BaiGiangNLM 2012 PDF

Trng i hc Nng Lm Tp.
HCM
Khoa C kh - Cng ngh
I HC NNG LM TP. HCM

KHOA C KH CNG NGH
GIO TRNH
NGUYN L MY
PHN 1 BI GING
VNG THNH TIN - TRNG QUANG TRNG
Tp. HCM 2012

Gio trnh Nguyn L My
Trng i hc Nng Lm Tp. HCM
Khoa C kh - Cng ngh
MC LC
Chng m u: Gii thiu mn hc .................................................................................................. 3
1. VN TR MN HC ...................................................................................................................... 3
2. I TNG NGHIN CU ..................................................................................................... 3
3. NI DUNG MN HC .............................................................................................................. 4
4. PHNG PHP NGHIN CU ............................................................................................... 4
5. GII THIU TI LIU .............................................................................................................. 4
Phn I: CU TO v NG HC C CU......................................................................................... 5
Chng 1: Cu to v phn loi c cu ............................................................................................... 5
1. NHNG KHI NIM C BN................................................................................................. 5
2. BC T DO C CU ................................................................................................................ 9
3. PHN TCH CU TO C CU THANH PHNG.............................................................. 12
4. THAY TH KHP CAO bng KHP THP .......................................................................... 15
Chng 2: Phn tch ng hc.......................................................................................................... 16
1. NI DUNG v NGHA ca NGHIN CU NG HC................................................... 16
2. BI TON XC NNH VNTR CA C CU ...................................................................... 16
3. XC NNH VN TC, GIA TC (bng phng php v) ..................................................... 17
4. GII THIU PHNG PHP GII TCH ............................................................................. 22
5. GII THIU PHNG PHP THN................................................................................... 22
6.GII THIU PHNG PHP HO PHN TCH NG HC C CU LOI 3........ 22
Phn II: NG LC HC C CU.................................................................................................... 23
Chng 3: Phn tch lc c cu ......................................................................................................... 23
1. I CNG ............................................................................................................................. 23
2. LC QUN TNH .................................................................................................................... 23
3. P LC CC KHP NG................................................................................................ 24
4. XC NNH LC TRN KHU DN ..................................................................................... 25
Chng 4: Ma st trong khp ng ................................................................................................... 27
1. GII THIU .............................................................................................................................. 27
2. MA ST TRONG KHP TNNH TIN ..................................................................................... 29
3. MA ST TRONG KHP QUAY ............................................................................................. 30
4. MA ST LN TRONG KHP LOI 4 ................................................................................... 30
5. MA ST T ........................................................................................................................... 31
6. TRUYN NG MA ST....................................................................................................... 33
Chng 5: ng lc hc my............................................................................................................ 37
Chng 6: Cc ch tiu cht lng ca my...................................................................................... 38
1. LM U CHUYN NG CA MY. .............................................................................. 38
2. IU CHNH T NG CHUYN NG MY................................................................. 42
3. CN BNG MY .................................................................................................................... 45
4. HIU SUT............................................................................................................................... 50
Phn III. CC C CU ........................................................................................................................ 54
Chng 7: C cu nhiu thanh .......................................................................................................... 54
1. I CNG ............................................................................................................................. 54
2. CC BIN TH TRONG C CU BN KHU BN L .................................................... 54
3. C IM NG HC CA C CU NHIU THANH .................................................... 56
4. C IM NG HC CA CC BIN TH THNG GP ........................................ 59
5. GC P LC............................................................................................................................ 61
6. MT S NG DNG CA C CU NHIU THANH ........................................................ 61
Chng 8: C cu cam ...................................................................................................................... 64
U
Gio trnh Nguyn L My

Khoa C kh - Cng ngh
1. I CNG ............................................................................................................................. 64
2. CC THNG S C BN CA C CU CAM................................................................... 65
3. PHN TCH NG HC C CU CAM. ............................................................................. 67
4. PHN TCH LC C CU CAM. .......................................................................................... 72
5. TRNH T THIT K C CU CAM.................................................................................... 73
6. TNG HP C CU CAM ..................................................................................................... 73
7. BO TON KHP CAO TRONG C CU CAM................................................................. 73
Chng 9: C cu bnh rng ............................................................................................................. 74
I. C CU BNH RNG PHNG ................................................................................................ 74
1. I CNG V TRUYN NG BNH RNG ................................................................ 74
2. CC THNG S HNH HC C BN CA BNH RNG THN KHAI TIU CHUN 76
3. NG N KHP CUNG N KHP H S TRNG KHP ...................................... 77
4. S TRT CA CC RNG................................................................................................. 79
5. NHNG PHNG PHP C BN CH TO BNH RNG THN KHAI...................... 80
6. BNH RNG TR TRN RNG NGHING ....................................................................... 82
II. C CU BNH RNG KHNG GIAN .................................................................................... 85
1. CP BNH RNG TR CHO .............................................................................................. 85
2. C CU TRC VT BNH VT .......................................................................................... 86
3. BNH RNG NN .................................................................................................................. 88
III. H BNH RNG ..................................................................................................................... 92
1. I CNG ............................................................................................................................. 92
2. H BNH RNG THNG ................................................................................................... 93
3. H BNH RNG VI SAI......................................................................................................... 94
4. V D V NG DNG THC T CA H BNH RNG ................................................. 97
Chng 10: Mt s c cu khc ...................................................................................................... 102
1. C CU CCNG (Cardan, Universal Joint) .................................................................. 102
2. C CU MAN (Malte, Geneva Mechanism) ......................................................................... 103
3. C CU BNH CC (Ratchet Mechanism) ......................................................................... 104
Ph lc ................................................................................................................................................. 106
Ti liu tham kho ............................................................................................................................... 106
Gio trnh Nguyn L My
Khoa C kh - Cng ngh
Chng m u: Gii thiu mn hc

1. V TR MN HC
Nguyen ly may la mon hoc thuoc nhom ky thuat c s, la mot mac xch quan trong
lien ket gia cac mon khoa hoc c ban va ky thuat chuyen nganh. Mon hoc nay cung cap
nhng kien thc c ban ve may, t o co the van dung e nghien cu cac mon hoc khac
nh: chi tiet may, may cat kim loai, may nong nghiep, may che bien ...
Nguyen ly may ong vai tro rat quan trong khi thiet ke cac s o ong cua may khi
thiet ke mot c cau hay mot may mi (s o cau tao, ong hoc, ong lc hoc).
2. I TNG NGHIN CU
oi tng nghien cu cua mon hoc la may va c cau
- C cau: la tap hp cac vat the co chuyen ong xac nh lam nhiem vu truyen hay
bien oi chuyen ong.
- May: la tap hp nhng c cau co nhiem vu bien oi hoac s dung nang lng e
tao ra cong co ch. Nh vay may cung bao gom cac vat the chuyen ong nhng co nhiem
vu cao hn c cau la bien oi hoac s dung nang lng tao ra cong co ch.
Theo cong dung may c chia thanh 2 loai
- May bien oi nang lng: gom may bien oi t c nang thanh nang lng khac
nh may nen kh, may phat ien; may bien oi t nang lng khac thanh c nang (thng
c goi la ong c) nh ong c ien, ong c ot trong, tuabin thu lc ...
- May cong tac la nhng may s dung c nang e lam thay oi trang thai, tnh chat,
hnh dang, kch thc, v tr cua cac vat the. V du nh may cat got kim loai, may nong
nghiep, may van chuyen...
Theo phng php iu khin, my c chia thnh: my iu khin bng tay, my bn
t ng v my t ng. Trong my t ng, tt c cc nguyn cng u c thc hin theo
chng trnh nh sn, nh s dng cc thit b in t, in kh nn, in thu lc, v
d: my ct kim loi iu khin theo chng trnh s CNC (Computerized Numerical Control),
cc my sn xut c iu khin theo chng trnh l-gic PLC (Programed Logic Control),
Ve mat chc nang, co the coi may la mot he thong bao gom cac bo phan chc nang
quan he chat che theo s o sau:
Nguon ong
lc
Bo truyen va bien
oi trung gian
Bo chap
hanh
oi tng
gia cong
Bo ieu khien
Hnh 0-1: S cu to my
Gio trnh Nguyn L My
Khoa C kh - Cng ngh
Cc loi c cu ch yu dng trong ngnh c kh:

+ C cu nhiu thanh.
+ C cu cam.
+ C cu bnh rng (truyn ng bnh rng).
+ C cu bnh ma st.
+ C cu do: truyn ng ai, truyn ng xch
+ V mt s c cu chuyn dng khc nh: C cu Malte, c cu Cc-ng, c cu
bnh cc,
3. NI DUNG MN HC
Noi dung cua mon hoc nay la nghien cu nguyen ly cau tao, ong hoc va ong lc
hoc cua c cau va may, nham giai quyet hai bai toan :
- Phan tch nguyen ly cau tao, ong hoc va ong lc hoc cua c cau va may a
cho trc.
- Tong hp (hay thiet ke) c cau thoa man nhng ieu kien ong hoc, ong lc
hoc a cho.
Nghin cu v cu to, ng hc c cu l nghin cu v nguyn l cu to ca cc c
cu, nghin cu chuyn ng ca cc phn t ca c cu xt v mt hnh hc (khng ch n
cc lc gy ra chuyn ng), nghin cu n cc phng php thit k cc c cu theo cc
thng s ng hc cho.
Nghin cu v ng lc hc c cu v my l nghin cu cc phng php xc nh
chuyn ng ca cc khu, c cu di tc dng ca cc lc bn ngoi.
4. PHNG PHP NGHIN CU
gii quyt cc bi ton trn, trong Nguyn l my dng hai phng php sau:
a) Phng php gii tch: phng php ny c xy dng da trn c s p dng cc
phng php ton hc vo vic nghin cu. u im ca phng php ny l cho php t
chnh xc cao, cc thng s khc nhau c biu th bng cc biu thc gii tch. V th c th
d dng nghin cu nh hng ca cc thng s ny i vi cc thng s khc. Nhng n i
hi nhng kin thc nht nh v hnh hc gii tch, gii tch tenx ma trn, gii tch vect,
hm bin phc, phng trnh vi phn, tch phn
b) Phng php v (gm phng php th v phng php ho vect) ni chung
thun tin v n cho php gii bi ton mt cch nhanh gn m vn t c chnh xc cn
thit trong k thut. Ngoi ra, trong nhiu trng hp, quan h gia cc bi tnh Nguyn l
my c cho di dng cc th v th dng phng php v ho vect v phng php
th s thun tin hn.
5. GII THIU TI LIU
Ti liu chnh:
+ Bi ging Nguyn l my.
+ Bi tp Nguyn l my T Ngc Hi NXB KH & KT 2003.
Gio trnh Nguyn L My
Khoa C kh - Cng ngh
Phn I: CU TO v NG HC C CU
Chng 1: Cu to v phn loi c cu
1. NHNG KHI NIM C BN
1.1. C cau
- nh ngha: C cau la nhng thanh phan c ban cua may co chuyen ong xac nh.
o la nhng he thong c hoc dung e bien oi chuyen ong cua 1 hay 1 so vat the thanh
chuyen ong can thiet cua cac vat the khac.
- Nhiem vu cua c cau la thc hien cac qua trnh ky thuat nh chuyen ong cua cac
phan t cua no
- Cac phan t cua c cau: cac khau va khp ong.
1.2. Tiet may
Mot bo phan khong the thao ri nho hn c na cua c cau hay cua may c goi
la chi tiet may, goi tat la tiet may. V du: bu long, ai oc, truc, banh rang...
1.3. Khau
Mot hay mot so tiet may lien ket cng vi nhau tao thanh mot bo phan co chuyen
ong tng oi so vi bo phan khac trong c cau hay may c goi la khau.
bac
than
bulong
ai oc
em
nap
bac
Hnh 1-1. Thanh truyen.

V du thanh truyen (H.1-1) bao gom nhieu tiet may noi cng vi nhau, tat ca cac tiet
may khong co chuyen ong tng oi vi nhau khi thanh truyen chuyen ong. Thanh
truyen c coi la 1 khau.
Mon hoc nguyen ly may ch xet en khau va coi khau nh la thanh phan c ban
trong c cau va may, ong thi khau c xem nh la vat ran tuyet oi.
Gio trnh Nguyn L My
Khoa C kh - Cng ngh
Ten goi: khau dan, khau b dan va gia (khau co nh).

1.4. Khp
Moi noi ong gia hai khau lien nhau e han che mot phan chuyen ong tng oi
gia chung c goi la khp ong (goi tat la khp). Toan bo cho tiep xuc gia hai khau
trong khp ong c goi la thanh phan khp ong.
Thong so xac nh v tr tng oi gia cac thanh phan khp ong tren cung mot
khau gi l kch thc ng, n anh hng en cac thong so ong hoc, ong lc hoc c cau.
Khp ong c phan loai theo nhieu cach :
a. Phan loai theo so bc t do b hn ch (hay s rang buoc)
Neu e ri 2 khau trong khong gian, se co 6 kha nang chuyen ong tng oi oc
lap vi nhau bao gom: 3 kha nang chuyen ong tnh tien theo 3 truc; ky hieu Tx, Ty, Tz va 3
chuyen ong quay quanh 3 truc; ky hieu Qx, Qy, Qx (H.1-2). Moi kha nang chuyen ong
nh vay c goi la mot bac t do. Noi cach khac, hai khau e ri trong khong gian co 6
bac t do tng oi vi nhau.
Hnh 1-2: Cc bc t do
Neu cho hai khau tiep xuc vi nhau, tao thanh khp ong th gia chung xuat hien
nhng rang buoc ve mat hnh hoc han che bt bac t do tng oi cua nhau. Nh vay khp
lam giam i so bac t do cua khau. So bac t do b khp han che bt c goi la so rang
buoc. Khp co k rang buoc c goi la khp loai k (0 < k < 6; bang 1). V du: khp rang
buoc 1 bac t do gia 2 khau, so bac t con lai la 5, khp c goi la khp loai 1.
Ch : Trong mt phng ch c khp loi 4 v khp loi 5.
b. Phan loai theo tnh chat tiep xuc
- Khp loai cao: khi cac phan t khp ong la ng hay iem. V du khp banh ma
sat, banh rang, c cau cam...
- Khp loai thap: khi cac phan t khp ong la cac mat. V du khp quay (ban le),
khp tnh tien, khp cau...
c. Phan loai theo tnh chat cua chuyen ong tng oi gia cac khau: khp tnh tien,
khp quay, khp phang va khp khong gian. Khp phng dng ni ng cc khu trong
cng mt mt phng hay trn nhng mt phng song song nhau, khp khng gian ni ng cc
khu nm trn nhng mt phng khng song song nhau.
Gio trnh Nguyn L My
Khoa C kh - Cng ngh
Bang 1. Cac loai khp ong

Khp ong
Ten goi
So rang
buoc
1
Bac t do
con lai
5
Loai khp
Khoi tru - Mat

phang
Khoi hop - mat

phang
Khp cau
Khp cau co
chot
Khp tru
Khp tnh tien
Khp quay
Khp vt
Qua cau - mat

phang
Lc o
0
x
z
y
0
x
z
y
0
x
0
x
z
y
0
x
z
y
0
x
z
y
x
Gio trnh Nguyn L My
Khoa C kh - Cng ngh
kch thc ong
1.5. Lc o ong
a. Lc o cua khau
e thuan tien trong qua trnh giai quyet bai toan
nguyen ly may, cac khau c bieu dien bang cac s o
n gian goi la lc o cua khau. Lc o khau phai the
hien ay u thanh phan khp ong va cac kch thc anh
hng en tnh chat ong hoc cua c cau. Kch thc nay
c goi la kch thc ong. Thong thng, kch thc
lc o
ong la kch thc gia tam cac thanh phan khp ong
tren khau. V d:
b. Lc o ong cua khp
Hnh 1-3: Lc ng
Cung nh khau, e thuan tien trong qua trnh nghien cu c cau va may, cac khp
ong c bieu dien bang cac hnh ve qui c goi la lc o ong cua khp (goi tat la lc
o). Cac loai khp ong va lc o trnh bay trong bang 1.
1.6. Chuoi ong va c cau
a. Chuoi ong
Chuoi ong la tap hp cac khau lien ket vi nhau bang cac khp ong trong 1 he
thong. Chuoi ong co the c chia thanh chuoi ong phang, chuoi ong khong gian; ong
thi la chuoi ong kn hoac chuoi ong h.
- Chuoi ong phang la chuoi ong trong o cac khau chuyen ong trong mot mat
phang hoac nhieu mat phang song song vi nhau.
- Chuoi ong khong gian la chuoi ong trong o cac khau chuyen ong trong nhng
mat phang khong song song vi nhau.
Hnh 1-4. Chui ng phng

Hnh 1-5. Chui ng khng gian
- Chuoi ong kn la chuoi ong trong o cac khau tao thanh mot hay nhieu chu vi
khep kn, muon the moi khau phai tham gia t nhat 2 khp ong.
- Chuoi ong h: la chuoi ong trong o cac khau khong tao thanh chu vi khep kn,
nh vay trong chuoi ong co nhng khau ch tham gia 1 khp ong.
Gio trnh Nguyn L My
Khoa C kh - Cng ngh
Hnh 1-6. Chuoi ong kn

Hnh 1-7. Chuoi ong h
b. C cau
C cau co the c nh ngha theo cach khac: C cau la mot chuoi ong kn co mot
khau co nh va chuyen ong theo qui luat xac nh.
Khu co nh c goi la gia (trong lc o, gia c ky hieu dau gach gach chng
to khong chuyen ong)
Theo tnh chat cua chuoi, c cau cung c chia thanh c cau phang va c cau
khong gian.
2. BC T DO C CU
2.1. nh ngha
Bac t do cua c cau la so thong so oc lap can thiet e xac nh v tr cua c cau.
ong thi bac t do cung chnh la so kha nang chuyen ong oc lap cua c cau o.
2.2. Cong thc tnh bac t do cua c cau
Bac t do the hien cho kha nang chuyen ong cua c cau, no phu thuoc vao so khau,
khp va loai khp.
Goi W0 la so bac t do tng oi cua tat ca cac khau trong c cau e ri so vi gia,
goi R la tong so rang buoc trong c cau, th bac t do W cua c cau c tnh
W = W0 - R
(1-1)
- Xac nh W0: trng hp tong quat, mot khau e ri trong khong gian co 6 bac t
do tng oi so vi gia, nen neu c cau co n khau th so bac t do tng oi se la
(1-2)
W0 = 6n
- Xac nh R: Moi khp ong se han che mot so bac t do bang ung so rang buoc
cua khp o. Neu goi pi la so khp loai i trong c cau th tong so rang buoc se la
5
R = i.p i = 5p5 + 4p4 + 3p3 + 2p2 +1p1 (1-3)

i =1
se la
Thay (1-2) va 1-3) vao (1-1) ta co :

W = 6n (5p5 + 4p4 + 3p3 + 2p2 +1p1)
(1-4)
* oi vi c cau phang
- Mot khau co nhieu nhat 3 bac t do so vi gia. Nen tong so bac t do cua n khau
Gio trnh Nguyn L My
W0 = 3n
9
Khoa C kh - Cng ngh
- Mot khp co nhieu nhat la 2 rang buoc, noi cach khac c cau phang ch cha khp
loai 4 va loai 5. Moi khp loai 4 trong c cau phang ch co them 1 rang buoc nen so rang
buoc cua p4 khp loai 4 la 1xp4. Moi khp loai 5 trong mat phang co them 2 rang buoc nen
so rang buoc cua p5 khp loai 5 la 2xp5. Nen tong so rang buoc trong c cau phang
R = 2p5 + p4
W = 3n - (2p5 + p4)
(1-5)
2.3. Rang buoc trc tiep - Rang buoc gian tiep
Rang buoc gia hai khau do khp noi trc tiep gia chung goi la rang buoc trc tiep.
S rang buoc gia hai khau khong phai do tac dung trc tiep cua khp noi hai khau
o goi la rang buoc gian tiep.
Xet v du tren H.1-8
a)
b)
Hnh 1-8. C cau co rang buoc gian tiep
S rang buoc gia khau 1 va 2, gia 2 va 3, gia 1 va 4 tren H.1-8a la rang buoc
trc tiep. Khau 3 va khau 4 cha noi vi nhau nhng do tac dung cua cac khp A, B, C
nen khau 3 a xuat hien 3 rang buoc: Qx , Qy va Tz c goi la rang buoc gian tiep.
Neu noi khau 3 vi khau 4 bang khp D (H.1-8b), khp D co 5 rang buoc trc tiep:
Tx, Ty, Tz, Qx, Qy. Tuy nhien trong o co 3 rang buoc Qx, Qy, Tz a co khi cha xuat hien
khp D. Ba rang buoc nay c goi la rang buoc trung.
Chu y: rang buoc trung ch xuat hien khp noi cac khau a co rang buoc gian tiep
tc la ch co khp khep kn cua chuoi ong. Noi cach khac, rang buoc trung ch co
chuoi ong kn.
Khi c cu tn ti rng buc gin tip th s rng buc ca c cu c tnh
5
R = i.p i - R0
(1-6)
i =1
2.4. Rang buoc tha - Bac t do tha

- Rang buoc tha la nhng rang buoc xuat hien trong c cau ma neu bo chung i th
qui luat chuyen ong cua c cau khong thay oi. Xet c cau tren H.1-9.
Hnh 1-9. C cau co rang buoc tha

Gio trnh Nguyn L My
10
Khoa C kh - Cng ngh
Neu bo i mot trong 3 khau 1, 2, 3 va khp kem theo th chuyen ong cua c cau
khong thay oi. Ngha la ve phng dien chuyen ong th viec them khau 2 hoac 3 la tha.
Viec them khau khau 2 hoac 3 lam cho bac t do tang len:
3n - 2p5 = 3x1 - 2x2 = -1
Noi cach khac la tang them 1 rang buoc. Rang buoc nay chnh la rang buoc tha.
Nh vay khi tnh so rang buoc cua c cau chung ta khong tnh en rang buoc tha. Neu goi
so rang buoc tha la r, th so rang buoc cua c cau la
5
R = i.p i - R0 - r
(1-7)
i =1
- Bac t do tha la nhng bac t do cua cac khau trong c cau ma neu bo chung i
th qui luat chuyen ong cua c cau khong thay oi.
Xet c cau cam tren H.1-10
Hnh 1-10. C cau co bac t do tha

