机械原理课程设计(粉末成型压机)

1、机械原理课程设计机械原理课程设计题 目： 粉末成型压机设 计 者： XXX专 业：机械设计制造及其自动化指导教师：王玉丹 曾小慧2010年7月19日第一部分 设计原理及设计要求一、工作原理及工艺动作过程粉末冶金是将金属等粉末的混合料，通过压制成型和烧结而制成零件或成品材料的一种工艺方法。在压制长径比h/d<11.5的圆柱体压坯时，可采用单向压制，即压制时仅一个方向施压。压制过程中，阴模固定不动，其它执行件动作如图1所示。二、设计要求1、上模冲压制机构应具有以下特性：快速接近粉料，慢速等速压制，压制到位后停歇片刻（约0.4秒）保压或接近压制行程终点时再放慢速度而起到保压作用。2、脱模机构应

2、使下模冲顶出距离准确，复位时要求速度快而冲击小。3、送分机构要严格遵守压制周期的运动规律。4、进一步要求：让上冲模和下冲模的行程可调。三、主要技术参数要求1、每分钟压制次数为1040次；2、压坯最大直径为45mm；3、上模冲最大行程为110mm；4、送粉器行程为115mm；5、脱模最大行程为45mm；6、压制及脱模能力最大为58KN；四、课程设计任务要求1、按各个执行件的工艺动作要求拟定运动循环图；2、进行执行机构即压制机构、脱模机构、送粉机构的选型；3、机械运动方案的评价和确定，并进行执行机构运动学尺寸计算和必要的运动分析；4、按选定的电机和执行机构的运动参数拟定机构传动方案，并进行传动机构

3、运动学尺寸计算；5、画出机械运动方案简图；6、编制设计说明书（内容包括上述任务的设计、分析计算及结果、图）；7、进一步工作：执行机构的动画演示、凸轮的数控加工等。第二部分 机构运动循环图的确定和各个执行构件的选型一、各执行构件的工艺动作和运动循环图1 功能分析 根据任务书要求，有下图分析得知该系统的主功能为将粉料压制成型，为完成主功能又可分解为四个功能，即上冲头的压下，下冲头的压上，筛料推片和成新模具，如图所示。 待设定系统粉料机械能控制讯号片坯 图 总功能上冲头压下下冲头压上筛料推片模压成型图2 上模冲压制机构的工艺动作：上模冲压制机构的曲柄在0º（在这里特殊规定0º是使

4、上模冲位于最高位置的极位角度）到150°（这个数值由设计的极位夹角决定）要完成上模冲的下降和冲压过程；在150º到360º内要完成上模冲和粉料脱离并使上模冲继续向上升的工艺动作。3 下模冲脱模机构的工艺动作：在上模冲下降和冲压的过程中下模冲要保持不动，在上模冲脱离的同时下模冲上升，然后保持不动，最后下模冲下降复位，从而完成该凸轮机构的一周旋转工作。4 送粉机构的工艺动作：在上模冲和下模冲完成一周的运动的同时，送粉机构要先完成送粉、复位和等待这三个工艺动作，然后再完成推料、复位和等待这三个工艺动作。360°180°0°上模冲下降压制保压

5、脱离上升下模冲不动上升不动下降送粉机构送粉回程推料回程360°360°0°图2结合上模冲压制机构、下模冲脱模机构和送粉机构的各个工艺动作拟定运动循环图如图2所示：二、各运动构件的选型（一）各运动构件的功能分析 1、上模冲压制机构：上模冲要求冲头能够快速接近粉料，并且能有保压过程，然后返回。由此可以看出这要求我们所选的上模冲压制机构要有急回特性，所以我们可以采用曲柄滑块机构或者凸轮机构。对于曲柄滑块机构我们要采用偏置曲柄滑块机构才会具有急回特性。由于当凸轮机构作为上模冲压制机构时，若上模冲冲击力过大会造成凸轮推杆的断裂，所以若要求上模冲冲击力较大时不宜采用凸轮机构。

