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UNIVERSITATEA TEHNICA

CLUJ-NAPOCA
FACULTATEA CONSTRUCII DE MAINI

Proiect la disciplina
Maini unelte cu comanda numerica
MUCN

Student:
RUSAN CLAUDIU-IOAN
MUSP IV

Calculul timpului afferent deplasarii


Tahograma deplasarii evidentiaza doua tipuri de miscare:
-miscare cu vitezact;
-miscare uniform accelerata/decelerare;
a)pentru portiunea de acceleare/decelerare:

vR=aa-AR*ta-AR (1)
SAR=1/2*aa-AR*ta-AR^2(2)
aa-AR= ad-AR(3)
ta-AR= td-AR(4)
b)pentru portiunea de viteza ct

Sct-R=VR*tct-AR (5)
tct-AR=(S-2SAR)/VAR(7)
Viteza de frezare :Vf=373mm/min=373/60=6.21mm/s;
Viteza maxima: Vmax=5m/min=(5*1000)/60=83.3mm/s;

A.Pentru Pi-PH
a) vR=aa-AR*ta-AR aa-AR=VR/ta-AR=83.3/0.25=333.2 mm/s2
1

SAR=1/2*aa-AR*ta-AR2= 2 *333.2*0.0625=10.41 mm
aa-AR= ad-AR=333.2 mm/s2
ta-AR= td-AR=0.25 s
b)tct-AR=(S-2SAR)/VAR=

300210.41
=3.35 s
83.3

S=300 mm
Sct-R=VR*tct-AR=83.3*3.35=279.05 mm.
TA=ta+tct+td=2*ta+tct=2*0.25+3.35=3.85 s

B.Pentru PH-A
a) vR=aa-AR*ta-AR aa-AR=VR/ta-AR=83.3/0.25=333.2 mm/s2
1

SAR=1/2*aa-AR*ta-AR2= 2 *333.2*0.0625=10.41 mm
aa-AR= ad-AR=333.2 mm/s2
ta-AR= td-AR=0.25 s
b)tct-AR=(S-2SAR)/VAR=

100210.41
=0.95 s
83.3

S=100 mm
Sct-R=VR*tct-AR=83.3*0.95=79.13 mm.
TB=ta+tct+td=2*ta+tct=2*0.25+0.95=1.45 s
C.Pentru B-C
a) vR=aa-AR*ta-AR aa-AR=VR/ta-AR=6.21/0.25=24.84 mm/s2
SAR=1/2*aa-AR*ta-AR

1
= 2 *24.84*0.0625=0.77 mm

aa-AR= ad-AR=24.84 mm/s2


ta-AR= td-AR=0.25 s
b)tct-AR=(S-2SAR)/VAR=
S=Larc=

31.4120.77
=4.8 s
6.21

rn
2090
=
=31.41 mm
Vr
180

Sct-R=VR*tct-AR=6.21*4.8=29.87 mm.
TC=ta+tct+td=2*ta+tct=2*0.25+4.8=5.3 s
D.Pentru C-D
a) vR=aa-AR*ta-AR aa-AR=VR/ta-AR=6.21/0.25=24.84 mm/s2

SAR=1/2*aa-AR*ta-AR2= 2 *24.84*0.0625=0.77 mm
aa-AR= ad-AR=24.84 mm/s2
ta-AR= td-AR=0.25 s
b)tct-AR=(S-2SAR)/VAR=

104.1420.77
=16.52 s
6.21

S=104.14 mm
Sct-R=VR*tct-AR=6.21*16.52=102.58 mm.
TD=ta+tct+td=2*ta+tct=2*0.25+16.52=17.02 s
E.Pentru D-E
a) vR=aa-AR*ta-AR aa-AR=VR/ta-AR=6.21/0.25=24.84 mm/s2
1

SAR=1/2*aa-AR*ta-AR2= 2 *24.84*0.0625=0.77 mm
aa-AR= ad-AR=24.84 mm/s2
ta-AR= td-AR=0.25 s
b)tct-AR=(S-2SAR)/VAR=

94.120.77
=14.9 s
6.21

S=94.1 mm
Sct-R=VR*tct-AR=6.21*14.9=92.54 mm.
TE=ta+tct+td=2*ta+tct=2*0.25+14.9=15.4 s
F.Pentru E-F
a) vR=aa-AR*ta-AR aa-AR=VR/ta-AR=6.21/0.25=24.84 mm/s2
SAR=1/2*aa-AR*ta-AR