Chuyen ong cua con lan 2 khong anh hng en chuyen ong cua c cau. Bac t
do nay (con lan 2 quay) goi la bac t do tha. Khi tnh bac t do cua c cau khong tnh en
bac t do tha nay. Goi s la bac t do tha th cong thc tnh bac t do cua c cau
W = W0 - R - s
2.5. Cong thc tong quat
- C cau khong gian :
(1-8)
W = 6n - (5p5 + 4p4 + 3p3 + 2p2 + 1p1 - R0 - r) - s
- C cau phang
W = 3n - (2p5 + p4 - r) - s
(1-9)
2.6. Y ngha cua bac t do, khau dan va khau b dan
e thay ro y ngha bac t do, so sanh 2 c cau tren H.1-11
a)
b)
Hnh 1-11. Bac t do cua c cau 4 va 5 khau
Gio trnh Nguyn L My
11
Khoa C kh - Cng ngh
C cau 4 khau tren H.1-11a co 1 bac t do nen ch can 1 thong so oc lap (goc ) th
v tr c cau hoan toan xac nh, ong thi c cau ch co 1 kha nang chuyen ong oc lap,
gia s la chuyen ong cua khau 1 quay quanh A, neu dng chuyen ong nay th c cau
cung se dng lai, khong con chuyen ong nao na. Neu cho trc qui luat chuyen ong
cua theo thi gian, th qui luat chuyen ong cua c cau hoan toan xac nh. Co ngha la
neu biet trc qui luat chuyen ong cua mot khau bat ky th qui luat cua toan c cau hoan
toan xac nh.
Vi c cau 5 khau tren H.1-11b co 2 bac t do nen neu ch biet mot thong so oc lap
(gia s ) th cha u e xac nh v tr cua toan bo c cau. Mun xac nh hoan toan v tr
c cau can phai biet them mot thong so oc lap na (gia s la ). ong thi, ve chuyen
ong, c cau nay co hai kha nang chuyen ong ong lap nen neu ch dng mot chuyen
ong (gia s dng khau 1) th c cau 4 khau con lai (BCDE) van chuyen ong c. Neu
dng them mot chuyen ong na (gia s dng khau 4) th c cau mi co nh. Can phai
biet trc 2 qui luat chuyen ong (gia s cua va ) th qui luat chuyen ong cua c cau
hoan toan xac nh.
Qua phan tch hai c cau chung ta thay: e c cau chuyen ong xac nh, so qui luat
chuyen ong oc lap can biet trc phai bang so bac t do cua c cau.
Khau co qui luat chuyen ong biet trc c goi la khau dan. Cac khau ong con
lai c goi la khau b dan.
Thong thng khau dan la khau noi vi gia bang mot khp quay loai 5; moi khau
dan ch ng vi mot qui luat chuyen ong cho trc. V vay, e c cau co chuyen ong xac
nh, so khau dan phai bang so bac t do.
3. PHN TCH CU TO C CU THANH PHNG
3.1. Nhom tnh nh (t-xua)
Phan tch cau tao cua c cau ta se tm c nhng ac iem cau tao lam c s xac
nh phng phap va trnh t nghien cu c cau. Theo phng phap phan tch cau tao c
cau cua At-xua: neu mot c cau co W bac t do th bao gom W khau dan va nhng nhom
co bac t do bang khong. Noi cach khac, cac khau trong mot c cau c chia lam 2 loai:
- Loai th nhat la khau dan co qui luat chuyen ong biet trc, s khu loi ny bng
s bc t do ca c cu.
- Loai th hai la cac khau b dan tap hp thanh nhng nhom tnh nh co bac t do
bang khong, con goi la nhom At-xua.
Xet c cau phang ch cha toan nhng khp thap gom n khau va p5 khp loai 5, mot
nhom At-xua phai thoa man ieu kien cua nhom:
Wnhom = 3n - 2p5 = 0
V so khau va khp phai la so nguyen nen cac nhom c phan loai nh sau
nhom 2 khau 3 khp
n=2
p5 = 3
n=4
p5 = 6
nhom 4 khau 6 khp
n=6
p5 = 9
nhom 6 khau 9 khp
......................................................
Gio trnh Nguyn L My
12
Khoa C kh - Cng ngh
* Qui c :
Nhom 2 khau 3 khp goi la nhom loai 2 (H.1-12a, b, c, d, e)
Nhom 4 khau 6 khp goi la nhom loai 3 (H.1-12f, g)
Nhom 6 khau 9 khp goi la nhom loai 4 (H.1-12h)
.......................................................
a)
b)
c)
d)
e)
f)
g)
h)
Hnh 1-12: Nhm t-xua

3.2. Nguyen tac tach nhom
- Khi tach nhom phai biet trc khau dan. Khau dan va gia khong thuoc cac nhom.
- So khau va khp phai thoa man ieu kien bac t do cua nhom. Khp b tach th
xem la nhom va tach.
- Sau khi tach nhom ra khoi c cau, phan con lai phai la c cau hoan chnh hoac la
con lai khau dan noi vi gia. Nh vay, viec tach nhom phai tien hanh t xa khau dan en
gan khau dan.
- Phai tach nhom n gian trc, neu khong c th mi tach nhom phc tap hn
(loai cao hn).
3.3. Xep loai c cau
- Khau dan goi la c cau loai 1
- C cau ch cha 1 nhom At-xua th loai cua c cau la loai cua nhom At-xua o.
- C cau cha nhieu nhom At-xua th loai cua c cau la loai cua nhom At-xua co
loai cao nhat.
* Cac v du:
- C cau 4 khau ban le tren H.1-11a: bao gom gia, mot khau dan 1 va mot nhom Atxua 2 khau 3 khp. C cau thuoc loai 2.
Gio trnh Nguyn L My
13
Khoa C kh - Cng ngh
a)
b)
- C cau 5 khau tren H.1-11b: bao gom mot gia, 2 khau dan (1 va 4) va mot nhom
At-xua 2 khau 3 khp. C cau thuoc loai 2.
- C cau bm oxy tren H.1-13: bao gom mot gia, 1 khau dan (1) va mot nhom Atxua 4 khau 6 khp. C cau thuoc loai 3.
Hnh 1-13: C cau co nhom loai 3

- C cau my bo ngang tren hnh 1-14: bao gom mot gia, 1 khau dan (1) va mot
nhom At-xua 4 khau 6 khp. C cau thuoc loai 3.
Hnh 1-14: C cau co nhom loai 3

- C cu my nn trn hnh 1-15a:
Chon khau 5 lam khau dan (H.1-15b) ta c 1 nhm t-xua loai 3. C cau loai 3
Chon khau 1 lam khau dan (H.1-15c) ta c 2 nhom t-xua loai 2. C cau loai 2
Gio trnh Nguyn L My
14
Khoa C kh - Cng ngh

5
5
5
1
3
a)
b)
c)
Hnh 1-15: C cu my nn
4. THAY TH KHP CAO bng KHP THP
(Tham kho PL 1)
Gio trnh Nguyn L My
15
Khoa C kh - Cng ngh
Chng 2: Phn tch ng hc

1. NI DUNG v NGHA ca NGHIN CU NG HC
Phn tch ng hc c cu l nghin cu chuyn ng ca c cu khi cho trc c cu
v quy lut chuyn ng ca khu dn. C th: cho trc lc c cu, quy lut chuyn
ng ca khu dn, cn phi:
- Xac nh v tr cua cac khau va quy ao ca cac iem tren khau trong qu trnh c
cu chuyn ng. y l bi ton v tr (chuyn v).
- Xac nh van toc ca cac iem tren khau va van toc goc cc khu ti tng v tr v
quy lut vn tc cc im trn khu, vn tc gc cc khu khi c cu chuyn ng. y l bi
ton vn tc.
- Xac nh gia toc ca cac iem tren khau, gia toc goc cc khu ti tng v tr v quy
lut gia tc cc im trn khu, gia tc gc cc khu khi c cu chuyn ng. y l bi ton
gia tc.
Khi nghin cu ng hc c cu ta khng n nguyn nhn ca chuyn ng v
thng gi thit khu dn chuyn ng u.
Phan tch ong hoc mang nhieu y ngha trong viec thiet ke may, v du : xac nh v
tr, qu tch e phoi hp chuyen ong cua cac bo phan may, thiet ke vo may, cac bo phan
che chan, bo tr khong gian lap at may,; xac nh van toc la c s e xac nh cac ai
lng ong lc hoc nh ong nang, cong suat, e tnh toan nang lng, lam eu chuyen
ong cua may; xac nh gia toc e tnh lc quan tnh, t o giai bai toan ap lc khp
ong
Phng php nghin cu ng hc: c th dng phng php gii tch, phng php
th hay phng php v (ha vect). Trong mn hc, ch yu gii thiu phng php v.
2. BI TON XC NH V TR CA C CU
Xc nh v tr c cu l v lc ng ca n vi nhng v tr khc nhau ca khu
dn vi mt t l xch nht nh.
S liu cho trc:
+ Lc ng ca c cu.
+ Khu dn.
Yu cu:
+ Xc nh quy lut chuyn v ca cc khu b dn theo gc quay ca khu dn:
- Quy lut chuyn v s = s() nu khu b dn chuyn ng tnh tin.
- Quy lut chuyn v = () nu khu b dn chuyn ng quay.
+ Qu o ca mt im bt k trn c cu.
T le xch (TLX):
Gi Kl l t l xch chiu di:
Kl =
Chieu dai thc

( m)
.
Chieu dai oan bieu dien ( mm)
(2-1)
Cc gi tr nn chn ca TLX:
Gio trnh Nguyn L My
16
Khoa C kh - Cng ngh
1:1; 1:10; 1:100; 1:1000; 1:10.000

1:2; 1:20; 1:200; 1:2000; 1:20.000
1:5; 1:50; 1:500; 1:5000; 1:50.000
V du V qu o ca trung im M trn thanh truyn AB, th chuyn v ca con trt B
ca c cu tay quay con trt. Bit khu dn l tay quay OA c chiu di 1m, thanh truyn
AB c chiu di 2,5m (Hnh 2-1).
A3
A4
A2
M
A5
A1
B1 B2
B3
B4
B5
A6
A8
A7
Hnh 2-1: phng php v - xc nh v tr c cu

+ Chn TLX Kl (m/mm) v v qu o im A l ng trn tm O, bn knh OA =
1OA/Kl; sau v qu o con trt B l ng thng i qua O v song song vi phng trt.
+ Chia vng trn qu o im A thnh nhiu phn bng nhau (gi s 8 phn) c xc
nh bi cc im A1, A2, Ai, , A8, t xc nh v tr tng ng ca im B l B1, B2,
Bi, , B8 (vi Bi l giao im ca vng trn tm Ai bn knh AB vi phng trt).
+ Trn A1B1, A2B2, , A8B8 xc nh cc im M1, M2, M8. Ni cc im M1, M2,
M8 bng mt ng cong lin tc ta c qu o ca im M (H.2-1).
+ Cch xy dng th chuyn v s = s(t) hay s = s() trong s l chuyn v ca con
trt B; t l thi gian; l gc quay ca tay quay OA nh sau:
Gi n l s vng quay ca tay quay OA trong 1 pht.
Ly x l on thng trn trc honh (trc thi gian t, hay trc gc quay ) ng vi 1
vng quay (1 chu k) ca tay quay, khi TLX gc quay (K), hay TLX thi gian t (Kt) s
l:
(s)
60
2 ( rad )
;
Kt =
(2-2)
K =
x
( mm)
nx
(mm)
Chn TLX chuyn v Ks = Kl.

Chn v tr cc bin bn tri lm gc ta (B1), on B1B2 l chuyn v ca con trt
B tng ng vi gc quay A1OA2, , on B1B8 l chuyn v ca con trt B tng ng vi
gc quay A1OA8. th chuyn v c th hin hnh 2-11.
3. XC NH VN TC, GIA TC (bng phng php v)
3.1. L thuyt v i s vect
Nu mt vect A c biu th:
A = B1 + B 2 + ... + B n
A = C 1 + C 2 + ... + C n
S c biu din bng cch v mt a gic vect nh trn hnh 2-2.

Gio trnh Nguyn L My
17
Khoa C kh - Cng ngh

B2
Bn-1
B1
Bn
A
Cn
C1
C2
Cn-1
Hnh 2-2: a gic vc t

T hnh v ta thy:
+ Cc vect B1 , C 1 v A cng gc.
+ Cc vect B n , C n v A cng ngn.
+ Cc vect B1 , B 2 , B n ni tip nhau. Cc vect C 1 , C 2 , C n ni tip nhau.
Nu B n v C n cha bit ln ( bit phng) m ta cn xc nh vect A th h
phng trnh 2 Nn trn s gii c bng ho vect.
3.2. L thuyt ng hc
a) Khau chuyen ong tnh tien: Van toc cua tat ca cac iem tren khau bang nhau va
tiep tuyen vi quy ao, cac vect gia toc co cung mo un va song song vi nhau.
b) Khau quay quanh 1 truc co nh i qua O (H.2-3a)
- Van toc: V AO = A .lOA
+ o ln: VAO = .lOA
+ Phng vuong goc vi OA, co chieu theo chieu tac dung cua .
n
- Gia toc: a AO = a AO
+ a tAO
+ Gia tc php: a nAO = 2.lAO =
V A2
; hng A O
l OA
+ Gia tc tip: a tAO = .lAO; co phng vuong goc vi OA, chieu theo chieu
tac dung cua .
A
VA
a)
b)
c)
Hnh 2-3: cc dng chuyn ng ca khu (vt rn)

c) Khau co chuyen ong song phang (H.2-3b)
V B = VA + V BA
Gio trnh Nguyn L My
18
Khoa C kh - Cng ngh
n
t
a B = a A + a BA
+ a BA
d) Trung iem A (H.2-3c)

Goi A1, A2 la 2 iem hien ang trung thuoc 2 khau 1 va 2. Co 2 trng hp xay ra.
9 Khau co iem A1 (khau 1) chuyen ong tnh tien hoac co nh.
V A2 = V A1 + V A2 A1
a A2 = a A1 + a Ar 2 A1 (co phng tiep tuyen vi qu ao chuyen ong tng oi
gia A2 va A1).
9 Khau 1 ang quay quanh truc 1 truc co nh hoac chuyen ong song phang vi van
toc goc 1 .
V A2 = V A1 + V A2 A1
a A2 = a A1 + a Ar 2 A1 + a Ak 2 A1
Trong o: Gia tc Coriolix a Ak 2 A1 = 2 . V A2 A1

+ o ln: a kA2 A1 = 2. .VA2A1. (xt trn c cu phng)
+ Phng, chieu chnh la phng, chieu cua V A2 A1 a quay 90o theo chieu tac dung
cua 1.
3.3. Ha o van toc va gia toc cua c cau loai 2
Bi ton cho biet:
Kch thc cua cac khau.
Van toc goc cua khau dan 1
Lc o ong cua c cau ve vi TLX K1 (tai 1 v tr cho trc)
a) Trng hp c cau ch toan la khp quay (c cau 4 khau ban le).
Trnh t ve hoa o van toc:
9 Tnh van toc iem A cua tay quay: VA = 1.lOA (m/s)
9 Chon TLX e ve ha o van toc Kv
vn tc thc (m/s)
Kv =
chiu di on biu din (mm)
Ch : nhng c cu n gin v cc v tr c bit c th khng cn s dng TLX.
9 Chon iem cc pv e ve ha o van toc; vect pv a bieu th van toc iem A la:
pv a =
VA
(mm)
KV
9 Xac nh van toc iem B

V B = V A + V BA
(1)
V B = V C + V BC
(2)
Ha th hin hnh 2-4: V B = pv b x Kv.
9 Xac nh van toc iem D
V D = V A + V DA
(3)
V D = V B + V DB
(4)
Ha th hin hnh 2-4: V D = pv d x Kv.
Gio trnh Nguyn L My
19
Khoa C kh - Cng ngh
Nguyen ly ong dang ve van toc:

Hnh noi cac iem truoc cung mot khau ong dang thuan vi hnh noi cac mut
vect van toc (tuyet oi) cua cac iem o tren ha o van toc.
9 Xc nh vn tc gc ca cc khu v vn tc mt im bt k.
2 =
V BA
;
l BA
3 =
V BC V B
=
lCB
lCB
b
D
B
pv
a
pa
C'
A
3
b'
d'
n BC
a'
nAB
Hnh 2-4: cch v ha vn tc & gia tc ca c cu ch ton l khp quay

Trnh t ve hoa o gia toc:
9 Tnh gia toc iem A cua tay quay OA:
aA = a nAO = 12 .lAO (m/s2), chieu hng t A ve O
9 Chon TLX e ve ha o van toc Ka :
gia tc thc (m/s2)
Ka =
chiu di on biu din (mm)
9 Chon iem cc pa e ve ha o gia toc; vect p a a ' bieu th gia toc iem A la:
pa a' =
aA
(mm)
Ka
9 Xac nh gia toc iem B

a B = a A + a nBA + a tBA
a B = a C + a nBC + a tBC
Trong :
anBA =
2
VBA
ab 2 2
2
=
.K v (m/s ); hng t B A,
l AB
l AB
anBC =
2
VBC
bc 2 2
2
=
.K v (m/s ); hng t B C,
l BC
l BC
Trn ha gia tc, cc vect biu din cc gia tc php c chiu di xc nh theo
cng thc:
nBA =
n
an
a BA
ab 2 K v2
bc 2 K v2
=
.
; nBC = BC =
.
Ka
l AB K a
Ka
l BC K a
(mm)
a tBA = 2.lBA, phng a tBA BA;

a tBC = 3.lBC, phng a tBC BC.
Gio trnh Nguyn L My
20
Khoa C kh - Cng ngh
ha gia tc hnh 2-4

aB = pab.Ka
9 Xac nh gia toc iem D
a D = a A + a nDA + a tDA
a D = a B + a nDB + a tDB
Gia tc im D th hin trn ha : aD = pad.Ka
Nguyen ly ong dang ve gia toc: Hnh noi cac iem truoc cung mot khau
ong dang thuan vi hnh noi cac mut vect gia toc (tuyet oi) cua cac iem o tren ha
o gia toc.
9 Xc nh gia tc gc: da vo cc thnh phn gia tc tip.
b) Trng hp c cau co khp tnh tien (C cau cult)
A
pa b'
phng //A3B
n3
phng AB
a3
VA3A1
t3
a1 a2
phng OA
a'3
RA3A2
pv b
a'1 a'2
KA3A2
Hnh 2-5: cch v ha vn tc & gia tc ca c cu c khp tnh tin

Ha vn tc:
+ Tnh VA: VA = 1.lOA (m/s)
+ im A gm 3 im: trn khu 1 l A1; trn khu 2 l A2; trn khu 3 l A3.
+ Khu 1 v khu 2 ni ng vi nhau bng khp quay: V A1 = V A2
+ Vn tc im A trn khu 3:
V A3 = V A2 + V A3A2
V A3 = V B + V A3B
V A3A2 c phng song song vi phng trt ca khu 2.
Ha vn tc th hin hnh 2-5.
+ Xc nh cc vn tc gc v cc vn tc tng i.
Ha gia tc:
+ Tnh a A: aA = 12 .lOA (m/s2)
Gio trnh Nguyn L My
21
Khoa C kh - Cng ngh
+ Khu 1 v khu 2 ni ng vi nhau bng khp quay: a A1 = a A2

+ Gia tc im A trn khu 3:
a A3 = a A2 + a KA3A2 + a rA3A2
a A3 = a B + a nA3B + a tA3B
Vi:
a A3 A 2 = 23.VA3A2 = (2VA3B/lA3B).VA3A2
= 2.Kv2.a3b.a3a2/lA3B
Chiu ca a KA3A2 l chiu ca V A3A2 quay i 90o theo chiu tc dng ca 3.
Ha gia tc th hin hnh 2-5.
+ Xc nh cc gia tc gc v gia tc cc im bt k.
4. GII THIU PHNG PHP GII TCH
(Tham kho PL 2.2)
5. GII THIU PHNG PHP TH
(Tham kho PL 2.2)
6.GII THIU PHNG PHP HO PHN TCH NG HC C CU LOI 3
(Tham kho PL 2.3)
Gio trnh Nguyn L My
22
Khoa C kh - Cng ngh
Phn II: NG LC HC C CU
Chng 3: Phn tch lc c cu

1. I CNG
Mc ch ca phn tch lc l xc nh c p lc khp ng, mmen hay lc cn
bng :
- Xc nh cng sut my (c cu).
- Thit k khp ng v mt ct ngang cc khu.
Phan loai cac lc tac dung:
1.1 Ngoai lc
Lc can ky thuat: (lc cn c ch) la lc t oi tng cong tac tac dung len bo phan
cong tac cua may. (Xc nh lc cn k thut l nhim v ca cc mn hc chuyn mn, VD:
at li cay; vat gia cong dung cu cat).
Trong lng cac khau: phu thuoc vao vt liu, hnh dang, v kch thc cua tng
khau. Trong phn tch lc, trng lng cc khu coi nh bit. trong trng hp trng lng
ca cc khu nh so vi cc lc khc th c th b qua.
Lc phat ong: lc t nguon dan ong (ong c) tac dung len khau dan cua may.
Khi may lam viec, lc phat ong co tac dung thang lc can ky thuat va tat ca cac lc khac
tac dung len may. Neu muon may chuyen ong theo toc o yeu cau th phi at len khau
dan mot lc can bang vi tat ca cac lc tac dung len may. Lc ny gi l lc can bang t
trn khu dn. Lc pht ng thng l mmen lc.
1.2 Noi lc
Di tc dng ca ngoi lc v lc qun tnh, trong cc khp ng ca c cu xut hin
cc phn lc khp ng.
Phn lc khp ng ( R ) la nhng lc do cac khau trong c cau hay may tac dung lan
nhau. Cac lc nay xuat hien cac khp ong, gom 2 thanh phan:
- p lc khp ong (ALK N ): Thnh phn khng sinh cng trong chuyn ng
tng i gia cc thnh phn khp ng. ALK vung gc vi phng chuyn ng tng
i.
- Lc ma sat ( Fms ): thnh phn sinh cng cn trong chuyn ng tng i. Lc ma
st c phng song song vi phng chuyn ng tng i (hoc xu hng chuyn ng
tng i) ca cc khu. Lc ma st trong khp ng l mt lc cn c hi, cng ca lc ma
st lm nng v lm mn cc thnh phn khp (se xet chng sau).
R = N + Fms
(3-1)
Trong nguyen ly may thng ta bo qua lc ma st ALK = PLK.
N goi ra trn cc khu cn c lc n hi do bin dng ca cc khu gy ra. N hng v
trong mn hc ny, cc khu c xem l vt rn tuyt i nn ta khng xt n.
2. LC QUN TNH
(Tham kho PL 3)
Gio trnh Nguyn L My
23
Khoa C kh - Cng ngh
3. P LC CC KHP NG
3.1. iu kin tnh nh
tnh c cc ALK, phi tch khu ra khi c cu ALK tr thnh ngoi lc
i vi tng khu. Khi trn tng khu, ta t cc ngoi lc (k c lc qun tnh) v vit
phng trnh cn bng lc.
Mun gii c cc ALK, th s phng trnh lp c phi bng s Nn s c trong
cc phng trnh . y l iu kin tnh nh ca bi ton.
Gi s c chui ng phng gm n khu, p5 khp loi 5, p4 khp loi 4, ang cn bng
di tc dng ca cc lc.
S phng trnh cn bng tnh hc lp c l 3.n ( Px = 0, Py = 0, M =0).
S Nn s:
- Khp tnh tin: Nn s l gi tr v im t (phng phng trt).
- Khp quay: Nn s l gi tr v phng, chiu (t ti tm khp).
- Khp cao loi 4: Nn l gi tr (t ti v tr tip xc, phng theo phng php tuyn
chung).
a) Khp tnh tin
b) Khp quay
c) Khp cao
Hnh 3-4
iu kin gii c l: S phng trnh = S Nn s
3n = 2p5 + p4 3n (2p5 + p4) = 0
(3-7)
Vy xc nh c cc ALK, phi gii trn cc nhm c bc t do bng 0,
chnh l cc nhm t-xua (nhm tnh nh).
Tng t nh nhm phng, xc nh cc ALK nhm khng gian ta phi gii cc
phong trnh vit cho cc khu thuc nhm c bc t do bng 0.
3.2. Xc nh ALK
a) Xc nh ALK trn c cu loi 2
Xt c cu bn khu bn l v tr nh hnh 3-5. Cc ngoi lc (bao gm lc cn k
thut, lc qun tnh,) tc dng ln khu 2 l P 2, tc dng ln khu 3 l P 3. Hy xc nh cc
ALK ti cc khp A, B, C, D h cn bng.
Gio trnh Nguyn L My
24

P2
2
Khoa C kh - Cng ngh

C
2
C
3
h3
R12
P3
P3
R12
1
A
h2
P2
R03
CD
Hnh 3-5:xc nh
p lc khp ng
O
t
R12
R03
R03
n
12
BC
P3
t
P2
R03
Gii
- Tch nhm t-xua, thay cc lin kt bng cc phn lc lin kt.
n
t
t
n
- H lc ( R 12 , R 12 , P 2, P 3, R 03 , R 03 ) 0 phi to thnh mt a gic lc khp kn.
Trong : Lay moment oi vi iem C
t
. l BC - P2.h2 = 0
Khu 2: R 12
Khu 3: (tng t)
P2 .h 2
l BC
P .h
= 3 3
l CD
t
R 12
=
R t03
- Chon TLX Kp (kN/mm) va iem cc O.

