机械原理课程设计铰链式颚式破碎机说明书.doc

东北大学机械原理课程设计铰链式颚式破碎机方案分析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1301姓 名 ：学 号 ：指导教师 ： 成 绩 ：2015年 10月 28 日21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3四. 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6五.机构的动态静力分析95.1六杆铰链式颚式破碎机的静力分析95.2四杆铰链式颚式破碎机的静力分析14六. 工艺阻力函数及飞轮的转动惯量函数 126.1工艺阻力函数程序 196.2飞轮的转动惯量函数程序20七 .对两种机构的综合评价20八 . 主要的收获和建议20九 . 参考文献21一 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 1六杆铰链式破碎机图 2工艺阻力图 3四杆铰链式破碎机图(a)所示为六杆铰链式破碎机方案简图。主轴1的转速为n1 = 170r/min，各部尺寸为：lO1A = 0.1m, lAB = 1.250m, lO3B = 1m, lBC = 1.15m, lO5C = 1.96m, l1=1m, l2=0.94m, h1=0.85m, h2=1m。各构件质量和转动惯量分别为：m2 = 500kg, Js2 = 25.5kgm2, m3 = 200kg, Js3 = 9kgm2, m4 = 200kg, Js4 = 9kgm2, m5=900kg, Js5=50kgm2, 构件1的质心位于O1上，其他构件的质心均在各杆的中心处。D为矿石破碎阻力作用点，设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。主轴1 的转速n1=170r/min。lO1A = 0.04m, lAB = 1.11m, l1=0.95m, h1=2m, lO3B=1.96m，破碎阻力Q的变化规律与六杆铰链式破碎机相同，Q力垂直于颚板O3B，Q力作用点为D，且lO3D = 0.6m。各杆的质量、转动惯量为m2 = 200kg, Js2=9kgm2，m3 = 900kg, Js3=50kgm2。曲柄1的质心在O1 点处，2、3构件的质心在各构件的中心。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六杆铰链式粉碎机拆分为机架和主动件，构件组成的RRR杆组，构件组成的RRR杆组。3.2四杆铰链式破碎机四杆铰链式破碎机拆分为机架和主动件，构件组成的RRR杆组。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）分析调用bark函数对主动件进行运动分析。见表4.1。调用rrrk函数对由构件组成的RRR杆组进行运动分析。见表4.2。调用rrrk函数对由构件组成的RRR杆组进行运动分析。见表4.3。表4.1形式参数n1n2n3kr1r2gamtwepvpap实值1201r120.00.0twepvpap表4.2形式参数mn1n2n3k1k2r1r2twepvpap实值142332r34r23twepvpap表4.3形式参数mn1n2n3k1k2r1r2twepvpap实值136545,r35r56twepvpap（2）编写程序/* Note:Your choice is C IDE */#include graphics.h#include subk.c#include draw.cmain() static double p202,vp202,ap202,del; static double t10,w10,e10,tdraw370,wdraw370,edraw370; static int ic; double r12,r23,r34; double pi,dr; int i; FILE * fp; char * m=p,vp,ap; pi=4.0*atan(1.0); dr=pi/180.0; r12=0.04; r23=1.11; r34=1.96; w1=17*pi/3; e1=0.0; del=1; p11=0.0; p12=0.0; p41=-0.95; p42=2.0; printf(n The kinematic parameters of point 3n); printf(No THETAL T3 W3 E3n); printf( deg m m/s m/s/sn); if(fp=fopen(6666yundong,w)=NULL) printf(Cant open this file.n); exit(0); fprintf(fp,n The Kinematic Parameters of Point 3n); printf(No THETAL T3 W3 E3n); printf( deg m m/s m/s/sn); 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); 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); tdrawi=t3; wdrawi=w3; edrawi=e3; if(i%16)=0)getch(); fclose(fp); getch(); draw1(del,tdraw,wdraw,edraw,ic,m);（3）运行结果The Kinematic Parameters of Point 3 1 0.000 -1.632 -0.014 -6.232 2 15.000 -1.632 -0.105 -5.988 3 30.000 -1.635 -0.189 -5.375 4 45.000 -1.638 -0.261 -4.415 5 60.000 -1.642 -0.317 -3.149 6 75.000 -1.647 -0.352 -1.639 7 90.000 -1.653 -0.364 0.030 8 105.000 -1.658 -0.351 1.746 9 120.000 -1.663 -0.313 3.38410 135.000 -1.667 -0.253 4.80711 150.000 -1.670 -0.174 5.89412 165.000 -1.672 -0.082 6.54513 180.000 -1.672 0.016 6.70314 195.000 -1.671 0.113 6.35815 210.000 -1.669 0.201 5.54416 225.000 -1.666 0.274 4.33917 240.000 -1.661 0.327 2.84818 255.000 -1.656 0.357 1.19219 270.000 -1.651 0.362 -0.50120 285.000 -1.646 0.343 -2.11721 300.000 -1.641 0.301 -3.55322 315.000 -1.637 0.240 -4.73123 330.000 -1.634 0.163 -5.59124 345.000 -1.632 0.077 -6.09825 360.000 -1.632 -0.014 -6.232图 1六杆机构颚板角位置、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）分析调用bark函数对主动件进行运动分析。见表4.4。调用rrrk函数对由构件组成的RRR杆组进行运动分析。见表4.5。表4.4形式参数n1n2n3kr1r2gamtwePvpap实值1201r120.00.0twePvpap表4.5形式参数mn1n2n3k1k2r1r2twepvpap实值124323r23r34twepvpap（2）编写程序/* Note:Your choice is C IDE */#include graphics.h#include subk.c#include draw.cmain() static double p202,vp202,ap202,del; static double t10,w10,e10,tdraw370,wdraw370,edraw370; static int ic; double r12,r23,r34; double pi,dr; int i; FILE * fp; char * m=p,vp,ap; pi=4.0*atan(1.0); dr=pi/180.0; r12=0.04; r23=1.11; r34=1.96; w1=17*pi/3; e1=0.0; del=1; p11=0.0; p12=0.0; p41=-0.95; p42=2.0; printf(n The kinematic parameters of point 3n); printf(No THETAL T3 W3 E3n); printf( deg m m/s m/s/sn); if(fp=fopen(4444yundong,w)=NULL) printf(Cant open this file.n); exit(0); fprintf(fp,n The Kinematic Parameters of Point 3n); printf(No THETAL T3 W3 E3n); printf( deg m m/s m/s/sn); 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);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); tdrawi=t3; wdrawi=w3; edrawi=e3; if(i%16)=0)getch(); fclose(fp); getch(); draw1(del,tdraw,wdraw,edraw,ic,m);（3）运行结果 The Kinematic Parameters of Point 3 1 0.000 -1.632 -0.014 -6.232 2 15.000 -1.632 -0.105 -5.988 3 30.000 -1.635 -0.189 -5.375 4 45.000 -1.638 -0.261 -4.415 5 60.000 -1.642 -0.317 -3.149 6 75.000 -1.647 -0.352 -1.639 7 90.000 -1.653 -0.364 0.030 8 105.000 -1.658 -0.351 1.746 9 120.000 -1.663 -0.313 3.38410 135.000 -1.667 -0.253 4.80711 150.000 -1.670 -0.174 5.89412 165.000 -1.672 -0.082 6.54513 180.000 -1.672 0.016 6.70314 195.000 -1.671 0.113 6.35815 210.000 -1.669 0.201 5.54416 225.000 -1.666 0.274 4.33917 240.000 -1.661 0.327 2.84818 255.000 -1.656 0.357 1.19219 270.000 -1.651 0.362 -0.50120 285.000 -1.646 0.343 -2.11721 300.000 -1.641 0.301 -3.55322 315.000 -1.637 0.240 -4.73123 330.000 -1.634 0.163 -5.59124 345.000 -1.632 0.077 -6.09825 360.000 -1.632 -0.014 -6.232图 2四杆机构颚板角位置、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）分析调用bark函数对主动件进行运动分析。见表4.1。调用rrrk函数对由构件组成的RRR杆组进行运动分析。见表4.2。调用rrrk函数对由构件组成的RRR杆组进行运动分析。见表4.3。构件的质心7运动参数。见表5.1。构件的质心8运动参数。见表5.2。构件的质心9运动参数。见表5.3。构件的质心10运动参数。见表5.4。阻力的作用点11运动参数。见表5.5。调用rrrf对由杆组成的RRR杆组进行静力分析。见表5.6。调用rrrf对由杆组成的RRR杆组进行静力分析。见表5.7。调用barf对主动件进行静力分析。见表5.8。