同济大学机械课程设计步进输送机设计说明书

1、机械原理课程设计计算说明书设计题目：步进输送机学院：机械与能源工程学院组号：第六小组设计者：同济大学目录一、设计任务书········································&

2、#183;······1.设计题目··········································&

3、#183;·······2.原始数据及设计要求········································二、

4、方案设计·················································1.

5、工作原理的分析与说明······································2.最终方案·········&#

6、183;········································三、机构的尺寸计算········

7、;···································1.已知参数··············

8、;····································2.杆件·············&

9、#183;········································3.凸轮········

10、83;·············································4.电动机和减速箱···

11、·········································四、机构的状态参数及分析·······

12、···························1.滑架······················&#

13、183;·······························2.凸轮·················

14、3;····································五、运动分析校验············&#

15、183;································1.运动循环图················&

16、#183;·······························2. 滑架分析（每隔5度）················

17、·······················六、设计心得体会·························

18、3;···················七、主要参考文献·····························&#

19、183;···············八、小组备用方案·································

20、············九、小组分工情况····································

21、3;········一、设计任务书1.设计题目步进输送机是一种间歇输送工件的传送机械，如图1所示。工件由料仓卸落到辊道上，滑架作往复直线运动。滑架的正行程时，通过棘钩使工件向前运动；滑架返回时，棘钩的弹簧被压下，棘钩从工件下面滑过，工件不动。当滑架又向前运动时，棘钩又钩住下一个工件向前运动，从而实现工件的步进传送，插板作带停歇的往复运动，可使工件保持一定的时间间隔卸落到辊道上。2.原始数据及设计要求1）输送工件的形状和尺寸如图1所示，输送步长H=830mm。2）滑架工作行程平均速度为0.42m/s。要求保证输送速度

22、尽可能均匀，行程速比系数K值为1.65左右。3）滑架导轨水平线至安装平面的高度在1200mm以下。4）电动机功率可选用1.1KW，1400r/min左右（如，Y90s-4）。5）为保证推爪在推动工件前保持推程状态，输送机构的行程应大于工件输送步长20mm左右。二、方案设计 1.工作原理的分析与说明1）滑架作往复直线运动将发动机的圆周运动转化为直线运动，可以采用曲柄摇杆、齿轮齿条等机构，但考虑到任务书中行程速比系数，即要求有急回特性，故在曲柄摇杆机构中选择。曲柄摇杆机构演化出曲柄滑块、导杆等机构。曲柄滑块机构加工方便，但是容易产生死点，且要求杆件强度高，否则容易折断。而导杆机构不容易产生死点。从

23、牛头刨床机构和任务书的参考资料来看，导杆机构比曲柄滑块机构更有优势。2）插板作带停歇的往复运动把圆周运动转化为周期性的直线运动，可以采用凸轮机构，再加上连杆机构。任务书参考资料提供的组合机构运用了凸轮、连杆、滑块等多种机构，较为繁琐，因此，在任务书的基础上，本小组决定加以简化和改进。2.最终方案导杆机构实现滑架作往复直线运动。凸轮和滑块的组合机构实现插板作带停歇的往复运动。总结构图： 三、机构的尺寸计算1.已知参数1)输送步长S=H+20=830+20=850mm2)时间物件下落时间t3=2hg=2×0.0810=0.1265s行程时间t1Sv=8500.42=2.02s回程时间t2

24、=t1K=2.021.65=1.23s一个周期时间t=t1+t2=3.25s局部示意图：3）摆角计算D1CD2=360°×K-1K+1=180°×1.65-11.65+1=44.151°2.杆件lCD1=12Ssin(2)=12×850sin(44.151°×12)=1130.8mm取lAC=700mmlAB1=AC×sin2=700×sin44.151°×12=263.1mm3.凸轮1）凸轮轨迹取实际廓线最小半径r1=100mm，实际廓线最大半径r2=320mm完全打开角度

25、1t3t×360°=0.12653.25×360°=14°取关闭时转角2126°3360-126-142110°凸轮的初始偏转角度0110°14°2117°根据对心平底推杆盘形凸轮机构的直角坐标方程公式，工作廓线的轨迹有如下关系：x=r0+ssin+dsdcosy=r0+scos-dsdsin其中：r0表示实际廓线的最小半径s表示推杆产生的位移表示凸轮转过的角度x表示工作廓线的横坐标y表示工作廓线的纵坐标t等于，关于t的表达式均为程序代码1)当0°<110°时s1=11

26、0sin110-2+110注：s随凸轮转角变化，满足三角方程函数，故传动平稳，没有刚性冲击，下同。x=sin(t*pi/180)*(210+110*sin(t*pi/110-pi/2)+cos(t*pi/180)*pi*cos(t*pi/110-pi/2)y=cos(t*pi/180)*(210+110*sin(t*pi/110-pi/2)- sin(t*pi/180)*pi*cos(t*pi/110-pi/2)2)当110°<124°时s2220320*sin(t*pi/180)320*cos(t*pi/180)3)当124°<234°时s