1
= 2 *24.84*0.0625=0.77 mm

aa-AR= ad-AR=24.84 mm/s2


ta-AR= td-AR=0.25 s

b)tct-AR=(S-2SAR)/VAR=

90.620.77
=14.34 s
6.21

S= 90.6 mm
Sct-R=VR*tct-AR=6.21*14.34 =89.05mm.
TF=ta+tct+td=2*ta+tct=2*0.25+14.34=14.84 s
G.PentruF-G
a) vR=aa-AR*ta-AR aa-AR=VR/ta-AR=6.21/0.25=24.84 mm/s2
1

SAR=1/2*aa-AR*ta-AR2= 2 *24.84*0.0625=0.77 mm
aa-AR= ad-AR=24.84 mm/s2
ta-AR= td-AR=0.25 s
b)tct-AR=(S-2SAR)/VAR=

88.7320.77
=14.04s
6.21

rn
30169.47
S=Larc=
=
=88.73
Vr
180

Sct-R=VR*tct-AR=6.21*14.04=87.18mm.
TG=ta+tct+td=2*ta+tct=2*0.25+14.04=14.54 s
H.PentruG-A
a) vR=aa-AR*ta-AR aa-AR=VR/ta-AR=6.21/0.25=24.84 mm/s2
1

SAR=1/2*aa-AR*ta-AR2= 2 *24.84*0.0625=0.77 mm
aa-AR= ad-AR=24.84 mm/s2
ta-AR= td-AR=0.25 s
b)tct-AR=(S-2SAR)/VAR=
S= 181.72 mm

181.7220.77
=29.01 s
6.21

Sct-R=VR*tct-AR=6.21*29.01=180.17mm.
TH=ta+tct+td=2*ta+tct=2*0.25+29.01=29.51 s
I.PentruA-H
a) vR=aa-AR*ta-AR aa-AR=VR/ta-AR=6.21/0.25=24.84 mm/s2
SAR=1/2*aa-AR*ta-AR

1
= 2 *24.84*0.0625=0.77 mm

aa-AR= ad-AR=24.84 mm/s2


ta-AR= td-AR=0.25 s
b)tct-AR=(S-2SAR)/VAR=

6020.77
=9.41 s
6.21

S= 60 mm
Sct-R=VR*tct-AR=6.21*9.41=58.43mm.
TI=ta+tct+td=2*ta+tct=2*0.25+9.41=9.91 s
J.PentruI-A
a) vR=aa-AR*ta-AR aa-AR=VR/ta-AR=83.3/0.25=333.2 mm/s2
SAR=1/2*aa-AR*ta-AR

1
= 2 *333.2*0.0625=10.41 mm

aa-AR= ad-AR=333.2 mm/s2


ta-AR= td-AR=0.25 s
b)tct-AR=(S-2SAR)/VAR=

180.24210.41
=1.91 s
83.3

S=180.24 mm
Sct-R=VR*tct-AR=83.3*1.91=159.1 mm.
TJ=ta+tct+td=2*ta+tct=2*0.25+1.91=2.41 s
K.PentruA-J
a) vR=aa-AR*ta-AR aa-AR=VR/ta-AR=83.3/0.25=333.2 mm/s2

SAR=1/2*aa-AR*ta-AR2= 2 *333.2*0.0625=10.41 mm
aa-AR= ad-AR=333.2 mm/s2
ta-AR= td-AR=0.25 s
b)tct-AR=(S-2SAR)/VAR=

90.14210.41
=0.83 s
83.3

S=90.14 mm
Sct-R=VR*tct-AR=83.3*0.83=69.13 mm.
TK=ta+tct+td=2*ta+tct=2*0.25+0.83=1.33 s
L.PentruJ-PH
a) vR=aa-AR*ta-AR aa-AR=VR/ta-AR=83.3/0.25=333.2 mm/s2
1

SAR=1/2*aa-AR*ta-AR2= 2 *333.2*0.0625=10.41 mm
aa-AR= ad-AR=333.2 mm/s2
ta-AR= td-AR=0.25 s
b)tct-AR=(S-2SAR)/VAR=

150210.41
=1.55 s
83.3

S=150 mm
Sct-R=VR*tct-AR=83.3*1.55=129.11 mm.
TL=ta+tct+td=2*ta+tct=2*0.25+1.55=2.05 s
Calculul fortei echivalente medii
Timpul total pe ciclu
Tc=(2ta+tc)=TA+ TB+ TC+ TD+ TE+ TF+ TG+ TH+ TI+ TJ+
TK+ TL=

=3.85+1.45+5.3+17.02+15.4+14.84+14.54+29.51+9.91+2.41+1.33+
2.05 =

=117.61 sec
Timpul de accelerare ta=timpul decelerare td=0.25s
Timpul constant pentru fiecare portiune:
Pentru Pi-PH : tc=3.35s

