自动喂料草绳编织机毕业论文 40页

拟建中的阜阳市中国XXXX国际服装城依托中国XX国际服装城，拟建成为皖西北地区规格最高、规模最大、商务及功能最优的现代化、国际化服装专业市场，建设规模占地约128亩，建筑面积约25万平方米，项目总投资约5亿元人民币。经过1--2年的开发建设，能达到正常运营期的中国XX.XX国际服装城将吸纳全国和世界各地的经销商、代理商企业物流总部等500—1000家，预计年交易额实现68亿元人民币，每年实现税收8000—10000万元人民币，每年实现利润1.68亿元人民币，实现就业和创业人员约2万以上。哈尔滨工业大学本科毕业设计（论文）摘要本次研究设计的自动喂料草绳编织机，包括送料机构、捻绳机构、压绳机构、绕绳机构和驱动机构。驱动机构为送料机构、捻绳机构、压绳机构以及绕绳机构提供动力，送料机构将稻草通过套筒输送到捻绳机构进行捻绳，捻绳机构将稻草输送到压绳机构，压绳机构再将捻好的稻草压紧并输送到绕绳机构进行绕绳。其次，通过用三菱FX1N系列PLC对步进电机进行调速，从而实现了对草绳编织的粗细可调、紧密程度可调。再者，引用锁紧气缸对传统的自动喂料草绳编织机进行了适当改进，设置了一个可控制的移动木板，来应对不同湿度的稻草，增加了可操作性和适用性。最后，对自动喂料草绳编织机的核心轴、齿轮、轴承等零件进行了设计校核，完成了简单的CAE分析，保证了机器的使用性。关键词：自动喂料草绳编织机PLC步进电机气缸经济增长：在优化结构、提高效益和降低消耗的基础上，“十一五”期市GDP年均增长12%以上（现14%以上），2010年达到650亿元以上，人均GDP力争1000美元；财政收入达到80亿元；规模以上工业销售达到550亿以上；全社会固定资产投资年均长20%，五年累计1000亿元；社会消费品销售额260亿元，年均增长20%，外贸进口总额2.5亿美元，年均增长15%；五年累计招商引资突破500亿元，力争达到600亿元I 拟建中的阜阳市中国XXXX国际服装城依托中国XX国际服装城，拟建成为皖西北地区规格最高、规模最大、商务及功能最优的现代化、国际化服装专业市场，建设规模占地约128亩，建筑面积约25万平方米，项目总投资约5亿元人民币。经过1--2年的开发建设，能达到正常运营期的中国XX.XX国际服装城将吸纳全国和世界各地的经销商、代理商企业物流总部等500—1000家，预计年交易额实现68亿元人民币，每年实现税收8000—10000万元人民币，每年实现利润1.68亿元人民币，实现就业和创业人员约2万以上。哈尔滨工业大学本科毕业设计（论文）各位如果需要此设计的全套内容（包括二维图纸、中英文翻译、完整版论文、程序、答辩PPT）可加QQ，如果需要代做也请加上述QQ,代做免费讲解。经济增长：在优化结构、提高效益和降低消耗的基础上，“十一五”期市GDP年均增长12%以上（现14%以上），2010年达到650亿元以上，人均GDP力争1000美元；财政收入达到80亿元；规模以上工业销售达到550亿以上；全社会固定资产投资年均长20%，五年累计1000亿元；社会消费品销售额260亿元，年均增长20%，外贸进口总额2.5亿美元，年均增长15%；五年累计招商引资突破500亿元，力争达到600亿元I 哈尔滨工业大学本科毕业设计（论文）AbstractThedesignofautomaticfeedingstrawweavingmachine,comprisesafeedingmechanism,twistedrope,ropepressingdevice,aropewindingmechanismanddrivingmechanism.Thedrivingmechanismforthefeedingmechanism,twistedropemechanism,ropepressingdeviceandaropewindingmechanismprovidespower,feedingmechanismofstrawthroughthesleeveintoropetwistingmechanismoftwistedrope,twistedropemechanismwillbetransportedtothestrawropepressingdevice,pressingstrawropemechanismandthentwistedandtransportedtoaropewindingmechanismistheropewinding.Secondly,throughtheuseofMitsubishiFX1NseriesPLConthesteppermotorspeed,inordertorealizethestrawwovenadjustablethickness,tightnessadjustable.Furthermore,referenceautomaticfeedingropelockingcylinderaremadetothetraditionalmodifiedknittingmachine,setupacontrolledmobileboard,tocopewiththedifferenthumiditystraw,increasetheoperabilityandapplicability.Finally,thecoreshaft,gears,bearingsandotherpartsoftheautomaticfeedingstrawweavingmachineofthedesignverification,completedtheanalysisofsimpleCAE,guaranteestheuseofmachine.Keywords:Automaticfeedingstrawweavingmachine,PLC,Steppermotor,CylinderII 