6、 2、下模冲脱模机构：下模冲要求顶出距离准确，复位时要求速度快而冲击小，并且要求下模冲的运动规律很严格，所以我们可以采用凸轮机构。若采用凸轮机构也还是会有一定的缺点，就是当上模冲的冲头冲压时必定会对下模冲凸轮脱模机构的推杆产生一定的影响，容易造成下模冲凸轮机构推杆的断裂。 3、送粉机构：本题目要求送粉机构的运动周期严格并且具有行程要求。根据此项要求我们可以采用对心曲柄滑块机构或者凸轮机构。若采用对心曲柄滑块机构则无法保证留有送粉机构在送粉回程后和推料推程前的间歇时间。如果不存在间歇时间就会使送粉和推料的速度大大降低，故采用对心曲柄滑块机构还是有一定的缺点的。综合上面的分析，我们可以采用偏置曲柄

7、滑块机构。根据以上对上模冲压制机构、下模冲脱模机构和送粉机构的分析我们可以设计出几种粉末成型压机的机构简图，在运动方案选择和确定上会一一加以描述。（二）运动方案的选择和确定关于运动机构的选择，我们找到了一些可以完成运动功能的机构，如下图所示：牛头刨床的急回机构，优点进程速度平稳，回程时间短。曲柄滑块机构圆柱凸轮机构，可用于水平送料凸轮推杆机构 平面六杆机构根据所选的机构，我们设计了三种不同的方案如下：方案一：方案二方案三最终，我们选择上冲模用平面六杆机构，水平送料用曲柄滑块机构，下冲模采用凸轮推杆机构。即方案一第三部分 所选机构传动系统的选择上冲模机构运动分析取OD1=r=70mm 

8、 =20°；BD=L1；AB=L2;则:( L1- r)sin=110;( L 1+ r)-(  L 1- r) cos2+  L 2- ( L 1- r)sin2=  L 22 L 1=231.76 L 2=230.4现在以AO为基准进行机构的运动分析MATLAB编程分析（1）位置分析原函数：function y=rrrposi55(x)% Script used to implement Newton-Rapho

9、n mechod for% solving nonlinear position of RRR bar group% Input parameters% x(1)=theta-1% x(2)=theta-2 guess value% x(3)=theta-3 guess value % x(4)=k1 % x(5)=k2% x(6)=k3% x(7)=r1 % Output paramenters% y(1)=theta-2% y(2)=theta-3% theta2=x(2); theta3=x(3);%epsilon=1.0E-6;% f=-x(7)*cos(x(1)+x(4)*cos(t

10、heta2)+x(5)*cos(theta3)-x(6); x(7)*sin(x(1)-x(4)*sin(theta2)+x(5)*sin(theta3);%while norm(f)>epsilon J=-x(4)*sin(theta2) -x(5)*sin(theta3); -x(4)*cos(theta2) x(5)*cos(theta3); dth=inv(J)*(-1.0*f); theta2=theta2+dth(1); theta3=theta3+dth(2); f=-x(7)*cos(x(1)+x(4)*cos(theta2)+x(5)*cos(theta3)-x(6);

11、 x(7)*sin(x(1)-x(4)*sin(theta2)+x(5)*sin(theta3); norm(f);end;y(1)=theta2;y(2)=theta3;>> x1=linspace(0,2*pi,180);x=zeros(length(x1),7);for n=1:180x(n,:)=x1(:,n) 17.4*pi/180 52.6*pi/180 231.8 230.4 379.7 70;end;p=zeros(length(x1),2);for k=1:180y=rrrposi55(x(k,:);p(k,:)=y;end;>> p 输出图像2 ，3

12、相对于1的图像plot(x1,p (:,1),'-',x1,p(:,2),':')摇杆与竖直线之间的夹角矩阵为m=90-p(:,1)'*(180/pi)-37.4;上冲模的行程方程为L=460.8-2*230.4*cos(m)分析上冲模的图像可知，在上冲模达到最低点时会有一小段时间的停歇以起到保压作用。接下来分析速度：首先根据机构需要，定义w1=pi/3,Matlab编程：function y=rrrvel22(x)% Script used to implement Newton-Raphon mechod for% solving nonlinear