27、3110sin-110+179110+110x=sin(t*pi/180)*(210+110*sin(-t*pi/110+179*pi/110)+cos(t*pi/180)*pi*cos(-t*pi/110+179*pi/110)y=cos(t*pi/180)*(210+110*sin(-t*pi/110+179*pi/110)+sin(t*pi/180)*pi*cos(-t*pi/110+179*pi/110)4)当234°<360°时s4=0x=100*sin(t*pi/180)y=100*cos(t*pi/180)将上述代码输入Solidworks软件，则生成图

28、像：2）其他参数lEF2=267mm当接触点为实际廓线最大半径时，lEF1和lEF2水平，当接触点为实际廓线最小半径时，lGH移动的距离为lEF1-lEF12-(r2-r1)2=267-2672-320-1002=115.71mm则取lGH117.71mm，此时开关完全打开，物体下落4.电动机和减速箱1.电动机型号：Y90S-4 ，功率P=1.1KW，n1400r/min2.减速箱示意图：1）齿数z1=24，z2=67，z3=158i1H=1-i13H=1-z3z1=1+15824=7.5832）模数m=2.53）半径大圆半径：r大=300mm，小圆半径：r小=120mmi=r小r大=1203

29、00=0.44）校验n要求1t13.25×6018.46r/minn实际=n'×14÷i1H×i=1400×14÷7.583×0.4=18.46rminn要求，故满足要求。四、机构的状态参数及分析1.滑架利用Solidworks-motion软件模拟仿真系统，得到滑架的位移、速度和加速度的大致情况。1）位移分析：在一个周期（3.25s）内，滑架的位移为3505-2656849m850m，故满足要求。2）速度分析：纵轴每一小格代表238.5m/s，则左边的起始点的速度大约为0m/s。在一个周期内，最大速度为0.597m

30、/s，出现在行程阶段，最小速度为1.313m/s，出现在回程阶段。而行程阶段的速度基本比回程快，有急回特性，满足要求。3）加速度分析：在1.14s和1.52s之间（大约1.3s）的地方，出现向下的小缺口，可能是模拟系统的误差，可以排除在外。总体看，加速度在-2.893m/s2到2.892m/s2之间，不考虑方向，则加速度不超过2.9m/s2，没有出现突变的地方，变化较为平缓，满足要求。五、运动分析校验1.运动循环图2.滑架分析（每隔5度）每隔5度，对滑架的位移、速度、加速进行分析。0°时，处于初始位置，速度为0，位移也为0。角度/°位移/mm速度/mms加速度mms2051

31、0152025303540455055606570758085909510010511011512012513013514014515015516016517017518018519019520020521021522022523023524024525025526026527027528028529029530030531031532032533033534034535035536002.9231038.62391416.8264227.2852539.7820654.1219470.1299387.64797106.5322126.6506147.8808170.109193.227721

32、7.135241.7338266.9303292.634318.7564345.2113371.9135398.779425.7243452.6665479.5225506.2087532.6411558.7345584.4024609.5564634.1055657.9559681.01703.1656724.3148744.343763.1273780.5349796.4208810.6259822.9737833.2676841.2874846.7855849.4834849.0686845.1932837.4743825.5001808.8422787.0788759.8319726.

33、8212687.9348643.3104593.4144539.0941481.5796422.4141363.3156305.9945251.9744202.4574158.2609119.823687.2612260.4461439.0882722.8045511.171553.7614820.1643570096.603895154.9646667207.5635479255.0382466297.948393336.7735767371.9208319403.7329273432.4966591458.4508498481.7935856502.6885895521.270703537

34、.6505352551.9183566564.1473282574.3961481582.7111945589.1282311593.6827282596.3711405597.2125372596.2457852593.4167552588.7418544582.1546222573.6874231563.9828786552.3268369536.4979049519.9261178501.1705682480.0930942456.5564117430.3943846401.4060404369.3491487333.9329148294.8099476251.5678732203.72

35、13436150.70580891.8753901426.50867207-46.17170283-126.9568793-216.574982-315.5636852-424.0818852-541.6279287-666.6992432-796.4047261-926.0975003-1049.397223-1158.289138-1244.015106-1298.620463-1316.475555-1295.650913-1238.397897-1150.586289-1040.314739-916.2683876-786.351122-656.8752756-532.3104796-415.427334-307.637999-209.3810626-120.4637192-40.3275227901513.8261361.91226.5551106.383999.2738903.7503818.0084740.5476670.0291605.3047545.3947489.4706436.835386.9025339.1821293.2613248.7922205.48163.0721121.349482.2638139.201516.258481-42.6395-83.256