Worm Drive

THE UNIVERSITY OF TECHNOLOGY
FACULTY OF MECHANICAL ENGINEERING

DEPARTMENT OF MACHINE DESIGN

COURSE: DESIGN OF MACHINE ELEMENTS
CHAPTER 7
WORM DRIVE
ASSOC. PROF: PHAN ĐINH HUAN

ASSOC. PROF. PHAN DINH HUAN
1. INTRODUCTION
2
1. INTRODUCTION
Application: worm drive transmits power between two perpendicular

shafts (not intersect)
Worm gearbox
Principle
Lift mechanism
Handle hoist
Lift table
3
1. INTRODUCTION
Classification:
• By section profile: cylinder worm, globoid
• By tooth profile: Archimedes worm,
Convolute worm, involute worm
Trục vít trụ

• By number of starts: single,
Multi
globoid 4
1. INTRODUCTION
Advantages
• High speed ratio
• Low noise
• Self-locking
Disadvantages
• Low efficiency (70~80%)
• Create a lot of heat,
• Worm wheel made of expensive
materials
5
2. GEOMETRIC PARAMETER
Worm:
Worm module is standardized
Preferred 1; 1,25; 1,6; 2; 2,5; 3,15; 4; 5; 6,3; 8; 10; 12,5; 16; 20; 25
Allowed 1,5; 3; 3,5; 6; 7; 12
6
Geometric parameter equation
Lead angle α 200
Axial pitch p p=mπ
Worm module m=p/π
Diameter factor q q=d1/m
Number of threads z1
addendum ha1=m
dedendum ht1=1,2m
Pitch diameter d1=mq
Outside diameter da1=d1+2m
Root diameter dt1=d1-2,4m
Thread revolution pz1=z1p
Helix angle tanγ=pz1/(ππ)
Thread length b1≥(c1+c2z2)m
7
- Worm wheel :
Geometric parameter equation
Pitch diameter d2=mz2
Outside diameter da2=d2+2ha2=m(z2+2)
Root diameter dt2=d2-2ht2=m(z2-2,4)
Center distance aw=0,5(d1+d2)=0,5m(q+z2)
Maximum worm wheel dam2≤da2+6m/(z1+2)
diameter
Face width b2≤0,67da1
Wrap angle sinδ=b2/(da1-0,5m)
Helix angle β=γ
8
3. KINEMATICS
3.1 Linear velocity
- Worm
 d1 n1
v1 
6.10 4
- Worm wheel
 d 2 n2
v2 
6.10 4 When calculating, estimate Vs value
3.2 Slip velocity
m n1
vs  Z12  q 2
19100
n1 Z 2 d2
3.3 Speed ratio u  
n2 Z1 d1 tan  9
4. EFFICIENCY
Where : ρ’ is friction angle
ρ’=arctgf‘
,
= , (steel-copper)
,
= , (steel-cash iron)
Coefficient of friction depend on slip velocity
When calculating, efficiency is given by

10
5. FORCE AND CALCULATED LOAD

5.1 Force
- The total tooth force Fn consists of three force in three direction .
- Tangential force Ft acts perpendicular to shaft center line (not intersect).
2T1
Ft1  Fa 2 
d1
- Radial force Fn acts perpendicular to shaft center line(intersect).
Fr1  Fr 2  Ft 2 tan 
- Axial force Fa acts parallel to shaft centerline.
2T2 where
Fa1  Ft 2  T2  u . .T1
d2
Ft 2
- The total tooth force Fn Fn 
cos  cos  11

Force direction:
• Ft : in reverse from rotation direction on worm, in forward on worm wheel.
• Fr : toward to shaft center line.
• Fa : in reverse from Ft
12

5.2 Calculated load
- Calculated load (use for design) consist of mean load and added load occurring in
meshing time
Pt=KPdn or Tt=KTdn or Ft=KFdn
- When calculating contact tress and bending stress K=KH= KF=K KV

where:
K, : load concentration factor (page 283)
KV : dynamic load factor (table 7.6)
13
6. MATERIAL AND HEAT TREATMENT
Request: reliability, high hardness, small coefficient of friction, cheap

Material:
- worm : Typically select steel (carbon steel, alloy steel)
- heat treatment: normalizing, soft hardening ( <350)
full hardening, surface hardening, carburising, nitriding( > 350)
- Worm wheel: selected from slip velocity
• vs< 2m/s : gray cast iron
• 2 m/s vs 5 m/s: copper, aluminum, iron
• vs> 5 m/s: copper, tin
Slip velocity Vs (m/s) 1 2 3 4 5 6 7 8

