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PREDIMENSIONAREA ARBORILOR

5.1 Determinarea forţelor din angrenaje

Angrenaj conic

M t1 = 10942,66 Nmm

M t2 =

3 ⋅ 30 ⋅10 6

= 24511,56 Nmm

π ⋅1168,75

2 ⋅ M t1 2 ⋅10942,66

=

= 729,51N

d m1

39

2 ⋅ M t 2 2 ⋅ 24511,56

Ft 2 =

=

= 544,70 N

d m2

90

Fr1 = Ft1 ⋅ tgα 0 ⋅ cos δ1 = 729,51 ⋅ tg 20 0 ⋅ cos 23,43 0 = 243,62 N

Fr 2 = Ft 2 ⋅ tgα 0 ⋅ cos δ 2 = 544,70 ⋅ tg 20 0 ⋅ cos 66,57 0 = 78,83 N

Fa1 = Ft1 ⋅ tgα 0 ⋅ sin δ1 = 729,51 ⋅ tg 20 0 ⋅ sin 23,43 0 = 105,57 N

Fa 2 = Ft 2 ⋅ tgα 0 ⋅ sin δ 2 = 544,70 ⋅ tg 20 0 ⋅ sin 66,57 0 = 181,90 N

Ft1 =

.

În reductor acţionează următoarele forţe: Fkt1 = 730 N Rk1 Fkr1 = 244 N F = 106 N ka1 Fkt 2 = 545N Fct1 = 1032 N Fct 2 = 1028N F = 254N Rk 2 Fkr 2 = 79N Rc1 Fcr1 = 376 N Rc2 Fcr 2 = 374 N Rcurea F0 = 381N F = 182 N F = 277 N F = 276N ka 2 ca1 ca 2 Aceste forţe se distribuie pe arbori astfel: .

Fcr1 . F0 Fkt 2 . şi rezultă: . Fka1 Fct1 . iar momentele în plan vertical şi în plan orizontal. Fca 2 Forţele tangenţiale acţionează în plan vertical.Pe fiecare arbore acţionează următoarele forţe: F . forţele radiale în plan orizontal. Fca1 a III { Fct 2 . Fka 2 aI a II Fkt1 . Fkr 2 . Fcr 2 . Fkr1 .

cu relaţia: d p1 = 3 16 ⋅ M t 3 16 ⋅ 10942. sau OL 60 Dimensiunile longitudinale ale tronsoanelor se stabilesc în funcţie de d p şi de lăţimile roţilor dinţate calculate anterior.41mm ⇒ d p = 18mm π ⋅ τ at π ⋅ 20 d p3 = 3 16 ⋅ M t 3 16 ⋅ 57847. pagina 7 – 9 . lagăre radiale.Pentru determinarea atât a reacţiunilor cât şi pentru construirea diagramelor de momente încovoietoare sunt necesare dimensiunile longitudinale ale tronsoanelor arborilor.64 = = 24. Se determină pentru fiecare arbore diametrul preliminar din condiţia de rezistenţă la torsiune. l1 = bc 28 + d p + 20 = + 14 + 20 = 48mm 2 2 l 2 = d p +10 = 14 + 10 = 24mm .56 = = 18.07 mm ⇒ d p = 14mm π ⋅ τ at π ⋅ 20 d p2 = 3 16 ⋅ M t 3 16 ⋅ 24511. Acestea se determină conform: Îndrumar de proiectare – Arbori drepţi.51mm ⇒ d p = 25mm π ⋅ τ at π ⋅ 20 τ at = 20 MPa Arborii se execută din OL 50. îmbinări cu pene şi caneluri.66 = = 14.

l3 = l1 = dp 2 dp 2 b l 2 = rk 2 b l3 = rc 2 + b 14 20 + 10 = + + 10 = 27mm 2 2 2 brk 18 20 + 10 = + + 10 = 29mm 2 2 2 b 20 36 + rc + 10 = + + 10 = 38mm 2 2 2 dp 36 18 + + 10 = + + 10 = 37 mm 2 2 2 + l1aIII = ( l1 + l 2 ) aII = 29 + 38 = 67mm l 2 aIII = l 3aII = 37mm 5.2 Determinarea reacţiunilor .