13、 position of RRR bar group% Input parameters% x(1)=theta-1% x(2)=theta-2 % x(3)=theta-3 % x(4)=dtheta-1% x(5)=k1 % x(6)=k2% x(7)=k3% x(8)=r1 % Output paramenters% y(1)=dtheta-2% y(2)=dtheta-3%A=-x(5)*cos(x(2) x(6)*cos(x(3); -x(5)*sin(x(2) -x(6)*sin(x(3);B=-x(8)*cos(x(1) -x(8)*sin(x(1)*x(4);B=B'y

14、=inv(A)*B;输出程序>> for i=1:180x2(i,:)=x11(i,1),p(i,1),p(i,2),pi/3,231.8,230.4,379.7,70;end; q=zeros(2,180);for m=1:180y2=rrrvel22(x2(m,:);q(:,m)=y2;end;>> q输出图像plot(x1,q(1,:),'-',x1,q(2,:),':');w2,w3,相对于w1的图像：上冲模的速度函数V=dL/dt输出图像为：加速度分析Matlab 编程分析：function y=rrra111(x)% inpu

15、t parameters% x(1)=th1% x(2)=th2% x(3)=th3% x(4)=dth1% x(5)=dth2% x(6)=dth3% x(7)=k1% x(8)=k2% x(9)=k3% x(10)=r1% y(1)=ddth2% y(2)=ddth3%A=-x(7)*cos(x(2) x(8)*cos(x(3); -x(7)*sin(x(2) x(8)*sin(x(3);B=x(7)*x(5)*sin(x(2) -x(8)*x(6)*sin(x(3); -x(7)*x(5)*cos(x(2) -x(8)*x(6)*cos(x(3);C=x(5);x(6);D=x(10)*

16、x(4)2*sin(x(1);-x(10)*x(4)2*cos(x(1);y=inv(A)*D-inv(A)*B*C;输出程序for i=1:180x3(i,:)=x11(i,1),p(i,1),p(i,2),pi/3,q(1,i),q(2,i),0.2318,0.2304,0.3797,0.070 ;end;n=zeros(2,180);for k=1:180y3=rrra111(x3(k,:);n(:,k)=y3;end;nsubplot(1,2,1);plot(x1,n(1,:);xlabel('theta1');ylabel('ddtheta3');ti

17、tle('杆2的角加速度');>> subplot(1,2,1);plot(x1,n(1,:);xlabel('theta1');ylabel('ddtheta2');title('杆1的角加速度');subplot(1,2,2);plot(x1,n(1,:);xlabel('theta1');ylabel('ddtheta3');title('杆二的加速度 '); 上冲模的加速度A=dV/dt输出图像为：（该图像用数学里面的微积分求出，故在图像最后会有一点图像不正常显示

18、，这属于正常情况，不影响加速度的分析）统计所输出的数据：123w2W32300.232380.233820.16301-0.16301-189.12-190.340.0351020.238180.22870.1832-0.1425728.8128.9280.0702030.244660.224260.20309-0.122213.36613.3990.10530.251790.22050.22249-0.102088.63428.6470.140410.259570.217410.24125-0.0823846.30996.31740.175510.267960.214970.25921-0.

19、0632494.91324.9210.210610.276930.213160.27626-0.0447963.9733.98410.245710.286470.211960.2923-0.0271163.29293.30880.280810.296520.211340.30728-0.0102742.77622.7980.315910.307050.211260.321140.0056912.36992.39830.351020.318030.211710.333870.0207632.04212.07750.386120.329420.212640.345480.0349451.77271

20、.81530.421220.341180.214040.355980.0482561.54791.59810.456320.353280.215870.365410.0607281.35821.41610.491420.365670.21810.373780.07241.19671.26240.526520.378320.220720.381170.0833191.05811.13170.561630.391210.223680.38760.0935350.938331.01990.596730.40430.226980.393130.10310.83430.923840.631830.417

21、550.230590.39780.112060.743450.841050.666930.430960.234490.401670.120480.663750.769450.702030.444470.238660.404780.128390.593530.707340.737130.458080.243090.407170.135840.531410.653350.772240.471760.247760.408890.142890.476220.606330.807340.485490.252660.409960.149560.427020.565310.842440.499240.257