Cv 1,33 1,21 1,11 1,02 0,95 0,88 0,83 0,8
14
7. FAILURE AND TARGETIAL DESIGN
- Because of high slip velocity and a lot of heat, the common failure of worm drive
are:
• Welding  Wear
15
8. CALCULATING STRENGTH OF WORM

8.1 Calculating strength by contact stress:
- Contact stress on teeth surface is given by Hertz:
- The effective radius:
- Distribution Load:
- Total contact length:
- Meshing factor:
- Wrap angle is recommended So that 16


8.1 Calculating strength by contact stress :
- We have:
- Effective young module:
- Checking strength:
- Calculate center distance:
- Module is calculated from center distance:

17

8.2 Calculating strength from bending stress
- Design equation: 1.5YF K F T2
m3
Z 2 q F 
1.5YF K F T2
- Checking strength equation: F    F 
Z 2 qm 3
18
9. CALCULATION OF HEAT
- Heat balance equation:
1000P1(1-η)=KT(t1-t0)A(1+ψ)
η: efficiency of worm drive t1= oil temperature
P1: Power on worm (KW) t0= air temperature
KT: coefficient of heat emission Ψ=coefficient of heat emission on
A: heat emission area (~20aw1,7) machine body
- Oil temperature when operating:
19
10. CALCULATING BY STRENGTH AND HARDNESS
- Check worm strength by bending stress:
- Total equivalent moment Mf:
Permission bending stress of sharp [σF]
Steel Heat treatment [σF], MPa Steel Heat treatment [σF], MPa
C35 Normalizing 55 15Cr Carburising 65
C45 Normalizing 60 12CrNi3 Carburising 70
40Cr Hardening 80 C40 soft hardening 60
CT6 Normalizing 60
20
10. CALCULATING BY STRENGTH AND HARDNESS
- Deflection of worm:
- Equivalent moment of inertia:
11 Structure and lubrication:

- Worm is under: worm speed about 4-5m/s
- Worm is above: used in high speed drive
- Worm is on the left or right: less used because it is difficult to lubricate
21
11. STRUCTURE AND LUBRICATION
22
12. DESIGN PROCEDURE
1. Select speed ratio

2. Estimate slip velocity, select material
3. Determine permission stress
4. Select number of thread from speed ratio:
U=8 →15: z1=4
U=16 →30: z1=2
U=30 →80: z1=1
Select diameter factor from standard q: 0,4≥q/z2 ≥ 0,22, commonly
choose q/z2~0,26
5. Estimate η
6. Calculate aw, calculate module → select module from standard,
recalculate aw
7. Check strength condition 23
References:
[1]. TS. Phan Tấn Tùng, Bài giảng Chi tiết máy, ĐH Bách Khoa,
2012
[2]. PGS TS Nguyễn Hữu Lộc, Cơ sở chi tiết máy, NXB ĐH Quốc
gia, 2011
[3]. TS Bùi Trọng Hiếu, Bài giảng Chi tiết máy, ĐH Bách khoa,
2012
END OF CHAPTER 7
24

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THE UNIVERSITY OF TECHNOLOGY

FACULTY OF MECHANICAL ENGINEERING

ASSOC. PROF: PHAN ĐINH HUAN

Application: worm drive transmits power between two perpendicular

Trục vít trụ

Allowed 1,5; 3; 3,5; 6; 7; 12

Coefficient of friction depend on slip velocity

When calculating, efficiency is given by

5. FORCE AND CALCULATED LOAD

5. FORCE AND CALCULATED LOAD

5. FORCE AND CALCULATED LOAD

Pt=KPdn or Tt=KTdn or Ft=KFdn

- When calculating contact tress and bending stress K=KH= KF=K KV

6. MATERIAL AND HEAT TREATMENT

Request: reliability, high hardness, small coefficient of friction, cheap

Slip velocity Vs (m/s) 1 2 3 4 5 6 7 8

7. FAILURE AND TARGETIAL DESIGN

8. CALCULATING STRENGTH OF WORM

- The effective radius:

- Total contact length:

- Wrap angle is recommended So that 16

8. CALCULATING STRENGTH OF WORM

- Effective young module:

- Calculate center distance:

- Module is calculated from center distance:

8. CALCULATING STRENGTH OF WORM

- Oil temperature when operating:

10. CALCULATING BY STRENGTH AND HARDNESS

- Check worm strength by bending stress:

- Total equivalent moment Mf:

Permission bending stress of sharp [σF]

10. CALCULATING BY STRENGTH AND HARDNESS

- Equivalent moment of inertia:

11 Structure and lubrication:

11. STRUCTURE AND LUBRICATION

12. DESIGN PROCEDURE

1. Select speed ratio

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