l1 ] M iV ( X 1 ) = − X 1 ⋅ F X 1 = 0 ⇒ M iV ( 0 ) = 0 X 1 = l1 ⇒ M iV ( l1 ) = −l1 ⋅ F = −48 ⋅ 254 = −12192 Nmm II X 2 ∈ [ 0.25 +1043.25 N l2 24 –59.ΣFV = 0 V2 +V3 − F − Fkt1 = 0 V2 +V3 − 254 − 730 = 0 ΣM 2 = 0 F ⋅ l1 + V3 ⋅ l 2 − Fkt1 ⋅ ( l 2 + l 3 ) = 0 V3 = ΣM 3 = 0 Fkt1 ⋅ ( l 2 + l 3 ) − F ⋅ l1 730 ⋅ ( 24 + 27 ) − 254 ⋅ 48 = = 1043.25 – 254 – 730 = 0 V2 = Verificare: I X 1 ∈ [ 0. l 2 ] M iV ( X 2 ) = − F ( l1 + X 2 ) + V2 ⋅ X 2 X 2 = 0 ⇒ M iV ( 0 ) = − F ⋅ l1 = −48 ⋅ 254 = −12192 Nmm X 2 = l 2 ⇒ M iV ( l 2 ) = − F ( l1 + l 2 ) + V2 ⋅ l 2 = −254( 48 + 24) − 59.25 N l2 24 F ( l1 + l 2 ) − V2 ⋅ l 2 − Fkt1 ⋅ l3 = 0 F ( l1 + l 2 ) − Fkt1 ⋅ l3 254 ⋅ ( 48 + 24) − 730 ⋅ 27 = = −59.25 ⋅ 24 = −19710 Nmm III X 3 ∈ [ 0. l 3 ] M iV ( X 3 ) = − Fkt1 ⋅ X 3 X 3 = 0 ⇒ M iV ( 0 ) = 0 X 3 = l3 ⇒ M iV ( l3 ) = − Fkt1 ⋅ l3 = −730 ⋅ 27 = −19710 Nmm .

37 – 157.5 = −2067 Nmm X 3 = l3 ⇒ M iH ( l3 ) = − Fkr1 ⋅ l3 − M ( Fka1 ) = −244 ⋅ 27 − 106 ⋅ 19. l1 ] F0 ( l1 + l 2 ) − Fkr1 ⋅ l3 − M ( Fka1 ) 381 ⋅ ( 48 + 24 ) − 244 ⋅ 27 − 106 ⋅ 19.37 – 381 – 244 = 0 M iH ( X 1 ) = − X 1 ⋅ F0 X 1 = 0 ⇒ M iH ( 0) = 0 X 1 = l1 ⇒ M iH ( l1 ) = −l1 ⋅ F0 = −48 ⋅ 381 = −18288 Nmm II X 2 ∈ [ 0.37 ⋅ 24 = −8655. l 3 ] X 2 = l 2 ⇒ M iH ( l 2 ) = − F0 ( l1 + l 2 ) + H 2 ⋅ l 2 = −381( 48 + 24 ) + 782.ΣFH = 0 H 2 + H 3 − F0 − Fkr1 = 0 H 2 + H 3 − 381 − 244 = 0 ΣM 2 = 0 F0 ⋅ l1 + H 3 ⋅ l 2 − Fkr1 ⋅ ( l 2 + l 3 ) − M ( Fka1 ) = 0 F ⋅ ( l + l ) − F0 ⋅ l1 + M ( Fka1 ) 244 ⋅ ( 24 + 27 ) + 106 ⋅ 19.5 = l2 24 H 2 = 782.37 N ΣM 3 = 0 F0 ( l1 + l 2 ) − H 2 ⋅ l 2 − Fkr1 ⋅ l 3 − M ( Fka1 ) = 0 H2 = Verificare: I X 1 ∈ [ 0.5 = −8655 Nmm M rez = ( M iV ) 2 + ( M iH ) 2 M rez1 = 0 . l 2 ] M iH ( X 2 ) = − F0 ( l1 + X 2 ) + H 2 ⋅ X 2 X 2 = 0 ⇒ M iH ( 0 ) = − F0 ⋅ l1 = −48 ⋅ 381 = −18288 Nmm III X 3 ∈ [ 0.12 Nmm M iH ( X 3 ) = − Fkr1 ⋅ X 3 − M ( Fka1 ) X 3 = 0 ⇒ M iH ( 0 ) = − M ( Fka1 ) = −106 ⋅ 19.5 − 381 ⋅ 48 H 3 = kr1 2 3 = l2 24 H 3 = −157.37 N 782.

