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1、精选优质文档-倾情为你奉上摇摆式运输机机构分析摇摆式运输机是一种水平传送材料用的机械，由齿轮机构和六连杆机构等组成。如图所示。电动机1通过传动装置2使曲柄4回转，再经过六连杆机构使输料槽9作往复移动，放置在槽上的物料10借助摩擦力随输料槽一起运动。物料的输送是利用机构在某些位置输料槽有相当大的加速度，使物料在惯性力的作用下克服摩擦力而发生滑动，滑动的方向恒自左往右，从而达到输送物料的目的。1电机 2传动装置 3执行机构 图1摇摆式输送机示意图一、设计要求该布置要求电机轴与曲柄轴垂直，使用寿命为5年，每日二班制工作。输送机在工作过程中，载荷变化较大，允许曲柄转速偏差为5%，六连杆执行机构的最小传
2、动角不得小于40，执行机构的传动效率按0.95计算，按小批量生产规模设计。1 首先进行机构的结构分析并对机构进行杆组分析。2 进行运动分析，绘制料槽的位移s、速度v及加速度a的线图。3 进行动态静力分析，绘制出固定铰链点的反力矢端图及平衡力矩T5线图。4 计算装在o1轴上的飞轮惯量J1。5 选好电机后并对传动比进行分配和对齿树确定。题 号12345678910物料的重量G (kg)3000312028009000290027502875310032003300曲柄转速n4 (r/min)110114118126122124120116122125行程速比系数K1.121.21.121.21.2
3、51.151.21.151.181.28位置角 1 ()60606060606060606060摇杆摆角角2()70607373707060607070l (mm)280225220200190240210200190224h (mm)360360312320325330335340345350lCD (mm)2702602502402302202102252352456二、机构的运动分析1、杆长计算。选择书中第7组数据进行计算及分析。利用autocad2009软件精确制图，并量出两处需要的杆长。作图如上。得出：lOB1=201.1mm ,lOB2=305.96mm.得出lOA=52.43mm
4、,lAB=253.53mm，l=210mm,h=335mm,lCD=210mm,G=2875kg,lDB=126mm,n4=120r/min, f= 0.35,2、杆组的拆分方法由机构的结构分析可知，本结构可分解为主动件单杆，还有RRR杆组及RPP杆组。如图所示：45129100083主动件RRR杆组小车和物料52RPP杆组72形参与实参对照表1）调用bark函数求2点的运动参数形式参数n1n2n3kr1r2gametwepvpap实 值1201r120.00.0twepvpap2）调用rrrk函数求2、3构件的位置角、角速度、角加速度和2点的位置，速度和加速度。形式参数mn1n2n3k1k2
5、r1r2t wepvpap实 值132432r43r24twepvpap3）调用bark函数求5点的运动参数形式参数n1n2n3kr1r2gametwepvpap实 值30530.0r350.0twepvpap4）调用rppk函数求7点的位置、速度和加速度形式参数n1n2n3n4k1K2k3r1gam1gam2r2实 值56574560.00.0&r2形式参数vr2ar2r3vr3ar3twepvpap实 值&vr2&ar2&r3&vr3&ar3twepvpap5）调用bark函数求杆的质心8点的运动参数形式参数n1n2n3kr1r2gametwepvpap实 值110.0r180.0twep
6、vpap6）调用bark函数求杆的质心9点的运动参数。形式参数n1n2n3kr1r2gametwepvpap实 值20910.0r290.0twepvpap7）调用bark函数求杆的质心10点的运动参数。形式参数n1n2n3kr1r2gametwepvpap实 值201010.0R3100.0twepvpap三，运动分析1、根据以上分析进行编程，求得料槽的速度和加速度值。运动分析。#include graphics.h#include subk.c /*运动分析子程序*/#include draw.c /*绘图子程序*/main()static double p202,vp202,ap202,
7、del;static double t10,w10,e10;static double pdraw370,vpdraw370,apdraw370, wdraw370,edraw370;static int ic; /*定义静态变量*/ double r12,r43,r24,r35,r45,r18,r29,r310,gam4; double pi,dr; double r2,vr2,ar2,r3,vr3,ar3; int i; /*定义局部变量*/ FILE *fp; /*定义文件指针变量*/char *m=p,vp,ap,w,e;/*定义字符串，改变字符串会改变绘图结果的标注*/ r12=0.
