搖擺式運輸機機構(gòu)分析

1、搖擺式運輸機機構(gòu)分析搖擺式運輸機是一種水平傳送材料用的機械，由齒輪機構(gòu)和六連桿機構(gòu)等組成。如圖所示。電動機1通過傳動裝置2使曲柄4回轉(zhuǎn)，再經(jīng)過六連桿機構(gòu)使輸料槽9作往復移動，放置在槽上的物料10借助摩擦力隨輸料槽一起運動。物料的輸送是利用機構(gòu)在某些位置輸料槽有相當大的加速度，使物料在慣性力的作用下克服摩擦力而發(fā)生滑動，滑動的方向恒自左往右，從而達到輸送物料的目的。1電機 2傳動裝置 3執(zhí)行機構(gòu) 圖1搖擺式輸送機示意圖一、設計要求該布置要求電機軸與曲柄軸垂直，使用壽命為5年，每日二班制工作。輸送機在工作過程中，載荷變化較大，允許曲柄轉(zhuǎn)速偏差為5%，六連桿執(zhí)行機構(gòu)的最小傳動角不得小于40，執(zhí)行機構(gòu)

2、的傳動效率按0.95計算，按小批量生產(chǎn)規(guī)模設計。1 首先進行機構(gòu)的結(jié)構(gòu)分析并對機構(gòu)進行桿組分析。2 進行運動分析，繪制料槽的位移s、速度v及加速度a的線圖。3 進行動態(tài)靜力分析，繪制出固定鉸鏈點的反力矢端圖及平衡力矩T5線圖。4 計算裝在o1軸上的飛輪慣量J1。5 選好電機后并對傳動比進行分配和對齒樹確定。題 號12345678910物料的重量G (kg)3000312028009000290027502875310032003300曲柄轉(zhuǎn)速n4 (r/min)110114118126122124120116122125行程速比系數(shù)K1.121.21.121.21.251.151.21.151

3、.181.28位置角 1 ()60606060606060606060搖桿擺角角2()70607373707060607070l (mm)280225220200190240210200190224h (mm)360360312320325330335340345350lCD (mm)2702602502402302202102252352456二、機構(gòu)的運動分析1、桿長計算。選擇書中第7組數(shù)據(jù)進行計算及分析。利用autocad2009軟件精確制圖，并量出兩處需要的桿長。作圖如上。得出：lOB1=201.1mm ,lOB2=305.96mm.得出lOA=52.43mm,lAB=253.53mm

4、，l=210mm,h=335mm,lCD=210mm,G=2875kg,lDB=126mm,n4=120r/min, f= 0.35,2、桿組的拆分方法由機構(gòu)的結(jié)構(gòu)分析可知，本結(jié)構(gòu)可分解為主動件單桿，還有RRR桿組及RPP桿組。如圖所示：45129100083主動件RRR桿組小車和物料52RPP桿組72形參與實參對照表1）調(diào)用bark函數(shù)求2點的運動參數(shù)形式參數(shù)n1n2n3kr1r2gametwepvpap實 值1201r120.00.0twepvpap2）調(diào)用rrrk函數(shù)求2、3構(gòu)件的位置角、角速度、角加速度和2點的位置，速度和加速度。形式參數(shù)mn1n2n3k1k2r1r2t wepvpap

5、實 值132432r43r24twepvpap3）調(diào)用bark函數(shù)求5點的運動參數(shù)形式參數(shù)n1n2n3kr1r2gametwepvpap實 值30530.0r350.0twepvpap4）調(diào)用rppk函數(shù)求7點的位置、速度和加速度形式參數(shù)n1n2n3n4k1K2k3r1gam1gam2r2實 值56574560.00.0&r2形式參數(shù)vr2ar2r3vr3ar3twepvpap實 值&vr2&ar2&r3&vr3&ar3twepvpap5）調(diào)用bark函數(shù)求桿的質(zhì)心8點的運動參數(shù)形式參數(shù)n1n2n3kr1r2gametwepvpap實 值110.0r180.0twepvpap6）調(diào)用bark函