哈尔滨工业大学本科毕业设计（论文）目录摘要··························································ⅠAbstract·····················································Ⅱ第1章绪论1.1课题背景及研究的目的和意义································11.1.1课题背景···············································11.1.2选题意义···············································11.1.3研究目的···············································11.2国内外在该方向上的研究现状及分析··························11.2.1国内外现状·············································21.2.2发展前景···············································2III 哈尔滨工业大学本科毕业设计（论文）1.3主要研究内容··············································31.4研究路线和研究方法·········································3第2章自动喂料草绳机的机构设计2.1设计目标··················································42.2手动草绳机的结构分析······································42.2.1结构分析···············································42.2.2工作原理···············································42.3自动草绳机的结构设计······································52.3.1绕绳机构的设计·········································52.3.2捻绳机构的设计·········································7III 哈尔滨工业大学本科毕业设计（论文）2.3.3送料机构的设计·········································82.4本章小结·················································10第3章自动喂料草绳机控制方面的设计3.1电机的配置要求············································11III 哈尔滨工业大学本科毕业设计（论文）3.2FXIN系列PLC的简介······································113.3PLC控制步进电机工作方式的选择····························113.3.1常见的步进电机的工作方式······························113.3.2步进电机控制原理······································123.3.3PLC控制步进电机的设计思路····························133.3.4三菱PLC控制步进电机·································133.4步进电机及电机驱动器的选择·······························143.4.1传统电机选型··········································143.4.2步进电机选型··········································143.4.3步进电机驱动器的选择··································173.5本章小结IV 哈尔滨工业大学本科毕业设计（论文）·················································19第四章自动喂料草绳机的相关任务解决方案4.1任务一的解决方案·········································204.2任务二的解决方案·········································204.3任务三的解决方案·········································224.4任务四的解决方案·········································224.5任务五的解决方案·········································234.5.1稻草的内部结构分析研究································234.5.2对稻草承载能力进行实验分析····························234.6本章小结·················································26第五章对传统自动喂料草绳机的改进5.1改进背景IV 哈尔滨工业大学本科毕业设计（论文）·················································275.2改进方案·················································275.3本章小结·················································29第六章部分零件的设计校核6.1绕绳机构锥齿轮啮合设计校核·······························306.2压绳机构直齿轮啮合设计校核·······························33IV 哈尔滨工业大学本科毕业设计（论文）6.3主要轴及轴上部件的设计校核·······························356.4皮带的设计过程···········································386.5对轴进行CAE分析········································406.6本章小结·················································40结论··························································41参考文献·····················································43致谢··························································45V 哈尔滨工业大学本科毕业设计（论文）第一章绪论1.1课题背景及研究的目的和意义1.1.1课题背景草绳又叫稻草绳，是一种以稻草秸秆为原料经过专用的草绳机加工而成的草制品。