CN111985134A - Method and device for determining state of slewing bearing of crane and related equipment - Google Patents

Method and device for determining state of slewing bearing of crane and related equipment Download PDF

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CN111985134A
CN111985134A CN202010841079.6A CN202010841079A CN111985134A CN 111985134 A CN111985134 A CN 111985134A CN 202010841079 A CN202010841079 A CN 202010841079A CN 111985134 A CN111985134 A CN 111985134A
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slewing bearing
bolt
stress
finite element
roller
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CN111985134B (en
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张庆波
尹旭男
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Sany America Inc
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Abstract

The application provides a method and a device for determining the state of a slewing bearing of a crane and related equipment, and relates to the technical field of slewing bearings. Firstly, acquiring a pretightening force value of a bolt on a slewing bearing and the roller rigidity of the slewing bearing, then establishing a finite element model according to a geometric model of the slewing bearing and the roller rigidity of the slewing bearing, inputting the pretightening force value of the bolt, a load born by the slewing bearing and a preset boundary condition into the finite element model, and acquiring finite element analysis stress of the bolt output by the finite element model and the maximum structural stress of an inner ring and an outer ring of the slewing bearing; wherein the load born by the slewing bearing is related to the hoisting load of the crane; then determining the actual stress of the bolt according to the finite element analysis stress of the bolt; and when the actual stress of the bolt is greater than the preset first stress or the maximum structural stress of the inner ring and the outer ring is greater than the preset second stress, determining that the slewing bearing is in a state to be adjusted. The method and the device have the advantage of smaller error of the obtained result.

Description

Method and device for determining state of slewing bearing of crane and related equipment
Technical Field
The application relates to the technical field of slewing bearings, in particular to a method and a device for determining the state of a slewing bearing of a crane and related equipment.
Background
The slewing bearing of the crawler crane is an important part for connecting an upper crane and a lower crane, the roller slewing bearing can bear large bending moment, relative rotation of the upper crane and the lower crane is realized, and the crawler crane is widely applied to large-tonnage cranes. The roller slewing bearing mainly comprises an inner ring, an outer ring and a roller, and the slewing bearing is connected with the turntable and the slewing bearing is connected with the base through bolts respectively.
During the use process of the slewing bearing, the slewing bearing may deform due to stress, and on the basis, whether the slewing bearing needs to be adjusted or not needs to be judged.
At present, whether the slewing bearing needs to be adjusted or not is generally determined by adopting a bench test or a mode of calculation according to theoretical data, however, in practical application, the contact state between the roller and the inner and outer raceways is complex, so that the state of the slewing bearing determined by the existing mode has large errors.
As described above, in the conventional art, there is a large error in determining whether the slewing bearing needs to be adjusted.
Disclosure of Invention
The application aims to provide a method and a device for determining the state of a slewing bearing of a crane and related equipment, so as to solve the problem that in the prior art, a large error exists in the judgment of whether the slewing bearing needs to be adjusted.
In order to achieve the above purpose, the embodiments of the present application employ the following technical solutions:
in a first aspect, an embodiment of the present application provides a method for determining a state of a slewing bearing of a crane, where the method includes: acquiring a pretightening force value of a bolt on the slewing bearing and the roller rigidity of the slewing bearing; establishing a finite element model according to the geometric model of the slewing bearing and the roller rigidity of the slewing bearing; inputting the pretightening force numerical value of the bolt, the load born by the slewing bearing and preset boundary conditions into the finite element model, and acquiring finite element analysis stress of the bolt output by the finite element model and the maximum structural stress of the inner ring and the outer ring of the slewing bearing; wherein the load borne by the slewing bearing is related to the hoisting load of the crane; determining the actual stress of the bolt according to the finite element analysis stress of the bolt; and when the actual stress of the bolt is greater than a preset first stress or the maximum structural stress of the inner ring and the outer ring is greater than a preset second stress, determining that the slewing bearing is in a state to be adjusted.
