cuţit

1′′ 1

1′şi 1′′ 1
elemente Mecanism cu came
motoare 1′
Mecanism de tip şeping

Figura 1.1
z ωz
z
ωz ωz
z ωz
vy
vy
ωx vy y vt ω
y ωx
x vx ωy x y ωy x vx
vx ωy
1.2.a 1.2.b 1.2.c 1.2.d 1.2.e 1.2.f

vx
ωx
12.g 12.h 1.2.i vx 1.2.j 1.2.k

1 1
2 2
2
Figura 1.3.a Figura.1.3.b Figura 1.4
Clasificarea lanţurilor cinematice este prezentată în Tabelul 1.1. Rangul “j” al unui element este egal cu numărul cuplelor
cinematice cu care acesta se leagă de alte elemente.
Tabelul 1.1
După complexitatea Lanţuri cinematice plane Toate elementele au mişcări într-un singur plan sau în plane paralele
mişcării Lanţuri cinematice spaţiale Mişcările elementelor au loc în plane diferite
Lanţuri cinematice simple Fiecare element are j ≤ 2
După numărul cuplelor
cinematice Lanţuri cinematice complexe Cel puţin un element are j ≥ 3
care revin unui element Lanţuri cinematice închise Toate elementele au j ≥ 2
cinematic
Lanţuri cinematice deschise Cel puţin un element are j = 1
5
L = 6⋅n − ∑ k ⋅ Ck (1.1)
k =1

Figura 1.5
5 5
M = L − 6 = 6 ⋅ (n − 1) − ∑ k ⋅ C k = 6 ⋅ m −∑ k ⋅ C k (1.2)
k =1 k =1
L = (6 − 3) ⋅ n − (5 − 3) ⋅ C 5 − ( 4 − 3) ⋅ C 4 (1.3)
M = 3 ⋅ m − 2 ⋅ C5 − C 4 (1.4)
5
M = (6 − f ) ⋅ m − ∑ (k − f ) ⋅ C k (1.5)
k =1

element conducător CIV CIII CIII

contactor
CR
V 2 3
C RV
m = 3 ; C5 = 4 ; C4 = 0 m = 2 ; C5 = 2 ; C4 = 1
M = 3⋅3 − 2⋅4 = 1 M = 3⋅2 − 2⋅2 − 1 = 1 Figura 1.6 1
r M = 6⋅3 − 5⋅2 − 3⋅2 = 2!
ω1 (motor)
1
 Mecanismul spaţial schematizat în figura 1.7 are: m = 3, C5 = 2, C4 = 2 şi f = 1. Ca urmare, aplicând relaţia (1.5), rezultă M = 1.
1 CR
V r două cuple CV !
2 ω1
(motor) 5
CIV 1 6

z 2
m=3 3
3 4
CV = 2
x y CIV = 2
M = 6⋅3 − 5⋅2 − 4⋅2 = 0 !?
C RV Se observă că nici un element nu poate
m = 6 ; CV = 7!
M = 3⋅6 − 2⋅7 = 4
Figura 1.7 avea rotaţie faţă de (Oy). Figura 1.8
2 două cuple C5! 2
1 1
5 5
6 6
3 4 4

m = 6 ; C5 = 9
M = 3⋅6 − 2⋅9 = 0 ?! m = 5 ; C5 = 7
Elementul 3 este pasiv! Ajută la rigidzarea barei 2. M = 3⋅5 − 2⋅7 = 1

Figura 1.9.a Figura 1.9.b

CV CV

3 2 1 m=3 2 1 m=2
C5 = 3 C5 = 2
C4 = 1 C4 = 1
CIV CIV
M = 3⋅3 − 2⋅3 − 1 = 2 !? M = 3⋅2 − 2⋅2 − 1 = 1
Rola 2 poate fi îndepărtată.
Figura 10.a Figura 10.b
3 ⋅ mech − 2 ⋅ C5 ech = −1 (1.6)
3 ⋅ mech + 1
C 5 ech = (1.7)
2
Tabelul 1.2
mech 1 3 5 7 ….
C5 ech 2 5 8 11 ….

1 2 1 3 m=2+1=3
C4 m=2
C5 = 2 C5 = 2 + 2 =4
C4 = 1 2 C4 = 0
M=1 M=1

Figura 1.11.a Figura 1.11.b

(n) 2 (n) 2 2 B CT
2
B V

3 m=3
1 3 C5 = 4
B ρ
ρ1B 1 D D C4 = 0
1 m=2 CR
V M=1
C5 = 2 A A
1
C4 = 1
m=2
m=3 M=1
C5 = 2
C4 = 1 C5 = 4
O Figura 1.13
M=1 C4 = 0
Figura 1.12 (n) M=1 (n)
3
C5 = m (1.8)
2
Tabelul 1.3
m 2 4 6 …
C5 3 6 9 …

element diadă
conducător
Figura 1.14 a Figura 1.14.b

2
 2 1
4 1 4 4
1 3
3 3
2
2
Figura 1.15
B2
α B3 B1
l2 1 D2
D1
C C1
B β 2 3
D3
l1 D4 D0
1 2 B4 C0
ϕ l3 B0
A 3
D A
C4 C5 C6 C7 4
l4 D7
4 4
D5 D6
B5 B7
Figura 2.1 B6 Figura 2.3