草绳是由稻草加工而成，价格低廉，对环境无污染，是一种属于绿色环保的农业加工产品。其用途很广主要用于：瓷器厂，砖瓦厂，预制件机械厂，园林公司，建筑工地等。由于草绳的用途越来越广，市场中对草绳的需求也不断的扩大，现在已经成了农民一项创收的主要途径。由此也引发了稻草编织机的大量投入与生产。稻草编织机是工程中用以实现机械化和自动化编制草绳的一种专业机械设备，具有很大的发展前景。1.1.2选题意义现在，我国的科学技术发展迅速，GDP也迅速增长。但是，我国仍然是一个以农业生产为主的大国，每年对农作物的需求巨大，但由此也会产生大量的废弃植物秸秆。一般农民会进行焚烧或是掩埋处理，这样不仅会造成很多生物资源浪费，还会产生大量二氧化碳等气体加快温室效应，所以合理的利用稻草将显得非常重要[1]。其中，一个不错的选择便是加工稻草绳。其用途很广，主要用于：瓷器厂，砖瓦厂，预制件机械厂，园林公司，建筑工地等。现在市场上以手动喂料草绳机为主，但这类机器有明显的缺点：需要大量的人力物力，生产效率低，供不应求，满足不了市场的需求。因此，市场急需一种自动喂料草绳机来解决供不应求的问题，并充充分分的利用起稻草秸杆[2]。1.1.3研究目的毕业设计目的是培养学生综合运用专业知识解决实际问题的能力，是机械设计制造及自动化专业之前各种学习环节的深化和检验。通过此毕业设计，使学生深刻理解专业机械设备的设计方法及各个机构构成，使学生能够充分利用所学过的知识，理论联系实际，独立开展设计工作，从而掌握从事机械设计及自动化相关工作的实际能力，使学生能全面系统的运用所学知识解决工程中的实际问题，培养进行专业机械设备设计的能力，并且培养学生查找、阅读文献和撰写论文的基本科学研究能力。1.2国内外在该方向上的研究现状及分析29 哈尔滨工业大学本科毕业设计（论文）1.2.1国内外现状2009年3月份，全国第一台自主知识产权的自动喂料草绳机在洪梅镇诞生，这台机器的创意、研发以及制造的人员全部由本地人完成，是真真正正东莞制造的自主品牌。东莞市宏辉机械设备厂总经理胡润环：草绳机研发成功，对农民有很大作用，因为草绳机织绳的产量是人工织绳的3倍，如果一个人可以开2台机器的情况下，就会超过现在人工织绳的5倍[3]。黑龙江省农业机械工程科学研究院研制的6HZ-16型半自动草绳机[4]，其结构紧凑、体积小、质量轻、占地面积小。每台草绳机重量70kg，占地面积2m2。同时，机器性能可靠、效率高、操作简便，加工出的草绳抗拉强度大、表面光滑，且捻目数可调，适应不同直径的精制草绳[5]。江苏省南通市供销合作社利用自己的优势和长处，推行了秸秆综合利用服务组织，探索出了一条“政府支持与引导、合作社企业化运作，社员增加收入、社会效益明显”的可复制、可持续的模式，目前该模式的推广与应用已呈现出良好的势头。他们组建的草金秸秆加工农民专业合作社的草绳加工车间里：机声轰鸣，轮盘飞转，草绳编织机将进来的稻草编织成了草绳，并有序缠绕在编织机的转盘上。就这样，一堆堆稻草就变成一盘盘扁圆柱状的草绳捆[6]。赣榆县秸杆综合利用的历史已有多年，早在70年代末80年代初，赣榆农民就用稻草加工草包、草绳，利用麦杆编织枕头、草席，利用碎草、人蓄粪混合密封产生沼气做饭、照明。在80年代末90年代初，农机部门研制了简易的草绳机，有效的提高了劳动生产率[7]。近几年，随着草制品需求量的增加，农机部门进行积极的探索和研究，研制开发了单线式草帘编织机和双线式草帘编织机，极大地提高了劳动生产率。1.2.2发展前景近年来，一些新型草绳机得到了广泛应用。在技术上也曾设计过全自动草绳机的方案。这种全自动草绳机虽然解决了自动喂料、自动盘绳问题，但是由于自动输草、控草部分尚存在一些技术问题，断草、断绳的故障率较高。如中国知识产权局授权公告号CNU自动喂料草绳机未能有效控制稻草在进入草绳机过程中出现的稻草供给不能受控制，稻草进口出现稻草堆积或供给不足的问题，也未能彻底解决盘绳中盘绳力度的控制，造成盘绳中拉断绳的问题[8]。我国的草绳机行业已经具备了较为完善的基础条件，良好的社会经济环境，广阔的市场空间，完善的工业配套体系，国家历来重视该领域的发展，相关引导和鼓励性政策频频发布，为行业发展注入政策动力[9]。在《产业结构调整指导目录（2011年本）》中，稻草机行业被列为鼓励类。在200929 哈尔滨工业大学本科毕业设计（论文）年由工业和信息化部、科学技术部、财政部、国务院国有资产监督管理委员会四部委会同颁布的《重大技术装备自主创新指导目录（2009年版）》中，指出将其发展为行业技术[10]。1.3主要研究内容内容如下：(1)根据水稻种植农业技术要求及草绳加工特点，确定草绳机各工作部件的总体布局。(2)对草绳机主要机构部件进行设计、校核。(3)通过PLC控制电机实现对稻草编织机发射轮速度的控制，进而控制草绳的粗细及编织紧密程度。(4)对草绳机进行二维图及三维图的绘制，并进行运动仿真。(5)对草绳机设计提出改进性的方案。1.4研究路线和研究方法具体研究技术路线如下：提出问题研究现有草绳机绕绳机构设计捻绳机构设计送料机构设计PLC调速控制二维三维图绘制运动仿真改造型方案研究方法：通过查看文献了解稻草的内部特性以及草绳机的现状及不足，进行分析设计，运用Solidworks和CAD等绘图软件进行图形绘制、仿真，最后分析现有草绳机的不足进行改进。29 哈尔滨工业大学本科毕业设计（论文）第二章自动喂料草绳机的机构设计2.1设计目标对照现有研究成果，本研究设计的草绳机拟达到以下几个工作特点：(1)生产的草绳符合草绳强度要求，承载能力在50kgf-80kgf。(2)操作方便，生产效率高。自动喂料草绳机为全自动机械化新型产品，工作稳定，仅需一人便可操控机器，编织速度是普通手动草绳机的5倍之多。(3)机器寿命高，故障率低，断绳后再接起来需要的时间短。(4)编织草绳的粗细范围可连续调节，适应度高，能满足广大用户。2.2手动草绳机的结构分析2.2.1结构分析1.秸秆2.稻草喂入口3.搓绳机构4.卷绳机构5.电机6.