In a second aspect, an embodiment of the present application provides a crane slewing bearing state determining device, including: the data acquisition module is used for acquiring the pretightening force value of a bolt on the slewing bearing and the roller rigidity of the slewing bearing; the model establishing module is used for establishing a finite element model according to the geometric model of the slewing bearing and the roller rigidity of the slewing bearing; the data acquisition module is further used for inputting the pretightening force numerical value of the bolt, the load born by the slewing bearing and preset boundary conditions into the finite element model, and acquiring finite element analysis stress of the bolt output by the finite element model and the maximum structural stress of the inner ring and the outer ring of the slewing bearing; wherein the load borne by the slewing bearing is related to the hoisting load of the crane; the actual stress determining module is used for determining the actual stress of the bolt according to the finite element analysis stress of the bolt; and the state determining module is used for determining that the slewing bearing is in a state to be adjusted when the actual stress of the bolt is greater than a preset first stress or the maximum structural stress of the inner ring and the outer ring is greater than a preset second stress.
In a third aspect, an embodiment of the present application provides an electronic device, including: a memory for storing one or more programs; a processor; the one or more programs, when executed by the processor, implement the crane slewing bearing state determination method described above.
In a fourth aspect, the present application further provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the above-mentioned method for determining the slewing bearing state of a crane.
Compared with the prior art, the embodiment of the application has the following beneficial effects:
the embodiment of the application provides a method, a device and related equipment for determining the state of a slewing bearing of a crane, which comprises the steps of firstly obtaining the pretightening force value of a bolt on the slewing bearing and the roller rigidity of the slewing bearing, then establishing a finite element model according to the geometric model of the slewing bearing and the roller rigidity of the slewing bearing, inputting the pretightening force value of the bolt, the load born by the slewing bearing and a preset boundary condition into the finite element model, and obtaining the finite element analysis stress of the bolt output by the finite element model and the maximum structural stress of the inner ring and the outer ring of the slewing bearing; wherein the load born by the slewing bearing is related to the hoisting load of the crane; then determining the actual stress of the bolt according to the finite element analysis stress of the bolt; and when the actual stress of the bolt is greater than the preset first stress or the maximum structural stress of the inner ring and the outer ring is greater than the preset second stress, determining that the slewing bearing is in a state to be adjusted. Because the finite element model is adopted for analysis and the numerical values in actual operation are analyzed, the error of the obtained result is smaller.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and it will be apparent to those skilled in the art that other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 is a block diagram of an electronic device provided in an embodiment of the present application.
Fig. 2 is a flowchart of a method for determining a state of a slewing bearing of a crane according to an embodiment of the present disclosure.
Fig. 3 is a schematic structural diagram of a slewing bearing according to an embodiment of the present disclosure.
Fig. 4 is a cross-sectional view of a slewing bearing provided in an embodiment of the present application.
FIG. 5 is a schematic diagram of a finite element model of a slewing bearing according to an embodiment of the present application.
Fig. 6 is another flowchart of a method for determining a slewing bearing state of a crane according to an embodiment of the present disclosure.
Fig. 7 is a schematic block diagram of a crane slewing bearing state determining device according to an embodiment of the present disclosure.
In the figure: 100-an electronic device; 101-a processor; 102-a memory; 103-a communication interface; 200-a crane slewing bearing state determining device; 210-a data acquisition module; 220-model building module; 230-coordinate system establishment module; 240-actual stress determination module; 250-state determination module.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
In the description of the present application, it should be noted that the terms "upper", "lower", "inner", "outer", and the like indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings or orientations or positional relationships conventionally found in use of products of the application, and are used only for convenience in describing the present application and for simplification of description, but do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present application.
In the description of the present application, it is also to be noted that, unless otherwise explicitly specified or limited, the terms "disposed" and "connected" are to be interpreted broadly, e.g., as being either fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
As described in the background art, at present, the determination of whether the slewing bearing needs to be adjusted is generally performed by using a bench test or a calculation method according to theoretical data, however, in practical application, the contact state between the roller and the inner and outer raceways is complicated, and therefore, a large error exists in determining the state of the slewing bearing by using the existing method.
In view of the above, the application provides a method for determining the state of a slewing bearing of a crane, and the method can be used for more accurately simulating the stress conditions of the inner ring and the outer ring of the slewing bearing and the connecting bolt by analyzing data in actual operation by using a finite element model, so that a more accurate calculation result is obtained, and the error is smaller.