v A = ω ⋅ l OA (2.1)
vA K AVA
= v⋅ (2.2)
lOA K l OA
K
ω = v ⋅ tgφ = K ω ⋅ tgϕ (2.3)
Kl
K ω = 1 şi deci ω = tgφ (2.4)
v 2A
a nA = = ω 2 ⋅ rA (2.5)
rA
t
aA = ε ⋅ rA (2.6)
t
A A VA A AB
t
AA VA
A
VA AA
ψ ϕ A nA a B t
γ A nB
AB B
VB AB
ε A nB
O ω
O O O ω
Figura 2.4 Figura 2.5 Figura 2.6 Figura 2.7
t t
aA K ⋅ AA A K A
ε= = a = ⋅ tgψ (2.7)
rA K l ⋅ OA Kl
ε = K ε ⋅ tgψ (2.7′)
ε = tgψ (2.8)

⎜ A⎟
2
⎛ aA n ⎞ = OA ⋅ AA n ; AA n = AV A
A A
( )2 = K1 ⋅ v 2A = K l ⋅ a An (2.9)
⎝ ⎠ OA K 2v rA K 2v

n K 2v n n n
sau a A = ⋅ AA A , adică vectorul AA A reprezintă acceleraţia a A la scara Ka.
Kl
n t
aA = aA + aA (2.10)

aA = (a ) + (a )
n 2
A
t 2
A = ω 4 ⋅ l OA
2
+ ε 2 ⋅ l OA
2
= l OA ⋅ ω 4 + ε 2 (2.11)

a B = l OB ⋅ ω 4 + ε 2 (2.12)
t t
aA rA ⋅ ε ε aB rB ⋅ ε ε
tgγ = = = = = = (2.13)
a nA rA ⋅ ω 2
ω 2
a nB rB ⋅ ω 2
ω2

VC a AB b
VA VB
c n a
B AA
C pv
A b B
pa γ ⊥ AB
A
Figura 2.8 Figura 2.9 Figura 2.10 Figura 2.11
v B = v A + v BA (2.14)
v BA = ω ⋅ l AB ; v BA ⊥ AB (2.15)
3
 v C = v A + v CA , iar direcţia v CA ⊥ AB . (2.16)
ab AB
= (2.17)
ac AC
a B = a A + a BA (2.18)
n t
a BA = a BA + a BA (2.19)
n t
aB = a A + a BA + a BA (2.20)
v 2BA
a nBA = = ω 2 ⋅ l AB ; a nBA AB (2.21)
l BA
t t
a BA = ε ⋅ l AB ; a BA ⊥ AB (2.22)
( )
vA = K v ⋅ pva
v B = K v ⋅ (p v b ) (2.23)
v BA = K v ⋅ (ab )

Pentru determinarea acceleraţiilor se consideră ecuaţia vectorială a acceleraţiilor conform relaţiei (2.18).
ω 2 r
B b aB
A pa
a rt r
aB
1 a nB
α 3 r
r r a BA n1
v vA rt r
O BA a BA aA
h

C b
r a
4 vB n r
d pv a nBA
Figura 2.12 Figura 2.13 Figura 2.14
n
aB = aB + a Bt ; a A = a A
n t
+ aA n
; a BA = a BA t
+ a BA (2.24)
n
aB + a Bt = n
a A + a BA t
+ a BA (2.25)

n v 2A n v 2BA n v 2B
aA = ; a BA = ; aB = (2.26)
l1 l2 l3
rt
A a aA
r n
2 1 r a BA
3
r
aB ω pv vB b
r
a nA
r
r α r r aA rt
vB O
vA v BA a BA
4
B a n1
r rn
Figura 2.15 b aB pa a BA
Figura 2.16 Figura 2.17
( )
v BA = K v ⋅ ab ; v A = K v ⋅ p v a ( ) (2.27)
n t n t
aB = aA + aA + a BA + a BA (2.28)

∑ ln = 0 (2.29)

∑ l n ⋅ ei⋅φ = 0 n
(2.30)

∑ (i ⋅ l n ⋅ ωn ⋅ e i⋅φ + &l n ⋅ e i⋅φ ) = 0

n n
(2.31)

∑ (i ⋅ &l n ⋅ ωn ⋅ ei⋅φ + i ⋅ l n ⋅ ε n ⋅ ei⋅φ − l n ⋅ ω2n ⋅ ei⋅φ + &l&n ⋅ ei⋅φ + i ⋅ &l n ⋅ ωn ⋅ ei⋅φ ) = 0

n n n n n
(2.32)