6、數(shù)求桿的質(zhì)心9點的運動參數(shù)。形式參數(shù)n1n2n3kr1r2gametwepvpap實 值20910.0r290.0twepvpap7）調(diào)用bark函數(shù)求桿的質(zhì)心10點的運動參數(shù)。形式參數(shù)n1n2n3kr1r2gametwepvpap實 值201010.0R3100.0twepvpap三，運動分析1、根據(jù)以上分析進行編程，求得料槽的速度和加速度值。運動分析。#include graphics.h#include subk.c /*運動分析子程序*/#include draw.c /*繪圖子程序*/main()static double p202,vp202,ap202,del;static do

7、uble t10,w10,e10;static double pdraw370,vpdraw370,apdraw370, wdraw370,edraw370;static int ic; /*定義靜態(tài)變量*/ double r12,r43,r24,r35,r45,r18,r29,r310,gam4; double pi,dr; double r2,vr2,ar2,r3,vr3,ar3; int i; /*定義局部變量*/ FILE *fp; /*定義文件指針變量*/char *m=p,vp,ap,w,e;/*定義字符串，改變字符串會改變繪圖結(jié)果的標注*/ r12=0.05243;r24=0.2

8、5353;r43=0.126; r35=0.210;r45=0.084;del=10.0; r18=0.;r29=0.;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; /*變量賦值*/ pi=4.0*atan(1.0); /*求值*/ gam4=gam4*dr; dr=pi/180.0; /*求弧度*/ w1=-57*pi/15; printf(n The Kinematic Par

9、ameters 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); /*在屏幕上寫表頭*/ if(fp=fopen(file1,w)=NULL) printf(Cant open this file./n); exit(0); /*建立并打開文件file1*/ fprintf(fp,n The Kinematic Parameters of Point 7 and Line 3n); fprintf(fp,No THETA1 S7 V7 A7 W3 E3

10、n); fprintf(fp, deg m m/s m/s/s r/s r/s/sn); /*在文件file1中寫表頭*/ ic=(int)(360.0/del); for(i=0;i=ic;i+) /*建立循環(huán)，調(diào)用運動分析子程序*/ 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(5,6,5,7,4,5,6,0.0,0.0,pi/2,&r2,&vr2,&

11、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); /*把運算結(jié)果寫在屏幕上*/ fprintf(fp,n%2d %12.3f %12.3f %12.3f %

12、12.3f %12.2f %12.2f, i+1,t1/dr,p71,vp71,ap71,w3,e3); /*把運算結(jié)果寫入文件file1中*/ pdrawi=p71; vpdrawi=vp71; apdrawi=ap71; wdrawi=w3; edrawi=e3; /*將運算結(jié)果傳給pdrawi、vpdrawi、apdrawi、wdrawi、edrawi以備繪圖使用*/ if(i%16)=0) getch(); /*屏幕滿16行停頓*/ fclose(fp); /*關閉文件file1*/ getch(); draw1(del,pdraw,vpdraw,apdraw,ic,m); /*調(diào)用繪

13、圖子程序*/ draw2(del,wdraw,edraw,ic); /*主程序結(jié)束*/ 三2運行結(jié)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 -30.000 0.176 -0.350 -7.

14、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 -100.000 0.114 -0.702 2.6

15、98 -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 0.090 0.164 2.426 0.95 1

16、3.4519 -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 10.0226 -250.000 0.122 0.39

17、0 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 0.427 -4.102 2.07 -20.763

18、4 -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 靜力分析 1、調(diào)用subk函數(shù)計算各個質(zhì)心的運動參數(shù)，計算各構(gòu)件的慣性力和慣性力矩，從外力已知的桿組開始，依次調(diào)用subf函數(shù)計算各個力的參數(shù)，對各個函數(shù)要求的形式參數(shù)進行賦值。1）于8、9、10、2、5、7各點，以及、各桿件的運動參數(shù)經(jīng)在對桿件進行運動分析時給