It should be noted that the method for determining the slewing bearing state of the crane provided by the present application can be applied to an electronic device 100, and fig. 1 illustrates a schematic structural block diagram of the electronic device 100 provided by the embodiment of the present application, where the electronic device 100 includes a memory 102, a processor 101, and a communication interface 103, and the memory 102, the processor 101, and the communication interface 103 are electrically connected to each other directly or indirectly to implement data transmission or interaction. For example, the components may be electrically connected to each other via one or more communication buses or signal lines.
The memory 102 may be used to store software programs and modules, such as program instructions or modules corresponding to the crane slewing bearing state determining apparatus 200 provided in the embodiment of the present application, and the processor 101 executes various functional applications and data processing by executing the software programs and modules stored in the memory 102, thereby executing the steps of the crane slewing bearing state determining method provided in the embodiment of the present application. The communication interface 103 may be used for communicating signaling or data with other node devices.
The Memory 102 may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Read-Only Memory (EPROM), an electrically Erasable Programmable Read-Only Memory (EEPROM), and the like.
The processor 101 may be an integrated circuit chip having signal processing capabilities. The Processor 101 may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components.
It will be appreciated that the configuration shown in FIG. 1 is merely illustrative and that electronic device 100 may include more or fewer components than shown in FIG. 1 or have a different configuration than shown in FIG. 1. The components shown in fig. 1 may be implemented in hardware, software, or a combination thereof.
The following describes an exemplary method for determining a slewing bearing state of a crane according to an embodiment of the present application, with the electronic device 100 as a schematic execution body.
Fig. 2 shows a schematic flowchart of a method for determining a slewing bearing state of a crane according to an embodiment of the present application, which may include the following steps:
s102, acquiring a pretightening force value of a bolt on the slewing bearing and the roller rigidity of the slewing bearing.
And S104, establishing a finite element model according to the geometric model of the slewing bearing and the roller rigidity of the slewing bearing.
S106, inputting the pretightening force numerical value of the bolt, the load born by the slewing bearing and the preset boundary condition into a finite element model, and acquiring the finite element analysis stress of the bolt output by the finite element model and the maximum structural stress of the inner ring and the outer ring of the slewing bearing; wherein the load born by the slewing bearing is related to the hoisting load of the crane.
And S108, determining the actual stress of the bolt according to the finite element analysis stress of the bolt.
And S110, when the actual stress of the bolt is greater than the preset first stress or the maximum structural stress of the inner ring and the outer ring is greater than the preset second stress, determining that the slewing bearing is in a state to be adjusted.
Referring to fig. 3, fig. 3 shows a schematic structural diagram of a slewing bearing, wherein the slewing bearing mainly comprises an inner ring, an outer ring and rollers, and it can be seen from the figure that the annular structure at the outermost side of the slewing bearing is the outer ring, the annular structure at the innermost side of the slewing bearing is the inner ring, and the ball structure between the inner ring and the outer ring is the rollers. In the use process, the inner ring of the slewing bearing is connected with the turntable through the inner ring bolt, and the outer ring of the slewing bearing is connected with the base through the outer ring bolt.
It will be appreciated that in practice, the slewing bearing will actually be stressed, in which case the rollers of the slewing bearing will be deformed to some extent and, to some extent, the deformation will be recoverable. In other words, the roller of the slewing bearing has a certain elasticity. On the basis, when the state of the slewing bearing of the crane is analyzed, the roller of the slewing bearing can be equivalently analyzed as a nonlinear spring unit, so that the roller stiffness of the slewing bearing can be equivalently acquired as the stiffness of the spring unit.
In addition, in general, the models of the inner ring bolt and the outer ring bolt are the same, and the pretightening force value of the bolt is only related to the model of the bolt, so that the pretightening force value of the bolt described in the present application may refer to the pretightening force value of the inner ring bolt, and may also refer to the pretightening force value of the outer ring bolt, which is not limited herein.
Of course, in other embodiments, the types of the inner ring bolt and the outer ring bolt may be different, and in this case, the pretension value of the bolt described in the application may refer to any one of the pretension value of the inner ring bolt and the pretension value of the outer ring bolt, or an average value of the pretension value of the inner ring bolt and the pretension value of the outer ring bolt, which is not limited herein.
