Anda di halaman 1dari 1

10:29

Page 1806

Technical Calculations

Selection of Ball Screws 2

Under no load
P LL
T P =K
(NCcm) EEEEEEEEEEEEEEEEE5
2Q
1
K = 0.05(tan) 2
Where;
: Preload(daN)
P L:
L : Ball Screw Lead
(cm)
K : Coefficient of Internal Friction
: Lead Angle
L
: tan -1
QD
D : Thread Outer Diameter

I Selecting the Driving Motors


When selecting a driving motor, it is necessary to satisfy the following conditions:
1.Ensure a marginal force sufficient to counter the load torque exerted on the motor's output thread.
2.Enable starting and stopping at prescribed pulse speeds, sufficiently powered to counter the moment of
inertia exerted on the motor's output thread.
3.Obtain the prescribed acceleration and deceleration constants, sufficient to counter the moment of inertia exerted
on the motor's output thread.
Table

Ball Screw

GearJ

Where;

+TP

Pinion J

Z1
2Q N
+JM 60t
M10 3
Z2
(NCcm)EEEE

I Example

Z1

(3 P L-P)
3PL

Total Weight of Table


and Work-Piece M

2QN
3
M10(NCcm)EEEEEEEEEE7
60t
2
L
Z1 2
2
(J 2 +J 3 )
+M
EE8
2Q (kgC cm )
Z2

Specifications

M=
O=
F =
i =

)}

J M =J1 +J4+
Where;
T 2 : Drive Torque in Acceleration
(daNCcm)
: Motor Thread Angular Acceleration
(rad/s2)
N : Motor Thread Revolutions(r/min)
t : Acceleration Time(s)
J M: Moment of Inertia Exerted on the Motor(kgCcm2)
(kgCcm2)
J 1 : Moment of Inertia Exerted on Pinion
J 2 : Moment of Inertia Exerted on Gear(kgCcm2)
J 3 : Moment of Inertia Exerted on Ball Screw(kgCcm2)
J 4 : Moment of Inertia Exerted on Motor's Rotor(kgCcm2)
M : Weights of Table and Work Piece(kg)
L : Ball Screw Lead
(cm)
Moment of inertia exerted on cylinders such as ball screws and gears
(Calculations for J1~J4)
Q 4
J=
DR
(kgCcm2)EEEEEEEEEEEEEEEE 9
32
Where;
D : Cylinder Outside Diameter
(cm)
R: Cylinder Length
(cm)
: Material Specific Gravity
=7.8 M10 -3(kg/cm 3 )

T 1=

-3

1.5
102
8
6
5
4

3
2

1.5
2

10

2
1.5

2QM0.9

1.5

105
8
6
5
4
3

10
8
6
5
4
3

F10

F15
F20
F25
F32
F40
F50
F63

2
1.5

2
3
1.5 1650 108
min 1
6
103
5
8
4
6
3
5
2
4
1.5
3
2

10
8
6
5
4
3

= 2. 1(daNCcm)

g:Gravitational Acceleration
(9.8M102cm/s2)

2.Moment of Inertia Exerted on Ball Screw J3


-3
4

M2 M60

2
1.5

3.Moment of Inertia Exerted on Moving Parts J5

F80
F100

102
8
6
5
4
3

1.5
2

10
8
6
5
4

2
1.5

10

Fixed-Fixed Fixed-Support 10 2 1.5 2 3 4 5 6 7 8 910 3 1.5 2


3
Method of Support
Distance between Supports (mm)

1.5

2
1.5

10 5
8
6
5
4
3

10 5
8
6
5
2
4
3 1.5

105
8
6
5
4
3

F63
F50

2
1.5
104
8
6
5
4
3

F32
F25

Fixed-Free Fixed-Fixed Fixed-Support Support-Support

4. Total Load and Moment of Inertia Exerted on Motor Thread JM


2

J M =J 4 + 5.791
(kgCcm )

5.Required Driving Torque TM


(J 4 + 5.791)
M
T M =2.1+

2Q M1500
60 M0.5

M 10

-3

T M=3.92 + 0.314 J (
4 NCcm)
From the above,
Max. Revolutions

No1500(min-1)

Rated Torque
To=faMTM8.0(daNCcm)
(fa:Safety Factor of 2)

the effective torque and other necessary specifications.


(Reference)
1daN=10N1.02kgf

F20
F15

F10

10 2 1.5 2

Method of Support

Example 3:How to Obtain the Thread Diameter


This example assumes a distance of
2000mm between acting load points, the
Fixed- Support method of support and the
max. axial load of 2400daN.
1. Find the intersection between a distance of
2000mm between acting load points and
the axial load of 2400daN(from the FixedSupport scale)
.
2. Read the shaft diameter of the diagonal line
nearest to the intersection on the outside.
The shaft diameter can be a min. 40mm.