机架图2.1两股草绳机[11]2.2.2工作原理人工将稻草送到喇叭口，稻草通过两个喇叭口预搓管进入捻绳机构，捻绳机构是由旋转的齿轮带动预搓管旋转进行捻绳，其内部有螺纹，可使通过它的稻草变成螺旋状。通过捻绳设备捻制成的两小股草绳合成一股大草绳，在电机皮带传动作用下，进入后面的绕绳机构进行一系列的压绳、绕绳，最后绕在绳轮上。29 哈尔滨工业大学本科毕业设计（论文）2.3自动草绳机的结构设计2.3.1绕绳机构的设计自动喂料草绳机的绕绳机构与手动草绳机的绕绳机构大致原理相似，主要分两部分：一是前面的拉绳机构，二是后面的绕绳机构。整体绕绳机构：1.空心主轴2.驱动锥齿轮3.拉绳锥齿轮4.拉绳齿轮5.拉绳齿轮6.主动碾轴7.从动碾轴8.拉绳齿轮9.丝杠轴10.滑块11.绳轮12.绕绳齿轮13.大带轮14.绕绳锥齿轮15.固定锥齿轮图2.2自动喂料草绳机整体绕绳机构工作流程：如图2.2所示，空心主轴1、驱动锥齿轮2以及固定锥齿轮15固定不动。电机通过皮带传动带动大带轮13转动，从而带动机身绕驱动锥齿轮2和固定锥齿轮15转动。驱动锥齿轮2与拉绳锥齿轮3啮合，带动了拉绳齿轮组4、5、8的转动，从而带动了主动碾轴6、从动碾轴7以及丝杠轴9的转动，丝杠轴9转动通过螺纹连接带动滑块10的平移。绕绳锥齿轮14与固定锥齿轮15的啮合，带动了绕绳齿轮12和绳轮11的转动。通过捻绳机构输送过来的大股草绳，从空心主轴1输出来，并从主动碾轴6与从动碾轴7之间穿过，再通过滑块10的索引绕在绳轮11上。拉绳机构：如图2.3，该拉绳机构包括主动碾轴6、从动碾轴7及拉绳齿轮组3、4、5、8。驱动锥齿轮2固定于空心主轴129 哈尔滨工业大学本科毕业设计（论文）上并与拉绳齿轮组啮合，主动碾轴、从动碾轴及拉绳齿轮组均与机身枢接，主动碾轴及从动碾轴分别与拉绳齿轮组的两小齿轮同轴心。1.空心主轴2.驱动锥齿轮3.拉绳锥齿轮4.拉绳齿轮5.拉绳齿轮6.主动碾轴7.从动碾轴8.拉绳齿轮9.丝杠轴10.滑块图2.3压绳机构驱动锥齿轮2与拉绳锥齿轮3啮合，带动拉绳齿轮组4、5、8转动，拉绳齿轮5带动两个小齿轮转动，从而带动主动碾轴6和从动碾轴7转动。拉绳齿轮8带动丝杠轴9转动，滑块9与丝杠轴螺纹连接，用来辅助后面的绕绳机构，使草绳均匀绕在绳轮上。捻绳完成后，草绳在主动碾轴、从动碾轴及滑块之间通过，主动碾轴及从动碾轴转动能带动草绳前进，对绕绳机构绕绳起辅助作用，防止草绳在所述捻绳机构处出现卡草、卡绳或堆绳的现象，同时，主动碾轴及从动碾轴转动将草绳进行压紧，使草绳捻得更为紧凑，防止草绳松散。绕绳机构：11.绳轮12.绕绳齿轮13.大带轮14.绕绳锥齿轮15.固定锥齿轮图2.4绕绳机构29 哈尔滨工业大学本科毕业设计（论文）如图2.4所示，该绕绳机构包括大带轮13、固定锥齿轮15、绕绳锥齿轮14、绕绳齿轮12、绳轮11。电机通过皮带传动带动大带轮13转动，大带轮带动机身转动，使绕绳锥齿轮14绕固定锥齿轮15转动，从而驱动绕绳齿轮12转动，最后带动绳轮11转动进行绕绳。2.3.2捻绳机构的设计(a)(b)1.捻草主动链轮2.捻草主动齿轮3.捻草管4.草绳5.捻草管入口6.捻草管轴承7.捻草从动齿轮8.捻草管出口图2.5捻草装置示意图与前文介绍的绕绳机构一样，自动喂料草绳机的捻绳机构[12]与手动喂料草绳机相似，原理如图2.5(a)所示。电机通过一系列传动装置带动捻草主动齿轮2旋转，齿轮2再带动捻绳从动齿轮7旋转，齿轮2和7带动捻草管3转动，捻草管3内部有内螺纹。当稻草秸秆从入口3进入捻草管后，在捻草管内螺纹的旋转带动下，完成捻草作用，同时也依靠后面绕绳机构的拉动将草绳往后续机构送草。当第一根秸秆被打入喇叭口后，在齿轮旋转力量的带动下，向前运动，在它还没有完全离开喇叭口之前，后续秸秆会被打入，从而保证前后秸秆能够连在一起。两个喂料口也就是两个喇叭口同时运行，进而编织出一根完整的草绳。图2.6捻草装置29 哈尔滨工业大学本科毕业设计（论文）2.3.3送料机构的设计送料机构分两部分，一部分是分草机构，一部分是射草机构。分草机构是通过一系列传动装置，将一捆稻草秸秆分离出一根根的秸秆，并送到发射口。射草机构是利用两个高速旋转的飞轮组成的发射口将分草机构送过来的秸秆推射到接草筒里，然后送到捻草机构。分草机构一设计：1.弯齿条2.直齿条3.推杆4.发射轮图2.7分草机构一如图2.7所示，该分草机构一包括:弯齿条1、直齿条2、推杆3。弯齿条1与直齿条2构成一个卡尺，可以卡住一根秸秆，将秸秆送到喷射口附近，而这时，往复运动的推杆3，将卡尺送来的秸秆送到指定位置，即两个飞速转动的轮子之间，于是乎，秸秆便被打出去，实现分草功能。分草机构二设计：1.螺旋杆2.推杆3.发射轮4.隔板5.分隔条6.托块图2.8分草机构二29 哈尔滨工业大学本科毕业设计（论文）如图2.8所示，该分草机构二包括：螺旋杆1、推杆2、挡板4、分隔条5、托块6.在螺旋杆1的转动下，带动稻草秸杆往下运动，运动到发射口3附近，这时，往复运动的推杆2，将螺旋杆送来的秸秆送到指定位置，即两个飞速转动的轮子之间，于是乎，秸秆便被打出去，实现分草工作。分隔条5的作用是将两边的稻草分开以防产生干扰，托块6是便于稻草往下运动，辅助螺旋杆工作。分草机构一和二大致原理相似，唯一不同是在将稻草运动到发射口的方式不同。根据分析全国各地的稻草，得知每个地方的稻草粗细都不相同。分草机构一在处理不同粗细稻草时容易产生卡尺现象，意思即为锯齿的大小限制了能带动稻草直径的大小，如图2.9(a)所示，小直径的稻草可以由锯条顺利的输送到发射口附近，而如图2.9(b)所示，在相同型号的锯条下，大直径的秸秆会被两个锯条卡住，不能顺利输送到发射口处[13]。(a)(b)图2.9分草机构一的限制点分草机构二将螺旋杆的螺距按全国最粗的稻草标准来设计，便可适应全国不同地方的稻草，如图2.10：图2.10分草机构二的优势点29 哈尔滨工业大学本科毕业设计（论文）因此，在此比较下，选择机构二作为自动喂料草绳机的分草装置适应性能更强，编织能更方便。射草机构的设计：如图2.11(a)所示，射草机构包括：小带轮1、发射齿轮2、发射齿轮4、发射轮3、发射轮5。电机通过皮带传动带动小带轮1转动，小带轮带动发射齿轮2和发射轮3转动，发射齿轮2带动发射齿轮4转动，发射齿轮4再带动发射轮5转动。发射轮3和5形成了发射口，用来发射分草机构输送过来的稻草秸杆。发射口原理如图2.11(b)。(a)射草机构(b)发射原理1.小带轮2.发射齿轮3.发射轮4.发射齿轮5.