Conveyor
Precision conveyors are used in a wide range of
applications, such as dosing and filling machines,
parts buffers in production lines, robotics, Cartesian
90° Lstep coordinate robots, belt driven linear units, ink jet
printers and plotters, component assembly
machines, etc.
D
Most of the results provided by this tool also
apply to conventional conveyors where high
γ precision is not required, such as heavy duty belt or
chain conveyors, etc.
0° Disclaimer
Precision Conveyor This tool has been created to assist engineers
with the sizing of the different parts of the system.
Calculations might not cover all corner cases. and
results should always be checked by a qualified
engineer. Under no circumstances shall we beheld
responsible to any damages to persons or property
due to correct or incorrect use of this tool, or to
errors in it.
Pulley Circumference
L D=π⋅D [ mm ]
No. of Divisions per Pulley Turn
LD
N= [ mm ]
L step
Time per Displacement
t on =t a +t cs +t d [ s ]
Cycle Duration
t cycle=t a +t cs +t d +t dw [ s ]
Cycles per Minute
60
Z=
t cycle
System Efficiency
ηt =ηbs⋅ηr
Axis Automation, SLU Avda de la Plata, 23-1 E-46013 Valencia - Spain Tel. +34-963 950 442 e-mail: [email protected] www.servotak.com
Weight Force
Constants γ⋅π
F w= ( m+mb )⋅g⋅sin
Pi π≃3.141592654
( ) [N]
180
Acceleration of m Friction Force
Gravity on Earth
g=9.80665 2 γ⋅π
s F f = ( m+m b )⋅g⋅μ⋅cos [N]
( ) 180
Inputs
Acceleration Time ta [ s ] Acceleration Force
F a =(m+mb +m p )⋅a [ N ]
Deceleration Time td [ s ]
Deceleration Force
Constant Speed Time t cs [ s ]
F a =(m+mb +m p )⋅d [ N ]
Dwell Time t dw [ s ]
Maximum Tangential Force
System Inclination γ [ degrees ]
Displacement
F T =max( F w + F f + F a , F d − F w −F f ) [ N ]
Lstep
Distance
Traveling Mass Inertia
Pulley Pitch Diameter D [ mm ] 2
D
Traveling Mass m [ kg ] J L=2500⋅m⋅ ( )
1000
[ kg⋅cm2 ]
Belt Mass m b [ kg ]
Pulley Inertia
Pulleys Mass m p [ kg ] 2
D
Static Friction
Coefficient
μ J P =1250⋅m p
1000 ( ) [ kg⋅cm2 ]
Service Factor KA Belt Inertia
Conveyor Efficiency ηc D 2
Max. Motor Speed
During Cycle n1 [ rpm ]
J B =2500⋅mb⋅
1000 ( ) [ kg⋅cm2 ]
Gearbox Efficiency ηr
Total Inertia
Positioning Accuracy A P [ mm ] J T =J L +J P +J B [ kg⋅cm 2 ]
2
Gearbox Inertia J R [ kg⋅cm ] Total Inertia as Seen by the Motor
Motor Inertia JM [ kg⋅cm 2 ] JT
J T 1= [ kg⋅cm2 ]
i2
Load to Motor Inertia Ratio
JT1
Λ=
J M +J r
Axis Automation, SLU Avda de la Plata, 23-1 E-46013 Valencia - Spain Tel. +34-963 950 442 e-mail: [email protected] www.servotak.com
Linear Acceleration
v m
a=
ta []s2
Linear Deceleration
v m
d=
td []s2
Rotational Acceleration
2⋅π⋅a rad
αa =
D [ ]s
2
1000
Rotational Deceleration
2⋅π⋅d rad
αd =
D [ ]s
2
1000
Maximum Linear Speed
Lstep
1000 m
v=
1 1
t cs + ⋅t a + t d
[ ]
s
2 2
Maximum Pulley Rotary Speed
60⋅v
n2 = [ rpm ]
LD
1000
Motor Power
T 2⋅n 2
P 1= [ kW ]
9550⋅ηr
Ideal Gearbox Ratio
n2
i=
n1
Axis Automation, SLU Avda de la Plata, 23-1 E-46013 Valencia - Spain Tel. +34-963 950 442 e-mail: [email protected] www.servotak.com
Ideal Gearbox Backlash
60⋅A p
Δ ϕ= [ arcmin ]
2⋅π D
⋅
360 2
Required Gearbox Output Torque
F T⋅D
T 2= [ N⋅m ]
2000⋅ηc
Required Gearbox Output Torque, Adjusted
for Service Factor
T 2 KA = K A⋅T 2 [ N⋅m ]
Axis Automation, SLU Avda de la Plata, 23-1 E-46013 Valencia - Spain Tel. +34-963 950 442 e-mail: [email protected] www.servotak.com
Appendix: Coefficients of friction
Coefficients of friction for bearings
Anti-friction bearings µL=0,005
Slide bearings µL=0,08 – 0,1
Coefficients of friction for various materials
µ0 (Static Friction Coefficient) µ (Sliding Friction Coefficient)
Material 1 Material 2
Dry Greased Dry Greased
Aluminium Aluminum 1,05 – 1,35 0,3 0,47
Aluminum Steel (Mild) 0,61 0,47
Cast Iron Cast Iron 1,1 0,15 0,07
Copper Steel (Mild) 0,53 0,36 0,18
Glass Glass 0,9 – 1,0 0,1 – 0,6 0,4 0,09 – 0,12
Iron Iron 1,0 0,15 – 0,2
Nickel Nickel 0,7 – 1,1 0,28 0,53 0,12
Nylon Nylon 0,15 – 0,25
Plexiglas Steel 0,4 – 0,5 0,4 – 0,5
Polymer Belt Steel 0,25 – 0,45 0,25
Steel (Hard) Polystyrene 0,3 – 0,35 0,3 – 0,35
Steel (Hard) Polythene 0,2 0,2
Steel (Hard) Steel (Hard) 0,78 0,5 – 0,11 0,42 0,029 –0,12
Teflon Steel 0,04 0,04 0,04
Teflon Teflon 0,04 0,04 0,04
Wood Steel 0,45 – 0,75 0,30 – 0,6
Axis Automation, SLU Avda de la Plata, 23-1 E-46013 Valencia - Spain Tel. +34-963 950 442 e-mail: [email protected] www.servotak.com