表5.1形式参数n1n2n3kr1r2gamtwepvpap实值20720.0r270.0twepvpap表5.2形式参数n1n2n3kr1r2gamtwepvpap实值40830.0r480.0twepvpap表5.3形式参数n1n2n3kr1r2gamtwepvpap实值30940.0r390.0twepvpap表5.4形式参数n1n2n3kr1r2gamtwepvpap实值601050.0r6100.0twepvpap表5.5形式参数n1n2n3kr1r2gamtwepvpap实值601150.0r6110.0twepvpap表5.6形式参数n1n2n3ns1ns2nn1nn2nexfk1k2pvpaptwefr实值3659100111145pvpaptwefr表5.7形式参数n1n2n3ns1ns2nn1nn2nexfk1k2pvpaptwefr实值4238730032pvpaptwefr表5.8形式参数n1ns1nn1k1papefrtb实值1121papefr&tb（2）编写程序#include graphics.h#include subk.c#include subf.c#include draw.cmain() static double p202,vp202,ap202,del; static double t10,w10,e10; static double sita1370,fr1draw370,sita2370,fr2draw370,sita3370,fr3draw370,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; double 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=-17*pi/3; e1=0.0; del=15; p11=0.0; p12=0.0; p41=0.94; p42=-1.0; p61=-1.0; p62=0.85; printf(n The Kineto-static Analysis of a Six-bar Linkasen); printf(NO HETA1 fr6 bt6 tb tb1n); printf( deg N deg N.m (N.m)n); if(fp=fopen(6666li.txt,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 HETA1 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 %10.3f %10.3f %10.3f %10.3f %10.3f n,i+1,t1/dr,fr6,bt6/dr,tb,tb1); fprintf(fp,%3d %10.3f %10.3f %10.3f %10.3f %10.3f n,i+1,t1/dr,fr6,bt6/dr,tb,tb1); tbdrawi=tb; tb1drawi=tb1; fr1drawi=fr6;sita1i=bt6; fr2drawi=fr6;sita2i=bt6; fr3drawi=fr6;sita3i=bt6; if(i%16)=0)getch(); fclose(fp); getch(); draw2(del,tbdraw,tb1draw,ic); draw3(del,sita1,fr1draw,sita2,fr2draw,sita3,fr3draw,ic); #include math.hextf(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)*(85000.0/183.0)*cos(-t5-pi/2); fenexf2=-(-t1/dr-90.0)*(85000.0/183.0)*sin(-t5-pi/2); elsefenexf1=0;fenexf2=0; 图 3六杆机构曲柄上的平衡力矩的变化规律图 4六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）分析调用bark函数对主动件进行运动分析。见表4.4。调用rrrk函数对由构件组成的RRR杆组进行运动分析。见表4.5。各构件的质心5运动参数。见表5.9。各构件的质心6运动参数。见表5.10。阻力的作用点7运动参数。见表5.11。调用rrrf对由杆组成的RRR杆组进行静力分析。见表5.12。调用barf对主动件进行静力分析。见表5.13。表5.9 形式参数n1n2n3kr1r2gamtwepvpap实值20520.0r250.0twepvpap表5.10形式参数n1n2n3kr1r2gamtwepvpap实值40630.0r460.0twepvpap表5.11 形式参数n1n2n3kr1r2gamtwepvpap实值40730.00.60.0twepvpap表5.12形式参数n1n2n3ns1ns2nn1nn2nexfk1k2pvpaptwefr实值2435607723pvpaptwefr表5.13形式参数n1ns1nn1k1papefrtb实值1121papefr&tb（2）编写程序/* Note:Your choice is C IDE */#include graphics.h#includesubk.c#includesubf.c#include draw.cmain() static double p202,vp202,ap202,del; static double t10,w10,e10; static double sita1370,fr1draw370,sita2370,fr2draw370,sita3370,fr3draw370,tbdraw370,tb1draw370; static double fr202,fe202; static int ic; double r12,r23,r34,r25,r46,r47; double pi,dr; double fr1,fr4,bt1,bt4,we1,we2,we3,tb,tb1; int i; FILE * fp; char * m=tb,tb1,fr1,fr2; sm1=0.0;sm2=200;sm3=900; sj1=0.0;sj2=9.0;sj3=50.0; pi=4.0*atan(1.0); dr=pi/180.0; r12=0.04; r23=1.11; r34=1.96;r47=0.6;r25=0.555;r46=0.98; w1=17*pi/3; e1=0.0; del=1; p11=0.0; p12=0.0; p41=-0.95; p42=2.0; printf(n The Kineto-static Analysis of a Six-bar Linkasen); printf(No HETAL fr4 sital bt4 sital tb tb1n); printf( deg N deg N.m (N.m)n); if(fp=fopen(filel,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 fr4 sital bt4 sital 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(1,2,4,3,2,3,r23,r34,t,w,e,p,vp,ap); bark(2,0,5,2,0.0,r25,0.0,t,w,e,p,vp,ap); bark(4,0,6,3,0.0,r46,0.0,t,w,e,p,vp,ap); bark(4,0,7,3,0.0,0.6,0.0,t,w,e,p,vp,ap); rrrf(2,4,3,5,6,0,7,7,2,3,p,vp,ap,t,w,e,fr); barf(1,1,2,1,p,ap,e,fr,&tb); fr1=sqrt(fr11*fr11+fr12*fr12); bt1=atan2(fr12,fr11); fr4=sqrt(fr41*fr41+fr42*fr42); bt4=atan2(fr42,fr41); we1=-(ap11*vp11+(ap12+9.81)*vp12)*sm1-e1*w1*sj1; we2=-(ap51*vp51+(ap52+9.81)*vp52)*sm2-e2*w2*sj2; extf(p,vp,ap,t,w,e,7,fe); we3=-(ap61*vp61+(ap62+9.81)*vp62)*sm3-e3*w3*sj3+fe71*vp71+fe72*vp72; tb1=-(we1+we2+we3)/w1; printf(%3d %10.3f %10.3f %10.3f %10.3f %10.3f n,i+1,t1/dr,fr4,bt4/dr,tb,tb1); fprintf(fp,%3d %10.3f %10.3f %10.3f %10.3f %10.3f n,i+1,t1/dr,fr4,bt4/dr,tb,tb1); tbdrawi=tb; tb1drawi=tb1; fr1drawi=fr4; sita1i=bt4; fr2drawi=fr4; sita2i=bt4; fr3drawi=fr4; sita3i=bt4; if(i%16)=0)getch(); fclose(fp); getch(); draw2(del,tbdraw,tb1draw,ic,m); draw3(del,sita1,fr1draw,sita2,fr2draw,sita3,fr3draw,ic,m); #include math.hextf(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(w30) fenexf1=(-t1/dr-3.0)*(85000.0/180.0)*cos(-t3-pi/2); fenexf2=-(-t1/dr-3.0)*(85000.0/180.0)*sin(-t3-pi/2); elsefenexf1=0;fenexf2=0; （3）运行结果 The Kineto-static Analysis of a Six-bar LinkaseNO THETA1 fr4 sital bt4 sital tb tb1 deg N deg N.m (N.m) 1 0.000 10023.002 97.295 46.864 46.864 2 15.000 10179.916 68.512 63.999 63.999 3 30.000 12605.379 45.171 26.103 26.103 4 45.000 16447.933 30.391 -66.275 -66.275 5 60.000 21034.103 21.189 -203.233 -203.233 6 75.000 26031.225 15.110 -365.182 -365.182 7 90.000 31267.929 10.859 -524.226 -524.226 8 105.000 36634.610 7.776 -647.711 -647.711 9 120.000 42045.228 5.512 -703.792 -703.792 10 135.000 47425.423 3.872 -668.062 -668.062 11 150.000 52711.744 2.730 -529.459 -529.459 12 165.000 57855.056 1.994 -293.570 -293.570 13 180.000 9876.254 70.487 -29.962 -29.962 14 195.000 10039.491 71.586 14.965 14.965 15 210.000 10179.909 73.779 45.788 45.788 16 225.000 10292.083 76.834 54.093 54.093 17 240.000 10375.423 80.484 38.920 38.920 18 255.000 10432.077 84.456 6.496 6.496 19 270.000 10465.335 88.490 -32.135 -32.135 20 285.000 10478.413 92.343 -64.615 -64.615 21 300.000 10473.492 95.802 -80.727 -80.727 22 315.000 10451.097 98.687 -74.894 -74.894 23 330.000 10410.008 100.858 -47.249 -47.249 24 345.000 10347.725 102.212 -3.290 -3.290