Pentru F-G : tc=14.04 s

Pentru PH-PA : tc=0.95s

Pentru G-A: tc=29.01s

Pentru B-C: tc=4.8s

Pentru A-H : tc=9.41 s

Pentru C-D : tc=14.52s

Pentru I-A: tc=1.91 s

Pentru D-E : tc=14.9s

Pentru A-J : tc=0.83 s

Pentru E-F : tc=14.34s

Pentru J-Ph: tc=1.55 s

Tc =117.61 sec
Distanta intre puncte:
PI-PH :L= 300 mm;

F-G :L= 88.73 mm ;

PH-A :L= 100 mm;

G-A :L= 181.72 mm;

Li=1471.08

mm;
B-C :L= 31.41mm ;

A-H :L= 60 mm;

C-D :L= 104.14 mm;

I-A :L= 180.24 mm;

D-E :L= 94.1 mm

A-J :L= 90.14mm;

E-F :L= 90.6 mm;

J-PH :L= 150 mm;

m =2800 kg ;

FPi-PH3*l =(m*a)3*l=(2800kg*0.333m/s2)3*0.300 m=(932.4)3N*0.300m=


= 810600364 N* 0.300m =243180109 N*m;
FPH-A3*l =(m*a)3*l=(2800kg*0.333m/s2)3*0.100 m=(932.4)3N*0.100m=
= 810600364 N* 0.100m =81060036 N*m;
FB-C3*l =(m*a)3*l=(2800kg*0.024m/s2)3*0.031 m=(67.2)3N*0.031m=
=303464448 N*0.031m=9407 N*m;

FC-D3*l =(m*a)3*l=(2800kg*0.024m/s2)3*0.104 m=(67.2)3N*0.104m=


=31560 N*m;
FD-E3*l =(m*a)3*l=(2800kg*0.024m/s2)3*0.092 m=(67.2)3N*0.092m=
=27918 N*m;
FE-F3*l =(m*a)3*l=(2800kg*0.024m/s2)3*0.096 m=(67.2)3N*0.096m=
=29132 N*m;
FF-G3*l =(m*a)3*l=(2800kg*0.024m/s2)3*0.088 m=(67.2)3N*0.088m=
=26704 N*m;
FG-A3*l =(m*a)3*l=(2800kg*0.024m/s2)3*0.181 m=(67.2)3N*0.181m=
=54926 N*m;
FA-H3*l =(m*a)3*l=(2800kg*0.024m/s2)3*0.060 m=(67.2)3N*0.060m=
=18207 N*m;
FI-A3*l =(m*a)3*l=(2800kg*0.333m/s2)3*0.180 m=(932.4)3N*0.180m=
=145908665 N*m;
FA-J3*l =(m*a)3*l=(2800kg*0.333m/s2)3*0.090 m=(932.4)3N*0.090m=
=72954032 N*m;
FJ-PH3*l =(m*a)3*l=(2800kg*0.333m/s2)3*0.150 m=(932.4)3N*150m=
=121590054 N*m;

Fm=

Fm=

767 N

F i 3li 3 664890750 Nm
=
li
1471.08 mm

Calculul q pe portiuni :