- Ve ha o lc (ch cch sp xp th t lc).
- Xac nh cac thanh phan lc va lc can tm.
b) Xc nh ALK trn c cu loi 3
(Tham kho PL 3.2)
4. XC NH LC TRN KHU DN
Theo gi thuyt, khu dn l khu c vn tc gc bng hng s, do n trng thi
cn bng lc. m bo iu kin cn bng ny, phi t ln khu dn mt mmen lc (gi
l mmen cn bng Mcb ) hay mt lc (gi l lc cn bng P cb ) cn bng vi tc ng ca
ton b phn cn li ca c cu ln khu dn.
Vit v gii cc phng trnh cn bng lc cho khu dn di tc dng ca mmen cn
bng (lc cn bng) v cc phn lc t gi v t khu b dn, ta s xc nh c mmen cn
bng (hay lc cn bng) v phn lc t gi tc dng ln khu dn.
Gio trnh Nguyn L My
25
Khoa C kh - Cng ngh
4.1. Tnh lc cn bng theo phng php phn tch lc (hnh 3-7)
R21
M1
A
P1
Pcb
Mcb
R21
M1
A
P1
hc b
Hnh 3-7: lc cn bng & m-men cn bng trn khu dn

N u l mmen cn bng
Mmen cn bng c xc nh t phng trnh tng mmen cc lc /v im A:
m A = 0 P1.h1 - R21.h21 + Mcb + M1 = 0
(3-8)
Mcb = - P1.h1 + R21.h21 - M1
N u l lc cn bng
Tng mmen cc lc i vi im A l:
m A = 0 P1.h1 + Pcb.hcb - R21.h21 + M1 = 0
(3-9)
Pcb = (-P1.h1 + R21.h21 - M1 )/hcb
Phn lc ti A c xc nh t :
( P cb , P 1, R 21, R 01) 0 (hay P cb + P 1 + R 21 + R 01 = 0)
Ch :
+ Quan h:
Mcb = Pcb.hcb
(3-10)
+ Trong cc cng thc trn mun xc nh lc hoc mmen cn bng, cn phi bit
phn lc t khu 2 ln khu 1 l R 21, c ngha l phi phn tch lc ton b c cu. N n
phng php xc nh lc cn bng nh trn gi l phng php phn tch lc.
4.2. Phng php s dng nh l Ju-cp-ski
(Tham kho PL 3.3)
Gio trnh Nguyn L My
26
Khoa C kh - Cng ngh
Chng 4: Ma st trong khp ng

1. GII THIU
Ma sat la mot hien tng t nhien phat sinh ni tiep xuc gia cac khau co chuyen
ong tng oi vi nhau.
Ma sat gan lien vi van e rat quan trong trong ky thuat, l s hao mon cua may
moc, thit b v tuoi tho cua chung.
Thng thng, ma st l lc cn c hi v n lm tiu hao cng sut, gim hiu sut ca
my. Cng ca lc ma st phn ln bin thnh nhit lm nng cc chi tit my; lm thay i
c, l tnh ca b mt tip xc hoc cht bi trn; lm mn cc chi tit my, chnh xc
gim Tuy nhin trong nhiu trng hp, n l lc cn c ch, c dng truyn ng, v
d trong c cu bnh ma st, c cu ai, my cn... trong cc thit b phanh hm, c cu kp
cht
a) C cu ai
b) C cu bnh ma st
c) Truyn ng v cp
Hnh 4-1: Mt s ng dng c ch ca lc ma st
1.1. Phan loai

- Theo tnh chat tiep xuc
+ Ma sat t (a) - Ma sat kho (b)
+ Ma sat na t - Ma sat na kh (c)
a)
b)
c)
Hnh 4-2: mc tip xc ca 2 b mt
- Theo tnh chat chuyen ong
+ Ma sat trt: xut hin gia hai mt tip xc nhau, trong vn tc ca chng ti cc
im tip xc khc nhau v gi tr v phng chiu.
+ Ma sat lan: xut hin gia hai mt tip xc c chuyn ng tng i vi nhau,
nhng trong chuyn ng ny, vn tc ca chng ti cc im tip xc bng nhau.
Hnh 4-3: ma st trt & ma st ln

Gio trnh Nguyn L My
27
Khoa C kh - Cng ngh
+ N goi ra ngi ta cn phn bit: ma st tnh - ma st ng.

1.2. Lc ma sat trt kh.
Gia s 2 vat A, B tiep xuc nhau theo mot mat phang (H.4-4).
R
A
Fms
B
a)
b)
Hnh 4-4: lc ma st-ma st tnh-ma st ng
Vat A chu 1 lc thang ng Q vuong goc mat tiep xuc. Vat B se tac ong vao A
mot phan lc N cung phng ngc chieu va co gia tr bng lc Q .
Tac ong vo A mot lc P nho, nam ngang trong mat phang tiep xuc. Tng dn lc
P t gi tr 0. Lc u, vt A ng yn, chng t c lc tc dng ln A cn bng vi lc P .
Lc gi l lc ma st F .
F =- P
Lc F gi l lc ma st tnh.
Tng t t lc P ta thy vt vn ng yn ngha l F tng theo lun cn bng
vi lc P .
Tng lc P n mt gi tr no , vt A bt u chuyn ng. Lc ma st tnh tng
n gi tr F max .
Khi vt A chuyn ng thng u, vt A chu tc ng ca mt lc ma st ng cn
bng vi lc P . Quan h gia lc ma st F v lc P c biu th trn hnh 4-1b.
Theo Culomb, lc ma st c tnh theo cng thc:
F = a + b.N
Trong , h s a ph thuc vo din tch tip xc.
F = (a/N + b).N
F = f.N
(4-1)
Trong , h s ma st f = a/N + b l h s ma st tnh khi 2 vt c xu hng chuyn
ng tng i vi nhau, l h s ma st ng khi hai vt c chuyn ng tng i.
Gc ma st tnh v gc ma st ng c xc nh theo cng thc:
tgt = Fmax/N = ft;
tg = F/N = f
Sau y, thun tin, ta dng k hiu F ch c lc ma st tnh ln lc ma st ng
v k hiu f ch c h s ma st tnh v ng.
Ch :
- Chieu cua lc ma sat la chieu chong lai chuyen ong tng oi.
- He so ma sat f phu thuoc vao vat lieu be mat tiep xuc (trn hay nham) va thi gian
tiep xuc.
Gio trnh Nguyn L My
28
Khoa C kh - Cng ngh
He so ma sat khong phu thuoc vao dien tch tiep xuc, ap suat tren be mat tiep xuc
va van toc tng oi gia hai be mat tiep xuc.
- Trong a so trng hp, he so ma sat tnh ln hn he so ma sat ong.
1.3. Hien tng t ham
P
Tc dng ln A mt lc P to vi phng php tuyn mt
N
gc (Hnh 4-5).
Phn tch lc P thnh 2 thnh phn:

A
Pn = P.sin; P = P.cos.
F
Pn
+ Thnh phn nm ngang P n Ny vt chuyn ng
B
ngang.
+ Thnh phn thng ng P p 2 vt li, to nn phn
lc N tc ng ln A.
Pd
P
Lc ma st gia 2 vt l: F = f.N = f.P.cos
- N u lc P nm trong gc ma st, ngha l:
Hnh 4-5: nn ma st
< tg < tg sin/cos < f P.sin < f.P.cos Pn < F.
V lc Ny ngang nh hn lc ma st, nn d lc P c ln bao nhiu i na, vt A vn
khng th chuyn ng c. l hin tng t hm.
- N u lc P nm ngoi gc ma st, th Pn > F, vt A chuyn ng nhanh dn.
- N u lc P nm trn mp gc ma st, tc l = , lc Pn = F, vt A chuyn ng
thng u.
- Cho gc quay quanh php tuyn, cnh ca gc ma st s vch nn hnh nn ma st.
Khi nu lc P nm trong hnh nn ma st, s l hin tng t hm.
-
ms
2. MA ST TRONG KHP TNH TIN

2.1. Dang phang
F = f.N
Trong : f l h s ma st; N l phn lc php tuyn.
2.2. Dang ranh tam gic
Gi f l h s ma st trn c 2 b mt tip xc. Lc ma st trn rnh:
F = F1 + F2
F = f.N 1 + f.N 2 = f(N 1 + N 2)
M N = (N 1 + N 2)cos F =
f
.N = f.N
cos
Trong : f l h s ma st thay th dng rnh tam gic,

f =
f
= tg
cos
(4-2)
Gc gi l gc ma st thay th.
Gio trnh Nguyn L My
29
Khoa C kh - Cng ngh
Q
A
N2
N1
a)
N2
Q
N1
b)
Hnh 4-6: dng rnh tam gic phn tch lc
2.3. Dng rnh trn

2.4. Ma st trn mt phng nghing
2.5. Ma sat trong khp ren vt
(Tham kho PL 4.1)
3. MA ST TRONG KHP QUAY
(Tham kho PL 4.2)
4. MA ST LN TRONG KHP LOI 4
4.1. Ma sat lan
Xet mot hnh tru at tren mot mat phang. Di tac dung cua lc Q , 2 vat tiep xuc se
b bien dang. ng suat be mat tiep xuc phan bo oi xng qua lc Q .
Neu tac ong vao hnh tru 1 lc P , cach mat phang 1 oan y. Gia s hnh tru lan
theo chieu mui ten. Dien tch tiep xuc se c chia lam 2 phan, gii han bi cung AB va
CD. Tren phan cung AB lam 2 phan, gii han bi cung AB va BC. Tren phan cung AB mat
tiep xuc b bien dang , tren phan cung BC mat tiep xuc ang phuc hoi ve hnh dang cu.
Q
Q
P
N
k
A
Fms
a)
b)
c)
Hnh 4-15: hin tng n hi tr - m-men ma st ln
Trong ly thuyet an hoi, co nghien cu hien tng an hoi tre cua vat lieu. o
th tren bieu th moi quan he gia bin dng va ng sut . Chieu cua mui ten la hng
thay oi ng suat va bien dang. Vi bien dang nh nhau, ng suat 1 trong giai oan bien
dang tang se ln hn ng suat 2 luc bien dang ang giam. V vay, ng suat se phan bo
khong oi xng. Tren phan AB, ng suat se ln hn tren phan BC.
Gio trnh Nguyn L My
30
Khoa C kh - Cng ngh
Phan lc N cua cac ap lc tren mat tiep xuc se lech so vi Q mot oan k; Q va
N se hp thanh 1 ngau lc, can lai chuyen ong lan, nen goi la ngau lc ma sat lan.
Mmsl = k.Q
(4-19)
Vi k: he so ma sat lan co th nguyen la chieu dai.
4.2. ieu kien lan khong trt
- Muon hnh tru co the lan, mo men lan phai ln hn mo men ma sat lan:
P.y > Q.k P >
Q.k
y
(1)
- e hnh tru khong trt, lc keo trt P phai nho hn lc ma sat trt:
P < f.N P < f.Q
(2)
- e vat lan khong trt, lc P phai thoa man (1) va (2)
f.Q > P >
Q.k
y
(4-20)
- e P co the chen gia 2 gia tr nay th:

f.Q >
Q.k
k
y>
y
f
(3)
- Nhan xet: khoang cach y cang ln hn k/f, ieu kien (4-20) cang de thc hien v
pham vi thay oi cua P e thoa man (4-20) cang ln.
- Tom lai: muon hnh tru lan, khong trt, trc tien phai thoa man (3), sau o mi
en ieu kien (4-20).
- oi vi cac xe co, khoang cach y chnh la ban knh cua banh xe. Cho nen banh xe
cang ln, ieu kien lan khong trt cang de thc hien, ay xe cang nhe.
5. MA ST T
Trong cac khp ong, e giam o mon, tang tuoi tho may, dung chat boi trn ngan
cach cac mat tiep xuc cua chung. Chat boi trn co the la chat kh, chat ran di dang bot,
nhng thng nhat la chat long, dau nhn.
5.1. o nht cua dau boi trn
- Nht la tnh chat quan trong va mang nhieu ac tnh ky thuat cua chat long. Tnh
nht la lam can tr s trt trong qua trnh co s chuyen ong tng oi gia cac lp chat
long.
- Khao sat mot lp chat long chay tren 1 mat phang ran. Tren mat phang cac phan
t chat long se bam chac vao tng va co van toc bang khong. v tr cach mat phang 1
oan y, chat long co van toc la u (H.4-16a).
Nh vay gia cac lp mong cua chat long, sat mat phang co s can tr chuyen
ong, lam cho van toc gia 2 lp chat long cach nhau 1 oan dy co sai khac van toc du.
Gio trnh Nguyn L My
31
Khoa C kh - Cng ngh
v
r1
dy
y
u+du
B
a)
b)
Hnh v 4-16: gradient vn tc ma st trong trt
- Nguyen nhan cua hien tng can tr chuyen ong la s xuat hien ng suat tiep
gia cac lp chat long. Ty so du/dy bieu th mc o thay oi cua van toc dau theo chieu
cao, goi la gradien van toc. Nam 1686, Newton a ra gia thuyet , 1883 Petrov kiem tra lai,
ng suat tiep gay ra do ma sat trong lp chat long ty le vi gradien van toc: T = du/dy.
- He so phan anh kha nang can tr chuyen ong gia 2 lp dau, c goi la o
nht tuyet oi hay o nht lc.
n v cua o nht ong lc la poad, o la o nht cua chat long co ng suat tiep
la 1 yn/cm2 gia 2 lp dau cach nhau 1 cm va van toc tng oi la 1cm/s.
- Ngi ta con dung o nht ong hoc:
= / vi : khoi lng rieng cua chat long.
n v o o nht ong hoc la: m2/s; cm2/s.
- o nht phu thuoc nhieu vao nhiet o va neu co ap suat thay oi ln, o nht cung
thay oi.
5.2. Ma sat t trong o trt
Trong o trt co o h, tren truc va tam lo khong trung nhau, tao nen khe h hnh
chem cong (H.4-16b). Khi truc quay, dau b keo theo, tao nen 1 dong lien tuc, dau b don
vao 1 khe h ngay cang hep.
Trong chem dau se xuat hien ap suat, tao nen ap lc tac ong lien tuc, can bang vi
tai trong Q. p sut phn b nh hnh v. ti a-a v c cu, p sut bng khng.
Vi r: ban knh ngong truc;
: van toc goc cua truc;
: chieu day khe h gia truc va o;
= /r: o h tng oi.
Tnh c :
Mms =
.d 2 .l .
.
2
(4-21)
Trong o: l: la chieu dai ngong truc;

d: la ng knh ngong truc;
: o nht ong lc;
Gio trnh Nguyn L My
32
Khoa C kh - Cng ngh
6. TRUYN NG MA ST
6.1. C cu ai truyn
ai truyen la 1 c cau truyen ong thng gap trong thc te (H.4-17).
S2
02
01
S1
Hnh 4-17: gc m & lc cng ai

Chuyen ong c truyen t khau 1 sang khau 2 nh lc ma sat gia day ai va
banh ai. Banh ai nho thng la banh chu ong. Khi cha chuyen ong, e tao lc ma sat
gia day ai va banh ai, phai tao nen lc cang ban au So gia 2 nhanh ai. goi la goc
om.
- Khi truyen ong, lc cang gia hai nhanh thay oi. nhanh cang, lc cang la S1;
nhanh chung lc cang la S2.
- V trc va sau khi truyen ong, chieu dai day ai khong thay oi, nen o gian cua
nhanh cang se bang o co cua nhanh chung. V o co gian cua ai ty le vi lc cang, nen
co the viet:
S1 = S0 + S
S2 = S0 - S S1 + S2= 2S0
- Quan he gia lc S1 va S2:
Cong thc -le (Euler, 1707 1783): S1 = S2.ef
Mo men ma sat : Mms = 2r .
e f 1
.S0
e f + 1
(4-22)
- Nhan xet : + Goc om cang ln, Mms cang ln.

+ Lc cang ban au cang ln, Mms cang ln.
+ He so ma sat tang, se lam tang mo men ma sat.
6.2. C cu bnh ma st
Trong k thut, lc ma st cng c dng truyn ng gia cc trc song song hay
ct nhau. Hnh 4-18 trnh by b truyn ng ma st con ln hnh tr. N u trn khu b dn 2
c tc dng mt mmen cn M2.
- b truyn lm vic c th bnh 1 phi tc dng ln bnh 2 mt lc vng:
P12 = M2/r2.
Gi s, lc p gia 2 bnh l Q th lc bm l F = f.Q; vi f l h s ma st gia 2 bnh.
- truyn ng khng b trt th:
P12 < F.
t F = k.P12; k c gi l h s d tr bm. Vy lc Q cn thit p 2 bnh l:
Q = k.
Gio trnh Nguyn L My
M2
f .r2
(4-23)
33
Khoa C kh - Cng ngh
N hc im ca b truyn ny l cn c lc p Q ln khi mmen cn M2 ln, do cc

chng b mn. khc phc nhc im ny c th dng cc vt liu c h s ma st ln,
hoc c th dng cc bnh ma st hnh nm.
2
M2
r2
02
r2
2
P12
r1
N1
N2
r1
M1
01 1
Q
Hnh 4-18: b truyn bnh ma st

6.3. Gii thiu truyn ng v cp (b bin tc c kh)
- Truyn ng v cp (hay cn gi l bin tc c kh) l c cu dng thay i u
n v lin tc tc quay ca trc b dn, trong khi s vng quay ca trc dn l khng i.
- Thng s c trng ca truyn ng v cp l pham vi iu chnh ca trc b dn D:
D = n2max/n2min
- Cng sut truyn: P < 20kW, vn tc v < 50m/s.
- u im:
+ iu chnh n gin, thch hp trong lnh vc t ng ho v iu khin
chn ch lm vic ti u.
+ Lm vic khng n khi vn tc cao.
+ Kt cu n gin so vi b bin tc in, thu lc.
- N hc im:
+ T s truyn khng n nh.
+ Ti ng tc ng ln trc v ln.
+ a ma st hay con ln d b mn v mn khng u do trt trn.
a) Bin tc a con ln
- Hnh 4-19a, b l loi mt con ln, mt a. V tr tip xc gia 2 bnh thay i c
nh s dch chuyn ca bnh 1 (H.4-19a), hoc bnh 2 (H.4-19b). Cch tnh phm vi iu
chnh nh sau (ly VD H.4-19a).
Khi R2 thay i th s vng quay bnh th 2 thay i t:
n2min = n1.R1/R2max n n2max = n1.R1/R2min
Phm vi iu chnh: D = n2max/n2min = R2max/R2min
- Hnh 4-19c, d l c cu c con ln trung gian, s thay i tc ca trc b dn nh
vo s di chuyn ca con ln trung gian ny. Cch tnh pham vi iu chnh nh sau:
Khi con ln trung gian di chuyn th s vng quay ca trc b dn thay i t:
n2min = n1.
Gio trnh Nguyn L My
R
R 1min
R
R
n n2max = n1. 1max .
.
R R 2 max
R R 2 min
34
Phm vi iu chnh: D =
Khoa C kh - Cng ngh
n 2 max R 2 max .R 1max

=
n 2 min R 2 min .R 1min
n2
n1
R2
R2min
R1min
R1
R1max
R2max
n1
n2
a)
b)
n2
I
n1
1
n3
3
II
c)
d)
Hnh 4-19: bin tc a con ln
R1
R max
R min
b) Bin tc ai
R2
R min
R max
Bnh dn
Bnh b dn
a)
b)
c)
Hnh 4-20: bin tc ai
- Hnh 4-20a l b bin tc ai, lm vic c nh vo s ma st gia ai 3 v bnh ai
dn 1, bnh b dn 2. Tu vo v tr ca ai 3 ta c cc t s truyn khc nhau.
- Hnh 4-20b,c c gi l c cu Heymau, c bnh ai dn v b dn l 2 na hnh cn
ghp li. Hai na ca bnh ai dn p vo dy ai v c kh nng chuyn dc trc. C cu
hnh 4-20b iu chnh t s truyn bng cch di chuyn dc trc na bnh dn v 2 na bnh
Gio trnh Nguyn L My
35
Khoa C kh - Cng ngh
ai b dn p vo nhau nh l xo xon c. C cu hnh 4-20c iu chnh t s truyn bng cch

di chuyn dc trc na bnh ai b dn v na bnh ai dn p cht nh l xo.
- V d, trong c cu hnh 4-21, chuyn ng c truyn t trc I sang trc II nh vo ai
thang 2 c tng cng bng lp vt liu 3 trn b mt ngoi ca ai.
1
I
8
01
0
4
II
7
6
1.
2.
3.
4.
5.
6.
7.
8.
Bnh ai dn
ai thang
Lp vt liu tng cng
Tay n
Bnh ai b dn
Vt
Tay quay
C cu ai
Hnh 4-21: mt ng dng ca bin tc ai

+ N guyn l lm vic: T s truyn c iu chnh bng cch di chuyn dc trc ng
thi cc na bnh ai dn v bnh ai b dn.
Khi 2 na bnh dn 1 tin li gn nhau th R1 tng ln v R2 gim xung, khi s
vng quay ca trc II tng ln. iu khin s dch chuyn ca bnh ai 1 v 5 nh vo tay n
4 quay chung quanh O v O1. Tay n 4 c iu khin bi tay quay 7 v vt 6 (vt 6 c 1
bn l ren tri v mt bn l ren phi).
+ Phm vi iu chnh tc : D =
n 2 max R 2 max .R 1max

=
n 2 min R 2 min .R 1min
R
N u 2 Puly hoc a ma st cn ging nhau th D = 2 max
R 2 min
c) Mt s dng bin tc khc

(Tham kho PL 4.3)
Gio trnh Nguyn L My
36
Khoa C kh - Cng ngh
Chng 5: ng lc hc my
(Tham kho PL 5)
Gio trnh Nguyn L My
37
Khoa C kh - Cng ngh
Chng 6: Cc ch tiu cht lng ca my

Cac ch tieu chat lng c ban: eu, on nh, can bang va hieu suat.
1. LM U CHUYN NG CA MY.
1.1. H s khng u:
Khi may lam viec, van toc goc khau dan 1 noi chung khong on nh, (ngay ca
trong giai oan chuyen ong bnh on) va thng dao ong trong mot pham vi nao o.
0
Hnh 6-1: ba thi k chuyn ng ca my
Co the giai thch hien tng nay. Theo phng trnh mmen:
2 dJ
+ J.1
(6-1)
M + Mc = 1
2 d
12 dJ
Md + Mc
2 d
1 =
(6-2)
J
1 la gia toc cua khau dan. Muon van toc goc co nh phai co 1 = 0
12 dJ
hay M + Mc =0
(6-3)
2 d
nhng eu nay noi chung khong the thc hien c, bi v ta khong the chon c ong c
co mmen M hoan toan thch hp cho tng may cu the, co cau tao cu the (J) va che o
lam viec cu the (Mc) c.
Nh vay, khi may lam viec bnh on, van toc goc khau dan dao ong noi chung la
mot ieu kho tranh khoi.
Tuy nhien, ta khong the cho phep van toc dao ong vi mot bien o vt qua mot
gii han nao o, v khi o nhng ieu kien lam viec cua may va cac yeu cau cong nghe se
khong c bao am, o chnh xac cua may cung b anh hng.
e anh gia tnh khong eu cua chuyen ong may, ngi ta dung mot ch tieu chat
lng goi la he so khong eu, nh ngha nh sau:
Gio trnh Nguyn L My
38
Khoa C kh - Cng ngh
1 max 1 min
tb
(6-4)
trong o 1max, 1min la cac cc tr cua 1 trong mot chu ky ong lc hoc, con tb la tr so
trung bnh cua no.
+ 1 min
tb = 1 max
(6-5)
2
Vi moi loai may ngi ta qui nh mot tr so gii han cua , goi la he so khong eu
cho phep, ky hieu la [].
May se goi la chuyen ong eu khi he so khong eu ca no nho hn he so khong
eu cho phep:
< []
Khi o, ng vi moi che o van toc, van toc thc cua khau dan se dao ong gia hai
cc tr cho phep [1max], [1min]. Cac cc tr nay co the tnh nh sau:
[ ]
)
(6-6)
[1max] = tb.(1 +
2
[ ]
[1min] = tb.(1 )
2
(6-7)
Bin php k thut sao cho < [] gi l lm u chuyn ng ca my.