22、780.410430.155890.382980.529470.877540.5130.263110.410320.161930.343420.498130.912640.526740.268630.409660.167690.307760.470710.947740.540450.274350.408480.173220.275490.446690.982840.554120.280240.40680.178520.246180.425661.01790.567720.286310.404640.183640.219480.407241.0530.581240.292550.402010.1

23、88590.195050.391111.08810.594670.298960.398950.193380.172620.3771.12330.607980.305520.395450.198040.151960.364671.15840.621170.312230.391530.202580.132860.353891.19350.634220.31910.38720.207020.115120.344491.22860.647120.326110.382480.211370.0986030.33631.26370.659860.333260.377360.215630.0831540.32

24、9181.29880.672420.340560.371860.219820.0686520.322991.33390.684790.3480.365990.223950.0549830.317621.3690.696950.355580.359750.228020.042050.312951.40410.70890.363290.353140.232040.0297610.30891.43920.720620.371130.346180.236010.0180360.305361.47430.73210.379110.338860.239940.00680020.302261.50940.7

25、43330.387220.331180.24382-0.00401520.299521.54450.75430.395450.323160.24767-0.0144740.297061.57960.764990.403820.314790.25149-0.0246360.29481.61470.77540.412310.306080.25526-0.034560.292681.64980.785510.420930.297040.259-0.04430.290631.68490.795310.429670.287660.2627-0.0539120.288571.720.804790.4385

26、40.277940.26635-0.063450.286441.75510.813940.447530.267910.26996-0.0729690.284151.79020.822750.456640.257540.27351-0.0825260.281641.82530.83120.465870.246870.27701-0.0921810.278831.86040.839290.475210.235880.28045-0.1020.275631.89550.847010.484670.224580.28381-0.112040.271951.93060.854350.494230.212

27、990.2871-0.122380.26771.96570.861290.503910.201110.29029-0.13310.262782.00080.867820.513690.188940.29339-0.144290.257072.03590.873950.523580.176510.29637-0.156050.250462.0710.879650.533560.163810.29923-0.168480.24282.10610.884930.543640.150870.30196-0.181720.233952.14120.889770.55380.137690.30453-0.

28、19590.223742.17630.894160.564050.12430.30694-0.211180.211992.21140.89810.574380.11070.30916-0.227760.198482.24650.901580.584770.0969110.31119-0.245850.182972.28160.904590.595240.0829590.31299-0.26570.165192.31670.907140.605760.068860.31456-0.28760.144822.35180.909210.616320.0546370.31587-0.31190.121

29、492.38690.91080.626930.0403140.31691-0.339020.0947762.4220.911910.637560.0259140.31765-0.369430.0641622.45710.912530.648220.0114660.31807-0.403740.0290392.49220.912680.65888-0.00300520.31815-0.44265-0.0113272.52730.912330.66954-0.0174690.31787-0.48706-0.0578342.56240.911510.68019-0.0318960.31721-0.5

30、3806-0.11162.59750.91020.6908-0.0462560.31615-0.59703-0.174012.63260.908410.70138-0.0605170.31466-0.66573-0.246852.66770.906140.71189-0.0746460.31274-0.74646-0.332432.70280.90340.72234-0.0886110.31035-0.84228-0.433812.73790.90020.73269-0.102380.30748-0.95731-0.555152.7730.896540.74295-0.115920.30413

31、-1.0973-0.702242.80810.892430.75308-0.12920.30026-1.2706-0.88342.84320.887880.76307-0.142180.29587-1.4895-1.1112.87830.882910.77291-0.154840.29095-1.7733-1.40462.91340.877510.78257-0.167150.2855-2.154-1.79632.94850.87170.79204-0.179070.27949-2.689-2.34352.98360.865510.8013-0.190580.27294-3.4913-3.16

32、043.01870.858930.81033-0.201660.26583-4.8216-4.50883.05380.851990.81911-0.212280.25818-7.4416-7.15543.08890.844710.82763-0.222420.24999-14.943-14.7143.1240.837090.83587-0.232060.24126-217.39-218.413.15910.829160.8438-0.241190.23218.87219.2843.19420.820930.85141-0.24980.222239.41249.75483.22930.81242

33、0.85869-0.257870.211976.42956.74143.26440.803640.86562-0.26540.201234.96995.26023.29950.794630.87218-0.272390.190034.10484.37693.33470.785390.87835-0.278820.17843.53293.78843.36980.775940.88413-0.284710.166363.12673.36653.40490.766310.8895-0.290050.153942.82343.04793.440.75650.89445-0.294860.141172.

