东北大学机械原理课程设计任务书

1、东北大学机械与自动化学院 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13姓 名 ： 学 号 ：2013指导教师 ：张禹成 绩 ：2014年 月 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10六. 工艺阻力函数及飞轮的转动惯量函数 126.1工艺

2、阻力函数程序 126.2飞轮的转动惯量函数程序13七 .对两种机构的综合评价14八 . 主要的收获和建议14九 . 参考文献14一 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 (a) 六杆铰链式破碎机 (b) 工艺阻力 (c) 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 = 5

3、00kg, Js2 = 25.5kg·m2, m3 = 200kg, Js3 = 9kg·m2, m4 = 200kg, Js4 = 9kg·m2, m5=900kg, Js5=50kg·m2, 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=

4、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=9kg·m2，m3 = 900kg, Js3=50kg·m2。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

5、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 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 3 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、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.c"#include "stdio.h"main()static double p202,vp202,ap202;static double t10,w10,e10,del;static double tdraw370,wdraw370,edraw370; static int ic; double r12,r23,r34

7、,r56,r35,r611; double pi,dr; int i; FILE *fp; char *m="t","w","e" r12=0.1; r23=1.25; r34=1.0; pi=4.0*atan(1.0); r35=1.15; r56=1.96,r611=0.6;t1=0.0; w1=-170*2*pi/60; e1=0.0; del=15;dr=pi/180.0; p11=0.0;p12=0.0;p41=0.94;p42=-1.0;p61=-1.0;p62=0.85; printf("n The Kinem

8、atic Parameters of Point5n"); printf("No THETA1 t5 w5 e5n"); printf(" deg rad rad/s rad/s/sn"); if(fp=fopen("6gan","w")=NULL) printf("Can't open this file./n"); exit(0); fprintf(fp," n The Kinematic Parameters of Point 5n"); fprint

9、f(fp,"No THETA1 t5 w5 e5n"); 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); 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

10、,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); tdrawi=t5; wdrawi=w5; edrawi=e5; if(i%15)=0)getch(); fclose(fp); getch(); draw1(del,tdraw,wdraw,edraw,ic,m);（5）数据:随主动件1变化的运动参数 The Kinematic Para

11、meters of Point 5No THETA1 t5 w5 e5 deg rad rad/s rad/s/s 1 0.000 -1.658 0.346 3.955 2 -15.000 -1.653 0.392 2.002 3 -30.000 -1.647 0.400 -0.932 4 -45.000 -1.641 0.362 -4.354 5 -60.000 -1.637 0.274 -7.504 6 -75.000 -1.633 0.146 -9.610 7 -90.000 -1.632 -0.001 -10.181 8 -105.000 -1.633 -0.145 -9.162 9

12、-120.000 -1.637 -0.265 -6.90210 -135.000 -1.641 -0.345 -3.98011 -150.000 -1.646 -0.382 -1.00812 -165.000 -1.652 -0.377 1.51813 -180.000 -1.657 -0.341 3.29614 -195.000 -1.662 -0.284 4.23615 -210.000 -1.666 -0.220 4.43516 -225.000 -1.668 -0.156 4.12017 -240.000 -1.670 -0.10 3.58318 -255.000 -1.671 -0.

13、051 3.10519 -270.000 -1.672 -0.007 2.89720 -285.000 -1.672 0.036 3.06321 -300.000 -1.671 0.085 3.57022 -315.000 -1.669 0.142 4.24623 -330.000 -1.667 0.209 4.79024 -345.000 -1.663 0.281 4.81625 -360.000 -1.658 0.346 3.955（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

14、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.c"main()static double p202,vp202

15、,ap202,del;static double t10,w10,e10,tdraw370,wdraw370,edraw370;static int ic;double r12,r34,r23,r47;double pi,dr;int i;FILE *fp;r12=0.04; r23=1.1;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;p41=-0.95;p42=2.0; p11=0.0; p12=0.0;printf(" n TheKinematic Parame

16、tersof Point3 n");printf("No THETA1 t3 w3 e3n");printf(" deg rad rad/s rad/s/sn");if(fp=fopen("4gan","w")=NULL)printf(" Can't open this file.n");exit(0);fprintf(fp," n The Kinematic Parameters of Point 3n");fprintf(fp,"No THET

17、A1 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/

18、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); （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 -1.627 0.01

19、4 -6.229 2 -15.000 -1.627 -0.077 -6.096 3 -30.000 -1.629 -0.163 -5.590 4 -45.000 -1.632 -0.240 -4.731 5 -60.000 -1.636 -0.301 -3.554 6 -75.000 -1.640 -0.343 -2.117 7 -90.000 -1.646 -0.362 -0.501 8 -105.000 -1.651 -0.357 1.194 9 -120.000 -1.656 -0.327 2.85010 -135.000 -1.661 -0.274 4.34211 -150.000 -