∑ (i ⋅ l n ⋅ ε n ⋅ ei⋅φ − l n ⋅ ω2n ⋅ ei⋅φ + 2 ⋅ i ⋅ &l n ⋅ ωn ⋅ ei⋅φ + &l&n ⋅ ei⋅φ ) = 0

n n n n
(2.33)
i⋅φn
ln ⋅ e = l n ⋅ cos φ n + i ⋅ l n ⋅ sin φ n (2.34)
O' O + OA + AB = O' B sau h + l1 + l 2 = x B (2.35)
⎧⎪l1 ⋅ cos φ1 + l 2 ⋅ cos φ 2 = x B
⎨ (2.36)
⎪⎩h + l1 ⋅ sin φ1 + l 2 ⋅ sin φ 2 = 0
l ⋅ sin φ1 + h
sin φ 2 = − 1 (2.37)
l2
⎧ dφ1 dφ 2 dx B
⎪⎪− l1 ⋅ sin φ1 ⋅ dt − l 2 ⋅ sin φ 2 ⋅ dt = dt
⎨ (2.38)
⎪l ⋅ cos φ ⋅ dφ1 + l ⋅ cos φ ⋅ dφ 2 = 0
⎪⎩ 1 1
dt
2 2
dt
4
 dφ1 dφ 2 dx B
= ω1 ; = ω2 ; = υB (2.39)
dt dt dt
⎧−l1 ⋅ ω1 ⋅ sin φ1 − l 2 ⋅ ω 2 ⋅ sin φ 2 = υ B
⎨ (2.40)
⎩l1 ⋅ ω1 ⋅ cos φ1 + l 2 ⋅ ω 2 ⋅ cos φ 2 = 0
l1 ⋅ cos φ1
ω 2 = −ω1 ⋅ (2.41)
l 2 ⋅ cos φ 2
⎧ dϕ1 dω1 dϕ 2 dω 2 dυ B
⎪⎪− l1 ⋅ ω1 ⋅ cos ϕ1 ⋅ dt − l1 ⋅ sin ϕ1 ⋅ dt − l 2 ⋅ ω 2 ⋅ cos ϕ 2 ⋅ dt − l 2 ⋅ sin ϕ 2 ⋅ dt = dt
⎨ (2.42)
⎪− l ⋅ ω ⋅ sin ϕ ⋅ dϕ1 + l ⋅ cos ϕ ⋅ dω1 − l ⋅ ω ⋅ sin ϕ ⋅ dϕ 2 + l ⋅ cos ϕ ⋅ dω 2 = 0
⎪⎩ 1 1 1
dt
1 1
dt
2 2 2
dt
2 2
dt
⎧⎪− l1 ⋅ ω12 ⋅ cos φ1 − l 2 ⋅ ω 22 ⋅ cos φ 2 − l 2 ⋅ ε 2 ⋅ sin φ 2 = a B
⎨ (2.43)
⎪⎩− l1 ⋅ ω12 ⋅ sin φ1 − l 2 ⋅ ω 22 ⋅ sin φ 2 + l 2 ⋅ ε 2 ⋅ cos φ 2 = 0
l1 ⋅ ω12 ⋅ sin φ 1 + l 2 ⋅ ω 22 ⋅ sin φ 2
ε2 = (2.44)
l 2 ⋅ cos φ 2
l1
sin φ 2 = − ⋅ sin φ1 (2.45)
l2
ϕ2 ϕ2
y y
A A

1 2
1
2 ϕ1 3 ω1
3 ω1 B ϕ1
B x
O x
h

O′ 4 O
4
xB xB

Figura 2.18 Figura 2.19

r r
⎧⎪Fi = − m ⋅ aG
τi = ⎨ r r (3.1)
⎪⎩Mi = − J G ⋅ ε
l/2 l/2
rn ε C
G1 rn aG 2 2
aG G
rn x
aG 1 G2 r
A Fi 2
B x dx
ω1 = ct Mi2
Figura 3.1.a Figura 3.1.b Figura 3.2
l
2

∫x
2 (3.2)
JG = 2 ⋅ dm
0
l
2
m′ ⋅ l 3
∫x
2
J G = 2 ⋅ m′ ⋅ dx = 2 ⋅ m ⋅ (3.3)
12
0
r r
⎧Fi = dFi
⎪
⎪
∫
m
τi 0 = ⎨ r r r (3.4)
⎪Mi = r × dFi
⎪ ∫
⎩ m
r r r r r r
∫ ∫
Fi = dFi = − a ⋅ dm = − (−ω 2 ⋅ ρ + ε × ρ) ⋅ dm ∫ (3.5)
m m m
r r r r
∫
Fi = ω 2 ⋅ ρ ⋅ dm − ε × ρ ⋅ dm ∫ (3.6)
m m

∫ r × dFi = ∫ [(z + ρ) × (ω )]
r r r r v 2 r r r
Mi = ⋅ ρ − ε × ρ ⋅ dm (3.7)
m m
r r r r r r r r r
Mi = ω 2 ⋅ z × ρ ⋅ dm − z × (ε × ρ ) ⋅ dm − ρ × (ε × ρ ) ⋅ dm
∫ ∫ ∫ (3.8)
m m m
r r r r r r
∫ ∫ ∫ ∫
Mi = j ⋅ ω2 ⋅ z ⋅ x ⋅ dm − i ⋅ ω2 y ⋅ z ⋅ dm + i ⋅ ε ⋅ z ⋅ x ⋅ dm + j ⋅ ε ⋅ y ⋅ z ⋅ dm − k ⋅ ε ⋅ ρ2 ⋅ dm ∫ (3.9)
m m m m m

