铰链式颚式破碎机方案分析-机械原理课程设计.doc

机械原理课程设计说明书题目： 铰链式颚式破碎机方案分析 班 级 ：机械10032012年 9 月 12 日目 录 一 设计题目1二 已知条件及设计要求12.1已知条件12.2设计要求2三. 机构的结构分析23.1六杆铰链式破碎机 23.2四杆铰链式破碎机 2四. 机构的运动分析34.1六杆铰链式颚式破碎机的运动分析 34.2四杆铰链式颚式破碎机的运动分析 5五.机构的动态静力分析85.1六杆铰链式颚式破碎机的静力分析 85.2四杆铰链式颚式破碎机的静力分析13六. 工艺阻力函数及飞轮的转动惯量函数 176.1工艺阻力函数程序 176.2飞轮的转动惯量函数程序 18七 .对两种机构的综合评价 22八 . 主要的收获和建议 23九 . 参考文献 23一 设计题目铰链式颚式破碎机方案分析二 已知条件及设计要求2.1已知条件图(a)所示为六杆铰链式破碎机方案简图。主轴1的转速： n1 = 170r/min。已知尺寸：固定铰链坐标：P1x=1.0m=1.0m;P4x =1.94,P4y=0.0;P6x=0.0,P6y=1.85;杆长： r12=0.1m, r23=1.25m, r34 =1.15m, r56=1.96m, r611=2.5 m, 质心均在各杆的中心处. 构件质量：m1=0.0 kg, m2=500.0kg, m3=200.0kg, m4=200.0kg, m5=900.0kg.构件转动惯量：J1=0.0kg, J2=25.5kg, J3=9.0kg, J4=9.0kg, J5=50kg,LO5D = 0.6m，破碎阻力Q在颚板5的右极限位置到左极限位置间变化，如图(b)所示，Q力垂直于颚板。图(c)是四杆铰链式颚式破碎机方案简图。已知尺寸：固定铰链坐标：P1x=0.0m，P1y =2.0；P4x=0.0,P4y=1.85;杆长： r12=0.04m, r23=1.11m, r34 =1.96m, r411=0.6 m, 曲柄1的质心在O1 点处,质心均在各杆的中心处. 构件质量：m1=0.0 kg, m2=200.0kg, m3=900.0kg.构件转动惯量：J1=0.0kg, J2=9.0kg, J3=50kg. (a) 六杆铰链式破碎机 (b) 工艺阻力 (c) 四杆铰链式破碎机2.2设计要求试比较两个方案进行综合评价。主要比较以下几方面：1. 进行运动分析，画出颚板的角位移、角速度、角加速度随曲柄转角的变化曲线。2. 进行动态静力分析，比较颚板摆动中心运动副反力的大小及方向变化规律，曲柄上的平衡力矩大小及方向变化规律。3. 飞轮转动惯量的大小。三. 机构的结构分析3.1六杆铰链式破碎机+3.2四杆铰链式破碎机+四. 机构的运动分析4.1六杆铰链式颚式破碎机的运动分析（1）调用bark函数求2点的运动参数形参n1 n2 n3 k r1 r2 gam t w e p vp ap实参1 2 0 1 r12 0. 0. t w e p vp ap（2）调用rrrk函数求3点的运动参数形参m n1 n2 n3 k1 k2 r1 r2 t w e p vp ap实参1 4 2 3 4 2 r34 r23 t w e p vp ap（3）调用rrrk函数求5点的运动参数形参m n1 n2 n3 k1 k2 r1 r2 t w e p vp ap实参1 3 6 5 4 5 r35 r56 t w e p vp ap（4）程序:对5点的运动轨迹分析#include graphics.h#include subk.c#include draw.cmain()static double p202,vp202,ap202,del;static double t10,w10,e10,pdraw370,vpdraw370,apdraw370;static int ic;double r12,r34,r23,r56,r35,r611;double pi,dr;int i;FILE *fp;r12=0.1; r34=1.0; r23=1.250;r56=1.96; r35=1.15; r611=0.6;pi=4.0*atan(1.0);dr=pi/180.0;w1=-170*2*pi/60; e1=0.0; del=5.0; p61=0.0; p62=1.85; p11=1.0; p12=0.85; p41=1.94; p42=0.0;printf( n TheKinematic Parametersof Point 11n);printf(No THETA1 t11 w11 e11n);printf( deg rad rad/s rad/s/sn);if(fp=fopen(file6,w)=NULL)printf( Cant open this file.n);exit(0);fprintf(fp, n The Kinematic Parameters of Point 11n);fprintf(fp,No THETA1 t11 w11 e11n);fprintf(fp,deg rad rad/s