F40

Tentatively select the motor that satisfies the above, and check

=5.066(kgCcm

Example 2:How to Obtain the Thread Diameter


This example assumes a distance of
1500mm between supports, the FixedSupport method of support and the max.
Revolution Frequency of 2000 min-1(from the
Fixed-Support scale)
.
1. Find the intersection between a distance of
1500mm between supports and the max.
Revolution Frequency of 2000 min -1
(from the Fixed-Support scale)
.
2. Read the Thread diameter of the diagonal
line to the intersection on the outside.

F80

J3 + J5
1.2(kgCcm2)
Moment of Inertia Exerted on Motor Thread J4
3~5

( )
2
2Q

4 5 67

Example 1:How to Obtain the Number of Allowable Revolutions


This example assumes that ball screws with
a thread outer diameter of 40mm are fixed and
supported by supports with a distance of
2000mm in between for calculating allowable
Revolutions.
1. Find the intersection between a distance of
2000mm between supports and a Thread
outer diameter of 40mm.
2.Read the allowable Revolution
Frequency for the intersection on the
Fixed-Support scale. The max.
Revolution Frequency is 1650 min-1.

Thread Outer Diameter(mm)

2 10 4
10 3
8
1.5
8
6
6 10 4
5
5
4
8
2
4
3
6
1.5
2400daN
5
3
2
4
103
2
8
3 1.5
1.5
6
3
2 10
5
2
10
8
4
8 1.5
6
3
3
5
6 10
4
8
5
2
4
3
6
1.5
5
3
4
2
102

J 5 =50

Thread Outer Diameter(mm)

Allowable Axial Load Curve

)L

(5+0.02 M50 M980 M10 )


M2

8
6
5

Fixed-Free

2Q

Q M7.7 M10
J 3=
32 2
J 3=0.725(kgCcm )

103
8
6
5
4

10
8

-3

1.5

2
1.5

1.Constant Speed Torque T1


(F +OCMC g M10

50(kg)
0.02
5(daN)
1

CBall Screw Size


20 - 20 - 600
CMechanical Efficiency of Ball Screw, etc. = 0.9
= 30(m/min)
CThreading Speed
t = 0.5(s)
CAcceleration Time
30000
CMotor Thread Revolutions N=
=1500(min-1)
20

6
5
4
3

6
5
4

P=F+OMg

CTotal Weight of Table and Work Piece


CFriction Coefficient on Sliding Surface
CExternal Force
CReduction Ratio

104
8
5

103
8

Outer Dia. Set Lead Length

KAcceleration Torque Exerted on the Motor's Output Thread


This is the amount of torque required to drive the output shaft against the applied load during acceleration.

( ){

FD

Motor

Z1
(NCcm)
EEEEE6
Z2

2
1.5

of Selection of Motors

Friction Coefficient on
Sliding Surface O
Reduction Ratio i

2
1.5

Once you have tentatively found the type of motor you need, check 1. effective torque, 2 .
acceleration constant, and 3. motor overload characteristics and heat tolerance during
repeated starting and stopping. It is necessary to ensure a sufficient margin for these
parameters.

T 1 : Driving Torque at Constant Speed


(daNCcm)
P : External Axial Load
(daN)
P=F+OMg
F : Thrust Reaction Produced in Cutting Force(daN)
M : Weights of Table and Work Piece(kg)
O: Coefficent of Friction on Sliding Surfaces
g : Gravitational Acceleration
(9.8M102cm/s2)
L : Ball Screw Lead
(cm)
L: Mechanical Efficiency of Ball Screw or Gear
T P: Friction Torque Caused by Preloading(daNCcm)Refer to Formula5.
P L: Preload(daN)
Z 1 : Number of Pinion Teeth
Z 2 : Number of Gear Teeth

1807

P3PL

T 2 =J M = J M

PL
(3 P L -P)
2Q + T P
3P L

Allowable Revolutions Curve

Where;
T M : Overall Torque Exerted on the Motor's Output Thread(daNCcm)
T 1 :Driving Torque at Constant Speed
(daNCcm)
(daNCcm)
T 2 :Driving Torque in Acceleration

Z2

KConstant Speed Torque Exerted on the Motor's Output Thread


This is the amount of torque required to drive the output thread against the applied external load, at a constant speed.
T 1=

T M=T 1+ T 2 =

Work-Piece

PL
2Q

KTotal Torque Exerted on the Motor's Output Thread


Overall torque can be obtained by adding results from formulas 6 and 7.

Allowable Revolutions ( min 1)

3/1/06

Allowable Axial Load (daN)

Metric_1801-1886

min 1=r/min=rpm
1daN=10N1.02kgf
3 4 5 6 7 8 910 3 1.5 2

3 4 5 67

Distance between Acting Points of Load (mm)

1808