发射轮图2.11发射机构及发射原理2.4本章小结本章对自动喂料草绳编织机的整体机构进行了对比设计，使之能够连贯的生产出符合质量的草绳，提高了使用价值。29 哈尔滨工业大学本科毕业设计（论文）第三章自动喂料草绳机控制方面的设计3.1电机的配置要求本次设计的自动喂料草绳机总共包括两个电机，即一号电机YC100L1-4与二号电机Kinco2S130Y-039M0。一号电机为捻绳机构和绕绳机构提供动力，控制其按照恒定的速度运行，为传统电机。二号电机控制发射口的转动速度，并通过三菱PLC控制电机驱动器实现调速，从而控制草绳机编织草绳的粗细与松紧度。3.2FXIN系列PLC的简介FX1N系列是功能很强大的微PLC，并且能增加特殊功能模块或扩展板。通信和数据链接功能选项使得FX1N在体积、通信和特殊功能模块和能源控制等重要的应用方面非常完美。●主机点数14/24/40/60，分为晶体管输出/继电器输出，交流电源/直流电源，可扩展到128点。●8000步存储容量，并且可以连接多种扩展模块，特殊功能模块，最大可扩展到多达128I/O点。●定位和脉冲输出功能一个PLC单元中每相能同时输出2点100KHz脉冲。PLC配备有7条特殊的定位指令，包括零返回、绝对或相对地址表达方式及特殊脉冲输出控制。●通过扩展板连接显示模块或模拟量，扩展输入输出点数可以使用扩展板增加模拟电位器，输入输出点数增加。并且能安装显示模块FX1N-5DM，能监控和编辑定时器、计数器和数据寄存器。还能通过FX1N-2AD-BD，FX1N-1DA-BD实现模拟量输入，输出。●网络和数据通信功能通过连接扩展板或特殊适配器能实现多种通信和数据链接。●CC-LINK通过FX2N-16CCL及FX2N-32CCL，可充当CC-LINK主站或从站[14]。3.3PLC控制步进电机工作方式的选择3.3.1常见的步进电机的工作方式常见的步进电机工作方式有以下三种：29 哈尔滨工业大学本科毕业设计（论文）1.三相单三拍：A→B→C→A图3.1三相单三拍2.三相双三拍：AB→BC→CA→AB图3.2三相双三拍3.三相六拍：A→AB→B→BC→C→CA→A图3.3三相六拍3.3.2步进电机控制原理1.控制步进电机换向顺序通电换向这一过程称为脉冲分配。例如：三相步进电机的三相三拍工作方式，其各相通电顺序为A-B-C-D，通电控制脉冲必须严格按照这一顺序分别控制A、B、C、D相的通断。2.控制步进电机的转向如果给定工作方式正序换相通电，步进电机正转，如果按反序通电换相，则电机就反转。3.控制步进电机的速度29 哈尔滨工业大学本科毕业设计（论文）如果给步进电机发一个控制脉冲，它就转一步，再发一个脉冲，它会再转一步。两个脉冲的间隔越短，步进电机就转得越快。调整发出的脉冲频率，就可以对步进电机进行调速[15]。3.3.3PLC控制步进电机的设计思路步进电机控制方式典型的步进电机控制系统如图3.4所示：图3.4步进电机控制系统步进电动机是一种将数字脉冲信号转换成机械角位移或者线位移的数模转换元件。在经历了一段大的改进与发展过程之后，现在发展已逐步稳定下来。然而，其基本原理是固定不变的，就是：是一种将电脉冲信号转换成直线位移或角位移的执行元件，每当对其施加一个电脉冲时，其输出转过一个固定的角度。步进电机的输出位移量与输入脉冲个数成正比，其转速与单位时间内输入的脉冲数(即脉冲频率)成正比，其转向与脉冲分配到步进电机的各相绕组的脉冲顺序有关[16]。所以只要严格控制指令脉冲控制的的频率、电机绕组的通电顺序、数量，便可控制步进电机的输出位移量、速度和转向。步进电机的工作原理是基于最简单的铁磁效应，可理解为，根据驱动器输入的脉冲信号，每改变一次输入状态就前进一定角度或长度，若不改变输入状态则保持一定位置而静止不转的电动机；换个说法就是，步进电动机既可以看作是一种受电信号脉冲控制的无刷式直流电机，也可看作是在一定频率范围内转速与控制脉冲频率同步的同步电动机。 3.3.4三菱PLC控制步进电机 控制步进电机最重要的就是要有和工作要求相一致的控制脉冲信号。三菱PLC本身就带有高速脉冲计数器和高速脉冲发生器，其发出的频率最大可达到15KHz，能够满足步进电动机的要求。对PLC提出几个技术要领。一是PLC29 哈尔滨工业大学本科毕业设计（论文）自带的输出端口可以采用大功率的晶体管，以满足步进电机各相绕组数十伏脉冲电压、数安培脉冲电流的要求。二是PLC要有实时刷新技术的功能，这样可以获得更高的频率要求。其目的是使脉冲的分配速度变快，效率更高，更能充分利用步进电机的速度响应能力，将整个系统的快速性提高。3.4电机及电机驱动器的选择3.4.1传统电机选型因草绳机属于农家电器，需要的功率不是很大，通过查阅书籍与咨询厂家，得出机身转速约在200转左右，大带轮约为560mm左右，皮带传动比定为6，则：200×6=1200r/min即可，故取1450r/min，留余量。对于需要的电机功率，该草绳机需要的电机与家用洗衣机类似，一般有750w和1.1kw两种，故取1.1kw电机功率[17]。3.4.2步进电机选型3.4.3步进电机驱动器的选择步进电机驱动器选择与电机型号配套的驱动器，型号为：2M2280N。1.驱动器特点●高性能，低价格，多功能。●2M2280N采用187V～253V宽电压供电，可直接接入单相220V交流电网，减免变压器费用。●具有电机参数自动适应功能，保证发挥各类电机的最大性能。●具有驱动器试运行功能。●具有相位记忆功能。●支持单/双控制脉冲输入。●光耦隔离ERR故障信号输出功能，实现与上位机的交互。●静止1.5S之后驱动器输出电流自动减为当前值的一半。●光耦隔离信号输入，脉冲响应频率最高可达400KHZ。●12挡细分，最高可达128细分。●具有过压，欠压，过流，过热，错相保护功能[19]。2.