5
 r r r r
Mi = i ⋅ (−ω 2 ⋅ Jyz + ε ⋅ J zx ) + j ⋅ (ω 2 ⋅J zx + ε ⋅ J yz ) − k ⋅ ε ⋅ J z (3.10)

r
dFi dm
x
Pr
r
r r ρ r r
z ω ε
O z

y
Figura 3.3
r r r r
M i = i ⋅ M ix + j ⋅ M iy + k ⋅ M iz (3.11)

x x x x
y y
y G y y G y
G G
y y x x
x
Rotor neechilibrat
x
Rotor echilibrat static Rotor echilibrat dinamic Rotor echilibrat static şi dinamic
x Figura
r 3.4
Fie
r variantă r x
Fi Fi me
la +me Tc
ω
G1 G1 re
r
r ωr z
y O r ωm

G2 re G2 t
O
r r tp tr to
Fi me di Fi
r plan de
Fie echilibrare
plan de die Figura 3.6
echilibrare
Figura 3.5
⎛ 2 2 ⎞ ⎛ ω 2
ω 2 ⎞
⎜ m ⋅ v Gk 2 − m ⋅ v Gk1 ⎟ +
∑ ⎜ k 2
k
2 ⎟⎠ ∑ ⎜ J ⋅ k 2 − J ⋅ k1 ⎟ = W − W − W
⎜ k 2 k
2 ⎟⎠
m ru rp (3.12)
⎝ ⎝
2
v Gk ωk 2 2
∑ mk ⋅
2
2
+ ∑ Jk ⋅
2
= Wm − Wru − Wrp (3.13)

2
v Gk ω 2k1
∑ mk ⋅ 2
1
− ∑Jk ⋅ 2
= Wm − Wru − Wrp (3.14)

Wm − Wrp Wrp
η= = 1− (3.15)
Wm Wm
Wru
η=
Wm
= η1 ⋅ η 2 ⋅ ⋅ ⋅ ⋅ ⋅ η n = ∏ ηi (3.16)
wM w1n w2n w3n wM wrn
1 2 3 n
Figura 3.7

∑
mk
2
(
2
⋅ v Gk 2
2 − v Gk1 + ) ∑ ( Jk
2
2 2
)
⋅ ω k 2 − ω k1 = Wm − Wr (3.17)
lk 2 ϕk 2
Wm = ∑ ∫ Fmk ⋅ cos α k ⋅ dl k + ∑ ∫ M mk ⋅ dϕ k (3.18)
l k1 ϕk 1
l 'k 2 ϕ 'k 2
Wr = ∑ ∫ Frk ⋅ cos α'k ⋅dl' k +∑ ∫ M rk ⋅ dϕ' k (3.19)
l 'k 1 ϕ 'k 1
(3.20)
∑ Frk ⋅ cos α'k ⋅dl'k +∑ M mk ⋅ dϕ'k
Fr.red. ⋅ dl = (3.21)
v ω
Fm.red. = ∑ Fmk ⋅ k ⋅ cos α k + ∑ M mk ⋅ k (3.22)
v' B v' B
v' ω'
Fr.red. = ∑ Frk ⋅ v' Bk ⋅ cos α' k +∑ M rk ⋅ v'Bk (3.23)

6
 M m.red. ⋅ dϕ = ∑ Fmk ⋅ cos α k ⋅ dl k + ∑ M mk ⋅dϕ k (3.24)
M r.red. ⋅ dϕ = ∑ Frk ⋅ cos α' k dl' k + ∑ M rk ⋅ dϕ' k (3.25)
vk ω
M m.red. = ∑ Fmk ⋅ ⋅ cos α k + ∑ M mk ⋅ k (3.26)
ω ω
v' k ω' k
M m.red. = ∑ Frk ⋅ ω
⋅ cos α' k + ∑ M rk ⋅ ω
(3.27)

vB′ dϕ
r B
Fm red B
Mm red
B′
r r
dl Fr red
ω Mr red
A
ω
A

Figura 3.8 Figura 3.9

m red ⋅ v 2B' 2
m k ⋅ v Gk J k ⋅ ω 2k
2
= ∑ 2
+ ∑ 2
(3.28)

2 2
⎛v ⎞ ⎛ω ⎞
m red = ∑ m k ⋅ ⎜⎜ Gk
⎝ v B'
⎟ +
⎟
⎠
∑ J k ⋅ ⎜⎜ k
⎝ v B'
⎟
⎟
⎠
(3.29)

J red ⋅ ω 2 2
m k ⋅ v Gk J k ⋅ ω 2k
2
= ∑ 2
+ ∑ 2
(3.30)