As an implementation manner, the finite element model can be established by adopting finite element analysis software, and the finite element analysis software can establish the finite element model only by inputting the geometric model of the slewing bearing and the roller rigidity of the slewing bearing.
The finite element model is a model established by using a finite element analysis method, and is a group of unit combinations which are only connected at nodes, only transmit force by virtue of the nodes and are only restrained at the nodes. The basic idea of the finite element analysis method is to discretize a continuous geometric mechanism into a finite number of units, set a finite number of nodes in each unit, thereby regarding the continuum as an aggregate of a group of units connected only at the nodes, simultaneously select a node value of a field function as a basic unknown quantity, assume an approximate interpolation function in each unit to represent the distribution rule of the field function in the unit, and then establish a finite element equation set for solving the node unknown quantity, thereby converting the infinite freedom problem in a continuous domain into the finite freedom problem in a discrete domain.
After the node value is obtained through solving, the field function on the unit or the aggregate can be determined through the set interpolation function. For each cell, a suitable interpolation function is selected such that the function satisfies a certain condition within the sub-field, at the sub-field interface, and at both the sub-field and outer interfaces. When the unit assembly is in a balanced state under the action of known external load, a series of linear equations with nodes and displacement as unknown quantities are listed, after the node displacement is solved by a computer, the stress and strain of each unit are calculated by using related formulas of elasticity mechanics, and when each unit is small to a certain degree, the stress and strain of each unit represent the real situation of each position of the continuum.
The geometric model of the slewing bearing described herein refers to a drawn geometric model of the slewing bearing, for example, a cross-sectional view of the roller slewing bearing shown in fig. 4, which can be used as the geometric model of the slewing bearing, and of course, in some other embodiments, a three-dimensional model of the slewing bearing drawn by a three-dimensional drawing software can be used as the geometric model of the slewing bearing, which is not limited in this application.
Alternatively, when the geometric model is substituted into the finite element analysis software to create the finite element model, the ratio of the geometric model may be substituted into the software at the same time, for example, the ratio is 10: 1, i.e. if the actual slewing bearing diameter is 50cm, the slewing bearing diameter is 5cm in the geometric model. Of course, the proportions of the geometric model embedded in the finite element analysis software may also be fixed, for example, the proportions are fixed at 15: 1, etc.
In this way, it is possible to automatically create a finite element model by finite element analysis software, the created finite element model being as shown in fig. 5. In order to better simulate the stress condition of the actual roller, each roller is simulated by using 3 or 5 spring units connected in parallel, and the spring can only bear the pressure action and cannot bear the tension. Meanwhile, the inner and outer ring structures of the slewing bearing are divided by adopting structured grids, the grids at the root part of the raceway are locally encrypted, and the grids in the bolt hole area are also locally encrypted, as shown in fig. 5.
After the finite element model is established, the pretightening force value of the bolt, the load born by the slewing bearing and the preset boundary conditions can be input into the finite element model. Wherein the load born by the slewing bearing is related to the hoisting load of the crane and is in a direct proportional relationship. I.e. the greater the hoisting load of the crane, the greater the load the slewing bearing is subjected to. The boundary condition is a constraint condition of the finite element model, and in the present application, the corresponding position of the base is used as the boundary condition.
After the finite element model processes the data, the finite element analysis stress of the bolt and the maximum structural stress of the inner ring and the outer ring of the slewing bearing are output, and after the actual stress of the bolt is determined through the finite element analysis stress of the bolt, the actual stress can be compared with the preset stress to judge whether the slewing bearing needs to be adjusted.
Therefore, in the embodiment of the application, the finite element analysis is carried out on the slewing bearing of the crane in a mode of establishing a finite element model, and then the state of the slewing bearing is obtained so as to obtain a more accurate result.