34、58812.79763.47510.746550.89896-0.299140.128082.42.59483.51020.736460.90303-0.30290.11472.24612.42623.54530.726250.90665-0.306160.101062.11752.28323.58040.715940.9098-0.308930.087192.00822.15963.61550.705540.91249-0.311220.0731321.9142.05123.65060.695080.9147-0.313060.0589151.83161.95483.68570.684560

35、.91644-0.314460.044571.75881.86823.72080.6740.91769-0.315440.0301311.69381.78953.75590.663420.91846-0.316030.0156291.63521.71733.7910.652820.91874-0.316240.00109461.58191.65073.82610.642220.91853-0.31609-0.0134421.5331.58873.86120.631630.91784-0.31561-0.0279521.48781.53063.89630.621070.91666-0.31481

36、-0.0424081.44581.4763.93140.610530.915-0.31372-0.0567841.40651.42443.96650.600040.91285-0.31236-0.0710561.36951.37534.00160.589590.91023-0.31075-0.0851991.33451.32864.03670.579210.90714-0.30891-0.0991911.30131.28394.07180.568890.90359-0.30685-0.113011.26951.2414.10690.558640.89957-0.30459-0.126651.2

37、391.19974.1420.548470.8951-0.30216-0.140071.20961.164.17710.538390.89018-0.29956-0.153271.18131.12154.21220.528390.88483-0.29681-0.166241.15381.08434.24730.518490.87904-0.29393-0.178951.1271.04824.28240.508690.87283-0.29093-0.19141.10091.01324.31750.498990.86621-0.28782-0.203581.07540.979084.35260.4

38、89390.85919-0.28461-0.215471.05040.945864.38770.479910.85177-0.28132-0.227071.02570.913464.42280.470530.84397-0.27795-0.238371.00140.88184.45790.461270.83579-0.27451-0.249360.977450.850834.4930.452130.82725-0.27101-0.260040.95370.820494.52810.443110.81836-0.26746-0.27040.930140.790734.56320.43420.80

39、913-0.26386-0.280440.90670.761514.59830.425420.79957-0.26021-0.290150.883350.732764.63340.416760.78968-0.25652-0.299520.860030.704434.66850.408220.77949-0.25279-0.308560.83670.676484.70360.399810.769-0.24902-0.317260.813310.648854.73870.391530.75823-0.24522-0.325620.78980.621484.77380.383370.74718-0

40、.24138-0.333630.766120.594314.80890.375350.73586-0.23751-0.341290.742230.567284.8440.367450.7243-0.23359-0.348590.718050.540334.87910.359690.7125-0.22964-0.355540.693520.513384.91420.352060.70047-0.22564-0.362130.668580.486364.94930.344560.68823-0.22159-0.368360.643150.459184.98440.33720.67578-0.217

41、48-0.374210.617150.431755.01950.329980.66314-0.21331-0.379680.590480.403965.05460.32290.65033-0.20907-0.384780.563040.375715.08970.315970.63735-0.20474-0.389480.534720.346865.12480.309180.62422-0.20033-0.393780.505370.317285.15990.302540.61096-0.19581-0.397680.474860.286795.1950.296050.59757-0.19118

42、-0.401150.4430.255235.23010.289720.58407-0.18641-0.404190.409610.222385.26520.283560.57048-0.18149-0.406790.374460.188015.30030.277560.5568-0.1764-0.408920.337290.151855.33540.271730.54307-0.17113-0.410570.29780.113585.37050.266090.52929-0.16563-0.411720.255640.0728615.40560.260630.51547-0.1599-0.41