664890750 Nm
=767 N
1.471 m

PH-PI :qa= qd=


qc=

*100=0.212

Tc

*100 =

0.25
117.61

*100=0.212

Tc

0.25
117.61

*100 =

*100=0.212

Tc

*100 =

0.25
117.61

*100=0.212

Tc

0.25
117.61

*100 =

*100= 0.212

0.25
117.61

*100= 0.212

14.34
100=12.19
117.61

F-G :qa= qd=


qc=

*100 =

0.25
117.61

14.9
100=12.66
117.61

E-F: qa= qd=


qc=

Tc

16.52
100=14.04
117.61

D-E :qa= qd=


qc=

*100=0.212

4.80
100=4.08
117.61

C-D :qa= qd=


qc=

0.25
117.61

0.95
100=0.80
117.61

B-C :qa= qd=


qc=

*100 =

3.35
100=2.84
117.61

PI-A: qa= qd=


qc=

Tc

Tc

*100 =

14.04
100=11.93
117.61

G-A :qa= qd=


qc=

*100 =

0.25
117.61

*100=

0.212

0.25
117.61

*100=

0.212

29.01
100=24.66
117.61

A-H :qa= qd=

qc=

Tc

Tc

*100 =

9.41
100=8.0
117.61

I-A :qa= qd=


qc=

*100= 0.212

Tc

*100 =

0.25
117.61

*100=

0.212

0.83
100=0.70
117.61

J-PH :qa= qd=


qc=

*100 =

0.25
117.61

1.91
100=1.62
117.61

A-J :qa= qd=


qc=

Tc

Tc

*100 =

1.55
100=0.90
117.61

0.25
117.61

*100=

0.212

Calculul ariilor pentru accelerare / decelerare


Li=V iqi

PH-PI:
Accelerare / decelerare

Tc

qa= qd=

LPH PI =q aV max =

*100 =

0.25
171.61

*100=0.212

0.2125000 mm 1
( )=530 mm2
min
2

Constant

qc=
LPH-PI=

3.35
100=2.84
117.61

2.84

5000=14200 mm2

Poriunea PH-A:
Accelerare / decelerare
q a=q d=

100
Tc

0.25
171.61

*100=0.212

1
2
LP I A=qaV f =0.2125000( )=530 mm
2

Constant

qc=
LPI-A=

0.95
100=0.80
117.61

0.80

5000=4000 mm2

Poriunea B-C:
Accelerare / decelerare
q a=q d=

100
Tc

0.25
171.61

*100=0.212

1
LBC =qaV f =0.212373( )=39.53 mm 2
2

Constant

qc=
LB-C =

4.80
100=4.08
117.61

4.08

373=1521.84 mm2

PoriuneaC-D:
Accelerare / decelerare
q a=q d=

100
Tc

0.25
171.61

*100=0.212

1
LCD =q aV f =0.212373( )=39.53 m m2
2

Constant

qc=

16.52
100=14.04
117.61

14.04

LC-D=

373=5236.92 mm2

Poriunea D-E:
Accelerare / decelerare
q a=q d=

100
Tc

0.25
171.61

*100=0.212

1
2
LD E =q aV f =0.212373( )=39.53 mm
2

Constant

qc=
LD-E =

14.9
100=12.66
117.61

12.66

373=4722.18 mm2

Poriunea E-F:
Accelerare / decelerare
q a=q d=

100
Tc

0.25
171.61

*100=0.212

1
LE F =q aV f =0.212373( )=39.53 mm 2
2

Constant

qc=

14.34
100=12.19
117.61

12.19

LE-F =

373=4546.87 mm2

Poriunea F-G:
Accelerare / decelerare
q a=q d=

100
Tc

0.25
171.61

*100=0.212

1
LF G=qaV f =0.212373( )=39.53 m m2
2

Constant

qc=
LF-G =

14.04
100=11.93
117.61

11.93

373=4449.89 mm2

Poriunea G-A:
Accelerare / decelerare
q a=q d=

100
Tc

0.25
171.61

*100=0.212

1
LG A =q aV f =0.212373( )=39.53 mm2
2

Constant

qc=
LG-A =

29.01
100=24.66
117.61

24.66

373=9198.18mm2

Poriunea A-H:
Accelerare / decelerare
q a=q d=

100
Tc

0.25
171.61

*100=0.212

1
2
L A H =q aV f =0.212373( )=39.53 m m
2

Constant

qc=
LA-H =

9.41
100=8
117.61

373=2984 mm2

Portiune I-A:
Accelerare / decelerare

qa= qd=
LI A =q aV max =

Tc

*100 =

*100=0.212

0.2125000 mm 1
( )=530 m m2
min
2

Constant

qc=

0.25
171.61

1.91
100=1.62
117.61

1.62

LI-A=

5000=8100 mm2

Portiune A-J:
Accelerare / decelerare

Tc

qa= qd=
L AJ =q aV max =

*100 =

0.25
171.61

*100=0.212

0.2125000 mm 1
2
( )=530 m m
min
2

Constant

qc=

0.83
100=0.70
117.61

0.70

LA-J=

5000=3500 mm2

Portiune J-PH:
Accelerare / decelerare

qa= qd=

Tc

LJ PH =q aV max =

*100 =

0.25
171.61

*100=0.212

0.2125000 mm 1
( )=530 mm2
min
2

Constant

qc=
LJ-PH=

1.55
100=0.90
117.61

0.90

5000=4500 mm2

Li= LPi PH + L P H A + L BC + LCD + L D E + LE F + L F G + LG A + L A H + LI A + LA J + LJ PH =

69896.59mm2
qi = q PIPH +q PH A +q BC +q CD + q D E +q E F + qF G +q G A + q A H +q I A + q A J +q JPH =
9

6.964%(**trebuiasa fie 100% ,deoarece nu s-a adunat cu toatecifrele de


dupavirgula a iesit 96.964%)