As an implementation mode, the method is based on a formula
Fpre＝0.7×As×Rp
Determining the pretension value of the bolt, wherein FpreIndicating the value of the pre-tightening force of the bolt, As indicating the effective cross-sectional surface of the boltAccumulating; rp represents the bolt yield strength, and the effective cross-sectional area of the bolt and the bolt yield strength are both related to the model of the bolt. In other words, when a certain type of bolt is determined, the effective cross-sectional area and the yield strength of the bolt can be correspondingly obtained. For example, when the bolt is a, the effective cross-sectional area and the bolt yield strength are B and C, respectively, and when the bolt is a, the effective cross-sectional area and the bolt yield strength are B and C, respectively. As one implementation, the effective cross-sectional area and bolt yield strength may be determined in the form of a look-up table. In general, the effective cross-sectional diameter of the bolt can be checked by a table, and the cross-sectional diameter and the formula As ═ pi × ds2The effective cross-sectional area of the bolt is determined by/4, where ds represents the effective cross-sectional diameter of the bolt.
Moreover, the application is based on the formula
Figure BDA0002641426660000111
And
Figure BDA0002641426660000112
determining the roller stiffness of the slewing bearing, wherein Q represents the contact deformation of the slewing bearing roller, Q represents the contact load of the slewing bearing roller, l represents the roller length of the slewing bearing, and K represents the roller stiffness of the slewing bearing.
It can be understood that, because the slewing bearing is replaced by the nonlinear spring unit, the non-linear spring unit satisfies the deformation formula of the nonlinear spring unit, namely, the elastic force is equal to the product of the elastic coefficient and the deformation amount, wherein the elastic coefficient is the roller stiffness of the slewing bearing, the contact load of the roller of the slewing bearing is equivalent to the elastic force, and the contact deformation of the roller of the slewing bearing is equivalent to the deformation amount. In general, the contact load of the slewing bearing roller is set to a value of 0 to 300000N.
As an implementation, when determining the actual stress of the bolt, according to a formula
Figure BDA0002641426660000113
Figure BDA0002641426660000121
Figure BDA0002641426660000122
Determining the actual stress of the bolt, whereincaRepresenting the actual stress of the bolt, sigma representing the finite element analysis stress of the bolt, tau representing the shear stress of the bolt due to the pretension torque, WtRepresenting the torsional section coefficient, M, of the boltGIndicating the pretension torque of the bolt, dsRepresents the effective cross-sectional diameter of the bolt; and the pre-tightening torque of the bolt and the effective section diameter of the bolt are related to the type of the bolt.
After the actual stress of the bolt and the maximum structural stress of the inner ring and the outer ring are obtained, the actual stress of the bolt is compared with a preset first stress, the maximum structural stress of the inner ring and the outer ring is compared with a preset second stress, when the actual stress of the bolt or the maximum structural stress of the inner ring and the outer ring is larger than a preset value, the slewing bearing needs to be adjusted and maintained, namely, the slewing bearing is determined to be in a state to be adjusted, and a worker can adjust the slewing bearing after receiving the information so as to enable the slewing bearing to normally operate. The preset first stress and the preset second stress can be the same or different.
As an implementation manner, referring to fig. 6, before S106, the method further includes:
and S105, establishing a cylindrical coordinate system at the gravity center of the slewing bearing.
S106 includes:
inputting the pretightening force value of the bolt, the load born by the slewing bearing, the preset boundary condition and the cylindrical coordinate system into a finite element model, and acquiring a stress curve of the roller output by the finite element model on the cylindrical coordinate system, and an axial deformation curve and a radial deformation curve of the inner ring and the outer ring of the slewing bearing on the cylindrical coordinate system.
The stress curve of the roller on the cylindrical coordinate system, the axial deformation curve and the radial deformation curve of the inner ring and the outer ring of the slewing bearing on the cylindrical coordinate system can provide basis for adjusting the slewing bearing, and therefore the effect is better when the roller of the slewing bearing is repaired. For example, after acquiring an axial deformation curve and a radial deformation curve of the inner ring and the outer ring of the slewing bearing on a cylindrical coordinate system, a worker can calculate a relative deformation inclination angle according to the curves, and further provide a basis for roller modification of the slewing bearing.
Of course, in other embodiments, a cylindrical coordinate system may not be established, and the force curve of the roller, the axial deformation curve and the radial deformation curve of the inner ring and the outer ring of the slewing bearing may also be output through the finite element model, so as to provide a basis for the roller modification of the slewing bearing.