66 ) M ech 2 = M ech 3 = M ech 4 = 2 = 7331.58 Nmm ( 21979.56 Nmm M rez 4 = 2067 Nmm M ech = ( M rez ) + (α ⋅ M t ) α = 0.66) 2 = 22740.56) 2 + ( 0.67 ⋅10942.81Nmm ( 2067 ) 2 + ( 0.88 Nmm ( 21526.66 ) 2 = 7618.67 ⋅10942.44 Nmm ( −19710 ) 2 + ( − 8655) 2 = 21526.44 ) + ( 0.67 ⋅10942.34 Nmm 2 .67 ⋅10942.67 2 2 M ech1 = 0 + ( 0.M rez 2 = M rez 3 = ( −12192 ) 2 + ( −18288) 2 = 21979.66 ) 2 = 23169.

ΣFV = 0 V1 −V4 − Fkt 2 + Fct1 = 0 V1 −V4 − 545 + 1032 = 0 .

ΣM 1 = 0 − Fkt 2 ⋅ l1 + Fct1 ⋅ ( l1 + l 2 ) − V4 ⋅ ( l1 + l 2 + l3 ) = 0 V4 = ΣM 4 = 0 Fct1 ⋅ ( l1 + l 2 ) − Fkt 2 ⋅ l1 1032 ⋅ ( 29 + 38) − 545 ⋅ 29 = = 512.87 – 545 +1032 = 0 V1 = Verificare: I X 1 ∈ [ 0.19 Nmm ΣFH = 0 H 1 − H 4 − Fkr 2 + Fcr1 = 0 H 1 − H 4 − 79 + 376 = 0 ΣM 1 = 0 − Fkr 2 ⋅ l1 + M ( Fka 2 ) + Fcr1 ⋅ ( l 2 + l 3 ) − M ( Fca1 ) − H 4 ⋅ ( l1 + l 2 + l 3 ) = 0 .23 Nmm II X 2 ∈ [ 0.87( 29 + 38) − 545 ⋅ 38 = −18976. l 2 ] M iV ( X 2 ) = V1 ( l1 + X 2 ) − Fkt 2 ⋅ X 2 X 2 = 0 ⇒ M iV ( 0) = V1 ⋅ l1 = 25.87 – 512.87 N l1 + l 2 + l3 29 + 38 + 37 Fkt 2 ( l 2 + l 3 ) − V1 ⋅ ( l1 + l 2 + l 3 ) − Fct1 ⋅ l3 = 0 Fkt 2 ( l 2 + l3 ) − Fct1 ⋅ l 3 545 ⋅ ( 38 + 37 ) − 1032 ⋅ 37 = = 25. l 3 ] M iV ( X 3 ) = −V4 ⋅ X 3 X 3 = 0 ⇒ M iV ( 0 ) = 0 X 3 = l 3 ⇒ M iV ( l 3 ) = −V4 ⋅ l 3 = −512.23 Nmm X 2 = l 2 ⇒ M iV ( l 2 ) = V1 ( l1 + l 2 ) − Fkt 2 ⋅ l 2 = 25.87 ⋅ 37 = −18976.87 ⋅ 29 = 750.87 N l1 + l 2 + l 3 29 + 38 + 37 25. l1 ] M iV ( X 1 ) = X 1 ⋅ V1 X 1 = 0 ⇒ M iV ( 0) = 0 X 1 = l1 ⇒ M iV ( l1 ) = l1 ⋅ V1 = 25.87 ⋅ 29 = 750.71Nmm III X 3 ∈ [ 0.

