202311579355.6A CN117606773A (en) | 2023-11-23 | 2023-11-23 | Device and method for testing contact stiffness and damping of lubrication joint surface under complex load |
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| CN117944095A (en) * | 2024-03-25 | 2024-04-30 | 中国科学院长春光学精密机械与物理研究所 | Variable moment type controllable time-variable rigidity flexible base |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117944095A (en) * | 2024-03-25 | 2024-04-30 | 中国科学院长春光学精密机械与物理研究所 | Variable moment type controllable time-variable rigidity flexible base |
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