Based on the same inventive concept as the above-mentioned method for determining the state of the slewing bearing of the crane, please refer to fig. 7, the present application further provides a device 200 for determining the state of the slewing bearing of the crane, the device 200 for determining the state of the slewing bearing of the crane comprises a data acquisition module 210, a model building module 220, an actual stress determination module and a state determination module 250, wherein,
and the data acquisition module 210 is used for acquiring the pretightening force value of the bolt on the slewing bearing and the roller rigidity of the slewing bearing.
It is understood that S102 described above can be performed by the data acquisition module 210.
And the model establishing module 220 is used for establishing a finite element model according to the geometric model of the slewing bearing and the roller rigidity of the slewing bearing.
It is understood that the above S104 can be performed by the model building module 220.
The data acquisition module 210 is further configured to input the pretightening force value of the bolt, the load borne by the slewing bearing, and the preset boundary condition into a finite element model, and acquire a finite element analysis stress of the bolt output by the finite element model and a maximum structural stress of inner and outer rings of the slewing bearing; wherein the load born by the slewing bearing is related to the hoisting load of the crane;
it is understood that S106 described above can be performed by the data acquisition module 210.
And an actual stress determining module 240, configured to determine an actual stress of the bolt according to the finite element analysis stress of the bolt.
It is understood that S108 described above can be performed by the actual stress determination module 240.
And the state determining module 250 is used for determining that the slewing bearing is in a state to be adjusted when the actual stress of the bolt is greater than the preset first stress or the maximum structural stress of the inner ring and the outer ring is greater than the preset second stress.
It is understood that the above S110 can be performed by the state determination module 250.
As an implementation, the apparatus further includes:
and a coordinate system establishing module 230 for establishing a cylindrical coordinate system at the center of gravity of the slewing bearing.
It is understood that the above S105 can be performed by the coordinate system establishing module 230.
The data obtaining module 210 is further configured to input the pre-tightening force value of the bolt, the load borne by the slewing bearing, the preset boundary condition, and the cylindrical coordinate system into the finite element model, and obtain a stress curve of the roller output by the finite element model on the cylindrical coordinate system, and an axial deformation curve and a radial deformation curve of the inner ring and the outer ring of the slewing bearing on the cylindrical coordinate system.
In summary, the embodiment of the present application provides a method, an apparatus, and related equipment for determining a state of a slewing bearing of a crane, which includes obtaining a pretightening force value of a bolt on the slewing bearing and a roller stiffness of the slewing bearing, then establishing a finite element model according to a geometric model of the slewing bearing and the roller stiffness of the slewing bearing, inputting the pretightening force value of the bolt, a load borne by the slewing bearing, and a preset boundary condition into a finite element model, and obtaining a finite element analysis stress of the bolt output by the finite element model and a maximum structural stress of inner and outer rings of the slewing bearing; wherein the load born by the slewing bearing is related to the hoisting load of the crane; then determining the actual stress of the bolt according to the finite element analysis stress of the bolt; and when the actual stress of the bolt is greater than the preset first stress or the maximum structural stress of the inner ring and the outer ring is greater than the preset second stress, determining that the slewing bearing is in a state to be adjusted. Because the finite element model is adopted for analysis and the numerical values in actual operation are analyzed, the error of the obtained result is smaller.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The apparatus embodiments described above are merely illustrative and, for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s).
It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved.
It will also be noted that combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, the functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: u disk, removable hard disk, read only memory, random access memory, magnetic or optical disk, etc. for storing program codes. Although the present invention is disclosed above, the present invention is not limited thereto. Various changes and modifications may be effected therein by one skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.

Claims (10)

1. A method of crane slewing bearing state determination, the method comprising:
acquiring a pretightening force value of a bolt on the slewing bearing and the roller rigidity of the slewing bearing;
establishing a finite element model according to the geometric model of the slewing bearing and the roller rigidity of the slewing bearing;
inputting the pretightening force numerical value of the bolt, the load born by the slewing bearing and preset boundary conditions into the finite element model, and acquiring finite element analysis stress of the bolt output by the finite element model and the maximum structural stress of the inner ring and the outer ring of the slewing bearing; wherein the load borne by the slewing bearing is related to the hoisting load of the crane;
determining the actual stress of the bolt according to the finite element analysis stress of the bolt;
and when the actual stress of the bolt is greater than a preset first stress or the maximum structural stress of the inner ring and the outer ring is greater than a preset second stress, determining that the slewing bearing is in a state to be adjusted.