产品参数电气参数表参数描述输入电压2M2280N：单相交流220VAC29 哈尔滨工业大学本科毕业设计（论文）+/-15%（50Hz）（187VAC～253VAC）相电流(峰值)4.5A，5A，5.5A，6A，6.5A，7A，7.5A，8A共8档细分档2/4/5/8/10/16/20/32/50/64/100/128,共12档适用电机110，130型步进电机输入信号PLS(CW)/DIR(CCW)/FRE三个控制信号端口,电流范围为:6~16mA信号输入方式脉冲+方向(PLS+DIR)/正反向脉冲（CW/CCW）输出信号ERR,集电极开路输出自动半流自动半流等待时间为1.5s,相电流值减小50%保护电路类型过压报警，欠压报警，过流保护，过热保护吸收电路*用于吸收电机反馈的能量，此功能需要订制使用环境参数表冷却方式强制风冷使用环境使用场合避免有大量金属粉尘，油雾或腐蚀性气体使用环境湿度<85%,RH（不能结露和有水珠）使用环境温度0℃～+40℃保存温度-20℃～+70℃重量(净重)1.5Kg外形尺寸201mm×147mm×66mm防护等级IP20图3.7接线图29 哈尔滨工业大学本科毕业设计（论文）图3.8控制信号时序图图3.9细分与试运功能选择开关29 哈尔滨工业大学本科毕业设计（论文）图3.10驱动器安装图3.5本章小结本章介绍了对传统电机和调速电机的选型，以及驱动器的选型，以便后续能实现草绳编织的粗细可调、紧密程度可调。29 哈尔滨工业大学本科毕业设计（论文）第四章草绳机的相关任务解决方案4.1任务一的方案解决任务：每小时编织800米的草绳解决：由前面对一号电机的选型及设计的绕绳机构的一系列传动比，得到绳轮(绕绳子的)的转速为：1450÷6÷1.3÷4.5=41.3r/min由于绳轮轴的直径为105mm，即每小时编织的草绳长度：L=41.3×60×0.105×π=816.9m接近800米，即实现该任务。4.2任务二的方案解决任务：编织草绳的粗细为10-20mm，且连续可调解决：如前文所提，绳子的粗细是由发射口的速度决定的，而二号电机决定发射口的速度。用三菱FX系列PLC对电机驱动器进行控制，从而控制电机的调速，实现编织草绳的粗细，且通过触摸屏软件进行简单的仿真。电机所选型号为：Kinco2S130Y-039M0,驱动器型号：Kinco2M2280N。电机所选细分数所对应的速度值，即矩频曲线图(4细分)：图4.1矩频图该驱动器选择细分开关为4细分，因频率过高容易出现失步现象，由上图得知，故所选速度范围为0-1500r/min。经资料查询，一根秸秆的平均直径为4mm，一根秸秆的长度为50mm。29 哈尔滨工业大学本科毕业设计（论文）直径为10mm的草绳：直径为20mm的草绳：最低速设计：{由于前面的送料机构的锥齿轮啮合传动比为1：2同理：故编织10mm-20mm的草绳，需要的电机速度范围为298r/min-1240r/min,而电机能达到的速度范围为0-1500r/min,故可以实现。为了效果更加明显，使用了触摸屏软件进行简单的模拟仿真。触摸屏软件为：EB8000ProjectManager，该软件简单的模拟了调速的过程，即可以在允许范围内输入想让草绳机达到的速度。如图4.2，(a)图为电机所需的最低转速298r/min，(b)图为电机所需的最高转速1240r/min，在该转速范围内，可实现任意转速的调节。(a)(b)图4.2触摸屏软件图29 哈尔滨工业大学本科毕业设计（论文）三菱PLC程序图在后续页上展出，下图是简单的接线原理图：图4.3三菱PLC程序接线图4.3任务三的方案解决任务：能适应不同粗细的稻草秸秆解决：如前文所提到，送料机构选择的方案二是用螺旋杆传动代替锯齿传动，这样将螺旋杆的螺距按照全国最粗的稻草的直径来设计，便可实现适应全国各个地方的稻草的功能。4.4任务四的方案解决任务：编织草绳的紧密程度可调整，以适应不同的草绳强度要求。解决：绕绳机构的压草机构中，在主动碾轴处设置一个可调节装置，如图4.4。图4.4调节装置29 哈尔滨工业大学本科毕业设计（论文）该装置可人工改变两个碾轴之间的距离，从而间接性的改变松紧度，加之改变发射口速度而改变草绳粗细从而也从另一方面改变紧密度。但是这个装置的调节是有一定限度的，只有几个固定的调节档，这个可在日后研究中继续改进。4.5任务五的方案解决任务：草绳的承载能力要求在50kgf-80kgf解决：通过研究稻草内部结构从而进行简单的力学特性初步分析4.5.1稻草的内部结构分析研究水稻果实粒脱落之后剩下的秸秆，就是我们所说的稻草，可以用它来编织草绳进行对树木的保护以及运输钢材中对钢材的保护，也可以用它来编织草席、草帽等许多农用产品[20]。稻草一般都比较轻，且密度也比水小，具有一定的耐磨性。稻草的微观结构如图4.5所示。图中我们可以看到，稻草的内部纤维是顺着其生长的方向纵向排列的，而且它的这种内部结构使稻草具(a)(b)图4.5稻草微观结构有了不错的韧性和抗折性。由于稻草秸秆中的纤维含量比其他农作物秸秆的纤维含量要多，所以稻草在纵向具有更好的抗拉能力。对稻草热处理后，会降低其抗拉强度，这是因为稻草内部的部分脂肪类物质被溶解掉，内部的羟基部分暴露出来了。但这也有个好处，就是改善了稻草与合成树脂之间的热反应性能，极大地促进了稻草的化学与机械性能的结合[21]。4.5.2对草绳承载能力进行实验分析29 哈尔滨工业大学本科毕业设计（论文）4.6本章小结本章完成了草绳机设计的五个相关任务，增加了草绳机的实用性。第五章对传统自动喂料草绳机的改进5.1改进背景草绳机在编织草绳的过程中，遇到湿稻草可算是一个比较棘手的问题，既增加了编织草绳的难度，影响了编织草绳的效率，还影响了草绳的抗拉强度质量。但是，湿稻草并不是说避免就能避免的，那对于湿稻草，我们该如何处理呢？5.2改进方案一般草绳机在应对湿稻草时，在送料机构稻草对齐处加了一块木板。因为稻草受潮变湿以后，容易变软，导致推杆将稻草往发射轮口推送的过程中，稻草变弯堆积到发射口影响编织效率。29 哈尔滨工业大学本科毕业设计（论文）图5.1受弯图而本次设计研究的自动喂料草绳机，在此处设置了一个可移动的木板，以应对不同湿度的稻草。即将木板连在气缸上，通过欧姆龙PLC对气缸进行控制，从而对木板位置进行控制，并进行了运动仿真。气缸的选择主要是根绝所加负载的运动行程、工作条件来确定。以选型过程中主要参考气缸选型手册进行，依次确定气缸的内径和最大行程。(1)查阅相关资料，可得标准型的双向工作式气缸的理论拉力的计算公式为：根据设计要求，轻质木板质量约为5kg，初选气缸缸径为10mm，杆径为4mm，工作压力为0.8MPa。代入公式计算得：因此能够满足使用要求。(2)关于行程问题，由于木板调节范围在10mm内，故可选行程为10mm。综上所述，所选气缸型号为：SMC锁紧气缸ClJ2-10，安装方式为轴向脚座型[23]。图5.2气缸安装示意图图5.3PLC气缸接线图图5.4气动接线原理29 哈尔滨工业大学本科毕业设计（论文）状态表ABC运行++-伸出---急停+--取消急停++-伸出+-+缩回---急停+--取消急停+-+缩回气缸的PLC程序在后续页上会展出。