一种单压电叠堆驱动的回转冲击超声波钻

王印超; 全齐全; 于红英; 柏德恩; 邓宗全

doi:10.13700/j.bh.1001-5965.2017.0699

一种单压电叠堆驱动的回转冲击超声波钻

doi: 10.13700/j.bh.1001-5965.2017.0699

哈尔滨工业大学机器人技术与系统国家重点实验室, 哈尔滨 150001

基金项目:

国家自然科学基金 61403106

高等学校学科创新引智计划 B07018

中央高校基本科研业务费专项资金 HIT.NSRIF.2014051

详细信息

作者简介:
王印超  男, 博士研究生。主要研究方向:超声波钻驱动及采样技术

全齐全  男, 博士, 副教授。主要研究方向:空间机构测试技术

于红英  女, 博士, 教授, 博士生导师。主要研究方向:机械CAD及仿真技术

柏德恩  男, 博士研究生。主要研究方向:超声驱动及超声钻钻探技术

邓宗全  男, 硕士, 教授, 博士生导师。主要研究方向:宇航空间机构技术

通讯作者:
全齐全, E-mail:quanqiquan@hit.edu.cn

中图分类号: TP242
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出版历程
- 收稿日期: 2017-11-13
- 录用日期: 2018-02-09
- 网络出版日期: 2018-09-20

A rotary-percussive ultrasonic drill driven by single piezoelectric stack

State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China

Funds:

National Natural Science Foundation of China 61403106

Program of Introducing Talents of Discipline to Universities B07018

the Fundamental Research Funds for the Central Universities HIT.NSRIF.2014051

More Information

Corresponding author: QUAN Qiquan, E-mail:quanqiquan@hit.edu.cn

摘要

摘要:
为提高冲击式超声波钻的排屑效率，基于压电驱动原理提出了一种单压电叠堆驱动的回转冲击超声波钻（RPUD）。RPUD仅利用单一压电叠堆两侧的振动实现了钻具的回转冲击运动，将一侧振动转变为回转运动，另一侧振动转变为冲击运动，且回转运动和冲击运动可单独调节。为实现超声波钻回转运动和冲击运动的同步谐振，借助有限元方法，对超声波钻换能器进行模态分析和瞬态分析。基于优选的结构设计参数，研制了RPUD样机并开展了钻进实验研究。实验结果验证了RPUD的钻进功能，并利用响应面方法分析了钻压力等各钻进参数对钻进效率的影响。
- 深空采样 /
- 超声波钻 /
- 压电换能器 /
- 有限元方法 /
- 钻进实验 /
- 响应面方法
Abstract:
To improve the chip removal efficiency of percussive ultrasonic drilling, a rotary-percussive ultrasonic drill (RPUD) is proposed based on piezoelectric driving principle, which is driven by single piezoelectric stack. The proposed RPUD uses the vibration on both sides of the single piezoelectric stack to realize the rotary-percussive motion of the drilling tool, and transfers one side of vibration into rotary motion and the other side into percussive motion. Rotary motion and percussive motion can be regulated independently. To realize the synchronous resonance of rotary motion and percussive motion, the modal analysis and transient analysis of ultrasonic drilling transducer are carried out by the finite element method. A prototype of rotary-percussive ultrasonic drilling machine was developed, and the drilling experiment was carried out based on the optimized structural design parameters. The experimental results verify the drilling function of the RPUD, and response surface method is used to analyze the influence of the drilling parameters such as weight on bit on the drilling efficiency.
- deep space sampling /
- ultrasonic drill /
- piezoelectric transducer /
- finite element method /
- drilling experiment /
- response surface method

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图 1 回转冲击超声波钻的系统组成

Figure 1. System composition of RPUD

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图 2 回转冲击超声波钻的工作原理

Figure 2. Working principle of RPUD

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图 3 回转冲击超声波钻驱动换能器工作模态

Figure 3. Operating modal of driving transducer of RPUD

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图 4 V型耦合振子顶部节点运动轨迹

Figure 4. Movement trajectory of top node on V-LT coupler

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图 5 回转冲击超声波钻结构设计

Figure 5. Structure design of RPUD

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图 6 驱动换能器阻抗分析

Figure 6. Impedance analysis of driving transducers

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图 7 回转冲击超声波钻钻进测试平台

Figure 7. Drilling test-bed of RPUD

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图 8 回转冲击超声波钻砂岩钻进过程

Figure 8. Drilling process of RPUD on sandstone

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图 9 不同钻压力下回转冲击超声波钻钻进深度

Figure 9. Drilling depth of RPUD under different weight on bit

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图 10 不同自由质量下回转冲击超声波钻钻进深度

Figure 10. Drilling depth of RPUD under different free mass

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图 11 不同回转预紧力下回转冲击超声波钻钻进深度

Figure 11. Drilling depth of RPUD under different rotary preload force

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图 12 不同回转预紧刚度下回转冲击超声波钻钻进深度

Figure 12. Drilling depth of RPUD under different rotary preload stiffness

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图 13 不同冲击预紧力下回转冲击超声波钻钻进深度实验

Figure 13. Drilling depth of RPUD under different percussive preload force

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图 14 不同冲击预紧刚度下回转冲击超声波钻钻进深度实验

Figure 14. Drilling depth of RPUD under different percussive preload stiffness

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图 15 拟合方程与实验数据残差正态图

Figure 15. Residual normal graph of fitting equation and experimental data

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图 16 钻压力和自由质量对钻进深度的交互影响响应面图

Figure 16. Response surface plots of mutual-influence of weight on bit and free mass on drilling depth