Bng 6.1: Gi tr h s khng u cho php ca mt s my thng dng.
Loi my
[]
1/5 1/150
- My nng nghip
1/20 1/50
- My ct kim loi
1/10 1/50
- My dt
1/20 1/150
- ng c tu thu
1/80 1/150
- ng c t trong
1/100 1/200
- My pht in mt chiu
1/200 1/300
- My pht in xoay chiu
1.2. Bin php lm u chuyn ng ca my:
Lm u chuyn ng ca my l tm cch lm gim phm vi thay i ca vn tc khu
dn, c ngha l gim max v tng min
N hn xt: trn th biu din (hnh 6-2), nu gc 0 c dch chuyn n 0 (nm
trong phn t th ba) v th E(J) vn gi nguyn th max s gim v min s tng, ngha l
h s khng u s gim.
N h vy mun lm u chuyn ng ca my, phi tm cch xc nh v tr 0, xut
pht t tr s cho php ca h s khng u.
Ta thy rng chuyn gc to t 0 n 0 ta phi tng ng nng ca my. thc
hin iu ny, trong k thut ngi ta tng mmen qun tnh thay th ca my Jt, bng cch
lp trn my mt chi tit, gi l bnh (bnh trn, v lng). Khi c lp bnh , mmen qun
tnh thay th s tng mt lng l JM. Tng ng, ng nng s tng thm mt lng l EM.
Gio trnh Nguyn L My
39
Khoa C kh - Cng ngh
a
b
P
Hnh 6-2: bin php lm u
Hnh 6-3: m-men qun tnh bnh
1.3. Tnh mmen qun tnh ca bnh .

Chng ta s xc nh tr s ca mmen qun tnh bnh , khi cho trc: h s khng
u cho php [], cc thng s ng hc (v, a), ng lc hc (M(), Mc(), J()) cn
thit, ch lm vic ca my (tb, ti trng).
Cc bc tin hnh:
+ Vi [], t phng trnh (6-6) v (6-7) xc nh c [max] v [min], t phng
trnh (5-10) s xc nh c [max] v [min].
tg min
max
KJ 2
tb (1 [ ])
2K E
+ V th E(Jt) trong thi gian chuy n ng bnh n, vi Jt l mmen qun tnh thay
th ca my khi cha lp bnh , cch v ging nh khi xc nh chuy n ng thc ca my,
ch cn v th E(Jt), v dng ca chng hon ton ging th E(Jt).
+ V cc tip tuyn trn v di ca ng biu din E(Jt), to vi trc honh mt
gc [max] v [min]. Cc ng ny ct nhau ti O. im O l gc h to ca th
E(Jt) khi lp bnh (H.6-3).
Tnh mmen qun tnh ca bnh : trn hnh ta c OP chnh l mmen qun tnh thay
th ca bnh vi TLX K1. Gi J M* l gi tr thc:
J M* = K1 .O ' P = K1.
ab
tg[ max ] tg[ min ]
(6-8)
Trn my c nhiu trc quay vi vn tc gc khc nhau. N n chn trc no lp bnh

vi mmen qun tnh l nh nht. Gi s trn trc x no , s lp bnh . m bo
iu kin ng nng khng i, ng nng ca bnh khi lp trn trc x phi bng ng
nng ca n khi lp trn khu thay th.
2
2
J M* .
= J Mx . x J Mx = J M* .( ) 2
(6-9)
2
2
x
Trong J Mx l mmen qun tnh ca bnh nu lp trn trc x c vn tc gc l x.
Nhn xt: nn chn trc lp bnh c vn tc gc lm v lc mmen qun tnh
bnh s nh, kch thc bnh s gn hn.
Gio trnh Nguyn L My
40
Khoa C kh - Cng ngh
Trong thc t, trn cc my, cc chi tit my quay vi mt t s truyn l hng s vi

khu thay th. Tng mmen qun tnh ca cc chi tit my, s lm tng mmen qun tnh thay
th khi thu gn v khu dn. C th dng cc chi tit my ny (puly, ni trc, bnh rng)
lm cc bnh , nu tng khi lng chng ln th mmen qun tnh ca chng s tng ln,
m khng cn dng bnh ring bit cho my.
V d: Xc nh mmen qun tnh ca bnh (thu v trc chnh) ca my tin. Cho
mmen ng c M l hng s, my tin vt c bn knh r (tnh bng m) trong mt gc t 0o
n 270o v t 300o n 330o vi lc ct F (tnh bng N ) l hng s. Cho tb, [], mmen qun
tnh (thay th v trc chnh) ca my l Jo (tnh bng kgm2).
M
r
Mc
B
Md
270
30 30
360
a)
b)
Hnh 6-4: S lc ct & m-men ng

Theo s lc ct nh trn H.6-4a ta c:
F.r khi dao tip xc vi vt gia cng trong gc
t 0o n 270o v t 300o n 330o.
Mcn =
0 khi dao tip xc vi vt gia cng ngoi gc trn y
th M, Mc trong mt chu k lm vic c biu din nh trn H.6-4b. Trong mt
chu k lm vic ta c:
Fr (270 + 30)2 5
Tng cng cn:
(J)
Ac =
= Fr.2
360
Tng cng ng:
A = M.2
(J)
5
my lm vic bnh n: A = Ac M = Fr
6
Trn hnh v ta thy Emax c biu din bng din tch hnh ABCD nn ta c:
5 3
1
Emax = Fr Fr 2 = Fr
6 4
4
Mmen qun tnh thay th ca bnh :

Emax
Fr
(kgm2)
J M* =
Jo =
Jo
2
[ ].tb
4[ ].tb2
Tt nhin sau ta phi tnh J Mx (mmen qun tnh ca bnh ).
1.4. ngha ca bnh .
Gi s bnh c lp trn khu x, khi qun tnh ca khu x s tng ln, sc ca
khu tng ln, lm tr ngi cho vic gim tc . V vy my s lm vic u hn.
Gio trnh Nguyn L My
41
Khoa C kh - Cng ngh
Gii thch su hn, bnh s tch t nng lng khi cng ng ln hn cng cn, v
gii phng nng lng khi cng cn ln hn cng ng. Nh vy, bnh c tc dng phn
phi nng lng cc giai on khc nhau trong mt chu k ng lc hc ca my. Mmen
qun tnh bnh cng ln, tc dng lm u chuyn ng ca my cng mnh.
2. IU CHNH T NG CHUYN NG MY
May ch chuyen ong bnh on khi co s can bang gia cong phat ong va cong can.
Nhng trong qua trnh lam viec, tai trong cua may co the thay oi bat thng, khi o cong
phat ong va cong can khong can bang nhau na va chuyen ong cua may se mat bnh on.
e am bao may luon chuyen ong bnh on mac du co s thay oi that thng cua
tai trong, can phai ieu chnh cong phat ong moi khi co s thay oi nay.
Trong mot so may, viec ieu chnh nay do cong nhan thc hien, nhng trong nhieu
trng hp, khi can ieu chnh kp thi, phai dung bien phap ieu chnh t ong.
e ieu chnh t ong chuyen ong cua may, thng dung cac bo ieu chnh khac
nhau, lam viec theo cac nguyen ly thuoc ve ien, ien t, thuy lc hay c kh. Cac khai
niem ve lnh vc ieu chnh t ong chuyen ong cua may, cac ch tieu lam viec cua cac
bo ieu chnh c trnh bay cac giao trnh khac. phan nay ch gii thieu bo ieu chnh
dung cac thiet b c kh, o la cac bo ieu chnh van toc ly tam.
2.1. Bo ieu chnh ly tam trc tiep:
- Truc OI c noi trc tiep vao truc cua may. Khi may chuyen ong bnh on, truc OI
quay vi mot van toc goc nhat nh. (H.6-5)
I
A
x
D
F
V
0
Hnh 6-5: B iu chnh ly tm trc tip
- Lc ly tam cua 2 qua cau A la PA
PA = m.2 x
(6-10)
vi m : khoi lng qua cau; : van toc goc cua OI & x : khoang cach t qua cau en OI
PA co tac dung nang qua cau len, se can bang vi cac lc co tac dung ha qua cau xuong la:
trong lng qua nang va cac khau, lc keo cua lo xo R.
Gio trnh Nguyn L My
42
Khoa C kh - Cng ngh
- Khi tai trong giam, cong can Ac giam, may se quay nhanh hn, tang, lam cho lc ly
tam tang, lc nang cua qua cau se ln hn lc ha. Qua cau nang len lam cho con trt D i
len. Van V, qua he thong tay on, se khep nho lai, ong bt ca nap nhien lieu vao may,
lam cho A giam, e bao am Ac= A va c cau ieu chnh se chuyen ong bnh on vi gia
tr . Ngc lai neu Ac tang, he thong ieu chnh t ong nay se lam cho A tang theo.
'
Hnh 6-6: S thay i vn tc trong qu trnh n nh

bng b iu chnh ly tm trc tip
2.2. Bo ieu chnh ly tam gian tiep:
- So vi bo ieu chnh ly tam trc tiep, bo ieu chnh nay co them 2 xy lanh A,B va cac
ong dan, chung c goi la ong c tr ong.
I
R
A
x
D
C
F
a
0
d
e
b
B
J
H
V
Hnh 6-7: B iu chnh ly tm gin tip

Gio trnh Nguyn L My
43
Khoa C kh - Cng ngh
- Nguyen tac lam viec:

+ Cac ong a va b noi vi bm dau, dau trong ong se co 1 ap suat nhat nh, ong C
xa dau vao bo phan cha, neu ap suat dau bang ap suat kh quyen. v tr can bang,
chuyen ong bnh on, cac lo d va e xy lanh B b pistong bt kn. Pistong A v tr can
bang, v ap suat dau 2 pha nh nhau. Van V co o m nhat nh.
+ Khi tai trong tang, Ac tang, giam, 2 qua cau ha xuong. Con trt D i xuong. Lo
d va e m ra xy lanh A, v ap suat dau pha tren (bang ap suat bm dau) ln hn ap suat
dau pha di (bang ap suat kh quyen), nen pistong A i xuong. Qua he thong tay on, ca
van V se m rong, A tang. Nh vay se bt giam va tang dan, lc ly tam cua 2 qua cau
cung tang dan, va pistong B c keo ve v tr cu. Va khi cac lo d va e a c bt kn,
pistong A ngng i xuong, van V v tr bao am A = Ac, may tr lai thi ky chuyen ong
bnh on.
2.3. u nhc iem: cua bo ieu chnh ly tam gan tiep so vi bo ieu chnh ly tam trc
tiep.
a) u iem:
- o nhay cao: vi nhng thay oi van toc nho, tc la nhng kch ong nho, bo ieu
chnh van lam viec.
- Sai so tnh cua van toc goc bang khong: van toc goc cua may sau khi ieu chnh se
tr lai v tr ban au du che o tai trong thay oi.
Hnh 6-8: S thay i vn tc trong qu trnh n nh

bng b iu chnh ly tm gin tip
b) Nhc iem :
- Chuyen v cua bo phan chap hanh (he thong tay on va van V) xay ra cham, v the
no ch thch hp oi vi trng hp tai trong thay oi cham.
- Co the xay ra qua trnh ieu chnh mat on nh, van toc goc co the dao ong lien
tuc.
2.4. Nhn xt v cu trc ca mt h iu chnh t ng
(tham kho PL 6.1).
Gio trnh Nguyn L My
44
Khoa C kh - Cng ngh
3. CN BNG MY
Trong khi may lam viec, neu cac lc tac dung len may thay oi, phan lc cac
khp ong cua c cau se thay oi. Cac lc tac ong thay oi theo chu ky, phan lc cung
thay oi theo chu ky, tao nen hien tng rung ong tren may, lam giam hieu suat cua may,
tang o mon cua cac thanh phan khp ong, giam tuoi tho cua may, giam o chnh xac cua
may.
Trong cac lc tac ong len may thay oi o, nhng rung ong do lc quan tnh thay
oi gay ra la co the khac phuc c. Thc te thay rang lc quan tnh la nguyen nhan chu
yeu gay nen hien tng rung ong tren may. Khi van toc cua may thay oi cang ln, lc
quan tnh cung cang ln. Co khi lc quan tnh ln hn rat nhieu, so vi tai trong tnh at
len may.
Tm cach kh hoan toan hoac 1 phan rung ong do s thay oi co chu ky cua lc
quan tnh gay nen, la nhiem vu het sc quan trong. o la noi dung cua can bang may, tc
la tm cach phan bo hoac at them, thao bt khoi lng cua cac khau, sao cho co the, cac
lc quan tnh can bang lan nhau.
3.1. Can bang khau quay :
Khau quay thng c lap tren cac truc, at tren cac goi ta. Nhng v du ve khau
quay: banh xe, tuoc bin cung vi truc, li ca lap tren truc quay, ro to cua ong c
Ta se nghien cu 2 kieu khau quay :
3.1.1) Khau quay mong (a mong)
Vi vat quay mong, kch thc chieu truc nho, so vi kch thc ng knh. Trong
lng cua vat quay mong xem nh ch phan bo tren 1 mat phang vuong goc vi truc quay.
Can bang vat quay mong goi la can bang tnh
Nguyen tac can bang :
Xet 1 khau quay co khoi lng phan bo tren 1 mat phang, gia s cac khoi lng tap
trung la m1, m2, m3 ti cc v tr r1 , r2 , r3 .
Pl1
Pl2
m1
m2
r1
rd
m3 r3
r2
0
D
m2 r2
r3
m3
md
m1 r1
m rd
Pl3
Hnh 6-9: cch tnh cn bng khu quay mng

+ Truc quay vi van toc goc . Lc ly tam do co khoi lng gay ra:
2
2
2
P l1 = m1. r 1. , P l2 = m2. r 2. , P l3 = m3. r 3.
Gio trnh Nguyn L My
45
Khoa C kh - Cng ngh
+ Neu tong cac lc quan tnh ly tam khong bang khong, phng chieu cua lc quan
tnh tong hp luon luon thay oi, quay cung truc. Phan lc cac goc ta se thay oi vi chu
ky bang chu ky quay cua vat quay, gay rung ong.
+ Muon cac lc quan tnh ly tam triet tieu, phai lap them oi trong, lc quan tnh ly
tam cua oi trong P phai triet tieu cac lc quan tnh tren:
Ngha l:
P l1 + P l2 + P l3 + P = 0
m1 r 1 + m2 r 2 + m3 r 3 + m r = 0
(6-11)
Trong m, r la khoi lng , ban knh vec t khoi tam cua oi trong.
+ Dung hoa o vec t ta xac nh c m. r .
Cho tr so cua r ta tnh c m can them vao, co the khong can them oi trong m,
ma bt i 1 khoi lng m iem xuyen tam.
Th nghiem can bang tnh: e xac nh lng mat can bang mi r i
a. Phng phap do trc tiep (H.6-10)
1: Chi tit mt cn bng
2: Trc quay
3: Thanh dao
Hnh 6-10: m t phng php d trc tip

at truc chi tiet len 2 li dao nam ngang song song. Neu khong can bang, chi tiet
se t lan tren dao cho en khi trong tam v tr thap nhat tren ng thang ng xuyen
tam. ap mat-tt (hoac at set) vao 1 iem nao o tren ban knh thang pha tren tam quay.
Them hoac bt mat-tt cho en khi vat quay trang thai can bang phiem nh. Khoi lng
va v tr cua khoi mat-tt la ket qua th nghiem.
u iem: thiet b n gian, d thc hin.
Khuyet iem:
- Nng sut thp v tn kh nhiu thi gian.
- Thiu chnh xc do nh hng ma st ln gia trc quay v dao.
b. Phng phap on can:
(Tham kho ph luc 6.2)
c. Phng php th (phng php hiu s mmen)
(Tham kho ph luc 6.3)
3.1.2) Khau quay day:
Vat quay co kch thc chieu truc ang ke so vi kch thc ng knh, goi la vat
quay day, v the khong the xem toan bo trong lng cua vat quay phan bo tren 1 mat
phang vuong goc vi truc quay, cho nen 1 cach tong quat lc quan tnh tren vat quay day
Gio trnh Nguyn L My
46
Khoa C kh - Cng ngh
thu ve khoi tam se c 1 vec t lc quan tnh ( P qt 0) va 1 vec t momen lc quan tnh
( M qt 0).
Nh vay muon can bang vat quay, ta phai thoa man 2 ieu kien tng cac lc quan
tnh bang khong va tong momen cac lc quan tnh bang khong, goi la can bang ong.
Nguyen tac can bang:
Nguyen tac can bang trong trng hp nay la phan phoi lai khoi lng tren 2 mat
phang tuy y chon vuong goc vi tam quay, 2 mat phang nay goi la 2 mat phang can bang.
Xet 1 vat quay nh hnh ve, gia s vat quay co 3 khoi lng (mat can bang) tap
trung m1, m2, m3 trong mat phang 1,2,3 c xac nh bang ban knh vec t r 1, r 2, r 3.
+ Khi vat quay vi van toc goc , se sinh ra cac lc quan tnh P l1, P l2 va P l3 (hnh
6.13).
+ Chon 2 mat phang I, II tuy y vuong goc vi truc quay, phan lc P l1, P l2, P l3 thanh
2 thanh phan tng ng P l1, P l1, P l2 P l2, P l3, P l3 nam trong 2 mat phang I va II.
Tren mat phang I, at oi trong e tao nen lc quan tnh ly tam P 1, sao cho phng
trnh sau c thoa man
P l1 + P l2 + P l3 + P 1 = 0
(6-17)
Cach giai phng trnh nay a c trnh bay phan trc
Mot cach tng t, se tm c khoi lng hoac v tr oi trong e can bang cac lc
mat phang can bang II.
Nh vay, muon can bang khau quay, can phai lap tren khau quay 2 oi trong trong 2
mat phang khac nhau, vuong goc vi truc quay. V tr mat phang can bang c chon tuy y
tren truc, tuy theo ieu kien cau tao cua khau quay. Cung co the chon map phang can
bang trung vi mat phang 1,2,3.
e xac nh v tr, cung nh khoi lng cua oi trong khi can bang 1 chi tiet a c
che tao phai dung cac may can bang ong.
II
I
1
P'l3
Pl3
P'l2
P'l1
P''l3
P''l2
Pl2
Pl1
P''l1
Hnh 6-13: Cn bng khu quay dy.

Gii thieu ve may can bang ong:
May can bang ong co nhieu loai rat khac nhau, nhng ve nguyen ly, loai n gian
co cau tao nh s o tren hnh ve.
Gio trnh Nguyn L My
47
Khoa C kh - Cng ngh

I
II
2
O
O
4
3
A
1
7
Hnh 6-14: S my cn bng ng.

1: Khung, 2: Chi tit cn cn bng, 3: ng c,
4: B phn truyn ng, 5: Khp ni mm, 6: L xo,
7: Gim chn, 8: Dng c ghi, o.
May bao gom :
+ Khung 1 co the lac quanh truc qua A, khung mang vat quay 2.
+ Vat 2 quay quanh truc OO nh ong c 3, qua bo phan truyen ong 4 va khp noi
mem 5.
+ Khp mem 5 co tac dung va chuyen ong quay, va cho phep vat 2 tren khung 1
lac quanh tam i qua A.
+ Khung dao ong 1 noi vi lo xo 6 e tao thanh he dao ong.
+ Giam chan 7 co tac dung tat dao ong t do neu co trong he.
Khi vat mat can bang 2 quay quanh OO, se sinh ra lc quan tnh, ay la nguyen
nhan gay ra dao ong cng bc cua khung 1, dao ong nay c o, ghi nh dung cu 8.
Neu ieu chnh vat quay sao cho mat phang can bang I, cha tam quay qua A th lng mat
can bang tren mat phang I khong anh hng ti dao ong cua khung, khi o dao ong
cng bc cua khung ch do lng mat can bang tren mat phang II gay ra.
Khao sat dao ong cua khung 1, ta hoan toan co the xac nh lng va v tr m2 r 2.
Hoan toan tng t, ta co the xac nh lng va v tr cua m1 r 1 tren mat phang I khi cho
mat phang II cha tam quay qua A.
3.2. Can bang c cau :
Sau ay, se nghien cu can bang toan bo c cau, khi c cau c lap tren mong. Bai
toan can bang c cau la 1 bai toan kha phc tap. ay chung ta ch xet trng hp c cau
phang.
C cau la 1 c he, co khoi tam di ong. Neu thu gon toan bo lc quan tnh ve khoi
tam, se c 1 lc quan tnh chnh va 1 momen chnh. Tren thc te, can bang momen
chnh cua lc quan tnh rat phc tap, thng rt kho thc hien. ay, ta han che ch nghien
cu viec can bang lc quan tnh chnh.
P = m.as
vi m : khoi lng cua c cau.
a s : gia toc khoi tam cua c cau.
Gio trnh Nguyn L My
48
Khoa C kh - Cng ngh
e can bang lc quan tnh, can tm bien phap ky thuat sao cho as = 0, ngha la khoi
tam c cau chuyen ong thang eu hoac co nh. C cau chuyen ong co chu ky , nen S
khong the chuyen ong thang eu c. Cho nen e can bang c cau , can tm ieu kien
sao cho khoi tam cua c cau luon co nh.
Lay c cau tay quay con trt lam v du. Cac khau 1, 2, 3 co khoi lng m1, m2, m3
vi cac trong tam la S1, S2, S3 c xac nh bi r1 , r2 , r3 nh hnh ve. Gia s khoi tam S
cua c cau c xac nh bang ban knh vect r , ta co :
s2
s1
l1
l2
r2
r1
rS
r3
Hnh 6-15: xc nh khi tm S

m r = m1 r1 + m2 r2 + m3 r3
m r = m1 S1 + m2 l1 + m2 S 2 + m3 l1 + m3 l2 + m3 S 3
m1 .S1 + (m2 + m3 ).l1 m2 .S 2 + m3 .l 2 m3 .S 3
(6-18)
+
+
m
m
m
Trong ve phai cua phng trnh ch co S 3 la khong oi con S1 , l1 , S 2 , l2 eu co
r=
phng thay oi, muon r khong oi, ch co cach triet tieu 2 so hang au ngha la :
(m2 + m3 )
.l1
m1
m
S 2 = 3 .l 2
m2
m1 S1 + (m2 + m3) l1 = 0
m2 S 2 + m3 l2
S1 =
=0
(6-19)
ay la ieu kien can bang tren mong cua c cau, dau am trong cong thc cho thay trong
tam cua khau 1 phai nam tren oan keo dai ve pha A cua oan AB va trong tam khau 2
phai nam tren oan keo dai ve pha B cua oan BC. Bo tr khoi lng cua khau 1 va khau
2 thoa man ieu kien (6-19) th khoi tam S se nam co nh tren ng thang AC (H.6-16)
s1
s2
rS
Hnh 6-16: mt cch phn b khi lng