8、05243;r24=0.25353;r43=0.126; r35=0.210;r45=0.084;del=10.0; r18=0.026215;r29=0.126765;r310=0.105; gam4=90.0; e1=0.0,t1=0.0; t6=0.0;w6=0.0;e6=0.0; p11=0.0;p12=0.0; p31=0.21;p32=0.24635; p62=-0.121;p61=0.0; p72=-0.121; /*变量赋值*/ pi=4.0*atan(1.0); /*求值*/ gam4=gam4*dr; dr=pi/180.0; /*求弧度*/ w1=-57*pi/15; p
9、rintf(n The Kinematic Parameters of Point 7 and Line 3n); printf(No THETA1 S7 V7 A7 W3 E3n); printf( deg m m/s m/s/s r/s r/s/sn); /*在屏幕上写表头*/ if(fp=fopen(file1,w)=NULL) printf(Cant open this file./n); exit(0); /*建立并打开文件file1*/ fprintf(fp,n The Kinematic Parameters of Point 7 and Line 3n); fprintf(fp
10、,No THETA1 S7 V7 A7 W3 E3n); fprintf(fp, deg m m/s m/s/s r/s r/s/sn); /*在文件file1中写表头*/ ic=(int)(360.0/del); for(i=0;i=ic;i+) /*建立循环，调用运动分析子程序*/ t1=(-i)*del*dr; bark(1,2,0,1,r12,0.0,0.0,t,w,e,p,vp,ap); rrrk(-1,2,3,4,2,3,r43,r24,t,w,e,p,vp,ap); bark(3,0,5,3,0.0,r35,0.0,t,w,e,p,vp,ap);rppk(5,6,5,7,4,5,
11、6,0.0,0.0,pi/2,&r2,&vr2,&ar2,&r3,&vr3,&ar3,t,w,e,p, vp,ap); bark(1,0,8,1,0.0,r18,0.0,t,w,e,p,vp,ap); bark(2,0,9,2,0.0,r29,0.0,t,w,e,p,vp,ap); bark(3,0,10,1,0.0,r310,0.0,t,w,e,p,vp,ap); printf(n%2d %12.3f %12.3f %12.3f %12.3f %12.2f % 12.2f,i+1,t1/dr,p72,vp71,ap71,w3,e3); /*把运算结果写在屏幕上*/ fprintf(fp,n%
12、2d %12.3f %12.3f %12.3f %12.3f %12.2f %12.2f, i+1,t1/dr,p71,vp71,ap71,w3,e3); /*把运算结果写入文件file1中*/ pdrawi=p71; vpdrawi=vp71; apdrawi=ap71; wdrawi=w3; edrawi=e3; /*将运算结果传给pdrawi、vpdrawi、apdrawi、wdrawi、edrawi以备绘图使用*/ if(i%16)=0) getch(); /*屏幕满16行停顿*/ fclose(fp); /*关闭文件file1*/ getch(); draw1(del,pdraw,v
13、pdraw,apdraw,ic,m); /*调用绘图子程序*/ draw2(del,wdraw,edraw,ic); /*主程序结束*/ 三2运行结果： The Kinematic Parameters of Point 7 and Line 3No THETA1 S7 V7 A7 W3 E3 deg m m/s m/s/s r/s r/s/s 1 0.000 0.184 0.021 -8.699 0.10 -41.75 2 -10.000 0.183 -0.107 -8.737 -0.51 -41.98 3 -20.000 0.181 -0.232 -8.379 -1.12 -40.47 4
14、 -30.000 0.176 -0.350 -7.708 -1.69 -37.65 5 -40.000 0.170 -0.456 -6.800 -2.21 -33.91 6 -50.000 0.163 -0.548 -5.710 -2.68 -29.54 7 -60.000 0.155 -0.623 -4.477 -3.07 -24.69 8 -70.000 0.145 -0.678 -3.108 -3.40 -19.32 9 -80.000 0.135 -0.713 -1.569 -3.64 -13.0710 -90.000 0.124 -0.723 0.260 -3.77 -5.0011
15、-100.000 0.114 -0.702 2.698 -3.76 7.1612 -110.000 0.104 -0.638 6.425 -3.52 28.2013 -120.000 0.095 -0.505 11.952 -2.87 62.5414 -130.000 0.090 -0.296 15.617 -1.72 88.7015 -140.000 0.087 -0.087 11.944 -0.51 70.0316 -150.000 0.087 0.046 6.674 0.27 39.2217 -160.000 0.088 0.120 3.740 0.70 21.5418 -170.000
16、 0.090 0.164 2.426 0.95 13.4519 -180.000 0.093 0.194 1.876 1.12 9.9320 -190.000 0.096 0.220 1.684 1.25 8.5421 -200.000 0.099 0.245 1.672 1.37 8.2122 -210.000 0.103 0.270 1.761 1.49 8.4323 -220.000 0.107 0.296 1.905 1.62 8.9424 -230.000 0.111 0.325 2.070 1.75 9.5325 -240.000 0.116 0.357 2.221 1.90 10