rad/s/s);ic=(int)(360.0/del);for(i=0;i=ic;i+) t1=(i)*del*dr;bark(1,2,0,1,r12,0.0,0.0,t,w,e,p,vp,ap);rrrk(1,4,2,3,3,2,r34,r23,t,w,e,p,vp,ap); rrrk(1,3,6,5,4,5,r35,r56,t,w,e,p,vp,ap); bark(6,0,11,5,0.0,r611,0.0,t,w,e,p,vp,ap); printf(n%2d %12.3f%12.3f%12.3f%12.3f,i+1,t1/dr,t5,w5,e5);fprintf(fp,n%2d %12.3f%12.3f%12.3f%12.3f,i+1,t1/dr,t5,w5,e5);pdrawi=t5;vpdrawi=w5;apdrawi=e5; if(i%16)=0)getch();fclose(fp);getch();draw1(del,pdraw,vpdraw,apdraw,ic);（5）数据:随主动件1变化的运动参数 The Kinematic Parameters of Point 11No THETA1 t11 w11 e11deg rad rad/s rad/s/s 1 0.000 -1.617 0.640 4.417 2 15.000 -1.626 0.557 6.753 3 30.000 -1.633 0.448 7.834 4 45.000 -1.639 0.331 8.030 5 60.000 -1.643 0.214 7.774 6 75.000 -1.645 0.102 7.423 7 90.000 -1.646 -0.005 7.191 8 105.000 -1.645 -0.110 7.140 9 120.000 -1.643 -0.215 7.19010 135.000 -1.639 -0.321 7.15611 150.000 -1.633 -0.424 6.78812 165.000 -1.626 -0.518 5.82313 180.000 -1.618 -0.592 4.05014 195.000 -1.609 -0.632 1.36715 210.000 -1.600 -0.628 -2.15616 225.000 -1.591 -0.566 -6.23117 240.000 -1.583 -0.444 -10.33018 255.000 -1.578 -0.266 -13.72919 270.000 -1.576 -0.048 -15.64520 285.000 -1.577 0.184 -15.48221 300.000 -1.581 0.397 -13.10422 315.000 -1.588 0.561 -8.96923 330.000 -1.597 0.656 -4.00924 345.000 -1.607 0.680 0.71925 360.000 -1.617 0.640 4.417（6）线图:5点水平位移，速度，加速度线图六杆机构颚板角位置、角速度、角加速度随曲柄转角的变化曲线4.2四杆铰链式颚式破碎机的运动分析（1）调用bark函数求2点的运动参数形参n1 n2 n3 k r1 r2 gam t w e p vp ap实参1 2 0 1 r12 0.0 0.0 t w e p vp ap（2）调用rrrk函数求3点的运动参数形参m n1 n2 n3 k1 k2 r1 r2 t w e p vp ap实参1 2 4 3 2 3 r23 r34 t w e p vp ap（3）程序：对3点的运动轨迹分析#include graphics.h#include subk.c#include draw.cmain()static double p202,vp202,ap202,del;static double t10,w10,e10,pdraw370,vpdraw370,apdraw370;static int ic;double r12,r34,r23,r47;double pi,dr;int i;FILE *fp;r12=0.04; r23=1.11;r34=1.96; r47=0.6;pi=4.0*atan(1.0);dr=pi/180.0;w1=-170*2*pi/60; e1=0.0; del=15.0;p42=-0.95;p41=2.0; p11=0.0; p12=0.0;printf( n TheKinematic Parametersof Point7 n);printf(No THETA1 t3 w3 e3n);printf( deg rad rad/s rad/s/sn);if(fp=fopen(file1,w)=NULL)printf( Cant open this file.n);exit(0);fprintf(fp, n The Kinematic Parameters of Point 3n);fprintf(fp,No THETA1 t3 w3 e3n);fprintf(fp,deg rad rad/s rad/s/s);ic=(int)(360.0/del);for(i=0;i=ic;i+) t1=(-i)*del*dr;bark(1,2,0,1,r12,0.0,0.0,t,w,e,p,vp,ap);rrrk(1,2,4,3,2,3,r23,r34,t,w,e,p,vp,ap); bark(4,0,7,3,0.0,r47,0.0,t,w,e,p,vp,ap); printf(n%2d %12.3f%12.3f%12.3f%12.3f,i+1,t1/dr,t3,w3,e3);fprintf(fp,n%2d %12.3f%12.3f%12.3f%12.3f,i+1,t1/dr,t3,w3,e3);pdrawi=t3;vpdrawi=w3;apdrawi=e3; if(i%16)=0)getch();fclose(fp);getch();draw1(del,pdraw,vpdraw,apdraw,ic);（4）数据：随主动件1变化的运动参数 The Kinematic Parameters of Point 3No THETA1 t3 w3 e3deg rad rad/s rad/s/s 1 0.000 2.157 0.224 5.275 2 -15.000 2.161 0.292 3.968 3 -30.000 2.166 0.339 2.398 4 -45.000 2.171 0.362 0.696 5 -60.000 2.176 0.360 -1.005 6 -75.000 2.181 0.333 -2.588 7 -90.000 2.186 0.285 -3.958 8 -105.000 2.190 0.218 -5.042 9 -120.000 2.192 0.138 -5.79310 -135.000 2.194 0.050 -6.18211 -150.000 2.194 -0.042 -6.19512 -165.000 2.192 -0.131 -5.83113 -180.000 2.190 -0.211 -5.10414 -195.000 2.186 -0.279 -4.04415 -210.000 2.182 -0.329 -2.70016 -225.000 2.177 -0.358 -1.14317 -240.000 2.171 -0.362 0.53418 -255.000 2.166 -0.342 2.21819 -270.000 2.161 -0.297 3.78820 -285.000 2.158 -0.232 5.11821 -300.000 2.155 -0.149 6.09422 -315.000 2.153 -0.054 6.62823 -330.000 2.153 0.044 6.66724 -345.000 2.155 0.139 6.20225 -360.000 2.157 0.224 5.275（6）线图:3点水平位移，速度，加速度线图四杆机构颚板角位置、角速度、角加速度随曲柄转角的变化曲线五.机构的动态静力分析5.1六杆铰链式颚式破碎机的静力分析（1）、（2）、（3）步同运动分析1、2、3（4）调用bark函数求7的运动参数形参 n1 n2 n3 k r1 r2 gam t w e p vp ap实参2 0 7 2 0.0 r27 0.0 t w e p vp ap（5）调用bark函数求8的运动参数形参 n1 n2 n3 k r1 r2 gam t w e p vp ap实参4 0 8 3 0.0 r48 0.0 t w e p vp ap（6）调用bark函数求9的运动参数形参 n1 n2 n3 k r1 r2 gam t w e p vp ap实参3 0 9 4 0.0 r39 0.0 t w e p vp ap（7）调用bark函数求10的运动参数形参 n1 n2 n3 k r1 r2 gam t w e p vp ap实参6 0 10 5 0.0 r610 0.0 t w e p vp ap（8）调用bark函数求11的运动参数形参 n1 n2 n3 k r1 r2 gam t w e p vp ap实参6 0 11 5 0.0 r611 0.0 t w e p vp ap（9）调用rrrf对4、5杆件组成的rrr杆组进行静力分析形参n1 n2 n3 ns1 ns2 nn1 nn2 nexf k1 k2 t w e p vp ap实参3 6 5 9 10 0 11 11 4 5 t w e p vp ap（10）调用rrrf对2、3杆组成的rrr杆组进行静力分析形参n1 n2 n3 ns1 ns2 nn1 nn2 nexf k1 k2 t w e p vp ap实参4 3 3 8 7 3 0 0 3 2 t w e p vp ap（11）调用barf对主动件1进行静力分析形参 n1 ns1 nn1 k1 p ap e fr tb实参1 1 2 1 p ap e fr tb（12）程序：对质心的运动分析，对固定铰链的静态动力分析，主动反力偶#include graphics.h #include subk.c #include subf.c#include math.h #include draw.c main() static double p202,vp202,ap202,del; static double t10,w10,e10; static double bt6draw370,fr6draw370,tbdraw370,tb1draw370; static double fr202,fe202; static int ic; double r12,r23,r34,r35,r56; double