2 2
⎛v ⎞ ⎛ω ⎞
J red = ∑ m k ⋅ ⎜⎜ Gk
⎝ ω
⎟⎟ +
⎠
∑ Jk ⋅⎜ k ⎟
⎝ ω ⎠
(3.31)

l2
m red 2 ⋅ v 2B'2 m red1 ⋅ v 2B'1
2
−
2
= ∫ (Fm.red − Fr.red ) ⋅ dl (3.32)
l1

l2
2 m red1 ⋅ v 2B'1
v B' 2 =
m m.red ∫
⋅ Fred ⋅ dl +
m red 2
(3.33)
l1

B r B
Fm red

B′ B B′
mred
r mred
r r
ω v B′ Jred Fr red
r A
A
A

Figura 3.10 Figura 3.11 Figura 3.12

ϕ2
1
ωm =
Δϕ ∫
⋅ ω ⋅ dϕ (4.1)
ϕ1
δ max − δ min
Se defineşte gradul de neregularitate al mersului maşinii (δ) ca fiind δ = .Uzual, gradul de neregularitate al mersului
δm
maşinii are valorile: δ = 1/5…1/30 - pentru pompe; δ = 1/20…1/5 – pentru concasoare; δ = 1/50…1/30 – pentru maşini-unelte; δ =
1/300…1/200 – pentru motoare electrice de curent alternativ şi δ ≤ 1/200 pentru motoare de aviaţie.
⎛ δ⎞ ⎛ δ⎞
Ca urmare, rezultă relaţiile: ω max = ωm ⋅ ⎜1 + ⎟ ωmax şi ω min = ω m ⋅ ⎜1 − ⎟ .
⎝ 2⎠ ⎝ 2⎠
2π
Wm = ∫ M m.red ⋅ dϕ (4.2)
0
2π
Wr = ∫ M r.red ⋅ dϕ (4.3)
0

7
 ω 2max ω2
J red. max ⋅ − J red. min ⋅ min = ΔWmax (4.4)
2 2
Mm red
M
Mr red

− + − + −
ω
ϕmin
ϕ
a b c d e

ωmax
O

ωm
ϕmax
ωmin

ϕ
(t) 2π
t dt
TC ΔEC

Figura 4.1

ϕ
O
a b c d e
Figura 4.2

⎛ ω2 ω2 ⎞
ΔWmax = J red ⋅ ⎜ max − min ⎟ = J ⋅ ω2 ⋅ δ
red m (4.5)
⎜ 2 2 ⎟
⎝ ⎠
ΔWmax
J red = (4.6)
ω 2m ⋅ δ
Jtotal = J = Jred + JV (4.7)
ΔWmax
JV = − J red (4.8)
ω 2m ⋅ δ
ΔWmax
JV ≅ (4.9)
ω 2m ⋅ δ
G ⋅ D2
J= (4.10)
8⋅g

M M
Fcf

C
CL
R G

ωM

(motor)

Figura 4.3

8
 Ff 21
φ = arctg (5.1)
N 21
N 21
pm = ≤ pa (5.2)
Ac
⎧ N = P ⋅ cos β + Q ⋅ cos α
⎨ (5.3)
⎩μ ⋅ N + Q ⋅ sin α = P ⋅ sin β
sin (α + φ )
P = Pmax = Q ⋅ (5.4)
sin (β − φ )
sin (α − φ)
P = Pmin = Q⋅ (5.5)
sin (β + φ)
⎧2 ⋅ μ ⋅ N ≥ P
⎪
⎨ ⎛ a⎞ (5.6)
⎪μ ⋅ N ⋅ a + N ⋅ l = P ⋅ ⎜ d + 2 ⎟
⎩ ⎝ ⎠
R21 N21 P α α=ϕ
ϕ α N v = ct
ϕ P ϕ
1 (sanie) P Con de
Ff 21 frecare μN

2 (ghidaj) α Q P
α β
P
Figura 5.1.a Figura 5.1.b Figura 5.1.c
F v = ct α
N F N
N1 μ μ
2 2
ϕ β
l μN
Ff
ϕ β
A
N2
b
μN P N N
a L
2 2
d
Figura 5.2 Figura 5.3
d
D
F
cuzinet (2) n
F ω
F O2 fus (1) O2 αc
O1 F21
O1 bH
r1 ϕ 2
Fn 21 Ff 21
F21 A α
p(α)
n=0 ρ pmax
Figura 5.4 Figura 5.5
2⋅d + a
N = P⋅ (5.7)
2 ⋅ (l + μ ⋅ a )
P
N= (5.8)
2⋅μ
l
μ≥ (5.9)
2⋅d
⎛N N ⎞
F = 2 ⋅ ⎜ ⋅ sin α + μ ⋅ ⋅ cos α ⎟ (5.10)
⎝2 2 ⎠
F
N= (5.11)
sin α + μ ⋅ cos α
N/2
pm = ≤ pa (5.12)
b⋅L
μ
Ff = μ ⋅ N = ⋅ F = μc ⋅ F (5.13)
sin α + μ ⋅ cos α