Gio trnh Nguyn L My
49
Khoa C kh - Cng ngh
Ve ly thuyet ta hoan toan co the thc hien ieu kien (6-19), nhng tren thc te viec
can bang tren mong co nhng phien phc nhat nh.
4. HIU SUT
can:
Trong moi chu ky chuyen ong bnh on, cong cua lc phat ong bang cong cua lc
A = Ac
Cong can Ac gom co 2 phan chnh: cong can co ch Aci la cong cua cac lc can ky
thuat e hoan thanh nhiem vu cong nghe, va cong can co hai la cong dung e thang cac
lc can co hai (lc ma sat trong cac khp ong, lc can cua moi trng chung quanh)
trong o chu yeu la cong dung e thang lc ma sat Ams. Do o:
A = Aci + Ams
e anh gia hieu qua s dung nang lng vao cong viec co ch cua may, dung ch
tieu c goi la hieu suat cua may.
= Aci / A
(6-20)
(cung co the dung ch tieu khac, goi la he so ton that nang lng, ky hieu la:
= Ams / A . D nhien: + = 1)
Nh vay = Aci / A = (A Ams) / A = 1 Ams / A
oi vi khp ong, A chnh la nang lng c truyen vao khp, Aci la nang lng
nhan c sau khi truyen qua khp ong.
Hieu suat cua khp ong, cua c cau co the xac nh bang tnh toan, bang thc
nghiem. Trong cac so tay ky thuat, co cho nhng gia tr cua hieu suat cac khp ong hoac
c cau thng dung, v du: hieu suat cua o lan, o trt, c cau banh rang, xch, ai truyen
Cn phai tm hieu suat cua 1 he thong cac khp ong, c cau c ghep lai vi nhau.
4.1. He thong khp ong, c cau, may, lap noi tiep.
Gia s co 1 he thong bao gom n khp ong, c cau may, c lap noi tiep, co s o
truyen nang lng nh hnh ve.
A1
A2
An
Aci
Hnh 6-17: khp ng lp ni tip

Nang lng a vao he thong la A. Sau khi ra khoi he thong, e khac phuc lc co
ch, nang lng con lai la Aci. Hieu suat cua he thong la:
= Aci / A = An / A = (An / An-1) x (An-1 / An-2) x.. x (A2 / A1) x (A1 / A)
(6-21)
Hay
= 1 x 2 x .x n
Trong o 1, 2 , n la hieu suat cua cac khp ong 1,2n
Gio trnh Nguyn L My
50
Khoa C kh - Cng ngh
V du: tnh hieu suat cua he thong cua khp ong va c cau nh hnh ve. Nang lng t
ong c truyen en bang tai theo 1 he thong at noi tiep nh sau:
3
I
2
II
III
19.
4
5
Hnh 6-18: mt v d
Do o, hieu suat cua tram dan ong bang tai se bang:
= Aci / A = ai x 3 x 2br
4.2. He thong lap song song.
Xet n khp ong, c cau c lap song song, vi s o truyen nang lng nh H.6-
Trong he thong lap song song, nang lng c chia thanh A1, A2, An e truyen
qua cac c cau 1,2,n vi ieu kien: A = A1 + A2 + + An
Mt khc: A1 = Aci1 / 1 ; A2 = Aci2 / 2
V vay hieu suat cua he thong lap song song se la:
n
= Aci / A =
A
i =1
n
cii
(6-22)
Acii
i =1
Trng hp ac biet, neu hieu suat cua cac c cau eu bang nhau:
1 = 2 = = n = c
Th hieu suat cua he thong se bang:
n
Aci
i =1
n
Aci
i =1
Gio trnh Nguyn L My
A
i =1
ci
. Aci = c
(6-23)
i =1
51
Khoa C kh - Cng ngh
V vay hieu suat cua he thong c cau lap song song, trong o hieu suat tng c cau
bang nhau, bang hieu suat cua 1 c cau trong he.
ng c
Aci1
Aci2
Acin
Aci1
Aci2
Acin
Hnh 6-19: khp ng lp song song

4.3. He thong hon hp.
Thong thng trong cac may, dung cac he thong khp ong, c cau va lap song
song, va lap noi tiep. Vi 1 he thong lap hon hp nh vay, khong the tm c cong thc
duy nhat e xac nh hieu suat cua no. Can phai phan tch chung thanh nhng he song
song va noi tiep rieng, sau o dung cac cong thc (6-21) va (6-22) e tnh hieu suat cua he
thong, v du hnh ve tren la 1 he thong lap hon hp.
Aci1
Aci2
Aci3
Hnh 6-20: khp ng lp hn hp

Gio trnh Nguyn L My
52
Khoa C kh - Cng ngh
Phn tch h thng ny, ta thy t ng c n ni cng tc Aci1, Aci2, Aci3, nng lng c
truyn theo 3 chui lp ni tip, hiu sut ca tng chui c tnh theo cng thc lp ni tip.
ba chui ny c lp song song, nn hiu sut ca ton h thng c tnh theo cng thc lp
song song, trong o i l hiu sut trn tng chui ni tip trn.
Gio trnh Nguyn L My
53
Khoa C kh - Cng ngh
Phn III. CC C CU
Chng 7: C cu nhiu thanh
1. I CNG
- Trong cc phn trc, ly v d minh ha, ta gp nhiu loi c cu ny, trong
chng ny s nghin cu c cu nhiu thanh mt cch tng qut.
- So vi cc loi c cu khc, c cu nhiu thanh c nhng c im sau: lu mn, tui
th cao, kh nng truyn lc ln; c cu to n gin, d ch to v lp rp; d dng thay i
kch thc ng; kh thit k c cu theo 1 quy lut chuyn ng cho trc.
- Trong c cu nhiu thanh, c cu 4 khu bn l l c cu thng gp v in hnh
nht. C cu 4 khu bn l l c cu gm c 4 khu ni vi nhau bng cc khp quay (cn gi
l khp bn l), lc hnh 7-1.
2
B
3
1
A
Hnh 7-1: c cu 4 khu bn l

Trong :
+ Khu c nh gi l gi: khu 4.
+ Khu i din khu c nh gi l thanh truyn c chuyn ng song phng:
khu 2.
+ Hai khu cn li, nu quay c ton vng gi l tay quay, nu khng quay
c ton vng gi l cn lc.
2. CC BIN TH TRONG C CU BN KHU BN L
2.1. Thay i kch thc ng ca khu
Hnh 7-2a l c cu 4 khu bn l, cho chiu di khu 3 ln v cng, im D li xa v
tn, chuyn ng khu 3 tr thnh tnh tin theo phng trt xx. N u xx khng i qua tm A,
ta c c cu tay quay con trt lch tm (H.7-2b), nu xx i qua tm A, ta c c cu tay
quay con trt ng tm (H.7-2c).
2.2. Thay i khu c nh
+ Ta bit rng, chuyn ng tng i gia cc khu khng thay i khi i gi. Trn
c cu tay quay con trt chnh tm, nu chn khu 2 lm gi, ta c c cu xy-lanh quay
(cn gi l c cu cu-lt lc nh H.7-2d) v nu ly khu 1 lm gi, ta c c cu cu-lt nh
H.7-2e.
Gio trnh Nguyn L My
54

2
Khoa C kh - Cng ngh

B
C
3
1
A
a)
b)
B
C
1
D
1
4
A
c)
d)
B
2
f)
e)
g)
h)
D
2
1 B
4
C
2
k)
A
i)
Hnh 7-2: cc bin th ca c cu 4 khu bn l

Gio trnh Nguyn L My
55
Khoa C kh - Cng ngh
+ T c cu cu-lt, nu dch tm quay B ra xa v cng th khu 2 c chuyn ng tnh

tin, khp quay B v tn tr thnh khp tnh tin gn, ta nhn c c cu tnh tang (H.72f). Cng t c cu cu-lt, nu ta dch tm A ra xa v cng, ta c c cu tnh sin (H.7-2g), c
cu tnh sin ny cng c th biu din bng lc nh H.7-2h.
+ T hnh 7-2h, nu ly khu 4 lm gi, ta c c cu Ellip (H.7-2i); nu ly khu 2 lm
gi, ta c c cu Ondam (H.7-2k).
3. C IM NG HC CA C CU NHIU THANH
3.1. T s truyn
C cu 4 khu bn l ABCD trn hnh 7-3a, bin chuyn ng quay ca khu 1 vi vn
tc gc 1, thnh chuyn ng quay ca khu b dn 3 vi vn tc gc 3. Mt thng s quan
trng c trng cho c cu l t s truyn:
i13 = 1
(7-1)
3
I
C
2
1
A
D
4
1
P (P1=P3)
1
A
1 P
D
4
Hnh 7-3: tm quay tc thi

a) nh l Kennedy (1847 1928)
Trong chuyn ng tng i ca khu 3 so vi khu 1 (chn khu 1 lm gi), vn tc
im C v D lun vung gc vi BC v AD. V vy tc thi c th xem chuyn ng tng
i ca khu 3 so vi khu 1 l chuyn ng quay quanh giao im P ca BC v AD (H.7-3a).
Tng t ta cng c tm quay tc thi trong chuyn ng tng i ca khu 4 so vi khu 2
l giao im I ca AB v CD.
Pht biu nh l: Trong c cu 4 khu bn l, tm quay tc thi trong chuyn ng
tng i gia 2 khu di din l giao im 2 ng tm ca 2 khu cn li.
b) nh l Willis (1800 1875)
+ Theo khi nim tm quay tc thi, ta c im P1 thuc khu 1 v im P3 thuc khu
3 hin ang trng nhau ti P, th V P1 = V P 3
M khu 1 ang quay quanh A
VP1 = 1.lPA
Khu 3 ang quay quanh D
VP3 = 3.lPD
l
PD
1.lPA = 3.lPD
i13 = 1 = PD =
(7-2)
3
l PA
PA
+ Pht biu nh l: Trong c cu 4 khu bn l, ng thanh truyn BC chia ng
gi AD thnh 2 on t l nghch vi vn tc gc ca 2 khu ni gi.
+ N hn xt:
Khi lm vic, im P lun thay i, m 1 = const nn 3 const. N gha l c cu bin
1 chuyn ng quay u thnh 1 chuyn ng quay khng u. N hng c bit vi c cu
Gio trnh Nguyn L My
56
hnh bnh hnh, (im P xa v tn, lc i13 =
Khoa C kh - Cng ngh
1
PD
=
= 1) bin 1 chuyn ng quay u
3
PA
thnh 1 chuyn ng quay u.

Khi P nm ngoi on AD th 1 v 3 cng chiu nhau nn i13 = 1/3 > 0.
Khi P nm trong on AD (H.7-3b) th 1 v 3 ngc chiu nhau nn i13 = 1/3 < 0.
Khi P A th i13 = PD/PA PD/0 ngha l 3 = 0, khu 3 dng tc thi 2 v tr
(tay quay AB v thanh truyn BC dui thng ra hay gp li). Hai v tr ny ca khu 3 (cng
nh v tr ca c cu ti v tr ny), c gi l v tr bin hay v tr cht.
3.2. H s nng sut
Trong nhng c cu m khu b dn c chuyn ng 2 chiu i v v nh trn hnh 7-4,
thng thng 1 chiu lm vic, 1 chiu chy khng. N gi thit k phi m bo cho thi gian
chy khng cng ngn cng tt, xt n iu kin ny, ngi ta a ra mt i lng gi l
h s nng sut (cn gi l h s v nhanh, h s lm vic) v c nh ngha l t s gia
thi gian lm vic v thi gian chy khng trong 1 chu k lm vic ca my.
k = tlv/tck
(7-3)
Hnh 7-4: m t cch xc nh h s nng sut

N u chn chiu lm vic, chiu chy khng v chiu quay khu dn 1 nh hnh v th
gc quay khu dn ng vi thi gian lm vic, thi gian chy khng l lv, ck.
/
t
k = lv = lv 1 = lv
tck ck / 1 ck
Gi = C1 AC 2 l gc nhn to bi 2 v tr ca khu dn ng vi 2 v tr bin, ta c:
lv = 180o + v ck = 180o -
180o +
k=
(7-4)
180o
Gio trnh Nguyn L My
57
3.3.
Khoa C kh - Cng ngh
iu kin quay ton vng ca khu ni gi
C
2
3
B
1
l1
1
A
R=l2+l3
D
4
r=|l2+l3|
Hnh 7-5
Do yu cu lm vic, mt khu ni gi buc phi quay ton vng hay khng.

Gi s ta tm iu kin khu 1 quay ton vng.
- Khu 1 quay ton vng khi qu o ca im B trn c cu l c vng trn. im B
trn c cu l v tr ni ng gia im B trn khu 1 (B1) v im B trn khu 2 (B2), nh vy
im B trn c cu n v tr no th im B1 v B2 phi n c v tr .
- V vy ta tng tng tho khp B, ta c:
+ Qu o im B1 l vng trn tm A, bn knh l1.
+ Qu o im B2 quay quanh D v cch D xa nht vi bn knh (l2 + l3), gn D
nht vi bn knh (l2 l3), nh vy ta c th ni rng im B2 chuyn ng trong min vnh
khn tm D vi bn knh ln R = (l2 + l3), bn knh nh r = (l2 l3), min ny gi l min vi
ti ca im B2.
- Vy khu 1 quay ton vng th qu tch ca im B1 phi nm trong min vi ca
im B2. Kch thc cc khu phi tho mn:
l1 + l4 l2 + l3
l4 l1 l2 l3
(7-5)
Lp lun tng t nh trn, ta c th tng tng tho khp C tm iu kin quay

ton vng ca khu 3.
Mt cch tng qut, c th pht biu iu kin quay ton vng theo nh l sau: Mt
khu ni gi quay ton vng khi v ch khi qu tch ca 1 im trn khu ni gi nm trong
min vi ti ca im trn thanh truyn ni vi im .
nh l ny hon ton ng cho c c cu khng gian v c c cu c nhiu bc t do.
Gio trnh Nguyn L My
58
Khoa C kh - Cng ngh
4. C IM NG HC CA CC BIN TH THNG GP
4.1. C cu tay quay con trt
P
B
2
1
1
x
C2
ck
lv
v3
C1
B
P
lv
l1
B1
l2
l2
A
x
C
x
ck
l2
B2
Hnh 7-6: m t c im ng hc c cu tay quay-con trt

- Quan h ng hc: (H.7-6a)
+ c im cu to: tm quay D xa v tn nn ng gi AD l ng thng i qua
A v vung gc vi phng trt xx ca khu 3. Tm vn tc tc thi l P.
+ Quan h ng hc: 1.lPA = VC
(7-6)
- H s nng sut: (H.7-6b)
+ Hnh trnh lm vic ca khu 3 l: HC = lC1C2; nu l c cu tay quay con trt
chnh tm th HC = 2.lAB.
+ Cc gc lm vic v chy khng c th hin hnh v.
- iu kin quay ton vng: (H.7-6c)
+ c im: lCD ln v cng nn min vnh khn ca c cu 4 khu bn l tr thnh
mt dy ca mt phng gii hn bi hai ng thng song song v cch phng trt xx mt
on bng l2.
+ iu kin quay ton vng: l1 + e l2.
(7-7)
Gio trnh Nguyn L My
59
4.2.
Khoa C kh - Cng ngh
C cu cu-lt
P
B
A
1 1
3
2
a)
Chy khng
Lm vic
lv
B
A
1
ck
B2
B1
b)
c)
Hnh 7-7: m t c im ng hc c cu cu-lt

- Quan h ng hc: (H.7-7a)
+ c im cu to: ng thanh truyn BC l ng thng i qua B v vung gc vi
BD v tm quay C xa v tn. Tm vn tc tc thi l P.
+ Quan h ng hc: 1.lPA = 3.lPD
(7-8)
- H s nng sut: (H.7-7b)
+ Hai v tr bin ca c cu l v tr tay quay OA vung gc vi cu-lt 3 v th gc lc
ca cu-lt bng vi gc .
+ Cc gc lm vic v chy khng c th hin hnh v.
- iu kin quay ton vng: (H.7-7c)
+ c im: Tng tng tho khp B, min vi ca B2 l c mt phng. nh vy c
cu cu-lt, khu i din vi cu-lt (khu 1) bao gi cng quay c ton vng.
+ Cu-lt 3 quay c ton vng khi im B trn c cu n c v tr trn phng AD
v pha D nh hnh v, ngha l khu 3 quay ton vng khi:
lAB lAD
(7-9)
Gio trnh Nguyn L My
60
Khoa C kh - Cng ngh
5. GC P LC
N goi cc ch tiu ng hc nu trn, v phng din ng lc hc, mt ch tiu quan
trng trong c cu phng ton khp thp l gc p lc. Gc p lc l gc hp gi vect lc tc
dng v vect vn tc ca im t lc.
c cu 4 khu bn l, tay quay con trt nu b qua trng lng ca cc khu v
ma st cc khp th lc P truyn t khu dn sang khu b dn nm dc theo thanh truyn
(H.7-8). Gc c gi l gc p lc.
P
B
VC
2
B
1
A
VC
Hnh 7-8
ngha ca gc p lc:
+ Ta bit cng sut ca lc tc dng P l:
(7-10)
N P = P . V = P.VC.cos
N h vy gc phn nh tc dng gy ra chuyn ng ca lc P . Gc cng ln th N P cng
nh. Khi = 90o th N P = 0. V th khi thit k phi m bo sao cho gc p lc nh hn 1
gi tr nht nh v c gng cng nh cng tt.
+ Trong qu trnh chuyn ng, kh trnh khi c cu v tr c = 90o, v d c cu 4
khu bn l (H.7-9a), c cu tay quay con trt (H.7-9b), vi khu 1 l khu dn v tr tay
quay dui thng ra hay gp li, trong trng hp ny lc tc dng t khu dn sang khu b
dn khng c tc dng lm cho khu b dn chuyn ng (y chnh l v tr bin), c cu tip
tc chuyn ng c l nh qun tnh v khi qua khi v tr ny th 90o v lc tc dng
li gy ra chuyn ng.
VC1
B2
B1
VC1
C1
B2
C1
B1
2
1
C2
VC2
1
1
C2
3
O
VC2
Hnh 7-9: m t v tr bin

6. MT S NG DNG CA C CU NHIU THANH
C cu nhiu thanh c ng dng rng ri trong k thut. Sau y l mt s v d:
- C cu ng c 2 xylanh kiu ch V (H.7-10), bin chuyn ng tnh tin ca 2
piston 3 v 5 thnh chuyn ng quay ca khu 1 quanh A. Cng c cu ny nu dng
Gio trnh Nguyn L My
61
Khoa C kh - Cng ngh
bin chuyn ng tnh tin ca khu 3 thnh chuyn ng quay ca khu 1 (lm nhim v ca
ng c n) ri bin chuyn ng quay ca khu 1 thnh chuyn ng tnh tin ca khu 5
(lm nhim v nh bm piston); trong trng hp ny ta c ng c nn kh.
E
5
D
2
B
1
Hnh 7-10: c cu ng c 2 xy lanh, kiu ch V

- C cu thanh khng gian trong my nng nghip.
Trong my nng nghip, c bit l trong cc my thu hoch, thng gp c cu thanh
khng gian, phn ln cc c cu ny l cc c cu khng gian 4 khu kt hp vi mt chui
ng phng. Trn hnh 7-11a l s ng ca c cu thc OABKC dng dn ng cho
dao trn my gt p lin hp C.4. y cn lu rng do c im ca my nng nghip
nn cc khu c tc lm vic thp v khng i hi phi c chnh xc chuyn ng cao.
V vy chuyn ng khng gian tng i ca cc khu trong phm vi nh c th thc hin
nh khe h khp ng v n hi ca cc khu. N h m kt cu ca cc khp ng v
cc khu trong c cu s rt n gin. V d s trn, nh khe h cc khp A v C nn
n bo m cho cc khu c chuyn ng khng gian tng i vi chuyn v nh. Thc ra
c th hnh dung ng chuyn ng ca cc khu trong c cu, cc khp ny phi c thay
th bng cc khp cu A v cu-lt C.
Hnh 7-11b l s ng ca c cu thanh khng gian OA1A2BO1O2CDE c trc lc
BO1O2C dn ng cho dao trong my ct c KH.1.4.
A
O1
B
A'
A2
A1
O2
C
D
Dao
E
C
Dao
C'
b)
a)
Hnh 7-11: lc ng ca dao ct
Gio trnh Nguyn L My
62
Khoa C kh - Cng ngh
- C cu my ca sc (H.7-12)
y l c cu 4 khu phng, dng tay quay con trt. Tay quay 1 dn ng cho con
trt 3 chuyn ng tnh tin theo phng ng. Con trt 3 mang khung ca v li ca 4.
Cy g cn ca 6 c con ln 5 Ny vo. Hnh trnh lm vic l hnh trnh li ca chuyn
ng t trn xung.
5
6
3
Vs
Hnh 7-12: lc ng my ca sc
- C cu my sng lc phng (H.7-13)
y l dng c cu 4 khu bn l phng.
+ Hnh 7-13a l s my sng lc phng c khung sng t nghin trn cc thanh
treo.
+ Hnh 7-13b l s my sng lc phng c khung sng t nghin trn cc thanh
ng.
+ Hnh 7-13c l s my sng lc phng c khung sng t ngang trn cc thanh
n hi.
b)
a)
c)
Hnh 7-13: lc ng my sang lc
Gio trnh Nguyn L My
63
Khoa C kh - Cng ngh
Chng 8: C cu cam
1. I CNG
1.1. Khi nim v c cu cam
C cu cam l c cu khp loi cao, c
kh nng thc hin c nhng chuyn ng c
chu k phc tp ca khu b dn vi chnh
xc cao.
Khu dn ca c cu c gi l cam, cn
khu b dn c gi l cn (H.8-1).
+ O1B l kch thc ng ca khu 1, O1B
thay i trong qu trnh lm vic.
+ Khp cao gia khu 1 v khu 2 l B.
Hnh 8-1: C cu cam
1.2. u nhc im
- u im: Chn bin hnh cam (thit k c cu cam) theo mt quy lut chuyn ng
cho trc (ca cn) th d dng.
- N hc im: C khp cao B tip xc theo im hay theo ng, dn n hao mn
nhanh b mt lm vic; c khuynh hng tho khp; kh khn trong vic ch to chnh xc
b mt lm vic ca cam.
1.3. Phn loi
Theo mt phng chuyn ng ca cam v cn, ta c cam phng v cam khng gian. N u
mt phng chuyn ng ca cam trng hay song song vi mt phng chuyn ng ca cn Ny,
ta c cam phng; nu mt phng chuyn ng ca cam ct mt phng chuyn ng ca cn
Ny ta c cam khng gian.
a)
1
b)
c)
Hnh 8-2: Cam khng gian (cam thng). 1: Cam; 2: Cn.

Theo hnh dng u cn ta c cc loi: cn u nhn (H.8-3a), cn u bng (H.8-3b),
cn u cong (H.8-3c), cn u con ln (H.8-3d).
Gio trnh Nguyn L My
64
a)
Khoa C kh - Cng ngh
b)
d)
c)
Hnh 8-3: Hnh dng u cn

Theo chuyn ng ca cn: Cam cn tnh tin (H.8-4a,b,c,g,h) v cam cn lc (quay)
(H.8-4d,e,f).
C
2
B
a)
b)
c)
2
B
C
2
1
A
e)
d)
2
f)
2
B
g)
A
h)
A
Hnh 8-4
2. CC THNG S C BN CA C CU CAM
2.1. Thng s hnh hc ca cam
- Bn knh vect ln nht Rmax v bn knh vect nh nht Rmin ca bin dng cam.
- Cc gc cng ngh: l gc c xc nh trn bin dng cam ng vi cc cung lm
vic khc nhau ca bin dng ny. cn chuyn ng qua li v c lc dng th trn bin
dng cam phi c 4 gc cng ngh:
+ Gc cng ngh i xa : ng vi giai on cn i xa tm cam.
+ Gc cng ngh ng xa x: ng vi giai on cn ng yn v tr xa tm cam nht.
Gio trnh Nguyn L My
65
nht.
Khoa C kh - Cng ngh
+ Gc cng ngh v gn v: ng vi giai on cn v gn tm cam.