07 Nmm ( −18976 ) 2 + ( −15692 ) 2 = 24623. l 2 ] X 1 = l1 ⇒ M iH ( l1 ) = l1 ⋅ H 1 = −61. l 3 ] M iH ( X 3 ) = − H 4 ⋅ X 3 X 3 = 0 ⇒ M iH ( 0) = 0 X 3 = l 3 ⇒ M iH ( l 3 ) = − H 4 ⋅ l 3 = −235.72 N 29 + 38 + 37 − H 1 ( l1 + l 2 + l3 ) + M ( Fka 2 ) + Fkr 2 ⋅ ( l 2 + l3 ) − Fcr1 ⋅ l3 − M ( Fca1 ) = 0 ΣM 4 = 0 H1 = M ( F ka 2 ) + Fkr 2 ( l 2 + l3 ) − Fcr1 ⋅ l 3 − M ( Fca1 ) l1 + l 2 + l3 182 ⋅ 45 + 79 ⋅ ( 38 + 37 ) − 376 ⋅ 37 − 277 ⋅ 23.28 ⋅ 29 = −1777.71Nmm M rez 3 = M rez 31 = = 1928.67 .76 Nmm III X 3 ∈ [ 0.28 – 235.12 Nmm M iH ( X 2 ) = H 1 ( l1 + X 2 ) − Fkr 2 ⋅ X 2 − M ( Fka 2 ) X 2 = 0 ⇒ M iH ( 0 ) = H 1 ⋅ l1 − M ( Fka 2 ) = −61.28 N 34 + 43 + 37 –61.28( 29 + 38) − 182 ⋅ 45 − 79 ⋅ 43 = −15692.17 Nmm ( −18976) 2 + ( − 8721) 2 = 20884.28 ⋅ 29 − 182 ⋅ 45 = −9967.78 Nmm M rez 4 = 0 M ech = ( M rez ) 2 + (α ⋅ M t ) 2 M ech1 = M ech 4 = 0 α = 0.H4 = H4 = − Fkr 2 ⋅ l1 + M ( Fka 2 ) + Fcr1 ⋅ ( l1 + l 2 ) − M ( Fca1 ) l1 + l 2 + l3 − 79 ⋅ 29 + 182 ⋅ 45 + 376 ⋅ ( 29 + 38) − 277 ⋅ 23.12 Nmm X 2 = l 2 ⇒ M iH ( l 2 ) = H 1 ( l1 + l 2 ) − Fkr 2 ⋅ l 2 − M ( Fka 2 ) M iH ( l 2 ) = −61.72 ⋅ 37 = −8721.72 – 79 + 376 = 0 H1 = Verificare: I X 1 ∈ [ 0. l1 ] M iH ( X 1 ) = X 1 ⋅ H 1 X 1 = 0 ⇒ M iH ( 0) = 0 II X 2 ∈ [ 0.74 = −61.74 = 235.64 Nmm M rez = ( M iV ) 2 + ( M iH ) 2 M rez1 = 0 M rez 2 = ( 750) 2 + ( −1777 ) 2 M rez 21 = ( 750) 2 + ( − 9967 ) 2 = 9995.

71) 2 + ( 0.85 Nmm ( 24623.62 Nmm .56) 2 = 19225.07 ) 2 + ( 0.67 ⋅ 24511.86 Nmm M ech3 = M ech 31 = = 16535.56 ) 2 = 29597.24 Nmm ( 20884.67 ⋅ 24511.56) 2 M ech 21 = ( 9995.67 ⋅ 24511.M ech 2 = (1928.17 ) 2 + ( 0.67 ⋅ 24511.78) 2 + ( 0.56) 2 = 26567.