9
 μ π
μc = 〉 μ , μc este minim pentru α = − ϕ . (5.14)
sin α + μ cos α 2
ρ = r1 ⋅ sin ϕ ≈ r1 ⋅ tg ϕ = r1 ⋅ μ = ct. (5.15)
Mf = Ff21 ⋅ r1 = F21 ⋅ sin ϕ ⋅ r1 ≈ F ⋅ tg ϕ ⋅ r1 = F ⋅ r1 ⋅ μ (5.16)
2
⎛ α ⎞
p(α ) = p max ⋅ 1 − ⎜⎜ ⎟
⎟
(5.17)
⎝ αc ⎠
⎛ 1 − ν12 1 − ν 22 ⎞
sin α c =
4
⋅⎜ + ⎟⋅ 2⋅F (5.18)
π ⎜ E1 E2 ⎟ B ⋅ (D − d )
⎝ ⎠
αc
⎡ D ⎤ D
Mf = ∫ ⎢μ ⋅ p(α ) ⋅ B ⋅ 2 ⋅ dα ⎥ ⋅ 2 (5.19)
−α c
⎣ ⎦
αc D μ ⋅ αc
Mf = μ ⋅ ⋅ F ⋅ = μ ech ⋅ F ⋅ r ), coeficientul de frecare convenţional (echivalent): μ ech = . (5.20)
sin α c 2 sin α c
cuzinet (2)
ω
F r
F −π/2 F r +π/2
d

pm
B fus (1) p
α
α pmax
pm dα
dα

Figura 5.6 Figura 5.7

π/2
⎛d ⎞
F= ∫ p m ⋅ ⎜ ⋅ dα ⎟ ⋅ cos α ⋅ B = p m ⋅ B ⋅ d
⎝2 ⎠
(5.21)
−π / 2
F
pm = ≤ pa (5.22)
d⋅B
π/2
⎛d ⎞ d d2
Mf = ∫ μ ⋅ p m ⋅ ⎜ ⋅ dα ⎟ ⋅ B ⋅ = μ ⋅ π ⋅ p m ⋅
⎝2 ⎠ 2 4
⋅B (5.23)
−π / 2
π
Mf = ⋅ μ ⋅ pm ⋅ r2 ⋅ B (5.24)
2
π
M f = ⋅ μ ⋅ F ⋅ r ≅ 1,57 ⋅ μ ⋅ Fr (5.25)
2
π/ 2
d
∫ cos
2
F = 2 ⋅ p max ⋅ ⋅B⋅ α ⋅ dα (5.26)
2
0
2⋅F
p max = ≤ pa (5.27)
π⋅B⋅r
4⋅F
p max = ≤ pa (5.28)
π⋅B⋅d
μ ⋅ B ⋅ d 2 ⋅ p max
Mf = (5.29)
2
4
M f = ⋅ μ ⋅ F ⋅ r , P = Ff ⋅ v = μ ⋅ F ⋅ v (5.30)
π
(pm ⋅ v) ≤ (p ⋅ v)admisibil, respectiv (pmax ⋅ v) ≤ (p ⋅ v)admisibil
4⋅F
pm =
(
π ⋅ D e2 − D i2
≤ pa
) (5.31)

De
2
Mf = ∫ (p m ⋅ 2πr ⋅ dr ) ⋅ μ ⋅ r
Di
(5.32)

1 D 3 − D 3i
Mf = ⋅μ⋅F⋅ e (5.33)
3 D e2 − D i2

10
 De De
2 2
F= ∫ p ⋅ 2πr ⋅ dr = 2π(pr ) ⋅ Di∫ dr
Di
(5.34)

2 2
D − Di
F = 2 ⋅ π ⋅ (p ⋅ r ) ⋅ e (5.35)
2
F 2⋅F 2⋅F
p= , pentru r = Di ⁄2, p max = şi pentru r = De ⁄2 p min = (5.36)
π ⋅ (D e − D i ) ⋅ r π ⋅ (D e − D i ) ⋅ D i π ⋅ (D e − D i ) ⋅ D e
De De
2 2
Mf = ∫ (p ⋅ 2πr ⋅ dr ) ⋅ μ ⋅ r = 2π(pr ) ⋅ μ ⋅ Di∫ r ⋅ dr
Di
(5.37)

2 2

D 2 − D i2 π
M f = 2πμ ⋅ (pr ) ⋅ e
8
(
= ⋅ μ ⋅ (pr ) ⋅ D e2 − D i2
4
) (5.38)

F 1
Pentru (p ⋅ r ) = : M f = ⋅ μ ⋅ F ⋅ (D e + D i ) (5.39)
π ⋅ (D e − D i ) 4
(pm ⋅ v) ≤ (p ⋅v)admisibil, respectiv (pmax ⋅ v) ≤ (p ⋅ v)admisibil (5.40)
F
dFf F ramura
ω pasivă
fus axial dN F2
(pivot) α
uzură
dFc
cuzinet Mt
(patină) O β roată
Di