19、出2）調(diào)用rppf函數(shù)，計算5點的運動副反力形式參數(shù)n1n2n3n4ns1ns2nn1nn2nexfk1k2實 值511575707745形式參數(shù)k3pvpaptwefrfkpk實 值8pvpaptwefrfkpk3）調(diào)用 rrrf函數(shù)，計算2，3，4中的反力。形式參數(shù)n1n2n3ns1ns2nn1nn2nexfk1實 值2349100502形式參數(shù)k2pvpaptwefr實 值4pvpaptwefr4）調(diào)用barf函數(shù)，計算轉(zhuǎn)動副1中的反力及應加于構(gòu)件上的平衡力矩Tb2、程序#include graphics.h#include subk.c#include subf.c#include d

20、raw.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 r2,vr2,ar2,gam4,r3,ar3,vr3

21、,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.; r29=0.; r310=0.105; r35=0.210; gam4=90.0;p31=0.21;p32=0.24635;p111=0.0;p112=-0.121;p61=0.0;p6

22、2=-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) (N.m)n);if(fp=fopen(file,w)=NULL)prin

23、tf(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(1,2,0,1,r12,0.0,0.0,t,w,e,p,vp,ap);bar

24、k(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,w,e,p,vp,ap);rppf(5,11,5,7,5,7,0,7,7,

25、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=-(ap91*vp91+(ap92+9.81)*vp92)*sm2-e2*w2*sj

26、2;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,tb,tb1);fprintf(fp, %3d%6.0f%11.3f%11.

27、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,fr2draw,sita3,fr3draw,ic);extf(p,vp,ap,t

28、,w,e,nexf,fe)double p202,vp202,ap202,t10,w10,e10,fe202;int nexf; fenexf1=-15288*apnexf1;fenexf2=0.0; sita3i=bt3;/*將運動副反力的大小和方向傳給數(shù)組供繪圖使用，因為繪制反力失端圖的子程序已設為畫三個力的失端圖，所以要給六個數(shù)組賦值，若只想求出兩個力的失端圖可以將兩個力的大小、方向賦相同的值*/ if(i%16)=0)getch(); fclose(fp); getch(); draw2(del,tbdraw,tb1draw, ic); /*調(diào)用繪圖子程序畫平衡力矩曲線*/ draw3

29、(del,sita1,fr1draw,sita2,fr2draw,sita3,fr3draw,ic); /*調(diào)用繪圖子程序畫反力失端曲線*/ /*程序結(jié)束*/extf(p,vp,ap,t,w,e,nexf,fe) /*工藝阻力子程序*/double p202,vp202,ap202,t10,w10,e10,fe202;int nexf; fenexf1=-10712.52*apnexf1;fenexf2=0.0; 運行結(jié)果：The Kineto-static Analysis of a Six-bar Linkase NO THETA1 FR1 BT1 FR2 BT2 TB TB1 (deg.

30、) (N) (deg.) (N) (deg.) (N.m) (N.m) 0 0 .826 -148.178 .719 -147.995 -7983.091 -7983.091 1 5 .802 -149.109 .361 -148.935 -6701.746 -6701.746 2 10 .389 -150.067 .102 -149.902 -5298.738 -5298.738 3 15 .807 -151.050 .015 -150.893 -3791.436 -3791.436 4 20 .460 -152.054 .039 -151.904 -2199.573 -2199.573 5

31、 25 .297 -153.074 .716 -152.931 -547.538 -547.538 6 30 .652 -154.103 .977 -153.966 1133.155 1133.155 7 35 .629 -155.133 .267 -155.001 2801.810 2801.810 8 40 .163 -156.157 .964 -156.029 4407.674 4407.674 9 45 .662 -157.164 .386 -157.038 5891.000 5891.000 10 50 .536 -158.142 .739 -158.017 7186.563 718

32、6.563 11 55 .827 -159.081 .147 -158.955 8229.582 8229.582 12 60 .614 -159.968 .717 -159.838 8963.331 8963.331 13 65 .462 -160.791 .809 -160.655 9347.047 9347.047 14 70 .790 -161.538 .698 -161.392 9362.452 9362.452 15 75 .653 -162.199 94730.911 -162.039 9017.314 9017.314 16 80 .861 -162.764 84219.614