r27,r48,r39,r610,r611; int i; double pi,dr,fr6,bt6,we1,we2,we3,we4,we5,tb,tb1; FILE*fp; sm1=0.0; sm2=500.0; sm3=200.0; sm4=200.0; sm5=900.0; sj1=0.0; sj2=25.5; sj3=9.0; sj4=9.0; sj5=50.0; r12=0.1; r23=1.25; r34=1.0; r35=1.15;r56=1.96; r27=r23/2; r48=r34/2; r39=r35/2; r610=r56/2; r611=0.6; pi=4.0*atan(1.0); dr=pi/180.0; w1=-170*2*pi/60; e1=0.0; del=5.0; p11=1.0; p12=1.0; p41=1.94; p42=0.0; p61=0.0; p62=1.85; printf(n The Kineto-static Analysis of a Six-bar Linkasen); printf( NO THETA1 FR6 BT6 TB TB1n); printf( (deg.) (N) (deg.) (N.m) (N.m)n); if(fp=fopen(file6,w)=NULL) printf(Cant open this file./n); exit(0); fprintf(fp,n The Kineto-static Analysis of a Six-bar Linkasen); fprintf(fp, NO THETA1 FR6 BT6 TB TB1n); fprintf(fp, (deg.) (N) (deg.) (N.m) (N.m)n); ic=(int)(360.0/del); for(i=0;i=ic;i+) t1=(-i)*del*dr; bark(1,2,0,1,r12,0.0,0.0,t,w,e,p,vp,ap); rrrk(1,4,2,3,3,2,r34,r23,t,w,e,p,vp,ap); rrrk(1,3,6,5,4,5,r35,r56,t,w,e,p,vp,ap); bark(2,0,7,2,0.0,r27,0.0,t,w,e,p,vp,ap); bark(4,0,8,3,0.0,r48,0.0,t,w,e,p,vp,ap); bark(3,0,9,4,0.0,r39,0.0,t,w,e,p,vp,ap); bark(6,0,10,5,0.0,r610,0.0,t,w,e,p,vp,ap); bark(6,0,11,5,0.0,r611,0.0,t,w,e,p,vp,ap); rrrf(3,6,5,9,10,0,11,11,4,5,p,vp,ap,t,w,e,fr); rrrf(4,2,3,8,7,3,0,0,3,2,p,vp,ap,t,w,e,fr); barf(1,1,2,1,p,ap,e,fr,&tb); fr6=sqrt(fr61*fr61+fr62*fr62); bt6=atan2(fr62,fr61); we1=-(ap11*vp11+(ap12+9.81)*vp12)*sm1-e1*w1*sj1; we2=-(ap71*vp71+(ap72+9.81)*vp72)*sm2-e2*w2*sj2; we3=-(ap81*vp81+(ap82+9.81)*vp82)*sm3-e3*w3*sj3; we4=-(ap91*vp91+(ap92+9.81)*vp92)*sm4-e4*w4*sj4; extf(p,vp,ap,t,w,e,11,fe); we5=-(ap101*vp101+(ap102+9.81)*vp102)*sm5-e5*w5*sj5+fe111*vp111+fe112*vp112; tb1=-(we1+we2+we3+we4+we5)/w1; printf( %3d%6.0f%11.3f%11.3f%11.3f%11.3fn,i,t1/dr,fr6,bt6/dr,tb,tb1,); fprintf(fp, %3d%6.0f%11.3f%11.3f%11.3f%11.3fn,i,t1/dr,fr6,bt6/dr,tb,tb1,); tbdrawi=tb; tb1drawi=tb1; fr6drawi=fr6; bt6drawi=bt6; if(i%16)=0)getch(); fclose(fp); getch(); draw2(del,tbdraw,tb1draw,ic); draw3(del,bt6draw,fr6draw,ic); extf(p,vp,ap,t,w,e,nexf,fe) double p202,vp202,ap202,t10,w10,e10,fe202; double pi,dr; pi=4.0*atan(1.0); dr=pi/180.0; if(w50) fenexf1=(-t1/dr-90.0)*(85000.0/182.0)*cos(-t5-pi/2); fenexf2=-(-t1/dr-90.0)*(85000.0/182.0)*sin(-t5-pi/2); elsefenexf1=0;fenexf2=0; （13）数据：6点固定铰链力矢；主动件平衡力偶 The