dα
ω motoare
p

D
pm F+dF F1
vmax
vmax ramura
De activă
Figura 5.8.a Figura 5.8.b Figura 5.9
⎧ dα
⎪⎪dN + dFc = (F + F + dF) ⋅ sin 2 ≅ F ⋅ dα v2
⎨ unde: dFf = μ ⋅ dN şi dFc = r ⋅ ω 2 ⋅ dm = r ⋅ 2 ⋅ r ⋅ dα ⋅ B ⋅ ρ ⋅ s , (5.41)
⎪dF = (F + dF − dF) ⋅ cos d α r
≅ dF
⎪⎩ f 2
dFf = B ⋅ s ⋅ ρ ⋅ v 2 ⋅ dα (5.42)
dF
− μ ⋅ F = −μ ⋅ B ⋅ s ⋅ ρ ⋅ v 2 (5.43)
dα
F = C ⋅ e μ⋅α + B ⋅ s ⋅ ρ ⋅ v 2 (5.44)
2
α = 0 ⇒ F = F2 ⇒ C = F2 − B ⋅ s ⋅ ρ ⋅ v (5.45)
(
F = F2 − B ⋅ s ⋅ ρ ⋅ v ⋅ e 2
) μ⋅β
+ B⋅s⋅ρ⋅ v 2 (5.46)
F = (F
1 2 − B ⋅ s ⋅ ρ ⋅ v )⋅ e
2 μ⋅β
+ B⋅s⋅ρ⋅ v 2 (5.47)
2⋅ Mt
Fu = (5.48)
D
Fu = F1 − F2 (5.49)
⎧ e μ⋅β
⎪F1 = Fu ⋅ μ⋅β + B ⋅ s ⋅ ρ ⋅ v2
⎪ e −1
⎨ (5.50)
⎪F = F ⋅ 1 + B ⋅ s ⋅ ρ ⋅ v2
⎪⎩ 2 u
e μ⋅β − 1
Fu
F1 = ⋅ e μ⋅β + B ⋅ s ⋅ ρ ⋅ v 2 (5.51)
e μ⋅β − 1
dN F ⋅ dα − dFc 2 ⋅ Fu
⋅ e μ⋅β
p = σs =
dA
=
⎛D⎞
B ⋅ ⎜ ⎟ ⋅ dα
=
B ⋅ D ⋅ e μ⋅β
(
− 1 ) (5.52)
⎝2⎠
2 ⋅ Fu ⋅ e μ⋅β
Pentru α = β ⇒ p max = σ s max =
(
B ⋅ D ⋅ e μ⋅β − 1 ) (5.53)

11
 2 ⋅ Fu
Pentru α = 0 ⇒ p max = σ s max =
(
B ⋅ D ⋅ e μ⋅β − 1 ) (5.54)

5.10.a 5.10.b 5.10.c 5.10.d 5.10.e 5.10.f 5.10.g 5.10.h 5.10.i 5.10.j
bH
π
F= ∫∫ p H ⋅ dS = ∫ p H ⋅ B ⋅ db = 2 ⋅ p H max ⋅ b H ⋅ B (5.55)
S −b H
2⋅F
p H max = σ H max = (5.56)
π ⋅ bH ⋅ B

4 F ⋅ ρ ⎛⎜ 1 − ν12 1 − ν 22 ⎞
⎟= 8 F⋅ρ 1 1 1
bH = ⋅ ⋅ + ⋅ , unde = + (5.57)
π B ⎜⎝ E1 E2 ⎟
⎠ π E ech ⋅ B ρ ρ1 ρ 2
2
E ech =
1 − ν12 1 − ν 22 (5.58)
+
E1 E2
F ⋅ E ech
σ H max = (5.59)
2⋅π⋅ρ⋅B
2
În cazul particular cilindru/plan, ρ1 = R, ρ2 → ∞, E1 = E şi, ipotetic, E2 → ∞. Ca urmare, E ech =
1− ν2
2⋅
E
F⋅R
b H = 1,076 ⋅ (5.60)
E⋅B
F⋅E
σ H = 0,418 ⋅ (5.61)
R⋅B

ρ1 ρ1 F
F ω
F B
ρ1
ωr = 0
F=0 bH bH bH
ωr = 0 σH max ρ2
ρ2
σH = pHmax
N = R =F aH
ρ2
k bH

Figura 5.11 Figura 5.12 Figura 5.13

3 η⋅F 1 1 1 − ν12 1 − ν 22
a H = bH = 3 ⋅ unde ∑ k= + ,η= + (5.62)
2 k∑ ρ1 ρ 2 E1 E2

σ H max
1 3 ⎛
= ⋅3 ⋅⎜
k ⎞⎟
⋅F
∑ (5.63)
π 2 ⎜ η ⎟
⎝ ⎠
⎛ ω ⎞
Pfi = PfA + PfB = Fi ⋅ k ⋅ ω1 ⋅ ⎜⎜1 + 2 ⋅ b ⎟
⎟ (5.64)
⎝ ω1 ⎠

f1 = k
d D Fi
F
dei
A ωb
ω1 α
B
ω2 = 0 F3 = F⋅cos2α
Fi
Fi+1 F2 = F⋅cosα
f2 = k
Fmax = F1
Fi
Figura 5.14 Figura 5.15 Figura 5,15

12
 ⎛ d ⎞ ⎛ d ⎞
Pfi = Fi ⋅ k ⋅ ω1 ⋅ ⎜⎜1 + 2 ⋅ ei ⎟ = Fi ⋅ k ⋅ ω1 ⋅ ⎜1 + ei ⎟
⎟ ⎜ (5.65)
⎝ 2 ⋅ db ⎠ ⎝ d b ⎟⎠

Pfi ⎛ d ⎞ ⎛ dei ⎞
M fi =
ω1
= Fi ⋅ k ⋅ ⎜⎜1 + ei ⎟⎟ . Momentul de frecare total M f =
⎝ db ⎠ ∑ M f i = k ⋅ ⎜⎜⎝1 + d b ⎟⎟⎠ ⋅ ∑ Fi (5.66)