33、 -162.584 8345.184 8345.184 17 85 .546 -163.227 73269.024 -163.016 7401.340 7401.340 18 90 .444 -163.583 62157.188 -163.327 6255.861 6255.861 19 95 96898.197 -163.833 51169.497 -163.507 4985.336 4985.336 20 100 70241.011 -163.989 40587.831 -163.540 3664.764 3664.764 21 105 44971.137 -164.093 30707.1

34、36 -163.395 2360.936 2360.936 22 110 21491.523 -164.376 21927.895 -162.922 1128.001 1128.001 23 115 332.428 114.434 15088.102 -131.363 5.371 5.371 24 120 19267.354 18.216 12137.935 16.575 -982.339 -982.339 25 125 36467.292 18.307 14368.537 17.442 -1823.885 -1823.885 26 130 51697.444 18.827 19438.652

35、 18.216 -2519.099 -2519.099 27 135 65181.818 19.539 25355.055 19.053 -3076.291 -3076.291 28 140 77217.538 20.389 31509.495 19.978 -3509.743 -3509.743 29 145 88166.570 21.357 37825.020 20.996 -3837.581 -3837.581 30 150 98458.214 22.429 44428.425 22.104 -4080.157 -4080.157 31 155 .646 23.594 51570.570

36、 23.298 -4258.990 -4258.990 32 160 .222 24.843 59628.529 24.573 -4396.265 -4396.265 33 165 .463 26.166 69152.338 25.921 -4514.855 -4514.855 34 170 .424 27.555 80959.074 27.334 -4638.841 -4638.841 35 175 .339 29.001 96298.762 28.805 -4794.459 -4794.459 36 180 .927 30.493 .899 30.323 -5011.340 -5011.3

37、40 37 185 .921 32.022 .607 31.880 -5323.508 -5323.508 38 190 .068 33.576 .466 33.462 -5768.583 -5768.583 39 195 .879 35.142 .720 35.056 -6380.747 -6380.747 40 200 .493 36.705 .286 36.644 -7165.682 -7165.682 41 205 .077 38.244 .829 38.203 -8029.476 -8029.476 42 210 .064 39.730 .407 39.705 -8608.566 -

38、8608.566 43 .383 41.487 41.109 -7963.204 -7963.204 44 .736 42.444 42.368 -4374.710 -4374.710 45 .027 43.811 43.425 3726.201 3726.201 46 .806 44.442 44.232 14977.326 14977.326 47 .765 44.208 44.770 24280.816 24280.816 48 .479 45.626 45.058 27777.332 27777.332 49 .814 45.243 45.140 26182.015 26182.015

39、 50 .019 45.101 .018 45.065 22144.709 22144.709 51 255 .557 44.935 .470 44.874 17561.203 17561.203 52 260 .092 44.697 .473 44.595 13235.918 13235.918 53 265 .790 44.420 .752 44.246 9373.939 9373.939 54 270 .750 44.151 .276 43.832 5959.676 5959.676 55 275 71935.922 44.059 38288.224 43.321 2927.485 29

40、27.485 56 280 5588.520 50.868 15046.346 40.628 219.299 219.299 57 285 46900.791 -138.434 53167.730 -137.228 -2202.782 -2202.782 58 290 89252.503 -138.506 83158.787 -137.854 -4358.555 -4358.555 59 295 .496 -138.909 .009 -138.431 -6255.162 -6255.162 60 300 .875 -139.409 .606 -139.015 -7892.345 -7892.3

41、45 61 305 .172 -139.961 .799 -139.617 -9266.602 -9266.602 62 310 .157 -140.551 .438 -140.241 -10374.209 -10374.209 63 315 .460 -141.175 .946 -140.889 -11213.264 -11213.264 64 320 .262 -141.831 .296 -141.563 -11784.945 -11784.945 65 325 .855 -142.516 .111 -142.263 -12094.131 -12094.131 66 330 .911 -143.232 .109 -142.992 -12149.499 -12149.499 67 335 .252 -143.978 .988 -143.750 -11963.208 -1