Kineto-static Analysis of a Six-bar Linkase NO THETA1 FR6 BT6 TB TB1 (deg.) (N) (deg.) (N.m) (N.m) 0 0 9904.580 77.690 534.273 534.273 1 -15 10248.086 82.670 1038.104 1038.104 2 -30 10522.852 89.576 1434.513 1434.513 3 -45 10757.314 97.329 1547.760 1547.760 4 -60 10967.175 104.339 1270.987 1270.987 5 -75 11112.158 109.009 644.228 644.228 6 -90 11132.496 110.330 -144.608 -144.608 7 -105 13356.757 128.454 -883.773 -883.773 8 -120 16176.401 139.007 -1407.830 -1407.830 9 -135 19186.867 145.561 -1626.344 -1626.344 10 -150 22374.519 150.172 -1559.245 -1559.245 11 -165 25846.624 153.746 -1292.854 -1292.854 12 -180 29700.830 156.609 -931.213 -931.213 13 -195 33968.451 158.869 -565.243 -565.243 14 -210 38602.952 160.602 -260.954 -260.954 15 -225 43497.372 161.905 -57.628 -57.628 16 -240 48515.553 162.900 32.265 32.265 17 -255 53525.123 163.703 23.978 23.978 18 -270 58424.813 164.412 -39.809 -39.809 19 -285 8481.823 78.617 -205.306 -205.306 20 -300 8583.465 77.292 -338.729 -338.729 21 -315 8793.293 75.658 -361.459 -361.459 22 -330 9113.158 74.602 -227.576 -227.576 23 -345 9506.210 75.059 80.824 80.824 24 -360 9904.580 77.690 534.273 534.273（14）线图：6点固定铰链力矢；主动件平衡力偶六杆机构曲柄上的平衡力矩的变化规律六杆机构颚板摆动中心运动副反力的大小及方向变化规律5.2四杆铰链式颚式破碎机的静力分析（1）、（2）步同运动分析1、2（3）、调用bark函数对5点进行运动分析形参 n1 n2 n3 k r1 r2 gam t w e p vp ap实参2 0 5 2 0.0 r25 0.0 t w e p vp ap（4）、调用bark函数对6点进行运动分析形参 n1 n2 n3 k r1 r2 gam t w e p vp ap实参3 0 6 3 0.0 r36 0.0 t w e p vp ap（5）、调用bark函数对7点进行运动分析形参 n1 n2 n3 k r1 r2 gam t w e p vp ap实参4 0 7 3 0.0 r47 0.0 t w e p vp ap（6）、调用rrrf函数对2、3杆进行静力分析形参n1 n2 n3 ns1 ns2 nn1 nn2 nexf k1 k2 t w e p vp ap实参2 4 3 7 8 0 3 0 2 3 t w e p vp ap（7）、调用barf函数对主动件1进行静力分析形参 n1 ns1 nn1 k1 p ap e fr tb实参1 1 2 1 p ap e fr tb（8）、程序：对质心的运动分析，对固定铰链的静态动力分析，主动反力偶#include graphics.h #include subk.c #include subf.c#include math.h #include draw.c main() static double p202,vp202,ap202,del; static double t10,w10,e10; static double bt4draw370,fr4draw370,tbdraw370,tb1draw370; static double fr202,fe202; static int ic; double r12,r23,r34; double r25,r36,r47; int i; double pi,dr,fr4,bt4,we1,we2,we3,tb,tb1; FILE*fp; sm1=0.0; sm2=200.0; sm3=900.0; sj1=0.0; sj2=9.0; sj3=50.0; r12=0.04; r23=1.11; r34=1.96; r25=r23/2; r36=r34/2; r47=0.6; pi=4.0*atan(1.0); dr=pi/180.0; w1=-170*2*pi