27 N l1 + l 2 67 + 37 ΣM 3 = 0 Fct 2 ⋅ l 2 − V1 ⋅ ( l1 + l 2 ) = 0 F ⋅l 1028 ⋅ 37 V1 = ct 2 2 = = 365.ΣFV = 0 V1 +V3 − Fct 2 = 0 V1 +V4 − 1028 = 0 ΣM 1 = 0 − Fct 2 ⋅ l1 + V3 ⋅ ( l1 + l 2 ) = 0 F ⋅l 1028 ⋅ 67 V3 = ct 2 1 = = 662.73 N l1 + l 2 67 + 37 .

l 2 ] .74 Nmm II X 2 ∈ [ 0.22 N l1 + l 2 67 + 37 390.Verificare: I X 1 ∈ [ 0.22 – 16.91Nmm II X 2 ∈ [ 0.27 + 365.99 Nmm ΣFH = 0 H 1 + H 3 − Fcr 2 = 0 H 1 + H 3 − 374 = 0 ΣM 1 = 0 − Fcr 2 ⋅ l1 − M ( Fca 2 ) + H 3 ⋅ ( l1 + l 2 ) = 0 H3 = ΣM 3 = 0 Fcr 2 ⋅ l1 + M ( Fca 2 ) 374 ⋅ 67 + 276 ⋅ 56. l1 ] 662. l 2 ] M iV ( X 2 ) = V3 ⋅ X 2 X 2 = 0 ⇒ M iV ( 0) = 0 X 2 = l 2 ⇒ M iV ( l 2 ) = V3 ⋅ l 2 = 662.25 = = 390. l1 ] M iH ( X 1 ) = X 1 ⋅ H 1 X 1 = 0 ⇒ M iH ( 0 ) = 0 X 1 = l1 ⇒ M iH ( l1 ) = l1 ⋅ H 1 = −16.73 – 1028 = 0 M iV ( X 1 ) = X 1 ⋅ V1 X 1 = 0 ⇒ M iV ( 0) = 0 X 1 = l1 ⇒ M iV ( l1 ) = l1 ⋅ V1 = 365.25 = = −16.73 ⋅ 67 = 24503.27 ⋅ 37 = 24503.22 N l1 + l 2 67 + 37 − H 1 ( l1 + l 2 ) + Fcr 2 ⋅ l 2 − M ( Fca 2 ) = 0 Fcr 2 ⋅ l 2 − M ( Fca 2 ) 374 ⋅ 37 − 276 ⋅ 56.22 – 374 = 0 H1 = Verificare: I X 1 ∈ [ 0.22 ⋅ 67 = −1086.

05 Nmm M rez 21 = ( 24503) 2 + (14438) 2 = 28440.64 ) 2 M ech 21 = ( 28440.67 M ech1 = 0 M ech 2 = ( 24527.14 Nmm M rez = ( M iV ) 2 + ( M iH ) 2 M rez1 = M rez 3 = 0 M rez 2 = ( 24503) 2 + ( −1086) 2 = 24527.91Nmm M ech 3 = 2 = 45866.67 ⋅ 57847.05) 2 + ( 0.22 ⋅ 37 = 14438.67 ⋅ 57847.64 ) = 48073.33) + ( 0.33Nmm M ech = ( M rez ) 2 + (α ⋅ M t ) 2 α = 0.M iH ( X 2 ) = H 3 ⋅ X 2 X 2 = 0 ⇒ M iH ( 0) = 0 X 2 = l 2 ⇒ M iH ( l 2 ) = H 3 ⋅ l 2 = 390.64) 2 = 38757.15 Nmm ( 0.67 ⋅ 57847.67 Nmm 2 .

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- 43-3-9fg
- Lavalle Planning
- Outdoor navigatiob
- Case Study RWTH IGPS
- Maza Ret01 Web
- Complemente de Fizica
- 3-0 Teoria Relativitatii
- Position and Velocity Measurement by Optical Shaft Encoders
- V RepOverviewPresentation
- Logan - Manual de Service
- Abschlussbericht Funktionsvereinigung in Der Lagertechnik
- Roboter Technik Vorlesung Alles
- gma4-2008-continut
- 05_noack
- 04_zhang
- 03 Easterly
- Proceedings Editia 1
- Trends in Robotics and Automation
- Barnes Etal2003a
- control
- CursGratuitArduino-Lectia2-SenzoriAnalogici
- ArdBl
- Barnes Etal2003a
- Autonomous Excavator Thesis
- om-20000124
- Robotic on-Site Construction of Masonry
- lucrarea2
- lucrarea1
- Sim Hydraulics
- Festo