Professional Documents
Culture Documents
Aksijalno-Radijalni Ležaj Kao Segment Veze Okretne Platforme Sa Nosećom Konstrukcijom
Aksijalno-Radijalni Ležaj Kao Segment Veze Okretne Platforme Sa Nosećom Konstrukcijom
U radu su prikazane osnove koncepcija veza okretnih platformi mašina građevinske I transportne mehanizacije,
zavisno od vrste pogona. Posebno su analizirani aksijalno-radijalni ležajevi velikih prečnika većih svetskih proizvođača.
Uočeni su potrebni uslovi koje treba da ispune noseći ramovi, od kojih zavisi radna sposobnost ležajeva. Takođe predložen
je zakon raspodele opterećenja od spoljašnjeg momenta koji pruža mogućnost definisanja maksimalnog opterećenja, kao
polazne osnove za dalja istraživanja u definisanju optimalnih zakona raspodele pritisnih sila koje potiču od momenta.
Ključne reči: okretna platforma, aksijalno-radijalni ležaj, pogon obrtanja, raspodela sila od momenata, proračun
ležaja
5 3
4
а) b)
Slika 1: Pogoni okretnih platformi
a) varijantno rešenje koje se primenjuje kod mašina građevinske mehanizacije (hidrauličkih bagera)
b) varijantno rešenje koje se primenjuje kod mašina transportne mehanizacije (portalnih dizalica)
Kod prvog varijantnog rešenja, slika 1.a, Zupčasti venac je zavrtnjskom vezom pričvršćen za
mehanizam za obrtno kretanje sastoji se iz pogonskog noseću konstrukciju. Drugi venac (spolјašnji prsten) ležaja
hidromotora i reduktora 4 sa izlaznim vratilom sa malim je pričvršćen za okretnu platformu i zajedno vrše obrtno
zupčanikom 3. Mali zupčanik 3 je uzupčen sa zupčastim kretanje. Komponente pogona okretnih platformi
vencem 2 koji je ujedno i sastavni deo aksijalno-radijalnog hidrauličkih bagera (Slika 1. a), kao što je navedeno, čine
ležaja 1. planetarni mehanizam kod koga se okretanjem izlaznog
zupčanika reduktora okreće i obrtna platforma, pri čemu je radijalnih ležajeva velikih prečnika, neophodno je izvršiti
ozublјeni venac ležaja nepokretan. adekvatnu obradu oslonih površina za koje se vezuje ležaj.
Kućište reduktora je čvrsto spojeno za obrtnu Pre ugradnje tih ležajeva preporučuje se kontrola i merenje
platformu, kao i neozublјeni prsten aksijalno-radijalnog hrapavosti obrađenih površina savremenim mernim
ležaja koji se zavrtnjima vezuje za kostur obrtne uređajima optičkog tipa ili laserima. Ako su izmerene
platforme, dok je ozublјeni prsten, takođe zavrtnjima, vrednosti izvan propisanih tolerancija koje zavise od
vezan za noseću konstrukciju odnosno hodni stroj. prečnika ležajeva, preporučuje se ponovna mašinska
Ulazni parametri pogona obrtnih platformi kod obrada. Dozvolјena odstupanja propisuju proizvođači
pogona hidrauličkog tipa su pritisak i protok hidrauličkog ležajeva [5, 6].
motora, a izlazni broj obrtaja i moment na izlaznom Neki od tipova ovih ležajeva jednog od najvećeg
zupčaniku reduktora. Pogoni se izvode u više varijanti [3, proizvođača Rothe Erde [6] prikazani su na slici 2. Sastoje
4]: se iz unutrašnjeg prstena 2 i spolјašnjeg prstena 1, koje
• pogon sa sporohodnim visokomomentnim povezuju kotrlјajna tela u obliku kuglice 3 ili valјčića 4,
hidrauličkim motorom na čije se izlazno vratilo ubačenih u profilisane kanale, čineći na taj način
ugrađuje mali zupčanik, koji se neposredno spreže kompaktnu celinu.
sa ozublјenim fiksnim vencem aksijalno-radijalnog Spolјašnji i unutrašnji prstenovi se izrađuju sa i bez
ležaja, ozublјenja , pri čemu prstenovi sa ozublјenjem se
• pogon sa brzohodnim klipno-aksijalnim zavrtnjima čvrsto vezuju na neokretni deo noseće
hidrauličkim motorom i reduktorom dvostepenog ili konstrukcije [7]. Prema broju redova kotrlјajnih tela dele
trostepenog izvođenja. Izvedeni su kao razdvojeno se na jednoredne, dvoredne i troredne ležajeve. Kada je reč
rešenje tako da se hidraulički motor i reduktor o jednorednim ležajevima sa valјčićima, vrlo često se
nezavisno biraju i međusobno usklađuju. Kod ovih koristi unakrsni položaj valјčića.
pogona izdvaja se koncepcijsko rešenje kinematike Grupi jednorednih aksijalnih ležajeva velikih
reduktora sa jednim parom cilindričnih zupčanika i prečnika pripadaju i ležajevi sa kontaktom u četiri tačke;
jednim ili više planetarnih setova i posebnim jednostavne su konstrukcije, što ih čini ekonomičnim. Ako
izvodom za doboš ili lamelastu kočnicu, je potrebno da se ostvari preciznost u toku obrtanja,
• pogoni sa brzohodnim klipno-aksijalnim primenu nalaze dvoredni ležajevi sa valјčićima.
hidromotorom i dvostepenim ili trostepenim Kotrlјajna tela su termički obrađena i sa velikom
planetarnim reduktorom, integralno izvedenim tako preciznošću izrade čime se obezbeđuje relativno okretanje
da čine jedan modul. i prenošenje opterećenja između spolјašnjeg i unutrašnjeg
prstena. Veličina im je određenja tako da mogu da prenesu
propisana opterećenja za dati ležaj.