2. The method for determining the slewing bearing state of the crane according to claim 1, wherein the pretightening force value of the bolt satisfies the formula:
Fpre＝0.7×As×Rp
wherein, FpreThe pretightening force value of the bolt is shown, and As represents the effective cross-sectional area of the bolt; rp represents the bolt yield strength, and both the effective cross-sectional area of the bolt and the bolt yield strength are related to the model of the bolt.
3. The crane slewing bearing state determining method according to claim 1, wherein the roller stiffness of the slewing bearing satisfies the formula:
Figure FDA0002641426650000021
and
Figure FDA0002641426650000022
wherein, represents the contact deformation of the slewing bearing roller, Q represents the contact load of the slewing bearing roller, l represents the roller length of the slewing bearing, and K represents the roller rigidity of the slewing bearing.
4. The crane slewing bearing state determining method according to claim 1, wherein the actual stress of the bolt satisfies the formula:
Figure FDA0002641426650000023
Figure FDA0002641426650000024
Figure FDA0002641426650000025
determining the actual stress of the bolt, wherein σcaRepresenting the actual stress of the bolt, sigma representing the finite element analysis stress of the bolt, tau representing the shear stress of the bolt caused by the pretension torque, WtRepresenting the torsional section coefficient, M, of said boltGRepresenting the pretension torque of said bolt, dsRepresents an effective cross-sectional diameter of the bolt; and the pre-tightening torque of the bolt and the effective section diameter of the bolt are related to the type of the bolt.
5. The method for determining the condition of a slewing bearing of a crane according to claim 1, wherein before the step of inputting the preload value of the bolt, the load to which the slewing bearing is subjected and the preset boundary conditions into the finite element model, the method further comprises:
establishing a cylindrical coordinate system at the gravity center of the slewing bearing;
the method further comprises the following steps:
inputting the pre-tightening force value of the bolt, the load born by the slewing bearing, the preset boundary condition and the cylindrical coordinate system into the finite element model, and acquiring a stress curve of the roller output by the finite element model on the cylindrical coordinate system, and an axial deformation curve and a radial deformation curve of the inner ring and the outer ring of the slewing bearing on the cylindrical coordinate system.
6. A crane slewing bearing state determining apparatus, characterized in that the apparatus comprises:
the data acquisition module is used for acquiring the pretightening force value of a bolt on the slewing bearing and the roller rigidity of the slewing bearing;
the model establishing module is used for establishing a finite element model according to the geometric model of the slewing bearing and the roller rigidity of the slewing bearing;
the data acquisition module is further used for inputting the pretightening force numerical value of the bolt, the load born by the slewing bearing and preset boundary conditions into the finite element model, and acquiring finite element analysis stress of the bolt output by the finite element model and the maximum structural stress of the inner ring and the outer ring of the slewing bearing; wherein the load borne by the slewing bearing is related to the hoisting load of the crane;
the actual stress determining module is used for determining the actual stress of the bolt according to the finite element analysis stress of the bolt;
and the state determining module is used for determining that the slewing bearing is in a state to be adjusted when the actual stress of the bolt is greater than a preset first stress or the maximum structural stress of the inner ring and the outer ring is greater than a preset second stress.
7. The crane slewing bearing state determining device as claimed in claim 6, wherein the pretension value of the bolt satisfies the formula:
Fpre＝0.7×As×Rp
wherein, FpreThe pretightening force value of the bolt is shown, and As represents the effective cross-sectional area of the bolt; rp represents a bolt yield strength, wherein both the effective cross-sectional area of the bolt and the bolt yield strength are associated with the model of the bolt.
8. The crane slewing bearing state determining apparatus as claimed in claim 6, wherein the roller stiffness of the slewing bearing satisfies the formula:
Figure FDA0002641426650000041
and
Figure FDA0002641426650000042
wherein, represents the contact deformation of the slewing bearing roller, Q represents the contact load of the slewing bearing roller, l represents the roller length of the slewing bearing, and K represents the roller rigidity of the slewing bearing.
9. An electronic device, comprising:
a memory for storing one or more programs;
a processor;
the one or more programs, when executed by the processor, implement the method of any of claims 1-5.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1-5.
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