5.3本章小结通过用锁紧气缸对木板进行控制，从而实现了根据稻草湿度适时调节木板厚度，增加了草绳机的市场性能。29 哈尔滨工业大学本科毕业设计（论文）第六章部分零件的设计校核6.1绕绳机构锥齿轮啮合设计校核6.2压绳机构直齿轮啮合设计校核6.3主要轴及轴上部件的设计校核6.4皮带的设计过程6.5对轴进行CAE分析6.6本章小结本章对草绳机的相关零件进行了设计校核，完成了对轴简单的CAE分析，为草绳机的寿命强度提供了保障。29 哈尔滨工业大学本科毕业设计（论文）结论(1)本研究内容的创新性成果或创新点在该设计中，完成了对草绳机一个尝试性的改进。一般的自动喂料草绳机在应对湿稻草时，在送料机构稻草对齐处加了一块木板。因为稻草受潮变湿以后，容易变软，导致推杆将稻草往发射轮口推送的过程中，稻草变弯堆积到发射口影响编织效率。但这个小木板有一定的局限性，调节的湿度有一定的范围，不能根据情况适时的改变木板的厚度。而本次设计研究的自动喂料草绳机，在此处设置了一个可移动的木板，以应对不同湿度的稻草。即将木板连在气缸上，通过欧姆龙PLC对气缸进行控制，从而对木板位置进行控制，并进行了运动仿真。(2)本研究方向进行研究工作的展望与设想对于草绳机深入的设计工作，可以尝试在整体的传动系统中设置一个反馈系统，比如压力传感器等等，在检测到某处有卡绳或是断绳的情况时，自动关闭电源，并有适当的警报声，这样来提高效率。再一次的感谢我的指导老师和专业老师，是你们的细心指导和帮助，使我能够顺利的完成毕业论文。在我的学业和论文的研究工作中无不倾注着老师们辛勤的汗水和心血。老师的严谨治学态度、渊博的知识、无私的奉献精神使我深受启迪。从尊敬的老师身上，我不仅学到了扎实、宽广的专业知识，也学到了做人的道理，在此我要向我的老师致以最衷心的感谢和深深的敬意。29 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哈尔滨工业大学本科毕业设计（论文）[22].陈良杰邓岳保元斐斌《草绳力学特性试验研究初步》2013年[23].《SMC系列气缸选型手册》[24].L.M.Gómez-LópezV.MiguelA.MartínezJ.CoelloA.Calatayud《SimulationandModelingofSinglePointIncrementalFormingProcesseswithinaSolidworksEnvironment》ProcediaEngineering,2013,Vol.6329 哈尔滨工业大学本科毕业设计（论文）致谢衷心感谢导师王冬生老师对本人的精心指导。在毕业设计过程中，老师经常抽出时间与我交流，对我进行专业知识上的指点，提出专业的建议，无私奉献，不求回报，兢兢业业。他的言传身教将使我终生受益。感谢专业课老师以及同学们的帮助。特此致谢。内部资料仅供参考9JWKffwvG#tYM*Jg&6a*CZ7H$dq8KqqfHVZFedswSyXTy#&QA9wkxFyeQ^!djs#XuyUP2kNXpRWXmA&UE9aQ@Gn8xp$R#͑Gx^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWpazadNu##KN&MuWFA5uxY7JnD6YWRrWwc^vR9CpbK!zn%Mz849Gx^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWpazadNu##KN&MuWFA5ux^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWpazadNu##KN&MuWFA5uxY7JnD6YWRrWwc^vR9CpbK!zn%Mz849Gx^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmUE9aQ@Gn8xp$R#͑Gx^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWpazadNu##KN&MuWFA5uxY7JnD6YWRrWwc^vR9CpbK!zn%Mz849Gx^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWpazadNu##KN&MuWFA5ux^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWpazadNu##KN&MuWFA5uxY7JnD6YWRrWwc^vR9CpbK!zn%Mz849Gx^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z8vG#tYM*Jg&6a*CZ7H$dq8KqqfHVZFedswSyXTy#&QA9wkxFyeQ^!djs#XuyUP2kNXpRWXmA&UE9aQ@Gn8xp$R#͑Gx^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWpazadNu##KN&MuWFA5uxY7JnD6YWRrWwc^vR9CpbK!zn%Mz849Gx^G89AmUE9aQ@Gn8xp$R#͑Gx^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWpazadNu##KN&MuWFA5uxY7JnD6YWRrWwc^vR9CpbK!zn%Mz849Gx^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWpazadNu##KN&MuWFA5ux^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWpazadNu##KN&MuWFA5uxY7JnD6YWRrWwc^vR9CpbK!zn%Mz849Gx^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z8vG#tYM*Jg&6a*CZ7H$dq8KqqfHVZFedswSyXTy#&QA9wkxFyeQ^!djs#XuyUP2kNXpRWXmA&UE9aQ@Gn8xp$R#͑Gx^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWpazadNu##KN&MuWFA5uxY7JnD6YWRrWwc^vR9CpbK!zn%Mz849Gx^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWpazadNu##KN&MuWFA5ux^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWpazadNu##KN&MuWFA5uxY7JnD6YWRrWwc^vR9CpbK!zn%Mz849Gx^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmUE9aQ@Gn8xp$R#͑Gx^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWpazadNu##KN&MuWFA5uxY7JnD6YWRrWwc^vR9CpbK!zn%Mz849Gx^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWpazadNu##KN&MuWFA5ux^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWpazadNu##KN&MuWFA5uxY7JnD6YWRrWwc^vR9CpbK!zn%Mz849Gx^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWv*3tnGK8!z89AmYWpazadNu##KN&MuWFA5uxY7JnD6YWRrWwc^vR9CpbK!zn%Mz849Gx^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWpazadNuGK8!z89AmYWpazadNu##KN&MuWFA5uxY7JnD6YWRrWwc^vR9CpbK!zn%Mz849Gx^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWpazadNu##KN&MuWFA5ux^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWpazadNu##KN&MuWFA5uxY7JnD6YWRrWwc^vR9CpbK!zn%Mz849Gx^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWv*3tnGK8!z89AmYWpazadNu##KN&MuWFA5uxY7JnD6YWRrWwc^vR9CpbK!zn%Mz849Gx^Gjqv^$U*3tnGK8!z89AmYWpazadNu##KN&MuWFA5uxY7JnD6YWRrWwc^vR9CpbK!zn%Mz849Gx^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89Amv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWpazadNu##KN&MuWFA5ux^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWpazadNu##KN&MuWFA5uxY7JnD6YWRrWwc^vR9CpbK!zn%Mz849Gx^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWv*3tnGK8!z89AmYWpazadNu##KN&MuWFA5uxY7JnD6YWRrWwc^vR9CpbK!zn%Mz849Gx^Gjqv^$U*3tnGK8!z89AmYWpazadNu##KN&MuWFA5uxY7JnD6YWRrWwc^vR9CpbK!zn%Mz84!z89Amv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWpazadNu##KN&MuWFA5ux^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWpazadNu##KN&MuWFA5uxY7JnD6YWRrWwc^vR9CpbK!zn%Mz849Gx^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWv*3tnGK8!z89AmYWpazadNu##KN&MuWFA5uxY7JnD6YWRrWwc^vR9CpbK!zn%Mz849Gx^Gjqv^$U*3tnGK8!z89AmYWpazadNu##KN&MuWFA5uxY7JnD6YWRrWwc^vR9&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWpazadNu##KN&MuWFA5uxY7JnD6YWRrWwc^vR9CpbK!zn%Mz849Gx^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWv*3tnGK8!z89AmYWpazadNu##KN&MuWFA5uxY7JnD6YWRrWwc^vR9CpbK!zn%Mz849Gx^Gjqv^$U*3tnGK8!z89AmYWpazadNu##KN&MuWFA5uxY7JnD6YWRrWwc^vR9CpbK!zn%Mz849Gx^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWpazadNuGK8!z89AmYWpazadNu##KN&MuWFA5uxY7JnD6YWRrWwc^vR9CpbK!zn%Mz849Gx^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWpazadNu##KN&MuWFA5ux^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWpazadNu##KN&MuWFA5uxY7JnD6YWRrWwc^vR9CpbK!zn%Mz849G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哈尔滨工业大学本科毕业设计（论文）29