Calculul vitezei medii


V m=

Li = 69896.59 =720 mm =12.01 mm


min
s
qi 96.964

Calculul forei axiale


Frt =0 pentruaccelerare /decelerare ;

f=20 N;

=0.008

Poriunea Pi-Ph:
Accelerare
aa AR =

V max 5 m/min 5000 mm/min 83.33 mm /s


=
=
=
=333.3 mm /s2
t a AR
0.25
0.25
0.25

Fi =ma a AR=28000.333=932.4 N
F fr =mg=28000.0089.81=219.74 N
F pt =

1
1
F rt + Fi + F fr +f )=
( 0+ 932.4+219.74+ 20 )=411.27 N
(
2.85
2.85

Fa 1 =F pt + f +m ( a+ g )=411.27 +20+2800( 0.333+0.0089.81 )=1583 N

Decelerare
Fa 2 =F rt + F pt + f + m ( ga )=411.27+20+2800( 0.0089.810.333 )=281.386 N

Constant
Fa 3 =Frt + F pt + ( mg )=0+411.27+ ( 28000.0089.81 )=631.01 N

PoriuneaPh-A:
Accelerare

aa AR =

V max 5 m/min 5000 mm/min 83.33 mm /s


=
=
=
=333.3 mm /s2
t a AR
0.25
0.25
0.25

Fi =ma a AR=28000.333=932.4 N
F fr =mg=28000.0089.81=219.74 N
F pt =

1
1
F rt + Fi + F fr +f )=
( 0+ 932.4+219.74+ 20 )=411.27 N
(
2.85
2.85

Fa 1 =F pt + f +m ( a+ g )=411.27 +20+2800( 0.333+0.0089.81 )=1583 N

Decelerare
Fa 2 =F rt + F pt + f + m ( ga )=411.27+20+2800( 0.0089.810.333 )=281.386 N

Constant
Fa 3 =Frt + F pt + ( mg )=0+411.27+ ( 28000.0089.81 )=631.01 N

Poriunea B-C:
Accelerare
aa AR =

Vf
t a AR

6.21 mm/s
=24.84 mm/ s2
0.25

Fi =ma a AR=28000.02484=69.5 N
F fr =mg=28000.0089.81=219.74 N
F pt =

1
1
F rt + Fi + F fr +f )=
( 0+ 69.5+ 219.74+0 )=101.4 N
(
2.85
2.85

Fa 1 =f + F pt +m ( a+ g )=20+101.4+ 2800( 0.024 +0.0089.81 )=408.34 N

Decelerare
Fa 2 =F rt +F pt +f +m ( ga )=0 +101.4 +20+2800( 0.0089.810.024 )=273.94 N

Poriunea C-D:

Accelerare
aa AR =

Vf
t a AR

6.21 mm/s
=24.84 mm/ s2
0.25

Fi =ma a AR=28000.02484=69.5 N
F fr =mg=28000.0089.81=219.74 N
F pt =

1
1
F rt + Fi + F fr +f )=
( 0+ 69.5+ 219.74+0 )=101.4 N
(
2.85
2.85

Fa 1 =f + F pt +m ( a+ g )=20+101.4+ 2800( 0.024 +0.0089.81 )=408.34 N

Decelerare
Fa 2 =F rt +F pt +f +m ( ga )=0 +101.4 +20+2800( 0.0089.810.024 )=273.94 N

Constant
Fa 3 =F pt + f +F rt + ( mg ) =101.4+20+219.74=341.14 N

Poriunea D-E:
Accelerare
aa AR =

Vf
t a AR

6.21 mm/s
=24.84 mm/ s2
0.25

Fi =ma a AR=28000.02484=69.5 N
F fr =mg=28000.0089.81=219.74 N
F pt =

1
1
F rt + Fi + F fr +f )=
( 0+ 69.5+ 219.74+0 )=101.4 N
(
2.85
2.85

F
20+101.4+ 2800( 0.024 +0.0089.81 )=408.34 N
[ rt +f + F pt +m ( a+ g ) ]=
F a 1=

Decelerare
F rt + F
0
+20+2800( 0.0089.810.024 ) =273.94 N
[ pt +f + m ( ga ) ]= +101.4
F a 2=

Constant
Fa 3 =[ F pt + f + F rt + ( mg ) ]=[ 101.4+20+ 219.74 ] =341.14 N

Poriunea E-F:
Accelerare
aa AR =

Vf
t a AR

6.21 mm/s
=24.84 mm/ s2
0.25

Fi =ma a AR=28000.02484=69.5 N
F fr =mg=28000.0089.81=219.74 N
F pt =

1
1
F rt + Fi + F fr +f )=
( 0+ 69.5+ 219.74+0 )=101.4 N
(
2.85
2.85

F
20+101.4+ 2800( 0.024 +0.0089.81 )=408.34 N
[ rt +f + F pt +m ( a+ g ) ]=
F a 1=