+ Gc cng ngh ng gn g: ng vi giai on cn ng yn v tr gn tm cam
cn chuyn ng qua li, ti thiu trn bin dng cam phi c 2 gc , v.

2.2. Thng s ng hc ca c cu cam
- i vi c cu cam cn tnh tin u nhn (H.8-4a):
+ lch tm e = AH, trong H l chn ca ng vung gc h t tm cam A n
phng trt BC ca cn.
+ Khi e = 0 tc l khi phng trt BC i qua tm A, ta c c cu cam cn tnh tin
chnh tm.
- i vi cam cn lc u nhn (H8-4d):
+ Khong cch tm cam tm cn lAC.
+ Chiu di cn lBC (chiu di on thng ni tm cn v u nhn ca cn).
- Cc gc nh k l gc quay ca cam ng vi cc giai on chuyn ng khc nhau
ca cn.
+ Gc nh k i xa : ng vi giai on cn i xa tm cam.
+ Gc nh k ng xa x: ng vi giai on cn ng yn v tr xa tm cam nht.
+ Gc nh k v gn v: ng vi giai on cn v gn tm cam.
+ Gc nh k ng gn g: ng vi giai on cn ng yn v tr gn tm cam nht.
C
Bm
d
A
a)
2
B'm
Bm
Bo
B'm
1
H
Bo
1
b)
Hnh 8-5: Gc cng ngh v gc nh k trn c cu cam

N i chung cc gc cng ngh v cc gc nh k tng ng khng bng nhau:
;
v v
i vi cam cn tnh tin u nhn, gc cng ngh v gc nh k bng nhau, th
phng trt BC i qua tm cam A, tc l ng vi c cu cam cn tnh tin chnh tm. Cn
i vi cam cn lc u nhn, phi c iu kin: 3 im A, Bo, Bm thng hng.
2.3. Thng s lc hc ca c cu cam
- Gc p lc u cn l gc hp bi php tuyn Bn ca bin dng cam ti im tip xc
gia cam v cn vi vn tc VB 2 ca u cn B ti v tr ny: = (Bn, VB 2 ) (H.8-6). Gc p
lc u cn ni chung bin thin theo v tr tip xc B gia cam v cn.
Gio trnh Nguyn L My
66
Khoa C kh - Cng ngh
- Gc p lc u cn c trng cho kh nng truyn lc ca c cu cam. Tht vy, xt

c cu cam cn tnh tin u nhn trn H.8-6a. Gi N v F ln lt l p lc v lc ma st t
cam tc dng ln cn, v P = N + F th cng sut truyn t cam sang cn l :
(8-1)
W = P.VB2.cos(+)
vi l gc ma st gia cam v cn. Khi gc p lc cng b, cng sut truyn ng cng
ln, hay ni khc i hiu qu ca lc Ny P cng ln.
C
VB2
B
n
A
a)
VB2
P
1
B
1
n
A
b)
Hnh 8-6: Gc p lc trn c cu cam

3. PHN TCH NG HC C CU CAM.
N i dung: xc nh quy lut chuyn ng ca cn (v tr, vn tc, gia tc) khi bit quy
lut chuyn ng ca cam v bin hnh cam, v tr tm quay ca cam ng vi cn.
Phng php: dng phng php th ng hc.
3.1. Cam cn u nhn.
a. Cam cn tnh tin u nhn.
Chuyn v ca cn c xc nh t v tr thp nht B0 ca cn n v tr ang xt. th
chuyn v ca cn biu th lin h gia chuyn v s v gc quay a cam.
Lp th chuyn v: c th dng hai phng php.
Phng php trc tip:
Chn in B1 bt k trn bin dng cam. S tm cch xc nh chuyn v s1 v gc quay
ca cam 1 tng ng, khi m B1 n tip xc vi cn.
V im B1 thuc cam, nn khi chuyn ng, qu o ca B1 l vng trn tm O, bn
knh OB1. Giao im B1 ca vng trn ny v phng tnh tin ca u cn chnh l v tr ca
im B1 khi n tip xc vi cn. N h vy cam quay gc B1OB1 = 1, cn tnh tin mt
khong B0B1 = s1. a 2 gi tr ny ln h trc ta sI (sau khi chn t l xch ca tng
trc ta tng ng) s nhn c 1 im ca th chuyn v. Lp li qu trnh xc nh
nh trn cho nhiu im Bi (i = 1,2,,n) nm trn bin dng cam, s c n im trn h trc
ta sI. N i cc im ny thnh mt ng cong lin tc, s c th chuyn v ca cn.
Gio trnh Nguyn L My
67
Khoa C kh - Cng ngh
Hnh 8-7: m t cch v th chuyn v (cn tnh tin)

Phng php i chuyn ng:
Phng php trc tip c nhc im l cc khong chia trn trc honh s khng u
nhau, khc phc ta dng phng php i chuyn ng. Trong phng php ny, s chn
gc i trc, sau s tm chuyn v si tng ng. V vng trn tm sai (tm O, bn knh e)
tip xc vi phng tnh tin ca u cn ti A0. T B1 v tip tuyn B1A1 vi vng trn tm
sai.
Hai tam gic vung B1OA1 v B1OA0 bng nhau
B1OA1 = B1' OA0
B1OB1' = A1OA0 = 1
T nhng nhn xt trn, nu chn trc 1, c th v c gc A1OA0 , ngha l c th
xc nh im A1. T im A1 v tip tuyn vi vng trn tm sai. Tip tuyn ny ct bin
bng cam ti im B1. Dng phng php trc tip nh trnh by trn, s xc nh c s1
tng ng vi 1 chn trc.
V gc 1 chn trc, nn s chn cc gc c trong cc loi -ke v chn sao cho cc
khong chia trn trc honh bng nhau. V vy vic v th chuyn v s d dng hn.
Thc cht phng php i chuyn ng l ta xt chuyn ng tng i ca cn i
vi cam (cam c dnh), cn s va tnh tin va quay quanh tm O theo chiu ngc vi chiu
quay ca cam.
Bng phng php trn c th xc nh chuyn v si ca cn, ng vi gc quay i ca
cam (i = 1,2,...,n) vi n l s v tr cn xt trong mt vng quay ca cam (n = 6,8,12,32).
Qu trnh chuyn ng ca cn, ni chung gm 4 giai on: cn i xa (ng vi gc );
cn ng xa (x); cn v gn (v); v cn ng gn (g). Cc gc , x, v, g l cc gc
nh k ca c cu cam, d nhin: + x + v + g = 2.
th chuyn v, vn tc, gia tc ca cn c biu th H.8-8. Trong hm v() =
ds/d nhn c di dng th bng cch vi phn th s(), v
ds ds d
=
= v( ).1
(8-2)
v(t) =
dt d dt
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68
Khoa C kh - Cng ngh
th gia tc a() c th tm c nh vi phn th v(), v

d
d 2 s dv(t )
dv( )
a(t ) = 2 =
=(
.1 + v( ). 1 )
dt
dt
dt
dv( ) d
= a( ).12
1 = const a (t ) = 1 .
d dt
dt
(8-3)
S
a)
t
0
v()
10
12
b)
t
H1
a()
c)
H'
H2
Hnh 8-8: m t cch v th chuyn v-vn tc-gia tc (cn tnh tin)

b. Cam cn quay u nhn.
Chuyn v ca cn:
Gi s ti thi iNm u tin, cam v cn tip xc nhau ti im B0. Chuyn v ca cn
c xc nh bi gc quay . th chuyn v biu din lin h gia gc quay theo gc
quay ca cam l .
Phng php trc tip:
Gio trnh Nguyn L My
69
Khoa C kh - Cng ngh
Chn im B1 bt k trn bin dng cam. Khi cam quay, im B1 chuyn ng trn
vng trn tm O, bn knh OB1. u cn chuyn ng trn vng trn tm C, bn knh B0C.
Giao im B1 ca 2 qu o ny l v tr u cn, khi im B1 n tip xc vi cn.
Khi B1 quay n B1, cam quay mt gc 1 = B1OB1' v cn quay mt gc 1 =
B1CO (chn OC lm gc o gc).
Sau khi chn t l xch thch hp, a hai gi tr ny ln h trc ta O ta nhn
c 1 im ca th chuyn v ca cn. Lp li qu trnh trn i vi cc im Bi trn bin
dng, s v c th chuyn v (), th hin H.8-9.
Hnh 8-9: m t cch v th chuyn v (cn quay)

V vng trn tm O, bn knh OC. T B1 v cung trn tm B1, bn knh bng chiu di
ca cn, cung trn ny ct vng trn trn im C1.
Xt 2 tam gic B1OC1 v B1OC, hai tam gic ny bng nhau
B1OC1 = B1OC
N u bt gc B1OC1 cho c hai gc trn, ta c:
Gio trnh Nguyn L My
70
Khoa C kh - Cng ngh
B1OB1 = C1OC = 1
N h vy nu chn trc gc 1, c th tm c im C1 v C1OC = 1
T im C1 c th tm im B1 tng ng (v B1 l giao im ca vng trn tm C1, bn knh
bng chiu di cn n bin dng cam).
Sau khi c B1, dng phng php trc tip s xc nh c 1 tng ng. V gc i
chn trc nn c th chn nhng gc d o (v d: 30o, 45o, 60o,).
Bng phng php trn, c th xc nh chuyn v gc i ng vi gc i cch u (i =
1,2,..., n), y n l s v tr cn xt trong mt vng quay ca cam (c th chn n =
6,8,12,16). N h vy Ci l nhng im chia u ng trn tm C, bn knh OC.
th chuyn v ca cn th hin H.8-9b.
= max - min gi l gc lc ca cn.
- Vn tc ca cn:
d
Vi phn th = () ta c th 2 ( ) =
v 2 (t ) = 2 ( ).1
d
- Gia tc ca cn:
d ( )
Vi phn th 2() ta c th 2 ( ) = 2
v 2 (t ) = 2 ( ).12
d
3.2. Cam cn u bng.
- Vi cam cn u bng, u cn tip xc vi cam theo ng thng. Trn u cn,
im tip xc gia cam v cn khng phi l mt im c nh, m lun lun dch chuyn trn
y cn (H.8-10).
- th chuyn v s().
Phng php trc tip:
Chn im B1 ty trn bin dng cam, ti B1 k tip tuyn t1t1 vi bin dng cam. Gn
cht tip tuyn vi cam. Khi tip tuyn quay quanh O, n v tr song song vi u cn, th
t1t1 s trng vi u cn, cam v u cn s tip xc ti B1. N h vy cam (hoc tip tuyn vi
cam ti B1) quay 1 gc 1 v tng ng, cn tnh tin ln mt on s1. Lp li qu trnh
trn vi cc im Bi (i = 1,2,,n) trn bin dng cam, s lp c th s().
x4
Hnh 8-10: m t cch v th chuyn v (cn u bng)

Gio trnh Nguyn L My
71
Khoa C kh - Cng ngh
V ng OH1 vung gc vi t1t1. Gc bOH1 = 1 (v c cc cnh vung gc vi t1It1).

V vy nu cho trc gc 1, c th v c na ng thng Ob1. V tip tuyn t1t1 vi bin
dng cam v vung gc vi Ob1. T s xc nh c im B1 (l im tip xc ca t1t1 vi
bin dng cam)
Cc bc tip theo xc nh tng t nh phng php trc tip.
th vn tc v gia tc ca cn c xc nh cng tng t nh cam cn tnh tin
u nhn.
3.3. Cam cn u con ln.
i vi cam cn u con ln (H.8-11), u cn lun lun cch u bin dng cam 1
khong bng bn knh con ln. u cn lun lun tip xc vi bin dng cam l thuyt, cch
u bin dng thc t 1 khong cch bng bn knh con ln. V vy khi phn tch ng hc c
cu cam cn u con ln, c th dng phng php trnh by trn, nhng tin hnh vi
bin dng cam l thuyt.
Hnh 8-11: Cch v bin dng l thuyt t bin dng thc

v bin dng cam l thuyt, ly cc im trn bin dng thc t lm tm, v cc vng trn
bn knh bng bn knh con ln, bao hnh ca vng trn ny chnh l bin dng l thuyt.
4. PHN TCH LC C CU CAM.
4.1. Cc lc tc ng trong c cu cam
Quan st c cu cam quay nh H.8-12 thi im cn dang i xa. Phn tch cc lc tc
dng ca cn.
- P l lc Ny ca cam tc dng ln cn. Lc P gm hai thnh phn: phn lc php tuyn
N v lc ma st F . Gc gia lc P v N l gc ma st .
- M c l mmen cn tc dng ln cn.
- Gi R l phn lc ca gi tc dng ln cn. bo m iu kin cn bng lc, lc R
song song v ngc chiu vi lc P v tip xc vi vng ma st ti khi quay C (bn knh
vng ma st l c).
- Gc gia phng php tuyn ca bin dng cam v vn tc ca u cn V B 2 gi l gc p
lc, k hiu l .
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72
Khoa C kh - Cng ngh
n
VB2
N
P
h
+
'
B
F
A
Mc
C
t
n
Hnh 8-12: phn tch lc c cu cam
- Cng sut lc P l W = P . V B 2 .cos( + ).
N hn xt: cng sut lc truyn t l nghch vi gc p lc, gc p lc cng nh, hiu qu
ca lc Nu cng ln.
- Quan h gia lc truyn P v mmen cn M c l:
T phng trnh cn bng, tng mmen ca cc lc i vi im C bng khng:
P.h R. c Mc = 0
Vi h = lBC.cos( + ) v R = P
P=
Mc
[cos( + ) sin( ' )].l BC
(8-4)
N u gc p lc c gi tr sao cho [cos( + ) sin()] = 0, hay + + = 90o th P

, c ngha l cn khng th chuyn ng c, v khng th thc hin c lc
P ln v cng. C cu cam trng thi t hm.
m bo cht lng truyn ng, hiu sut cao, khi thit k v cu cam, gc p lc
khng vt qu mt gii hn cc i cho php [max]
i vi cam cn tnh tin u nhn:
[max] = 40o.
i vi cam cn quay u nhn:
[max] = 45o.
4.2. Quan h gia gc p lc v v tr tm quay ca cam.
(Tham kho PL 8.1)
(5, 6 & 7 sau y, Tham kho PL 8.2, 8.3 & 8.4)
5. TRNH T THIT K C CU CAM.
6. TNG HP C CU CAM
7. BO TON KHP CAO TRONG C CU CAM
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73
Khoa C kh - Cng ngh
Chng 9: C cu bnh rng

I. C CU BNH RNG PHNG
1. I CNG V TRUYN NG BNH RNG
- Gii thiu: C cu bnh rng l c cu c khp cao dng bin i hoc truyn
chuyn ng theo nguyn tc n khp trc tip gia hai khu.
- Phn loi:
+ Theo v tr tng i gia hai trc quay: bnh rng ni tip v bnh rng ngoi tip.
+ Theo s phn b ca rng trn bnh rng: bnh rng thng, bnh rng xon (nghing),
bnh rng ch V.
+ Theo bin dng rng: bnh rng thn khai, bnh rng xyclt, bnh rng N -vi-cp.
+ Theo tnh cht chuyn ng: cp bnh rng phng, cp bnh rng khng gian.
a) n khp ngoi tip
c) Bnh rng thng
f) Bnh rng nn
b) n khp ni tip
d) Bnh rng xon (nghing)
g) Bnh rng tr
h)Bnh rng nn cho
cho
Hnh 9-1: Phn loi bnh rng
Gio trnh Nguyn L My
e) Bnh rng ch V
k) C cu trc vt
bnh vt
74
Khoa C kh - Cng ngh
1.1. nh l n khp
- T s vn tc gc gia hai bnh rng, gi l t s truyn.
K hiu: i12 = 1/2
i12 > 0 khi 2 bnh rng quay cng chiu, v i12 < 0 khi 2 bnh rng quay ngc chiu.
- Xt 2 khu 1 v 2 ang tip xc nhau ti K, quay quanh O1, O2 tng ng vi vn tc gc
l 1 v 2.
01
1
K2
2
K1
N2
K
P
N1
b1
b2
2
2
02
Hnh 9-2: m t vn tc ti im tip xc

- iu kin 2 bin hnh lun tip xc (khng ri nhau, khng ln vo nhau) l hnh chiu
ca cc vn tc tc thi ln phng php tuyn phi bng nhau. N gha l:
VK1.cos1 = VK2.cos2
1.O1N 1 = 2.O2N 2
- T s truyn: |i12| = |
1
O N
OP
| = 2 2 (= 2 )
2
O1 N 1
O1P
(9-1)
Vi P l giao im ca php tuyn chung ca 2 bin hnh ti tip im c xt v ng

ni 2 tm quay O1 v O2; P c gi l cc n khp.
- nh l n khp c bn: Php tuyn chung ca 2 bin hnh ti im n khp (im
tip xc gia 2 bin hnh) chia ng ni tm thnh nhng on thng t l nghch vi t s
truyn.
- N hn xt: cho t s truyn gia 2 khu khng thay i, cc n khp phi c v tr c
nh trn ng ni tm.
- Cc bnh rng c bin hnh l ng thn khai, ng xyclt (pi-xyclt v hypxyclt) u tho mn iu kin ny.
1.2. n khp thn khai
- ng thn khai ca ng trn l qu tch ca mt im nm trn ng thng ln
khng trt trn ng trn (gi l ng trn c s).
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75
Khoa C kh - Cng ngh
- Tnh cht ca ng thn khai:

+ Lun nm ngoi ng trn c s.
+ Php tuyn ca ng thn khai l tip tuyn ca ng trn c s.
+ Bn knh cong mi im bng chiu di cung trn vng trn c s nm gia im
gc ca ng thn khai (N o) v tm quay tc thi. Ta c, chiu di on N M bng chiu di
cung N no.
+ Phng trnh ca ng thn khai:
Xt trn h to cc (Ox, ); do ln khng trt ta c
ro.tgx = ro(x + x)
hay
x = tgx - x = invx
(9-2)
Mc khc: rx = OM = ro/cosx
(9-3)
Phng trnh (9-2) v (9-3) l phng trnh ng thn khai trong h to cc.
- Tnh cht ca n khp thn khai:
+ T s truyn trong n khp thn khai l hng s.
|i12| = |
r
1
OP
O N
| = 2 = 2 2 = 02 = const
2
O1P
O1 N 1
r01
+ dch tm khng nh hng n t s truyn.

+ im n khp K lun nm trn ng n-n cha N 1N 2.
01
1
M
ro
r1
r01
N1
P
K
x
N2
rx
N
n
M'
r02
r2
N 'o
Hnh 9-3: ng thn khai
02
Hnh 9-4: n khp thn khai
2. CC THNG S HNH HC C BN CA BNH RNG THN KHAI TIU

CHUN
2.1. Gii thiu
- Cc ng trn tm O1 v O2, bn knh O1P v O2P (H.9-4) nu c gn lin vi 2 bnh
rng ang n khp s lun tip xc vi nhau v ln khng trt ln nhau, v c gi l cc
vng trn ban u (cn gi l vng trn ln).
- ng trn tm O1, O2 bn knh O1N 1, O2N 2 chnh l cc vng trn c s.
- Quan h:
r1 = ro1/cos;
r2 = r02/cos
Vi : gc n khp, trong n khp tiu chuNn, = 20o
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76
Khoa C kh - Cng ngh
2.2. Cc thng s hnh hc c bn

Se
Sx
S"
h'
S'
S'
h"
De
Di
rx
r0
a) thng s hnh hc
b) chiu rng ca rng
Hnh 9-5: bnh rng thn khai
- Khong cch gia 2 bin hnh lin tip ca rng o theo vng trn ban u gi l bc
rng. K hiu: t
- Mun ca rng: t s t/ gi l mun ca rng, k hiu: m
m = t/
(9-5)
tin vic thit k v ch to, cc kch thc ca bnh rng u c tnh thng qua
mun. Tr s ca mun c chn theo iu kin bn, tnh theo milimt v c tiu chuNn
ho: 1; 1,25; 1,5; 2; 2,5; 3; 4; 5; 6; 8; 10; 12; 16; 20; 25; 32; 40; 50; 60; 80; 100.
- Kch thc v chiu cao:
+ Chiu cao u rng: h = f.m (vi f = 1)
(9-6)
+ Chiu cao chn rng: h = f.m (vi f = 1,25)
(9-7)
Ch : i vi rng ct ngn, f = 0,8; f = 1
+ Chiu cao ca rng: h = h + h
(9-8)
- ng knh vng trn ban u: D
Gi Z l s rng ca bnh rng Z.t = .D D = m.Z
(9-9)
- ng knh vng trn nh rng: De = D + 2h
(9-10)
- ng knh vng trn chn rng: Di = D 2h
(9-11)
- Chiu rng ca rng S; chiu rng k rng S
S = S = t/2
(9-12)
Sx = 2rx.[(S/2r) + inv - invx]
(9-13)
(9-14)
Se = 2re[(S/2r) + inv - inve]
- Khi 2 bnh rng n khp nhau th t s truyn |i12| = r02/r01 = r2/r1 = mZ2/mZ1
|i12| = Z2/Z1
(9-15)
(9-16)
- Khong cch gia 2 trc quay: A = O1O2 = m(Z1 Z2)
Du +: n khp ngoi; du : n khp trong.
3. NG N KHP CUNG N KHP H S TRNG KHP
- Khi 2 bnh rng n khp vi nhau, im n khp thay i v tr trong qu trnh n khp
nhng vn lun lun nm trn php tuyn n-n gi l ng n khp.
- N 1N 2 gi l on n khp l thuyt.
- N 1N 2 gi l on n khp thc.
Gio trnh Nguyn L My
77
Khoa C kh - Cng ngh
- Hnh 9-6 th hin 1 cp bnh rng khi bt u v khi thi n khp. Trong qu trnh ,
cc im a1, a2 thuc cc bin hnh v nm trn vng trn ban u s chuyn ti cc v tr b1,
b2.
- Cc cung a1b1, a2b2 l cung trn vng trn ban u do cc im a1, a2 v ra trong thi gian
1 i rng n khp gi l cung n khp.
a1b1 = a2b2
01
re1
r1
r01
s
N1
N '1
b1
P
b2
a1
a2
N '2
re2
N2
r2
r02
2
02
Hnh 9-6: v tr vo khp & ra khp ca mt i rng

- H s trng khp:
+ N hn xt: truyn ng c lin tc gia cc bnh rng th cp rng sau phi vo
khp trc khi cp rng trc ra khp. v cng c nhiu cp rng ng thi n khp th s n
khp cng em du.
+ Kh nng lm vic m du ca 1 cp bnh rng c nh gi bng h s trng khp:
= a1b1/t = a2b2/t
(9-17)
N hn thy:
a1b1/m1n1 = r1/r01 = 1/cos
M
m1n1 = N 1N 2
=
N '1 N '2
t. cos
(9-18)
dch tm nh hng n .
Bin i cng thc (9-18) ta c:
=
( Z1 + 2.f '1 ) 2 Z12 cos 2 + ( Z 2 + 2.f '2 ) 2 + Z 22 . cos 2 ( Z1 + Z 2 ). sin

2. cos
Gio trnh Nguyn L My
(9-19)
78
Khoa C kh - Cng ngh
Qua cng thc (9-19), ta thy rng:

+ H s trng khp khng ph thuc vo mun m ph thuc vo gc n khp v
chiu di on n khp thc t. (s rng v h s chiu cao rng)
+ m bo truyn ng lin tc gia 2 bnh rng, phi tho mn iu kin 1. Do
ch to v lp rp khng hon ton chnh xc, cc rng li b mn trong qu trnh lm vic,
ngi ta thng ly 1,05.
4. S TRT CA CC RNG
- Xt 2 bin hnh thn khai ang n khp vi nhau ti im K.
01
1
1
N '1
n
N1
VK1
VK2
N '2
N2
2
n
2
C12
02
Hnh 9-7: vn tc ti im n khp
Gi V K1, V K2 l vn tc im K1 v K2 ang trng nhau ti im n khp K.
V nK1 = V nK2 (do 2 bin hnh tip xc nhau)
V V K1 - V K2 = V 21 chnh l vn tc trt gia bin hnh th 2 v bin hnh th 2. N
l nguyn nhn gy ra mn rng v tn ph nng lng do ma st.
- nh gi hao mn ny, ngi ta a ra h s trt (C):
VKt 1 VKt 2
VKt 2 VKt 1
v C21 =
C12 =
VKt 1
VKt 2
Bin i cng thc trn, ta c:

. . sin 2
VKt 2
=1- 2 2
t
VK1
1.1. sin 1
N K
N K
C12 = 1- i21. 2 ; C21 = 1 i12. 1
N 1K
N 2K
C12 = 1 -
(9-20)
Gi R1 (hay R2) l bn knh cong ca ng tn thn khai (ti im K) trn bnh rng 1
(hay bnh rng 2) N 1K = R1 v N 2K = R2.
Gio trnh Nguyn L My
79
Khoa C kh - Cng ngh
- V th trt (rng), th hin hnh 9-7.