4
∑ Fi = ⋅ F
π
(5.67)

4 ⎛ d ⎞
M f = ⋅ k ⋅ F ⋅ ⎜⎜1 + ei ⎟⎟ (5.68)
π ⎝ db ⎠
4 d ⎛ d ⎞ 2
Mf = ⋅ k ⋅ F ⋅ ⋅ ⎜⎜1 + ei ⎟⎟ ⋅ (5.69)
π 2 ⎝ db ⎠ d
8 k ⎛ d ⎞
μr = ⋅ ⋅ ⎜⎜1 + ei ⎟⎟ << μa (5.70)
π d ⎝ db ⎠
d
Mf = μr ⋅ F ⋅ (5.71)
2
⎧Pfi = 2Fi ⋅ k ⋅ ω b
⎪
⎨ dm (5.72)
⎪ω b ⋅ d b = ω1 ⋅
⎩ 2
dm
Pfi = Fi ⋅ k ⋅ ω1 ⋅ (5.73)
db

∑ Pfi dm
Mf =
ω1
= k⋅
db
⋅ ∑ Fi (5.74)

dm d
Mf = k ⋅ F ⋅ = μr ⋅ F ⋅ (5.75)
db 2
2 ⋅ k ⋅ dm
μr = << μa (5.76)
d ⋅ db

d d
d3 μN H
db şurubul
F
F
N ψ2
ω1
ϕ′
p d3
p piuliţa
ψ2 D1
ω2 = 0
πd2 d2
dm b) c)
d
d2
Figura 5.17 a) Figura 5.18
Lc
η
N ϕ = 6° filet ferăstrău
Fc μP 80%
μN
ϕ = 12° filet triunghiular
sau trapezoidal

μ′ = μ F
d ψ2
ψ = ϕ′ 40°
Dg
γ

N N′
S
γ Ff autofrânare; şuruburi de mişcare,
şuruburi de strângere; fără autofrânare (maşini-unelte);
randament foarte mic randament relativ ridicat.

Figura 5.19 Figura 5.20 Figura 5.21

13
 F
4⋅
z (5.77)
pm =
(
π ⋅ d 2 − D12
≤ pa
)
p
H = F ⋅ tg (ψ 2 + φ′) , unde ψ 2 = arc tg (5.78)
π ⋅ d2
d2 d
M t1 = H ⋅ = F ⋅ 2 ⋅ tg (ψ 2 + φ′) (5.79)
2 2
d2 d2
M ′t 1 = F ⋅ = F⋅ ⋅ tg (ψ 2 − φ′) (5.80)
2 2
Punând condiţia ca M ′t 1 ≤ 0 , rezultă condiţia de autofrânare ψ 2 ≤ φ′ (5.81)
1 S − D 3g
3
M2 = ⋅ μp ⋅ F ⋅ (5.82)
3 S 2 − D g2

d2 1 S3 − D 3g
M cheie = F ⋅ ⋅ tg (ψ 2 + φ′) + ⋅ μ p ⋅ F ⋅ (5.83)
2 3 S 2 − D g2
M cheie
Pentru o cheie de lungime Lc rezultă forţa la cheie Fcheie = .
Lc
Pentru o lungime standardizată L c = (12L15) ⋅ d , rezultă F ≅ (60 L100 ) ⋅ Fcheie !
Lu F⋅p F ⋅ tg ψ 2 tg ψ 2
η= = = =
L c H ⋅ π ⋅ d 2 F ⋅ tg (ψ 2 + φ′) tg (ψ 2 + φ′) (5.84)
dη π φ′
Punând condiţia = 0 pentru randamentul maxim η max , rezultă ψ opt = − ≅ 41° K 42° .
dψ 4 2
tg ψ 2 tg ψ 2 1 − tg 2 ψ 2
η= = = ≤ 0,5 !
tg 2 ⋅ ψ 2 2 ⋅ tg ψ 2 2 (5.85)
1 − tg 2 ψ 2
d2
M t1 ⋅ 2 ⋅ π F⋅ ⋅ tg ψ 2
η= 2
(M t1 + M 2 )⋅ 2 ⋅ π = ⎡d 1 S3 − D 3g ⎤
sau
(5.86)
F ⋅ ⎢ 2 ⋅ tg (ψ 2 + φ′) + ⋅ μ p ⋅ 2 ⎥
⎢ 2
⎣
3 S − D g2 ⎥⎦
tg ψ 2
η=
2 S3 − D 3g (5.87)
tg (ψ 2 + φ′) +
3
⋅ μp ⋅
(
d 2 ⋅ S 2 − D g2 )
F

ψ2

d2

Figura 5.22

d2
Mt = F⋅ ⋅ tg (ψ 2 + φ r ) (5.88)
2
2⋅k
Momentul este similar cu cel al cuplei şurub–piuliţă cu alunecare, iar unghiul de frecare redus este φ r = arc tg .
d 2 ⋅ sin γ
În acest caz randamentul atinge valori de 80…85%, iar puterea pierdută prin frecare este de 50…100 de ori mai mică decât în cazul
şuruburilor cu alunecare.

14