Mechatronic_mechanical elemensSMSCP2015.pptx

Mechatronic systems

1. Mechatronic Systems

2. Mechatronic Systems

3. Mechatronic Systems Power Units Transmission Units Actuator Units Control Units Support Units

4. Mechatronic Systems

5. Mechanical Systems Gear

6. Gear Box

7. Gear Box 1 3 5 2 4 R N 3 N 7 N 8 N 11 N 2 N 12 N 6 N 4 N 1 N 5 N 10 N I N 8

8. Gear Box North Gear Ltd.

9. Gear Box Mechanical Energy ( torque / speed ) Mechanical Energy ( torque / speed ) North Gear Ltd. ? abnormal smell abnormal heat abnormal noise

10. Technical Drawings T mot = T I T out = T III P out = P III P mot = P I N 1 N 2 N 3 N 4 T II  1  2 i 1 i 2 n 3 = n II = n 2 n III = n 4 n 1 = n I = n mot a II/III a I/II

11. Technical Drawings Exploded Drawing

12. Loads and Stresses on a Shaft Statics/Kinetics (Dynamics) Strength Of Materials

13. Technical Drawings 146 36 +0.5 30 +0.25 Ø25 k6 84 +0.3 50 Ø25 k6 Ø36 h11 1.3 H13 Ø25 H7 24 ± 0.05 Ø25 k6 Ø25 H7 5 A A Rz 4 B x y x Rz 4 y Rz 1.6 = = 8 P9 8 P9 8 h9 A - A 0.5 B Ø64 Ø71 1.5 Ø42 2 x 45° 22 +0.2 28 - 0.2 B B B - B Component Drawing

14. Gears and Bearings 7 13 6 13

15. Gears and Bearings

16. Gears and Gear Trains d 2 d 1 d r d o p a Driver Gear Driven Gear N 1 N 2 Pitch Point n 1 n 2   p t p t p r p r Pitch for Helical Gears c

17. Gears and Gear Trains

18. Gears and Gear Trains Helix Angle  F F t F a Pressure (Action) Line F r Pressure Angle  Pitch Diameter d 1 Pitch Diameter d 2 Pinion 1 Gear 2 90°

19. Gears and Gear Trains F t1 F t2 F r1 F r2 F a2 n 2 n 1 F 1 F 2   F a1 F r1 F r2 F t2 F a2 F n2   F t1 F a1 F n1

20. Gears and Gear Trains Section Plane F r2 F r1 F a1 F t2 F t1   Helical Gear Train F a2 N 1 N 2 Bevel Gear Train   F r1 F r2 F s2 F s1 F a1 F a2 F t1 F t2 Section Plane N 2 N 1

21. Gears and Gear Trains  2 F t1 F t2 F N2 F N1 F s2 F s1   F a2 F r2 F s2  2 N 1 N 2   1 n 2 N 2  2 N 1  1 F r2 F a2 F s2 F r1 F a1 F s2 F s1 F r1 F a1 F s1  1 n 1 N 1 N 2 

22. Gears and Gear Trains N 1 N 2 N 3 N 4 T I T II T III in out  I/II  II/III i I/II i II/III P II P II P III n II n I n III

23. Gears and Gear Trains T in = T I T out = T III P out = P III P in = P I N 1 N 2 N 3 N 4 T II  1  2 i 1 i 1 n 3 = n II = n 2 n III = n 4 n 1 = n I

24. Rolling Contact Bearings N 1 N 2 N 3 N 4 in out N 2 N 4 out in N 1 Front View Top View N 3

25. Rolling Contact Bearings Shaft II N 2 N 3

26. Rolling Contact Bearings F Ay F Ax F By F Bz F Bx F r2 F a2 F t2 z y x F a3 F r3 F t3 z y-z plane x-z plane

27. Rolling Contact Bearings F Ay F By F Bz F Bx F r2 F a3 F a2 z F Ax F t2 F a3 F r3 F t3 F Bz F a2 x z x y y

28. Rolling Contact Bearings X- Z Plane X Z d 3 d 2

29. Rolling Contact Bearings Y – Z Plane d 3 d 2 F Ay F By d 3 /2 d 2 /2 F a3 F a2 F r3 F r2 F Bz y z X - Z Plane x z F Ax F Bx F a3 F t3 F a2 F t2 F Bz L l 3 l 2 M (B) = 0 = F r3 ∙l 3 +F a2 ∙d 2 /2 + F r2 ∙l 2 – F Ay ∙L – F a3 ∙d 3 /2 = 0