43、2340.210420.0292635.44070.255370.50165-0.15391-0.412410.16165-0.0176935.47580.250320.48783-0.14761-0.411910.10878-0.068575.5110.245480.47404-0.14098-0.41080.051174-0.124035.54610.240870.4603-0.13398-0.40904-0.011952-0.184855.58120.23650.44663-0.12657-0.4066-0.081509-0.251965.61630.232390.43305-0.118

44、71-0.40344-0.15858-0.326455.65140.228550.41959-0.11034-0.39952-0.24449-0.409645.68650.2250.40627-0.10144-0.39479-0.3408-0.503125.72160.221760.39313-0.091931-0.3892-0.44945-0.608845.75670.218840.38019-0.081778-0.38271-0.57282-0.729165.79180.216280.36749-0.070926-0.37526-0.71387-0.867085.82690.21410.3

45、5505-0.059326-0.36681-0.87635-1.02645.8620.212320.34291-0.046932-0.35731-1.0651-1.21195.89710.210960.33111-0.033704-0.34673-1.2866-1.43015.93220.210070.31968-0.01961-0.33503-1.5496-1.68985.96730.209660.30866-0.0046315-0.3222-1.8665-2.00336.00240.209760.298090.011234-0.30824-2.2552-2.3896.03750.21042

46、0.288010.027972-0.29316-2.744-2.8756.07260.211650.278450.045541-0.277-3.3787-3.50756.10770.213480.269450.063879-0.25984-4.2412-4.36886.14280.215940.261040.082894-0.24176-5.4922-5.62076.17790.219040.253250.10247-0.22288-7.4982-7.63186.2130.222810.246110.12246-0.20335-11.315-11.4646.24810.227260.23962

47、0.1427-0.18333-21.731-21.9366.28320.232380.233820.16301-0.16301-189.12-190.34下冲模机构运动分析一、下冲模机构相关尺寸的确定在这里我们取凸轮的基圆半径r0=100mm,棍子半径rr=10mm,并且题目要求推杆最大行程h=45mm。现在检验其设计的是否合理。滚子半径的考虑:由于本题目在这里采用了滚子凸轮，为了避免失真现象就要要求理论廓线的最小曲率半径大于滚子半径rr。由于=（x´´2+y´´2）3/2/(x´y´´-y´x´

48、0;),其中x´=dx/d,x´´=d2x/d2, y´=dy/d,y´´=d2y/d2.由凸轮理论轮廓曲线方程x=(s0+s)sin y=(s0+s)cos可知，x´=y´´=y,x´´=y´=-x.其中s0=r0,s为推杆运动方程。则=(y2+x2)3/2/(y2-x2)根据设计出的凸轮轮廓(见下面设计的凸轮理论轮廓曲线图)可以大致估算出各点的曲率半径，并且由于该凸轮基圆半径的设计较大，综合分析可知该机构滚子的设计是合理的。压力角的考虑：对于一般的直动推杆取许用压力角=3

49、0°,在这里e=0。由r0(ds/d)tan-s可知，如果取r=(ds/d)tan-s,只要r0rmax即可用Matlab画出r和的关系曲线如下图所示thta为下模冲脱料凸轮的转角。结论：由上图可以看出r的最大值没超过100mm，所以下模冲凸轮基圆半径选用100mm是可以的。二、下模冲脱模机构的运动分析：下模冲脱模机构的运动要求：a、脱模最大行程为45mm；b、要求顶出距离准确，复位快而冲击小。三、下模冲脱模机构的运动设计及过程a、根据运动循环图可知，下模冲的运动周期和上模冲的运动周期一样。由=2/T可知，1=2=/3 rad/s。b、运动规律：设凸轮转角为，则：（1）在0°

50、;- 180°的过程中，S =0V=0a=0（2）在180°- 240°的过程中S=h(-180°)/60°-sin2(-180°)/60°/(2)V=h1-cos2(-180°)/60°a=2h2sin2(-180°)/(60°)2(3)在240°- 300°的过程中S=hV=0a=0(4)在300°-360°的过程中S= h1-(-300°)/60°+sin2(-300°)/60°/(2)V= hcos2(-300°)/60°-1/60°a=-2h2 sin2(-300°)/(60°)2四、根据推杆运动规律设计凸轮理论轮廓：由所学知识可以知道凸轮理论轮廓的方程为：x=(