+ i vi bnh rng nh:
Ti N 2 (xem nh u rng quy c): R2 = 0
Ti P (cc n khp):
R 2 r2
=
R 1 r1
C12 = 1.
C12 = 0.
Ti N 1 (chn rng quy c):

R1 = 0
C12 = .
+ i vi bnh rng ln (tng t)
- N hn xt:
+ Thc t ch n khp trong on L1L2 th on .
+ Chn rng mn nhiu hn u rng, c bit l chn rng ca bnh rng nh.
+ Mun iu chnh s bt li ny, ta dch on lm vic sang tri, ngha l tng chiu
cao u rng ca bnh rng nh, v gim chiu cao chn rng ca bnh rng ln, hoc dch
chnh cc bnh rng.
5. NHNG PHNG PHP C BN CH TO BNH RNG THN KHAI
5.1. Cc phng php ct c bn
a) Phng php ct nh hnh (chp hnh).
Hnh 9-8: m t cc phng php ct

- Li ct c hnh dng tit din ngang ging nh hnh dng rnh rng.
- Dng u phn quay phi 1 gc 2/Z, ct bnh rng c Z rng.
- Ct bnh rng c mun ln ta dng dao phay ngn (do dng dao phay a b rung ng).
- V l thuyt, mun ch to 1 bnh rng c s rng Z phi dng li ct ring c cng
mun . Song gim bt s li ct i vi tng mun ngi ta dng b li ct gm 8,
15 hay 26 ci cho tng mun. V d: li ct s 5 trongv b 8 ci, dng ct bnh rng c
t 26 n 34 rng, c hnh dng rnh rng ca bnh rng c Z = 26. i vi nhng bnh rng
cn li ( Z = 27 n 34) s c ct nhng bin hnh gn ng m thi. N goi ra cn c sai
Gio trnh Nguyn L My
80
Khoa C kh - Cng ngh
lch v bc rng lm tng thm nhng sai lch v bin hnh. V vy phng php ny c
chnh xc khng cao v ch dng ch to nhng bnh rng c tc chm.
- Phng php ct nh hnh cn c 1 nhc im na l nng sut thp hn phng php
ct bao hnh.
b) Phng php ct bao hnh.
- Phng php ct bao hnh vi cc dao ct loi thanh rng, bnh rng hay trc vt trn cc
my phay rng. u im ni bt ca n l cng 1 dao, ct c nhiu bnh rng c s rng
khc nhau vi cng mun, t chnh cao v nng sut cao.
- c im:
+ Trong qu trnh ct, dao v phi c chuyn ng quay tng i nh 1 cp bnh rng
ang n khp, bin hnh rng ca bnh rng c ch to s l bao hnh ca cc v tr ni tip
nhau ca li ct (H.9-9a).
+ Khi dao ct c s rng ln v hn ta c loi dao thanh rng (H.9-8e). Bin hnh ca
dao khi , t ng thn khai bin thnh ng thng. Trong khi ch to bnh rng, dao
thanh rng s tnh tin qua li dc trc ca phi ct rng, cn phi s va quay va tnh tin
dc theo thanh rng. Dng dao thanh rng ch c th ch to nhng bnh rng n khp ngoi.
+ Ch to bnh rng bng my phay rng vi dao phay trc vt c nng sut cao hn c.
Dao phay trc vt t nghing vi mt cnh ca phi mt gc bng (bng gc nng ca
ng xon c trung bnh trn dao phay). Trn mt phng ct vung gc vi trc ca phi, dao
phay trc vt c dng rng l thanh rng. Khi ct rng, chuyn ng tnh tin ca dao thanh
rng s c thay th bng chuyn ng quay ca dao trc vt.
a) Gia cng bnh rng bng dao ct dng bnh

rng thn khai
b) Gia cng bnh rng bng dao ct dng thanh

rng
d
H
r
td
2
td
2
H
h'=md
r
0,25md
c) Hnh dng dao thanh rng

Hnh 9-9: cc dng dao ct
Gio trnh Nguyn L My
81
Khoa C kh - Cng ngh
5.2 Bnh rng tiu chun v bnh rng c dch dao

(Tham kho PL 9.1)
5.3. Cc kch thc ca bnh rng dch chnh
(Tham kho PL 9.2)
6. BNH RNG TR TRN RNG NGHING
6.1. Cu to mt rng
- Mt rng ca bnh rng l 1 mt xon c thn khai, mt ny l qu tch ca mt ng
thng MM nm trong mt phng (P), khi mt phng (P) ln khng trt trn mt hnh tr trn
xoay bn knh ro. Khi ng thng MM to vi trc 1 gc o, nu o 0, ta c bnh rng tr
trn rng nghing. Khi o = 0, ng thng MM song song vi trc hnh tr, ta c bnh rng
tr trn rng thng.
- Mt s c im ca mt xon c thn khai (H.9-12b)
N o
r0
r0
No
M
a)
b)
ta
tn
2ro
2r
ts
c)
d)
Hnh 9-12: mt rng bnh rng tr trn- thng s bc ca bnh rng nghing
Gio trnh Nguyn L My
82
Khoa C kh - Cng ngh
+ Mt phng (P) l mt phng tip xc vi hnh tr c s, cng chnh l mt phng

php tuyn ca mt xon c thn khai.
+ Mt phng vung gc vi trc ca hnh tr c s, ct mt xon c thn khai theo 1
ng thn khai (ng N oM, N oM).
+ Cc mt tr trn xoay ng trc vi hnh tr c s s ct mt xon c thn khai theo
nhng ng xon c. l cc ng rng trn cc mt tr khc nhau (v d: trn hnh tr c
s, ng rng l ng N oN o). Cc ng rng ny c bc bng nhau, nhng v nm trn
cc hnh tr khc nhau, nn gc nghing ca cc ng ny s khc nhau.
N u tri 1 ng xon c ln mt phng, ta s c ng nm nghing (H.9-12c).
K hiu S l bc ca ng xon c trn hnh tr trn bn knh r, l gc nng ca
ng xon c.
Ta c: S = 2r.cotg = 2ro.cotgo
(9-42)
6.2. Cc thng s c bn ca bnh rng nghing
Ta nghin cu cc thng s trn 1 tit din vung gc vi trc bnh rng, chng ta
c th p dng i vi bnh rng tr trn (thng, nghing) vi ch : yu t im tr thnh yu
t ng, yu t ng tr thnh yu t mt).
i vi bnh rng nghing, ta ch thm mt s thng s khc:
- Gc nghing ca rng: trn mt tr c s, k hiu l o, trn mt tr chia l .
T cng thc (9-42):
tg = (r/ro).tgo = tgo/cos
(9-43)
Vi l gc n khp.
Ch : khi 2 bnh rng nghing n khp th 1 = -2
- Bc rng trn hnh tr chia (ln, ban u)
Mt tr chia s ct rng ca bnh rng nghing theo nhng mt ct no . Khai trin
hnh tr chia trn mt phng. Cc mt ct ny l nhng vt nm nghing (H.9-12d). Cc thng
s ca bnh rng nghing c xc nh trong nhng tit din khc nhau.
+ Trn tit din vung gc vi trc bnh rng (tit din ngang).
Bc rng ts gi l bc ngang.
Mun ms = ts/ gi l mun ngang.
+ Trn tit din dc theo chiu trc ca bnh rng (tit din dc).
Bc rng ta gi l bc dc.
Mun ma = ta/ gi l mun dc.
+ Trn tit din php, vung gc vi cc ng rng.
Bc rng tn gi l bc php (tuyn).
Mun mn = tn/ gi l mun php.
Mun php mn c tiu chuNn ho, chn md = mn khi ch to.
+ Quan h gia cc bc v mun:
tn = ts.cos = ta.sin
(9-44)
(9-45)
mn = ms.cos = ma.sin
- Cc thng s khc:
r = ms.Z = (mn/cos).Z
(9-46)
re = r + f.mn
(9-47)
ri = r f.mn
(9-48)
Gio trnh Nguyn L My
83
Khoa C kh - Cng ngh
6.3. u nhc im ca bnh rng nghin so vi bnh rng thng tng ng

- Hnh 9-13 th hin qu trnh tip xc ca 2 mt rng ca bnh rng nghing (vi (P) l
mt phng n khp). Trn hnh 9-13b, B1 v B2 l im vo khp v im ra khp ca tit din
ngang, qu trnh tip xc bt u ch l 1 im B1, tng dn n tip xc hon ton theo chiu
di ca rng (MM) v gim dn, ch cn tip xc ti B2 trc khi thi tip xc, v th trong
thi gian tip xc, xem nh im tip xc M di chuyn t B1 n B.
B1
M B2
B'
r02
r01
P
P
B1
M'
a)
M'
B2
b)
Hnh 9-13
- Gi l h s trng khp ca cp bnh rng nghing v o l h s trng khp cp bnh
rng thng tng ng th:
= o + (B2B/tn)
(9-49)
- u im:
+ Lm vic m du.
+ Kh nng ti ln hn.
- N hc im: xut hin lc dc trc, c th khc phc bng cch dng bnh rng ch V.
- Thng thng ngi ta chn = 8o 15o
Hnh 9-14: lc dc trc
Gio trnh Nguyn L My
84
Khoa C kh - Cng ngh
II. C CU BNH RNG KHNG GIAN

1. CP BNH RNG TR CHO
1.1. Cu to
Bnh rng tr cho dng truyn chuyn ng quay gia 2 trc cho nhau (hnh 9-15),
thng chng l cc bnh rng c mt rng l mt xon c thn khai (cn gi l bnh rng
xon thn khai), c cc gc nghing khng i xng (1 -2). Cu to mt rng v cc thng
s ging nh bnh rng nghing.
90 - 1
VP1
V12
90 - 2
VP2
t
1
t
r1
r2
a)
b)
Hnh 9-15: bnh rng tr cho & cc thng s c bn
1.2. c im tip xc
- T s truyn:
+ V 2 trc khng song song nhau nn 1 mt rng s tip xc theo 1 im P. Qua im
P v mt phng tip xc chung vi 2 hnh tr ln. Ho vn tc trn mt phng tip xc th
hin hnh 9-15. Tip tuyn chung t-t vi 2 ng rng ca bnh rng v vect vn tc tng
i V12 phi song song nhau.
+ Hnh chiu ca vn tc ln phng php tuyn bng nhau:
VP1.cos1 = VP2.cos2 1.r1.cos1 = 2.r2.cos2
V vy:
i12 =
1 r2 . cos 2
Z
=
= 2
2 r1. cos 1
Z1
(9-50)
- N hn xt: mun thay i t s truyn c th thay it s r2/r1 hoc cos2/cos1.

- Gc gia 2 trc l = |1 2|; du + ng vi b truyn bnh rng tr cho c rng xon
cng chiu, v ngc li.
- C hin tng trt dc theo rng.
Vn tc trt V12 hng dc theo ng rng v c gi tr:
V12 = |1.r1.sin1 2.r2.sin2|
(9-51)
N u chn cc t s r2/r1 hoc cos2/cos1 khng hp l, c th lm cho vn tc trt
tng nhiu.
Gio trnh Nguyn L My
85
Khoa C kh - Cng ngh
- Tip xc theo im nn kh nng ti khng cao, mau mn. Trong ngnh ch to my,
bnh rng tr cho t c s dng v cc nhc im ny.
- Khi thay i khong cch v gc gia 2 trc, t s truyn s khng thay i.
2. C CU TRC VT BNH VT
Trc vt bnh vt dng truyn chuyn ng gia hai trc cho nhau. Thng gp
nht l loi trc vt bnh vt m gc gia 2 trc bng 90o v dng trc vt bnh vt l hnh
tr.
2.1. Cu to
Hnh 9-16: m t c cu trc vis bnh vis

Gi s c 1 cp bnh rng trc cho, truyn chuyn ng quay gia hai trc vung gc
nhau ( = 90o). Cp bnh rng ny c c im: gc nghing 1 rt ln, 2 nh. V th ng
rng ca bnh rng 1 c qun nhiu vng trn bnh rng (hnh 9-16). S rng ca bnh rng
1 khng th nhiu c, v bc ca ng xon c gi tr nht nh. Thng thng Z1 = 1 4.
S rng Z1 cn gi l s u mi, bnh rng 1 c gi l trc vt, bnh rng 2 c gi l
bnh vt.
V vy, thc cht ca c cu trc vt bnh vt l mt cp bnh rng tr cho. Cu to
mt rng ging nh bnh rng tr cho.
2.2. c im ca c cu trc vt bnh vt
- T s truyn: (v l bnh rng tr cho nn t s truyn c tnh nh (9-50))
i12 =
1 r2 . cos 2
Z
=
= 2
2 r1. cos 1
Z1
- N hn xt: s u mi ca trc vt Z1 rt nh, trong khi Z2 c th ly ln.V vy c

cu ny c u im c bn l t s truyn c th rt ln, nhng kch thc c cu vn nh gn.
- Gc nghing ca bnh vt v trc vt khc nhau nhiu, nn vn tc trt tng i dc
rng s rt ln, v vy hiu sut ca c cu thp, nhit vng tip xc s cao.
- Trong b truyn trc vt bnh vt, mt rng ca trc vt v bnh vt tip xc theo
im nn kh nng ti khng cao, mau mn. t c tip xc ng gia trc vt v bnh
vt, s phi thay i mt rng ca bnh vt. Bnh vt c ct bng dao phay ln c hnh dng
hon ton ging nh trc vt s n khp vi bnh vt. Khi mt chn rng ca bnh vt khng
phi l 1 hnh tr, m l 1 mt xuyn lm to bi mt trn c ng sinh l cung trn bao ly
Gio trnh Nguyn L My
86
Khoa C kh - Cng ngh
trc vt di 1 gc m (Hnh 9-17a). Cng c th l vt lm (trc vt globoit) (hnh 9-17b)

trc vt m ly bnh vt, cng c th c trc vt v bnh vt u lm, m ly nhau.
a)
b)
Hnh 9-17: hai dng mt chn rng ca bnh vis
2.3.
Cc loi mt dng lm mt rng ca trc vt hnh tr

a)
b)
r01
c)
r01
r01
M'
'
Hnh 9-18: s hnh thnh mt rng ca trc vis

a) Mt xon c thn khai:
- Trn hnh tr c s bn knh ro, v ng xon c vi gc nghing l (H.9-18a).
Mt xon c thn khai c to thnh bng nhng ng thng c 3 c im sau y:
+ Tip xc vi hnh tr c s (nm trong mt phng tip xc vi hnh tr).
+ Ta trn ng xon c.
+ To vi mt phng y 1 gc nghing bng gc nghing ca ng xon c.
- ng giao ca mt xon c thn khai vi mt phng y l ng xon c thn khai
ca vng trn c s ro. Trc vt vi mt rng l mt xon c thn khai gi l trc vt thn khai.
- Trong cc mt ct song song vi mt ct chnh (l mt phng cha ng tm trc vt
v vung gc vi trc bnh vt), c 1 mt ct tip xc vi hnh tr c s, trong vt rng l
ng thng.
b) Mt xon c cng-v-lt
- Mt cng-v-lt c to thnh bi nhng ng thng MM vi 3 tiu chuNn sau:
+ N m trong mt phng tip xc vi hnh tr c s.
+ Ta trn ng xon c.
+ To vi mt phng y 1 gc khc vi gc nghing ca ng xon c.
- ng thng MM to vi ng sinh ca mt xon c thn khai 1 gc (H.9-18b).
Vt ca mt xon c cng-v-lt trn mt phng y l mt ng xon c cng-v-lt. Trc
Gio trnh Nguyn L My
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Khoa C kh - Cng ngh
vt vi mt rng l mt xon c cng-v-lt c gi l trc vt cng-v-lt. N u = , trc

vt cng-v-lt tr thnh trc vt thn khai.
c) Mt xon c Ac-si-mt
- Mt xon c Ac-si-mt c to bi cc ng thng c cc iu kin sau:
+ Qua trc ca hnh tr c s.
+ To vi trc ny gc khng i.
+ Ta trn ng xon c.
- Mt phng vung gc vi trc hnh tr ct mt xon c Ac-si-mt theo 1 ng xon
c Ac-si-mt. Mt phng qua trc hnh tr ct mt xon c Ac-si-mt theo 1 ng thng. V
vy mt ct chnh tit din, l mt thanh rng c bin dng thng (H9-18c).
3. BNH RNG NN
Trong b truyn bnh rng nn, rng phn b trn hnh nn ct. Bnh rng nn c
dng truyn chuyn ng quay gia 2 trc ct nhau, cho nhau trong khng gian.
3.1. Phn loi

ri
Hnh 9-19: phn loi bnh rng nn

Tu theo dng ng rng trn bnh rng, bnh rng nn c 2 loi chnh:
- Bnh rng nn thng:
+ ng rng chm vo nh rng (H.9-19a).
+ ng rng nghing, tip xc vi vng trn bn knh (H.9-19b).
- Bnh rng nn khng thng (rng cong):
Gio trnh Nguyn L My
88
Khoa C kh - Cng ngh
+ ng rng l cung trn bn knh ri (H.9-19c).

+ ng rng l ng xon c Ac-si-mt (H.9-19d).
+ ng rng l ng thn khai ca vng trn bn knh (H.9-19e).
3.2. Bnh rng nn rng thng
- T s truyn: bnh rng nn rng thng dng truyn chuyn ng gia 2 trc ct
nhau, gc gia 2 trc l , t s truyn l i12 = 1/2.
0
0
1 2
M
M'
1 2
12
0
P
P
a)
b)
Hnh 9-20: quan h vn tc

Mt ln ca bnh rng nn l 2 mt nn c chung nh ti O. Vn tc gc gia 2 bnh
l 1 v 2 c quan h 1 = 2 + 12, c th hin trn ho vn tc gc (H.9-20a).
T ho vn tc gc, ta c:
sin 2
= 1 = i12
sin 1
2
Vi = 1 + 2, ta c:
cotg1=
i12 + cos
i + cos
; cotg2= 21
sin
sin
(9-52)
(9-53)
Vn tc gc tng i 12 hng theo OP, chuyn ng tng i l chuyn ng quay

quanh trc OP (trc quay tc thi) vi vn tc gc 12. Khi n khp, 2 hnh nn s ln khng
trt ln nhau.
- S hnh thnh mt rng: mt rng ca bnh rng nn l mt thn khai nn, c to
thnh bi ng thng MM nm trn mt phng (P) ln khng trt trn hnh nn ct (c
nh l O). N u MM qua im O, c mt rng ca bnh rng nn rng thng (H.9-20b), nu
MM khng qua im O, c mt rng ca bnh rng nn rng nghing.
Gio trnh Nguyn L My
89
Khoa C kh - Cng ngh
Hnh 9-21: thng s hnh hc

- Thng s ca bnh rng nn (H.9-21):
+ Chiu dy ca bnh rng nn c gii hn bi mt cu, tm O, nhng bn knh
khc nhau. Tit din ca bnh rng nn vi 2 mt cu gi l mt mt ln v mt mt nh.
+ Chiu cao ca bnh rng nn c gii hn bi 2 hnh nn chung nh: hnh nn nh
rng v hnh nn chn rng. Kch thc ca rng thay i theo chiu dc ca rng.
+ Mt mt l mt cu, cho nn kh biu din kch thc. V vy mt mt c thay
bng mt nn ph (l mt nn vung gc vi mt nn ln). Vt ca bnh rng nn trn hnh
nn ph l bnh rng hnh phu. C 2 bnh rng hnh phu trn mt nn ph mt mt ln v
mt nn ph mt mt nh.
+ Trn bnh rng hnh phu:
t.Z = 2r vi t l bc rng trn vng ln v Z l s rng.
Mun mt ln: m = t/.
Bn knh vng ln: r = m.Z.
Chiu cao nh v chn rng ca bnh rng hnh phu: h = m; h = 1,25m.
Bn knh vng nh: re = r + h.cos.
Bn knh vng chn: ri = r h.cos.
Chiu di ng sinh (nn): L = r/sin.
3.3. Cc dng truyn ng ca cp bnh rng nn
Xt cp bnh rng nn rng nghing vi cc gc nghing trn mt nn ln l 1 v 2.
a) 1 = 2: cp bnh rng nn truyn ng gia hai trc giao nhau:
Bnh rng nn rng thng

Bnh rng nn rng nghing
Hnh 9-22: gc nghing trn bnh rng nn
Gio trnh Nguyn L My
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Khoa C kh - Cng ngh
c im truyn ng:
- T s truyn:
1r1 = 2 r2 i12 = =
1
Z 2 r2 OP. sin 2 sin 2

= =
=
Z1 r1 OP. sin 1 sin 1
- Truyn ng gia hai trc giao nhau tip xc theo ng thng d. N u l cp bnh
rng nn rng thng th d qua nh nn. N u l cp bnh rng nn rng nghing th d khng
qua nh nn.
- Ti im tip xc trn mt nn ln khng c vn tc trt tng i.
b) 1 2: cp bnh rng nn truyn ng gia hai trc cho nhau: gi l bnh rng
nn rng cong
Z
r . cos 2
- T s truyn: i12 = 1 = 2 = 2
2 Z1 r1 . cos 1
- c im tip xc: tip xc theo im v c vn tc trt tng i nn mt rng mau
mn v mn khng u.
- Bnh rng nn rng cong dng truyn chuyn ng gia 2 trc cho nhau (cn gi
l bnh rng cn xon c, bnh rng hypoic). Vic pht hin v ng dng bnh rng nn rng
cong l 1 thnh tu ln ca cc nh khoa hc v cc k s v nhng u im rt c bn ca
loi truyn ng ny:
+ Kh nng truyn ti cao.
+ n khp m.
+ nhy v sai s thp.
+ t n,
Phn i su nghin cu c th tm hiu nhng chuyn ring.
Hnh 9-23: Bnh rng nn rng cong
Gio trnh Nguyn L My
91
Khoa C kh - Cng ngh
III. H BNH RNG