Decelerare

F rt + F
0
+20+2800( 0.0089.810.024 ) =273.94 N
[ pt +f + m ( ga ) ]= +101.4
F a 2=

Constant
Fa 3 =[ F pt + f + F rt + ( mg ) ]=[ 101.4+20+ 219.74 ] =341.14 N

Poriunea F-G
Accelerare
aa AR =

Vf
t a AR

6.21 mm/s
=24.84 mm/ s2
0.25

Fi =ma a AR=28000.02484=69.5 N
F fr =mg=28000.0089.81=219.74 N
F pt =

1
1
F rt + Fi + F fr +f )=
( 0+ 69.5+ 219.74+0 )=101.4 N
(
2.85
2.85

F
20+101.4+ 2800( 0.024 +0.0089.81 )=408.34 N
[ rt +f + F pt +m ( a+ g ) ]=
F a 1=

Decelerare
F rt + F
0
+20+2800( 0.0089.810.024 ) =273.94 N
[ pt +f + m ( ga ) ]= +101.4
F a 2=

Poriunea G-A
Accelerare

aa AR =

Vf
t a AR

6.21 mm/s
=24.84 mm/ s2
0.25

Fi =ma a AR=28000.02484=69.5 N
F fr =mg=28000.0089.81=219.74 N
F pt =

1
1
F rt + Fi + F fr +f )=
( 0+ 69.5+ 219.74+0 )=101.4 N
(
2.85
2.85

F
20+101.4+ 2800( 0.024 +0.0089.81 )=408.34 N
[ rt +f + F pt +m ( a+ g ) ]=
F a 1=

Decelerare
F rt + F
0
+20+2800( 0.0089.810.024 ) =273.94 N
[ pt +f + m ( ga ) ]= +101.4
F a 2=

Constant
Fa 3 =[ F pt + f + F rt + ( mg ) ]=[ 101.4+20+ 219.74 ] =341.14 N

Poriunea A-H
Accelerare
aa AR =

Vf
t a AR

6.21 mm/s
=24.84 mm/ s2
0.25

Fi =ma a AR=28000.02484=69.5 N
F fr =mg=28000.0089.81=219.74 N
F pt =

1
1
F rt + Fi + F fr +f )=
( 0+ 69.5+ 219.74+0 )=101.4 N
(
2.85
2.85

Fa 1 =f + F pt +m ( a+ g )=20+101.4+ 2800( 0.024 +0.0089.81 )=408.34 N

Decelerare
Fa 2 =F rt +F pt +f +m ( ga )=0 +101.4 +20+2800( 0.0089.810.024 )=273.94 N

Constant
Fa 3 =F pt + f +F rt + ( mg ) =101.4+20+219.74=341.14 N

Poriunea I-A:
Accelerare
aa AR =

V max 5 m/min 5000 mm/min 83.33 mm /s


=
=
=
=333.3 mm /s2
t a AR
0.25
0.25
0.25

Fi =ma a AR=28000.333=932.4 N
F fr =mg=28000.0089.81=219.74 N
F pt =

1
1
( F + F + F +f )= 2.85 ( 0+ 932.4+219.74+ 20 )=411.27 N
2.85 rt i fr

F
[ pt +f + m ( a+ g ) ]=[ 411.27+ 20+2800( 0.333+ 0.0089.81 ) ] =1583 N
F a 1=

Decelerare
F

[ rt+ F pt+ f +m ( ga ) ]=[ 411.27 +20+2800( 0.0089.810.333 ) ] =281.386 N

Fa 2=

Constant
Fa 3 =[ F rt + F pt + ( mg ) ]=0+ 411.27 + ( 28000.0089.81 ) =631.01 N

Poriunea A-J:

Accelerare
aa AR =

V max 5 m/min 5000 mm/min 83.33 mm /s


=
=
=
=333.3 mm /s2
t a AR
0.25
0.25
0.25

Fi =ma a AR=28000.333=932.4 N
F fr =mg=28000.0089.81=219.74 N
F pt =

1
1
F rt + Fi + F fr +f )=
( 0+ 932.4+219.74+ 20 )=411.27 N
(
2.85
2.85

Fa 1 =F pt + f +m ( a+ g )=411.27 +20+2800( 0.333+0.0089.81 )=1583 N

Decelerare
Fa 2 =F rt + F pt + f + m ( ga )=411.27+20+2800( 0.0089.810.333 )=281.386 N