17、.0226 -250.000 0.122 0.390 2.309 2.05 10.1827 -260.000 0.128 0.424 2.269 2.19 9.7028 -270.000 0.134 0.455 2.021 2.32 8.2329 -280.000 0.141 0.481 1.477 2.43 5.4030 -290.000 0.148 0.497 0.565 2.47 0.9431 -300.000 0.156 0.496 -0.730 2.45 -5.2032 -310.000 0.163 0.474 -2.340 2.32 -12.6733 -320.000 0.169
18、0.427 -4.102 2.07 -20.7634 -330.000 0.175 0.354 -5.798 1.71 -28.4935 -340.000 0.180 0.259 -7.212 1.24 -34.9436 -350.000 0.183 0.145 -8.198 0.70 -39.4437 -360.000 0.184 0.021 -8.699 0.10 -41.75四 静力分析 1、调用subk函数计算各个质心的运动参数，计算各构件的惯性力和惯性力矩，从外力已知的杆组开始，依次调用subf函数计算各个力的参数，对各个函数要求的形式参数进行赋值。1）于8、9、10、2、5、7各点
19、，以及、各杆件的运动参数经在对杆件进行运动分析时给出2）调用rppf函数，计算5点的运动副反力形式参数n1n2n3n4ns1ns2nn1nn2nexfk1k2实 值511575707745形式参数k3pvpaptwefrfkpk实 值8pvpaptwefrfkpk3）调用 rrrf函数，计算2，3，4中的反力。形式参数n1n2n3ns1ns2nn1nn2nexfk1实 值2349100502形式参数k2pvpaptwefr实 值4pvpaptwefr4）调用barf函数，计算转动副1中的反力及应加于构件上的平衡力矩Tb2、程序#include graphics.h#include subk.c
20、#include subf.c#include draw.cstatic double sm10,sj10;main()static double p202,vp202,ap202,del;static double t10,w10,e10,tbdraw370,tb1draw370;static double sita1370,fr1draw370,sita2370,fr2draw370,sita3370,fr3draw370;static double fr202,fe202;static int ic;double r12,r34,r24,r18,r29,r310,r35;double r
21、2,vr2,ar2,gam4,r3,ar3,vr3,fk,pk;int i;double pi,dr,fr1,bt1,fr2,bt2,fr4,bt4,we1,we2,we3,we4,we5,tb,tb1,we6;FILE *fp;sm1=51; sm2=35.6; sm3=90; sm4=900; sm5=60; sj1=0.3; sj2=0.55; sj3=1.14;r12=0.05243; r34=0.126; r24= 0.25353; r18=0.026215; r29=0.126765; r310=0.105; r35=0.210; gam4=90.0;p31=0.21;p32=0.
22、24635;p111=0.0;p112=-0.121;p61=0.0;p62=-0.08865;p71=0.0;p72=-0.08865;pi=4.0*atan(1.0);dr=pi/180.0;gam4=gam4*dr;w1=-57*pi/15; e1=0.0; del=5.0;t6=0.0;e6=0.0;printf(n The Kineto-static Analysis of a Six-bar Linkasen);printf( NO THETA1 FR1 BT1 FR2 BT2 TB TB1n);printf( (deg.) (N) (deg.) (N) (deg.) (N.m)
23、(N.m)n);if(fp=fopen(file,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 FR1 BT1 FR2 BT2 TB TB1n);fprintf(fp, (deg.) (N) (deg.) (N) (deg.) (N.m) (N.m)n);ic=(int)(360.0/del);for(i=0;i=ic;i+)t1=(double)(i)*del*dr;bark(1
24、,2,0,1,r12,0.0,0.0,t,w,e,p,vp,ap);bark(1,8,0,1,r18,0.0,0.0,t,w,e,p,vp,ap);rrrk(-1,2,3,4,2,3,r24,r34,t,w,e,p,vp,ap);bark(3,0,5,3,0.0,r35,0.0,t,w,e,p,vp,ap);bark(2,0,9,2,0.0,r29,0.0,t,w,e,p,vp,ap);bark(3,0,10,3,0.0,r310,0.0,t,w,e,p,vp,ap); rppk(5,6,5,7,4,5,6,0.0,0.0,gam4,&r2,&vr2,&ar2,&r3,&vr3,&ar3,t,
25、w,e,p,vp,ap);rppf(5,11,5,7,5,7,0,7,7,4,5,6,p,vp,ap,t,w,e,fr,fk,pk);rrrf(2,3,4,9,10,0,5,0,2,3,p,vp,ap,t,w,e,fr);barf(1,8,2,1,p,ap,e,fr,&tb);fr1=sqrt(fr11*fr11+fr12*fr12); bt1=atan2(fr12,fr11);fr2=sqrt(fr31*fr31+fr32*fr32); bt2=atan2(fr42,fr41);we1=-(ap81*vp81+(ap82+9.81)*vp82)*sm1-e1*w1*sj1;we2=-(ap9