20、1.664 -0.201 5.54712 -165.000 -1.666 -0.113 6.36013 -180.000 -1.667 -0.016 6.70414 -195.000 -1.667 0.082 6.54415 -210.000 -1.665 0.174 5.89116 -225.000 -1.662 0.253 4.80317 -240.000 -1.658 0.313 3.37818 -255.000 -1.653 0.351 1.74219 -270.000 -1.647 0.364 0.02620 -285.000 -1.642 0.352 -1.64121 -300.0

21、00 -1.637 0.317 -3.15022 -315.000 -1.633 0.261 -4.41423 -330.000 -1.630 0.188 -5.37224 -345.000 -1.627 0.104 -5.98525 -360.000 -1.627 0.014 -6.229（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 a

22、p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

23、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

24、实参4 2 3 8 7 0 3 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 do

25、uble p202,vp202,ap202,del; static double t10,w10,e10; static double sita1draw370,fr1draw370,sita2draw370,fr2draw370, sita3draw370,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,fr1,bt1,fr4,bt4,f

26、r6,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;

27、 del=15.0; 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 THETA1 fr6 sita6 tb tb1n"); printf(" deg N deg N.m N.mn"); if(fp=fopen("sl","w")=NULL) printf("Can'

28、;t open this file./n"); exit(0); fprintf(fp,"n The Kineto-static Analysis of a Six-bar Linkasen"); fprintf(fp," NO THETA1 fr6 sita6 tb tb1n"); fprintf(fp," deg N deg N.m N.mn"); 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,

29、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

30、); 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+

31、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(" %2d%10.3f%10.3f%10.3f%10.3f%10.3fn",i+1,t1/dr,fr6,bt6/dr,tb,tb1); fpr

32、intf(fp," %2d%10.3f%10.3f%10.3f%10.3f%10.3fn",i+1,t1/dr,fr6,bt6/dr,tb,tb1); tbdrawi=tb;tb1drawi=tb1;fr1drawi=fr6;sita1drawi=bt6; fr2drawi=fr6;sita2drawi=bt6;fr3drawi=fr6;sita3drawi=bt6; if(i%15)=0)getch(); fclose(fp); getch(); draw2(del,tbdraw,tb1draw,ic); draw3(del,sita1draw,fr1draw,sita2

33、draw,fr2draw,sita3draw,fr3draw,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(w5<0) 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）

34、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 sita6 tb tb1 deg N deg N.m N.m 1 0.000 9904.580 77.690 534.273 534.273 2 -15.000 10248.086 82.670 1038.104 1038.104 3 -30.000 10522.852 89.576 1434.513 1434.513 4 -45.000 10757.314 97.329 1547.760 1547.760 5 -60.000 109

35、67.175 104.339 1270.987 1270.987 6 -75.000 11112.158 109.009 644.228 644.228 7 -90.000 11132.496 110.330 -144.608 -144.608 8 -105.000 13356.757 128.454 -883.773 -883.773 9 -120.000 16176.401 139.007 -1407.830 -1407.830 10 -135.000 19186.867 145.561 -1626.344 -1626.344 11 -150.000 22374.519 150.172 -

36、1559.245 -1559.245 12 -165.000 25846.624 153.746 -1292.854 -1292.854 13 -180.000 29700.830 156.609 -931.213 -931.213 14 -195.000 33968.451 158.869 -565.243 -565.243 15 -210.000 38602.952 160.602 -260.954 -260.954 16 -225.000 43497.372 161.905 -57.628 -57.628 17 -240.000 48515.553 162.900 32.265 32.2

37、65 18 -255.000 53525.123 163.703 23.978 23.978 19 -270.000 58424.813 164.412 -39.809 -39.809 20 -285.000 8481.823 78.617 -205.306 -205.306 21 -300.000 8583.465 77.292 -338.729 -338.729 22 -315.000 8793.293 75.658 -361.459 -361.459 23 -330.000 9113.158 74.602 -227.576 -227.576 24 -345.000 9506.210 75

38、.059 80.824 80.824 25 -360.000 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

39、 w e p vp ap实参4 0 6 3 0.0 r46 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 t

40、b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 sita1draw370,fr1

41、draw370,sita2draw370,fr2draw370, sita3draw370,fr3draw370,tbdraw370,tb1draw370; static double fr202,fe202,fr1,bt1,fr4,bt4, we1,we2,we3,tb,tb1; static int ic; double r12,r23,r34; double r25,r46,r47; int i; double pi,dr; FILE*fp; char *m="tb","tb1","fr1","","" 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;r47=0.6;r25=r23/2;r46=r34/2; pi=4.0*at