Constant
Fa 3 =Frt + F pt + ( mg )=0+411.27+ ( 28000.0089.81 )=631.01 N

Poriunea J-PH
Accelerare
aa AR =

V max 5 m/min 5000 mm/min 83.33 mm /s


=
=
=
=333.3 mm /s2
t a AR
0.25
0.25
0.25

Fi =ma a AR=28000.333=932.4 N
F fr =mg=28000.0089.81=219.74 N
F pt =

1
1
F rt + Fi + F fr +f )=
( 0+ 932.4+219.74+ 20 )=411.27 N
(
2.85
2.85

F
(
)
[ pt +f + m a+ g ]=[ 411.27+ 20+2800( 0.333+ 0.0089.81 ) ] =1583 N
F a 1=

Decelerare
F

[ rt+ F pt+ f +m ( ga ) ]=[ 411.27 +20+2800( 0.0089.810.333 ) ] =281.386 N

Fa 2=

Constant
Fa 3 =[ F rt + F pt + ( mg ) ]=0+ 411.27 + ( 28000.0089.81 ) =631.01 N

Pi-PH:

F=Fa 1 + F a 2+ F a 3=1583281.386

PH-A:

F=Fa 1 + F a 2+ F a 3=1583281.386

631.01

=1932.62N

631.01

=1932.62N

B-C:

F=Fa 1 + F a 2= 408.34
273.94
+
=682.28N

C-D:

F=Fa 1 + F a 2+ F a 3= 408.34
273.94
341.14
+
+
=1023.42N

D-E:

F=Fa 1 + F a 2+F a 3=1023.42 N

E-F:

F=Fa 1 + F a 2+ F a 3=1023.42 N

F-G:

F=Fa 1 + F a 2=408.34273.94
=-682.28N

F=Fa 1 + F a 2+ F a 3=1023.42 N
G-A:

F=Fa 1 + F a 2+ F a 3=
A-H:
1023.42N

F=Fa 1 + F a 2+ F a 3=
I-A:
-1932.62N

F=Fa 1 + F a 2+ F a 3=
A-J:
1932.62N

F=Fa 1 + F a 2+ F a 3=
J-Ph:
-1932.62N

FA

(Pi-PH; PH-A; B-C; C-D; D-E; E-F; F-G;G-A;A-H;I-A;A-J;J-

PH)=
=909.2N
Pt. accelerare

Fmax =1583 N

Pt. decelerare

Fmax =281.38 N

Pt. constant

Fmax =631.01 N

Calculul turaiei medii


nmotor =500

p=

rot
min

V max 5000 mm/min


=
=10 mm .
mmotor 500 rot /min

V 83.33
Pentru PhPi :V =>n= =
=8.333 rot / sec
p
10
Pentru PiA :V => n=
Pentru BC :V =>n=

V 83.33
=
=8.333 rot /sec
p
10

V 6.21
=
=0.621 rot / sec
p 10

PentruCD :V => n=

V 6.21
=
=0.621rot /sec
p 10

V 6.21
Pentru DE :V =>n= =
=0.621 rot / sec
p 10
Pentru EF :V => n=

V 6.21
=
=0.621rot /sec
p 10

Pentru FG:V =>n=

V 6.21
=
=0.621 rot / sec
p
10

V 6.21
PentruG A :V =>n= =
=0.621 rot /sec
p 10
V 6.21
Pentru AH :V =>n= =
=0.621 rot /sec
p 10

Pentru I A : V => n=

V 83.33
=
=8.333 rot / sec
p
10

V 83.33
Pentru AJ :V =>n= =
=8.333rot /sec
p
10
Pentru J Ph :V => n=

V 83.33
=
=8.333 rot /sec
p
10

r ot

rot

n m=46.012 sec = n=2760.72 min

Alegerea urubului cu bile


Diametrul urubului
d=

4F a
41583
=
= 35.83 mm=5.98 mm
a
3.1456.25

a =0.75 r
r =75 daN /m m2

Se alege din catalogul THK un urub cu bile pretensionat


cu 20 mm, cu capete prelucrate BNK 2010-

2.5RRG2+1099LC5Y
{BNK} - Tipul urubului

{G2} - Toleranta radiala

{20} - Diametrul urubului

{1099} - Lungimea urubului

{10} - Pasul urubului

{C5} - Clasa de precizie

{RR} - Tipul de recirculare

{Y} - Capetele prelucrate

Lsurub =1099 mm= clasa de precizeC 5 cu o erore cumulate de 46


m( 0.023 mm)