26、1*vp91+(ap92+9.81)*vp92)*sm2-e2*w2*sj2;we3=-(ap101*vp101+(ap102+9.81)*vp102)*sm3-e3*w3*sj3;we4=-(ap51*vp51+(ap52+9.81)*vp52)*sm4; extf(p,vp,ap,t,w,e,7,fe); we5=-ap71*vp71*sm5+fe71*vp71;tb1=-(we1+we2+we3+we4+we5)/w1;printf(%3d%6.0f%11.3f%11.3f%11.3f%11.3f%11.3f%11.3fn, i,t1/dr,fr1,bt1/dr,fr2,bt2/dr,t
27、b,tb1);fprintf(fp, %3d%6.0f%11.3f%11.3f%11.3f%11.3f%11.3f%11.3fn, i,t1/dr,fr1,bt1/dr,fr2,bt2/dr,tb,tb1);tbdrawi=tb;tb1drawi=tb1;fr1drawi=fr1;sita1i=bt1;fr2drawi=fr2;sita2i=bt2;fr3drawi=fr2;sita3i=bt2;if(i%16=0) getch();fclose(fp);getch();draw2(del,tbdraw,tb1draw,ic);draw3(del,sita1,fr1draw,sita2,fr2
28、draw,sita3,fr3draw,ic);extf(p,vp,ap,t,w,e,nexf,fe)double p202,vp202,ap202,t10,w10,e10,fe202;int nexf; fenexf1=-15288*apnexf1;fenexf2=0.0; sita3i=bt3;/*将运动副反力的大小和方向传给数组供绘图使用，因为绘制反力失端图的子程序已设为画三个力的失端图，所以要给六个数组赋值，若只想求出两个力的失端图可以将两个力的大小、方向赋相同的值*/ if(i%16)=0)getch(); fclose(fp); getch(); draw2(del,tbdraw,t
29、b1draw, ic); /*调用绘图子程序画平衡力矩曲线*/ draw3(del,sita1,fr1draw,sita2,fr2draw,sita3,fr3draw,ic); /*调用绘图子程序画反力失端曲线*/ /*程序结束*/extf(p,vp,ap,t,w,e,nexf,fe) /*工艺阻力子程序*/double p202,vp202,ap202,t10,w10,e10,fe202;int nexf; fenexf1=-10712.52*apnexf1;fenexf2=0.0; 运行结果：The Kineto-static Analysis of a Six-bar Linkase N
30、O THETA1 FR1 BT1 FR2 BT2 TB TB1 (deg.) (N) (deg.) (N) (deg.) (N.m) (N.m) 0 0 288289.826 -148.178 165436.719 -147.995 -7983.091 -7983.091 1 5 292154.802 -149.109 163013.361 -148.935 -6701.746 -6701.746 2 10 295723.389 -150.067 160488.102 -149.902 -5298.738 -5298.738 3 15 298972.807 -151.050 157916.01
31、5 -150.893 -3791.436 -3791.436 4 20 301786.460 -152.054 155309.039 -151.904 -2199.573 -2199.573 5 25 303944.297 -153.074 152632.716 -152.931 -547.538 -547.538 6 30 305121.652 -154.103 149805.977 -153.966 1133.155 1133.155 7 35 304900.629 -155.133 146705.267 -155.001 2801.810 2801.810 8 40 302797.163
32、 -156.157 143173.964 -156.029 4407.674 4407.674 9 45 298304.662 -157.164 139037.386 -157.038 5891.000 5891.000 10 50 290951.536 -158.142 134122.739 -158.017 7186.563 7186.563 11 55 280365.827 -159.081 128282.147 -158.955 8229.582 8229.582 12 60 266336.614 -159.968 121415.717 -159.838 8963.331 8963.3
33、31 13 65 248860.462 -160.791 113490.809 -160.655 9347.047 9347.047 14 70 228162.790 -161.538 104553.698 -161.392 9362.452 9362.452 15 75 204688.653 -162.199 94730.911 -162.039 9017.314 9017.314 16 80 179063.861 -162.764 84219.614 -162.584 8345.184 8345.184 17 85 152033.546 -163.227 73269.024 -163.016 7401.340 7401.340 18 90 124389.444 -163.583 62157.188 -163.327 6255.861 6255.861 19 95 96898.197 -163.833 5116