30. Rolling Contact Bearings Ball Bearings Table 7 (extraction) All data according FAG/INA Interactive Catalogues P = X ∙ F res + Y ∙ F a res Equivalent Dynamic Bearing Load:

31. Bending Stress Distribution / Shafts y-z plane x-z plane M by [Nm] M bx [Nm] M bymax M bxmax

32. Bending Stress Distribution / Shafts y-z plane l A3 d 3 /2 M b y3.1 M b y3.2 F S F S F a3 F Ay F Ay M b y2.1 F S M b y2.2 F S d 2 /2 l B2 F a2 F By F By l A3 M b x3 F S F a3 F Ax x-z plane M b X2 F S l B2 F a2 F Bx

33. Associated Parts /Pins and Key

34. Associated Parts /Pins and Key Tapered Pin Center Grooved Pin d D i F t p i p o D o r m F t  T

35. Associated Parts /Pins and Key Squared Key Squared Key Shaft Seal Ball Bearing Ball Bearing Retaining Ring Bushing ShimRing Helical Gear Retaining Ring Output Shaft w h d F F Feather (Squared) Keys

36. Gears and Gear Trains N 1 N 3 N 5 N 7 N 2 N 4 N 6 N 8 N 10 N 9 A B 1 3 2 Exterior View

37. Gears and Gear Trains Switchable DC-Motor with P mot = 2.5 kW and n mot = 700/1400 rpm Shaft I Shaft II Shaft III 235 90 90 1 st section 2 nd section Ø28 All shafts are made from alloyed ( case hardened ) steel 17Cr3 Spline shaft sections are manufactured corresponding ISO14, medium series and flank centered All gears are made from alloyed ( case hardened ) steel 16MnCr5, have lapped surfaces and run lubricated by oil with modules m I = 2.5 mm (1 st section ) and m II = 2 mm (2 nd section ) During operation strong impacts and single – edge stresses are assumed The total ratio i tot of the gear train is about 3 All bearings from FAG/INA DIN 625, series 63 N 2 = 50 N 4 = 60 106.25 120 Ø60 Ø86 Ø98 The gear train should deliver 12 different speeds at he outgoing shaft including an idle speed

38. Switchable Gear Box N 2 t 6 N 7 t 8 N 4 N 3 t 5 N 6 N 8 N 5 N 1

39. N 2 t 6 N 7 t 8 N 4 N 3 t 5 N 6 N 8 N 5 120 96 40 28 24 160 56 30 42 32 Shaft III Shaft I Shaft II Shaft IV 90° bevel gears: m = 4mm helical gears : m = 3 mm F a2 F a7 F a8 F a1 F a4 F a3 F a6 F a5 N 1 F r7 F r8 F r6 F r5 F r3 F r2 F r3 N 2 t 6 N 3 t 5 N 5 18 N 1 F r5 F r3 F r8 N 7 N 4 N 6 F a4 F a6 F a7 F a5 F a3 F a2 F a1 Shaft IV F t F t F t F t F t F t F t F t y 18 z x z

40. Flexible Elements / Belt Drives Number of Belts N Width of the Belt w Timing Belt V-Belt

41. V-Belts F N F N F N F N F F Narrow V-Belt Standard V-Belt

42. Flexible Elements / Belt Drives 90°   a d s d b  s  b d s d b Gear Train Belt Drive 2 ·  rad ·d b /2 2 ·  rad ·d 2 /2

43. Couplins and Clutches Moment of Inertia of all masses at the driving shaft Driving Shaft Driven Shaft Moment of Inertia of all clutch masses at the driven shaft J SL Moment of Inertia of all masses at the driven shaft Moment of Inertia of all clutch masses at the driving shaft J CD J SD J SL J CL J CD

44. Couplings and Clutches Torque T , Rotation Speed n T s T I T o T I T t  T t s t n t a t n n a n a n b n b n b Time t

45. Non Permanent Joints / Knuckle Joint a b a d F F F i F i F i c Shear Stress Bearing Stress Bending Stress

46. Mechanical Springs / Compression L f L 1 L 2 L min s 2 s 1 s ma x s a / i S F 1 F 2 F max s t

47. Mechanical Springs / Compression D sl D d D m D o d T D m /2  t max  t F F

48. Complex Systems 8-2

49. Complex Systems