Suport - partea fixa: EK15


- partea rezemata: EF15

Pasul urubului
V max =p sbnM
n M =500

rot
min

**Vezi anexa pt.


dimensiuni
suplimentare

psb =

V max 5000
=
=10 mm
nM
500

Se alege pasul = 10 mm
Verificarea la ncovoiere
Fi =

2d 43
2017.24
4
10
=
10 4=17504.26 N
2
2
L
1014

Verificarea la compresiune
Fc =

c 2 1473.14
d 1=
17.22=34138.46 N
4
4

urubul ndeplinete condiiile din punct de vedere al solicitrilor:


Fa max F i

/ Fc

Calculul turaiei maxime admise pentru urub:


- Diametru urub: d= 20mm
- Viteza maxima:

V max =

5000 mm
=83.33mm /s
=0.083m/s
min

Turaia maxima de funcionare


N max =

V max60103 0.08360103
rot
=
=498
p sb
10
min

Turaia maxima admisibila, in funcie de viteza critica


N 1=

w d 1
L

10 =

2017.2
rot
7
10 =3345.66
2
min
1014

Calculul piuliei conform surubului


c 0a=11.1 kN
c a=22 kN

f s=2.5 -coef.de siguranta pentru m-u,vibratii si

functionare cu socuri

Fa adm=

c 0a 22000
=
=8000 N > F amax= corespunde cerintelor
fs
2.5

Durata de viat
3
ca 3
22103
6
L=
10 =
106=13320.66106 rot
f wF m
1.1767

Lh =

Lk =

Lp sb 13320.6610610
=
=804387 ore
60N
602760
Lp sb
106

(rel 2.10)

13320.6610 610
=133206 km
10 6

Rigiditatea
Precizia pasului 0.023/1000mm pt. clasa C5
Jocul axial = 0
Deformaie termica(10 grade celsius)
l=q tps =121061010=0.0012 mm

Calculul momentului
Momentul de torsiune datorat rezistentei tehnologice:
M t1=

Frt psb
= 0
2

Momentul datorat pretensionrii piuliei

F pt =0.1c a=0.122000=2200 N

tg=

p sb
10
=
=0.15
d a 3.1420.75

M 2pt =0.05tg

0.5F ptp sb 0.05( 0.15 )0.5411.2710


=
=16.37 Nmm
2
23.14

Momentul de inerie al urubului


J S =J S1250=1.231031250=1.537104 kgm2

Momentul de inerie datorat mesei


p sb 2
0.010 2
4
2
J m=m
=2800
=70.9910 kgm
2
23.14

( )

Alegerea cuplajului
M FN M N S tS d

Condiii:

M KN M SStSd

Se alege: ROTEX GS 24 st- 92


M KN =35 Nm

M K max=70 Nm
J cuplaj =0.21104 kgm2

Momentul de inerie exercitat asupra motorului


J M =J sb +J m + J c =1.537104 kgm2 +70.99104 kgm2 + 0.21104 kgm2
4
=72.737 10

kgm2

Acceleraia unghiular pentru deplasarea rapida

AR =

2N s 23.14500
rad
=
=521.24 2
60z
600.1
s

Momentul rezultat pentru accelerare


M 3=( J S+ J m +J c ) AR=72.737 104 kgm2521.24

rad
=3.79103 Nmm
2
s

Momentul total necesar la arborele motor


Pe durata accelerrii:
M act=M t 1+ M 2 pt + M 3=0+16.37 Nmm+ 3790 Nmm=3806 Nmm=3.8103 Nmm

Pe durata deplasrii cu V constant:


3

M ct =M t1 + M 2pt =16.37 Nmm=0.016310 Nmm

Pe durata decelerrii:
M dt =M t1 + M 2 pt M 3 =16.373790=3773.63 Nmm=3.773103 Nmm

Motorul de acionare

Turaia maxima a motorului

N m=500

rot
min

10
imp
sb
Rezoluia e = BLU = 0.002 =5000 rot = encoderul furnizeaza
la iesire 5000

imp
rot

Momentul maxim M max=3806 Nmm= momentul instantaneu


furnizat de motor trebuie sa fie cel putin 4 Nm

Momentul efectiv mediu

M echiv =

400023+16.32112.11+ (3773 ) 3
= 878.35N*m
117.61

Alegerea motorului

M verif =5.5 Nm

nmax=550rpm;

M continu=18.8 Nm
J M =2.9104 kgm 2

Se alege motorul NX3-NX8 SERVORMOTORS NX430E


Acceleraia unghiulara maxima
ungmax =

2 N S
600.8810

=65.449103 rad /s

Anexa surub