1. I CNG
Do nhu cu thc t, ta khng ch s dng mt cp bnh rng m s dng nhiu cp bnh rng
ni vi nhau, to thnh mt h thng v c gi l h thng bnh rng hay h bnh rng.
.
a)
b)
c)
d)
e)
Hnh 9-24: m t h bnh rng
Cng dng: s dng h bnh rng c th t c nhng cng dng khc nhau nh:
+ Thc hin t s truyn ln (H.9-24a).
+ Cn truyn chuyn ng quay gia nhng trc cch xa nhau (H.9-24b).
+ Truyn chuyn ng gia cc trc cn thay i t s truyn (hp s) (H.9-24c).
+ Thay i chiu quay (H.9-24d).
Gio trnh Nguyn L My
92
Khoa C kh - Cng ngh
+ Hp nhiu chuyn ng thnh 1 chuyn ng, hay chia 1 chuyn ng thnh nhiu
chuyn ng c lp nhau (b vi sai) (H.9-24e)
Phn loi: c 2 loi c bn l h bnh rng thng v h bnh rng vi sai.
2. H BNH RNG THNG
H bnh rng thng l h bnh rng trong tt c cc trc u c ng trc c nh.
V d: H bnh rng hnh 9-25:
a)
b)
Hnh 9-25: h bnh rng thng
Bc t do ca h: W = 3n 2p5 p4 vi p5 = 6; p4 = 5; n = 6 W =1
T s truyn:

i16 = 1 = 1 . 2 . 3 . 4 . 5
6
2 3 4 5 6
' ' '
= 1. 2. 3. 4. 5
2 3 4 5 6
Z2
Z
Z
Z
Z
).( 3' ).( 4' ).( 5' ).( 6 )
Z1
Z 2 Z3
Z4
Z5
Z
Z
Z
Z
Z
= (-1)4. ( 2 ).( 3' ).( 4' ).( 5' ).( 6 )
Z1 Z 2 Z 3 Z 4 Z 5
= (
Tng qut, gi k l s cp bnh rng ngoi tip trong h c n bnh rng, cng thc tnh
t s truyn c dng:
i1n = (-1)k. (
Z 2 Z3
Z
).( ).....( n )
Z1 Z ' 2
Z 'n1
(9-59)
Ch :
+ N u i1n < 0 th bnh rng 1 v bnh rng th n quay ngc chiu nhau v ngc li.
+ Bnh rng 5 khng lm nh hng n gi tr ca t s truyn, n c gi l bnh
rng trung gian.
+ Trong h bnh rng khng gian, vn cng chiu hay ngc chiu khng cn
ngha na, nhng ta c th xc nh chiu quay ca bnh rng b ng theo chiu quay ca
bnh rng ch ng nh H.9-25b.
Gio trnh Nguyn L My
93
Khoa C kh - Cng ngh
3. H BNH RNG VI SAI

3.1. Gii thiu
H bnh rng vi sai l h bnh rng trong mi cp bnh rng c t nht mt bnh
rng c ng trc di ng (H.9-26a ,b).
Bnh rng c ng trc c nh gi l bnh rng trung tm, bnh rng c ng trc
di ng bi l bnh rng v tinh. Khu ng mang trc ca bnh v tinh gi l cn, khi c nh
cn h vi sai tr thnh h thng.
Bc t do ca h: W = 3n 2p5 p4 vi p5 = 3; p4 = 1; n = 3 W = 2
2
Z
cn
1
c
o
a)
b)
Hnh 9-26: h bnh rng vi sai lc ng
H bnh rng hnh tinh: l h bnh rng vi sai c mt bnh rng trung tm c nh.
Khi c nh bnh rng trung tm Z3 ca h vi sai trn hnh 9-26b th h ny tr thnh h
hnh tinh (H.9-27a).
Bc t do ca h hnh tinh:
W = 3n 2p5 p4 vi p5 = 3; p4 = 2; n = 3 W = 1.
Trong h vi sai v h hnh tinh phng, ng trc ca cc bnh trung tm Z1, Z3, v
ng trc ca cn C phi nm trn mt ng thng. iu kin ny c gi l iu kin
ng trc ca h.
a)
b)
c)
Hnh 9-27: h bnh rng hnh tinh

H vi sai kn l h vi sai trong cc bnh rng trung tm u khng c nh, nhng
hai bnh rng trung tm hoc mt bnh rng trung tm v cn ni vi nhau bng h thng.
V d trn hnh 9-28 l mt h vi sai kn. y l h hn hp gm mt h vi sai (Z1, Z2,
v cn C) v mt h thng (Z3, Z4, Z4, Z5). H thng ni bnh rng trung tm Z1 v cn C
ca h vi sai.
Bc t do ca h vi sai kn: W = 1.
Gio trnh Nguyn L My
94
Khoa C kh - Cng ngh
Hnh 9-28: h vi sai kn

3.2. T s truyn
a) H vi sai phng:
Xt h vi sai hnh 9-26a, bnh rng trung tm 1 v cn C quay quanh trc c nh O1
vi cc vn tc gc 1 , c khng ph thuc nhau, bnh rng v tinh 2 mang trn cn C c
chuyn ng quay kp vi vn tc gc 2 .
Ta tm quan h gia 1 , 2 v c bng cch i gi c cu, xem cn C l gi c nh
hay ni cch khc l xt h vi sai trong chuyn ng tng i vi cn C. Th cc bnh rng 1
v 2 u c ng trc c nh v h tr thnh h thng. Trong h ny, cc bnh rng 1 v 2
s c vn tc gc l:
1c = 1 - c;
2c = 2 - c
Gi i12c l t s truyn ca bnh rng 1 v 2 trong chuyn ng tng i i vi cn C,
ta c:
c c
i12c = 1c = 1
2 2 c
Th nhng trong chuyn ng tng i, h tr thnh h thng, t s truyn i12c c th
tnh theo s rng:
i12c = - Z2/Z1
Xt h bnh rng vi sai hnh 9-26b, l lun tng t, xt h vi sai trong chuyn ng
tng i vi cn C, ta c:
c c
i13c = 1c = 1
3 3 c
c
Trong i13 tnh nh trong h thng, i13c = (-Z2/Z1).(-Z3/Z2)
Mt cch tng qut, ta c th xc nh quan h gia vn tc gc gia 2 khu trong h vi
sai bng cng thc sau:
mc m c
c
imq = c =
(9-60)
q q c
Gio trnh Nguyn L My
95
Khoa C kh - Cng ngh
Trong m, q l vn tc gc tuyt i ca cc bnh rng m, q cn xt no trong

c
h vi sai v c l vn tc gc tuyt i ca cn. imq
c tnh nh trong h bnh rng thng.
Cng thc trn gi l cng thc Willis.
b) H vi sai khng gian
iu kin ng trc trong h vi sai khng gian: mi bnh trung tm v cn u ng
trc, mi mt nn ln phi c chung mt nh (H.9-29).
T s truyn i12c :
Xt chuyn ng tng i ca h vi cn C trong h vi sai khng gian. Trong chuyn
ng tng i ny, h tr thnh h thng khng gian, vn tc gc ca bnh rng 1 v 2:
c
c
1 = 1 c ; 2 = 2 c
c
i12c =
c
2
1 c
2 c
Z2
Z1
Ta c:
2
+ Do 1 // c 1 c = 1 c .
2
+ 2 c = 22 + c2 2 2 . c .
2
Do 2 c 2 . c = 0 2 c = 22 + c2
Tm li:
c
i12c =
c
2
1 c
+
2
2
2
c
Z2
Z1
T s truyn i13c :
Phn tch tng t, ta c
c c
i13c = 1c = 1
= (-Z2/Z1).(-Z3/Z2)
3 3 c
Hnh 9-29: h vi sai khng gian
Gio trnh Nguyn L My
96
Khoa C kh - Cng ngh
c) H hnh tinh
H hnh tinh c mt bc t do. T quan h vn tc gc trong h vi sai, d dng suy ra t
s truyn trong h hnh tinh.
Xt h hnh tinh trong hnh 9-27a, trong bnh rng trung tm Z3 c nh: 3 = 0

i13c = 1 c = 1 i1c
c
Z2 Z3
.
Z1 Z ' 2
vi i13c =
4. V D V NG DNG THC T CA H BNH RNG

a) ng dng ca h thng
- H bnh rng thng c dng thc hin cc t s truyn ln, m mt cp bnh
rng khng th thc hin c (hp gim tc).
- Dng thc hin nhiu t s truyn khc nhau (hp s, hp bin tc).
Hnh 9-30: mt v d v hp s
Dng truyn ng gia hai trc xa nhau vi mt t s truyn chnh xc. N u
dng mt cp bnh rng truyn t trc I sang trc II dn n khng hp l v
mt kch thc v ch to. N u dng b truyn ai hay xch th t s truyn
khng tht chnh xc.
Hnh 9-31: mt v d v truyn ng gia hai trc xa nhau

- Dng o chiu quay trc b dn. Khi ko chc A xung, trc II s i chiu quay.
Gio trnh Nguyn L My
97
Khoa C kh - Cng ngh
Hnh 9-32: mt v d v i chiu quay

b) ng dng ca h vi sai
H vi sai c hai bc t do, do n c s dng trong cc trng hp cn tng hp
hai chuyn ng quay c lp thnh mt chuyn ng quay, hay phn tch mt chuyn ng
quay thnh hai chuyn ng quay c lp.
Hp vi sai trong t: (hnh 9-33)
a)
b)
Hnh 9-33: hp vi sai trong t
Gio trnh Nguyn L My
98
Khoa C kh - Cng ngh
Gi V , V 1 , V 3 ln lt l vn tc t v vn tc ca tm bnh xe sau 1 v 3; v
1, 3 ln lt l vn tc gc ca bnh 1 v 3 (hnh 9-331a).
Khi xe chy trn ng thng, ta c: V 1 = V 3 = V 1 = 3
Khi xe chy trn ng vng, ta c V1 < V3, do xe i vng d dng, khng
b trt trn mt ng, phi c 1 < 3.
Th m, bnh 1 v 3 cng nhn chuyn ng t trc ng c (thng qua trc
cc-ng) li phi c hai vn tc gc khc nhau. Do cn phi s dng h vi sai phn tch
thnh 2 chuyn ng ny.
Xt chuyn ng ca c cu vi sai trong t nh hnh 9-33b.
+ C cu gm mt h thng khng gian Z4 Z5 v mt h vi sai kng gian gm Z1, Z2,
Z3 v cn C. Hai bnh rng c s rng bng nhau Z1 v Z3 dn ng cho hai hnh xe v cng
n khp vi bnh rng Z2 (c th quay quanh cn C).
+ Quan h vn tc gc trong h vi sai trn l:
c n1 nc
Z Z
i13c = 1
= 2 . 3 = 1
=
3 c n3 nc
Z1 Z2
(n1 nc)/ (n3 nc) = -1
n1 + n3 = 2nc
+ Cn C gn lin vi bnh rng Z4 nn nc = n4 = const. N h vy khi t i qua ng
vng, mt bnh xe quay nhanh ln, bnh xe kia t ng quay chm li.
+ Thc t c cu vi sai trn, ti trng phn b u cc bnh rng, cc trc, ngi
ta lp thm bnh rng Z2. Thc cht chuyn ng ca bnh rng Z2 hon ton ging bnh
rng Z2, nn v nguyn l khng cn n Z2.
c) ng dng ca h hnh tinh
- H hnh tinh cho php thc hin mt t s truyn ln, c th rt ln. v d h hnh
tinh trn hnh 9-27a.
Ta c:
i1c = 1/c = 1 - i13c = 1
Z 2 Z3
Z1 Z ' 2
N u chn hp l s rng ca cc bnh rng, v d chn: Z2 = 99; Z3 = 101; Z1 = Z2 =

100 th i1c = 1/10000.
Tuy nhin, khi chn t s truyn v khu dn cn ch sao cho hiu sut ca h khng
qu thp v c bit phi trnh hin tng t hm.
- N gay c khi t s truyn nh v va, ngi ta cng dng h hnh tinh v n c mt s
u im v kt cu v ti trng:
+ Cn C thng c nhiu chc phn b u, trn lp cc khi bnh rng v tinh
ging nhau, v vy phn lc trn trc ca cn C v trn cc bnh rng trung tm gn nh bng
0 (H.9-34). Mi bnh rng ch chu mt phn ti trng nn c th lm nh, nh kch thc
khun kh nh gn.
+ Mc khc, trong h hnh tinh, c th dng cc cp bnh rng ni tip c nhiu u
im v mt sc bn so vi cp bnh rng ngoi tip.
Gio trnh Nguyn L My
99
Khoa C kh - Cng ngh
R1T + R 2T + R 3T 0
Hnh 9-34: u im v s phn b lc

- H hnh tinh c dng to nhng chuyn ng c bit, cn thit cho mt s qu
trnh cng ngh.
V d xt h hnh tinh trn hnh 9-35a
a)
b) C cu my tin trc khuu

Hnh 9-35: mt s ng dng c bit
+ Bnh rng 1 l bnh trung tm c nh.
Z Z
Z
+ Ta c: i3c = 3 = 1 i31c = 1 1 2 = 1 1
c
Z 2 Z3
Z3
+ N u ly Z1 = Z3 th i3c = 0 3 = 0: bnh rng 3 chuyn ng tnh tin trn. Trong
trng hp ny, h hnh tinh c s dng trong c cu my tin trc khuu, dng tin c
bin ca trc khuu (H.9-35b).
+ N u ly Z1 Z3, h hnh tinh ny c s dng trong cc c cu my bn cp hay c
cu my bn x da (H.9-36). Cc dy cp c bn li t cc nhnh cp, cc nhnh cp li
c bn t cc si thp. N u chiu bn cc nhnh cp trong cng mt dy cng chiu bn cc
si thp trong cng mt nhnh, ta gi l cp bn xui. N gc li, ta c cp bn ngc.
Trong c cu my bn cp, cc si thp c mc trn cc bnh rng 3, 3 v 3. Khi
cn C quay th cc bnh rng 3, 3 v 3 cng quay theo, cc si cp c bn thnh cc nhnh.
ng thi cc nhnh cng c bn thnh dy cp.
Khi chn Z1 < Z3 i3c > 0 3 cng chiu c: ta c cp bn xui.
Gio trnh Nguyn L My
100
Khoa C kh - Cng ngh
Khi chn Z1 > Z3 i3c < 0 3 ngc chiu c: ta c cp bn ngc.
Hnh 9-36: c cu my bn cp
Gio trnh Nguyn L My
101
Khoa C kh - Cng ngh
Chng 10: Mt s c cu khc

1. C CU CCNG (Cardan, Universal Joint)
C cu cc-ng hay khp ni trc cc-ng dng truyn chuyn ng quay gia 2 trc
giao nhau mt gc khng ln lm, nhng c th thay i c trong khi c cu ang hot
ng.
1.1. Nguyn l cu to
- Hnh 10-1a th hin c cu thc, hnh 10-1b l lc ng ca c cu cc-ng.
A'
1
B'
y
II
y
A
a)
b)
Hnh 10-1: c cu Cardan & lc ng

- C cu cc-ng gm trc I v II c th quay quanh tm x-x, y-y giao nhau mt gc .
Trc I mang chc 1, trc II mang chc 2. Hai chc 1 v 2 cng ni vi khu ch thp 3 bng
hai khp bn l A-A v B-B vi cc iu kin A-A x-x, B-B y-y, A-A B-B; x-x
v y-y giao nhau O cng chnh l im giao nhau gia A-A v B-B. Cc kch thc OA =
OA = OB = OB = R.
1.2. T s truyn
- Trong qu trnh chuyn ng, qu o ca A-A l vng trn tm O, bn knh R, nm
trong mt phng vung gc vi x-x v i qua tm O. Tng t, qu o ca B-B l vng trn
tm O, bn knh R, nm trong mt phng vung gc vi y-y v i qua tm O.
- Trong qu trnh chuyn ng, v tr ca A-A thay i, c c trng bng thng s
l gc gia A-A v M-M; trong M-M l giao tuyn ca mt phng cha cc ng tm
quay x-x, y-y v mt phng cha qu tch ca A-A (Hnh 10-2).
= AOM
M A'
1
B'
y
I
3
0
II
y
2
F
Hnh 10-2: m t cc thng s

Gio trnh Nguyn L My
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Khoa C kh - Cng ngh
- T s truyn c tnh theo cng thc sau:
1 sin 2 . cos 2
i12 = 1 =
2
cos
(10-1)
1.. N hn xt:
+ Khi c cu chuyn ng, gc thay i t 0 n 2; cos2 thay i t 0 n 1
nn t s truyn i12 s thay i t 1/cos n cos. N h vy khi 1 = const th 2 thay i t
2min = 1.cos n 2max = 1/cos.
+ khng u ca trc b dn c nh gi qua h s :
2 min = tg.sin
= 2 max
(10-2)
1
R rng gc giao nhau gia 2 trc cng ln th khng ng u cng ln, ngha l
trc b dn ng cng b dao ng xon trong qu trnh chuyn ng dn n kh nng bn ca
trc b gim nhiu. y l l do gc giao nhau trong c cu cc-ng khng c ln.
1.3. C cu Cc-ng kp
(Tham kho PL 10.1)
2. C CU MAN (Malte, Geneva Mechanism)
C cu man l c cu bin chuyn ng quay lin tc thnh chuyn ng quay gin on nh
trn khu dn c cht v trn khu b dn c nhng rnh tip xc khng lin tc vi nhau.
V d ng dng: c cu n dao ca my bo, c cu thay dao ca my tin t ng, c
cu a phim ca my chiu phim,
2.1. Nguyn l cu to
Hnh 10-5a v 10-5b th hin c cu Man, trong khu dn 1 mang cht 3 quay quanh
tm O1; khu b dn 2 l a mang nhng rnh 4 c th quay quanh tm O2. Khi khu 1 quay
lin tc, s c lc cht 3 lt vo rnh 4 ca a 2 v tr A v gt a ny quay quanh O2 mt
gc n khi cht ra khi rnh v tr B th a 2 s ngng quay nh cung trn CDE trn a 1
tip xc vi cung trn FGH trn a 2. Lc ny rnh k tip trn a 2 v tr ch cht trn a
1 vo truyn ng v qu trnh truyn ng xy ra lin tc.
O2
2
1
1
O1
a)
b)
Hnh 10-5: c cu Malte cc thng s - lc ng
Gio trnh Nguyn L My
c)
103
Khoa C kh - Cng ngh
S cht trn a 1 c th bng 1 hay ln hn 1. S rnh trn a 2 thng l 4, 6, 8,

Ch :
+ khng xy ra va p khi cht vo v ra khi rnh, v tr ny cht phi chuyn
ng theo phng ca rnh ngha l rnh phi nm theo phng tip tuyn qu o ca cht
(H.10-5). Mun vy phi tho mn:
O2AO1 = O2BO1
+ Cc cht v cc rnh trn c cu Man c th phn b bt k (khong cch t tm cc
cht n tm O2 c th khng bng nhau nh trn hnh 10-6a, cc rnh ca a 2 c th khng
hng tm nh trn hnh 10-6b), min l chng phi hp c vi nhau.
a)
b)
Hnh 10-6: s phn b cc rnh

2.2. S cht v s rnh trn c cu Man
2.3. ng hc c cu Man
(Tham kho PL 10.2)
3. C CU BNH CC (Ratchet Mechanism)
C cu bnh cc l c cu bin chuyn ng qua li thnh chuyn ng 1 chiu gin
on thng qua con cc v bnh cc.
1
2
1
3
0
5
6
a)
b)
Hnh 10-8: m t c cu bnh cc
Gio trnh Nguyn L My
104
Khoa C kh - Cng ngh
Hnh 10-8b m t c cu bnh cc gm: thanh lc 1 lc qua li quanh tm O, con cc 2

c th trt trn rng ca bnh cc 3 khi chiu lc cng chiu kim ng h v Ny con cc
quay quanh tm O khi chiu lc ngc chiu kim ng h. N h vy bnh cc chuyn ng
quay gin on 1 chiu. hm chuyn ng ca bnh cc theo chiu ngc li (khi khng
nhn truyn ng ca con cc 2) ta dng con cc 5 c bt trn gi 4 v c gi bng l xo
xon c 6.
Chuyn ng qua li c th l chuyn ng lc quanh tm bnh cc (hoc chuyn ng tnh
tin qua li) nhn c t c cu 4 khu bn l ABCD (hnh 10-9a) hoc t chuyn ng tnh
tin nh c cu tay quay con trt (hnh 10-9b) hoc nh nhng c cu khc.
V1
B
1
4
1
A
D
4
4
6
a)
Hnh 10-9: cc dng thay i chuyn ng
Mt s dng ca c cu bnh cc:
(Tham kho PL 10.3)
Gio trnh Nguyn L My
b)
105
Khoa C kh - Cng ngh
Ph lc
Ti liu tham kho
+ Gio trnh N guyn l my Vng Thnh Tin H N ng Lm Tp.HCM.
+ Gio trnh N guyn l my ng Th Huy, N guyn Khc Thng N XB N ng
nghip 1982.
+ Gio trnh N guyn l my L Cung H N ng 2006.
+ Gio trnh N guyn l my N guyn Tn Tin H Bch Khoa Tp.HCM.
+ Gio trnh C hc my Li Khc Lim N XB i hc Quc gia Tp.HCM 2001
+ Bi tp N guyn l my T N gc Hi N XB Khoa hc & K thut 2003.
+ N guyn l my inh Gia Tng, N guyn Xun Lc, Trn Don Tin N XB H &
THCN 1970.
+ N guyn l my Bi Xun Lim N XB Gio dc.
+ Introduction to Mechanisms Yi Zhang, Susan Finger, Stephannie Behrens
Carnegie Mellon University Press 2006.
+ Kinematics and Dynamics of Machines George H. Martin McGraw-Hill 1982.
+ Mechanism Design: Enumeration of Kinematic Structures According to Function
Frank Kreith CRC Press 2001.
+ Machinerys Handbook 26th edition Erik Oberg, Franklin D. Jones, Holbrook L.
Horton, and Henry H. Ryffel Inductriak Press 2000.
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Trng i hc Nng Lm Tp.

Khoa C kh - Cng ngh

I HC NNG LM TP. HCM

Tp. HCM 2012

Trng i hc Nng Lm Tp. HCM

Khoa C kh - Cng ngh

Gio trnh Nguyn L My

Trng i hc Nng Lm Tp. HCM

Gio trnh Nguyn L My

Trng i hc Nng Lm Tp. HCM

Khoa C kh - Cng ngh

Chng m u: Gii thiu mn hc

Gio trnh Nguyn L My

Trng i hc Nng Lm Tp. HCM

Khoa C kh - Cng ngh

Cc loi c cu ch yu dng trong ngnh c kh:

Gio trnh Nguyn L My

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Khoa C kh - Cng ngh

Hnh 1-1. Thanh truyen.

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Khoa C kh - Cng ngh

Ten goi: khau dan, khau b dan va gia (khau co nh).

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Khoa C kh - Cng ngh

Bang 1. Cac loai khp ong

Khoi tru - Mat

Khoi hop - mat

Khp tnh tien

Qua cau - mat

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kch thc ong

Hnh 1-4. Chui ng phng

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Hnh 1-6. Chuoi ong kn

R = i.p i = 5p5 + 4p4 + 3p3 + 2p2 +1p1 (1-3)

Thay (1-2) va 1-3) vao (1-1) ta co :

Gio trnh Nguyn L My

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2.4. Rang buoc tha - Bac t do tha

Hnh 1-9. C cau co rang buoc tha

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Hnh 1-10. C cau co bac t do tha

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Trng i hc Nng Lm Tp. HCM

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Hnh 1-12: Nhm t-xua

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Hnh 1-13: C cau co nhom loai 3

Hnh 1-14: C cau co nhom loai 3

Gio trnh Nguyn L My

Trng i hc Nng Lm Tp. HCM

Khoa C kh - Cng ngh