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图 17 钻压力和冲击预紧刚度对钻进深度的交互影响响应面图

Figure 17. Response surface plots of mutual-influence of weight on bit and percussive preload stiffness on drilling depth

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图 18 钻压力和冲击预紧力对钻进深度的交互影响响应面图

Figure 18. Response surface plots of mutual-influence of weight on bit and percussive preload force on drilling depth

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图 19 自由质量和回转预紧力对钻进深度的交互影响响应面图

Figure 19. Response surface plots of mutual-influence of free mass and rotary preload force on drilling depth

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图 20 自由质量和回转预紧刚度对钻进深度影响的交互影响响应面图

Figure 20. Response surface plots of mutual-influence of free mass and rotary preload stiffness on drilling depth

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表 1 钻进实验因素水平

Table 1. Factors and levels of drilling experiment

水平	A/N	B/g	C/N	D/(N·mm^-1)	E/(N·mm^-1)	F/N
-1	6	6	7	0.18	0.41	1
0	7	8	10	0.30	0.65	2
1	8	10	13	0.41	0.95	3

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表 2 响应面实验设计及结果

Table 2. Experimental design and results for response surface

实验序号	A/N	B/g	C/N	D/(N·mm^-1)	E/(N·mm^-1)	F/N	Y_d/mm
1	6	6	10	0.18	0.65	2	17.80
2	8	6	10	0.18	0.65	2	19.50
3	6	10	10	0.18	0.65	2	19.68
4	8	10	10	0.18	0.65	2	19.80
5	6	6	10	0.41	0.65	2	16.20
6	8	6	10	0.41	0.65	2	18.80
7	6	10	10	0.41	0.65	2	19.20
8	8	10	10	0.41	0.65	2	18.36
9	7	6	7	0.30	0.41	2	16.74
10	7	10	7	0.30	0.41	2	18.80
11	7	6	13	0.30	0.41	2	17.82
12	7	10	13	0.30	0.41	2	19.12
13	7	6	7	0.30	0.95	2	15.90
14	7	10	7	0.30	0.95	2	19.10
15	7	6	13	0.30	0.95	2	18.10
16	7	10	13	0.30	0.95	2	19.20
17	7	8	7	0.18	0.65	1	14.70
18	7	8	13	0.18	0.65	1	19.60
19	7	8	7	0.41	0.65	1	15.50
20	7	8	13	0.41	0.65	1	18.30
21	7	8	7	0.18	0.65	3	16.10
22	7	8	13	0.18	0.65	3	20.20
23	7	8	7	0.41	0.65	3	13.80
24	7	8	13	0.41	0.65	3	20.00
25	6	8	10	0.18	0.41	2	17.04
26	8	8	10	0.18	0.41	2	18.32
27	6	8	10	0.41	0.41	2	14.22
28	8	8	10	0.41	0.41	2	17.04
29	6	8	10	0.18	0.95	2	17.92
30	8	8	10	0.18	0.95	2	19.17
31	6	8	10	0.41	0.95	2	14.44
32	8	8	10	0.41	0.95	2	19.24
33	7	6	10	0.30	0.41	1	13.52
34	7	10	10	0.30	0.41	1	19.40
35	7	6	10	0.30	0.95	1	16.80
36	7	10	10	0.30	0.95	1	19.32
37	7	6	10	0.30	0.41	3	13.60
38	7	10	10	0.30	0.41	3	19.22
39	7	6	10	0.30	0.95	3	18.40
40	7	10	10	0.30	0.95	3	19.20
41	6	8	7	0.30	0.65	1	14.40
42	8	8	7	0.30	0.65	1	19.72
43	6	8	13	0.30	0.65	1	15.64
44	8	8	13	0.30	0.65	1	20.30
45	6	8	7	0.30	0.65	3	15.70
46	8	8	7	0.30	0.65	3	18.80
47	6	8	13	0.30	0.65	3	15.80
48	8	8	13	0.30	0.65	3	20.10
49	7	8	10	0.30	0.65	2	24.30
50	7	8	10	0.30	0.65	2	24.10
51	7	8	10	0.30	0.65	2	23.60
52	7	8	10	0.30	0.65	2	24.60
53	7	8	10	0.30	0.65	2	25.10
54	7	8	10	0.30	0.65	2	23.80

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表 3 方差分析

Table 3. Variance analysis

方差来源	平方和	自由度	均方	f值	P值
模型	364.58	17	21.45	13.46	＜0.000 1
A	40.33	1	40.33	25.31	＜0.000 1
B	30.78	1	30.78	19.32	＜0.000 1
C	25.81	1	25.81	16.20	0.000 3
D	9.07	1	9.07	5.69	0.022 4
E	5.97	1	5.97	3.75	0.060 8
F	0.60	1	0.60	0.38	0.542 7
AB	3.16	1	3.16	1.99	0.167 4
AD	1.58	1	1.58	0.99	0.325 8
AF	0.85	1	0.85	0.53	0.471 1
BC	2.03	1	2.03	1.65	0.126 7
BE	1.29	1	1.29	1.06	0.159 6
A²	40.86	1	40.86	25.65	＜0.000 1
B²	17.99	1	17.99	11.29	0.001 9
C²	41.88	1	41.88	26.29	＜0.000 1
D²	52.92	1	52.92	33.22	＜0.000 1
E²	81.43	1	81.43	51.11	＜0.000 1
F²	74.37	1	74.37	46.69	＜0.000 1
残差	57.35	36	1.59
失拟项	55.86	31	1.80	6.03	0.026 8
纯误差	1.50	5	0.30
总离差	421.93	53

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