2. OSNOVNE KARAKTERISTIKE AKSIJALNO- Međusobno rastojanje između kotrlјajnih tela
RADIJALNIH LEŽAJEVA VELIKIH PREČNIKA ostvaruje se razdelјivačkim prstenovima koji se izrađuju
od materijala sa malim koeficijentom trenja u kontaktima
Sva opterećenja koja deluju na okretnu platformu sa kotrlјajnim telima pri okretanju. Podmazivanjem preko
mašina građevinske i transportne mehanizacije se na mazalice 5 obezbeđuje se kotrlјanje bez klizanja. Zaptivači
neokretnu noseću konstrukciju tih mašina prenose preko 6 između prstenova (Slika 2, a) sprečavaju curenje
aksijalno-radijalnih ležajeva velikih prečnika. Razlikuju se sredstava za podmazivanje (mast, ulјe) kao i prodor
od drugih ležajeva, pre svega, po veličini prečnika (i preko nečistoća u unutrašnjost ležaja.
10 metara). Zahtevaju propisane uslove montaže koje po U katalozima većih svetskih proizvođača (Roth
pravilu definišu proizvođači tih ležajeva, rade sa relativno Erde, INA, SKF...) navode se geometrijski i drugi
malim brzinama okretanja i specifičnim opterećenjima. parametri od značaja za izbor aksijalno-radijalnih ležajeva
Pored toga što prenose sile, aksijalne i radijalne, vrše velikih prečnika:
prenos i momenta u ravni dejstva koja je normalna na - Geometrijski parametri:
osnovnu ravan koja prolazi kroz stazu kotrlјajnih tela. Po
konstruktivnom izvođenju su vrlo kompaktni i imaju veliki • Podeoni prečnik ozublјenog venca d o (mm)
unutrašnji slobodan prostor, koji omogućava prolaz
pratećih vodova i uređaja neokretnog hodnog stroja. • Broj zuba ozublјenog venca z
Vek trajanja ovih ležajeva kao i pouzdanost u radu • Modul zupčanika ozublјenog venca m (mm)
u najvećoj meri zavisi od projektovane krutosti nosećeg • Prečnik putanje kotrlјajnih tela DL (mm)
rama, jer im je sopstvena krutost, s obzirom na gabaritne
dimenzije (veliki prečnik a mali poprečni presek - Ostali parametri:
prstenova), mala. Zato je istraživanje odnosa geometrijskih
veličina nosača nosećeg rama, u cilјu definisanja krutosti • Maksimalna sila na zubu Fz (kN)
pri kojoj deplanacija oslone površine za vezu ležaja ne
• Dinamička aksijalna i radijalna nosivost Ca , Cr
prelazi odstupanja većih od preporučenih od izuzetnog
značaja. Zato su istraživanja teorijskih zavisnosti • Masa m (kg)
relevantnih geometrijskih parametara nosećih ramova, koji U zavisnosti od položaja okretne platforme u odnosu
obezbeđuju krutost pri kojima staze kotrlјajnih tela leže u na noseću konstrukciju, aksijalno-radijalni ležajevi mogu
neizvitoperenoj ravni, od posebnog značaja. se ugraditi sa gornje ili donje strane, u odnosu na noseću
Pored istraživanja uticajnih parametara na konstrukciju.
geometrijsku identifikaciju nosećih ramova aksijalno-
2
1
6
b)
c)
а)
d) e) f)
Slika 2: Tipovi aksijalno-radijalnih ležajeva velikih prečnika
a) jednoredni sa kuglicama i unutrašnjim ozublјenjem
b) jednoredni sa kuglicama i spolјašnjim ozublјenjem
c) jednoredni sa valјčićima i spolјašnjim ozublјenjem
d) dvoredni sa unakrsnim valјčićima i unutrašnjim ozublјenjem
e) dvoredni sa kuglicama i unutrašnjim ozublјenjem
f) troredni sa valјčićima i unutrašnjim ozublјenjem
- p - koeficijent koji zavisi od oblika kotrlјajnih tela. a ekvivalentni dinamički moment izrazom
Za kotrlјajna tela u obliku kuglice, taj koeficijent n
ima vrednost p = 3 , dok za kotrlјajna tela u M ed = f L k ∑pM i
k
ri / 100 (8)
obliku valјčića koeficijent ima vrednost i =1
The paper presents the connection of rotating platforms in building and transport machines depending on the type of
driving mechanism. A special attention is paid to axial-radial bearings having big diameters made by prominent
manufacturers. There are some necessary conditions which have to be met by supporting frames because working capacity
of the bearings depends on them. Also, the law of distribution of load of moment of external forces is proposed because it
provides identification of maximum load as a starting basis for further research on determination of optimal laws of
distribution of acting forces which are caused by the moment of forces.
Keywords: rotating platform, axial-radial bearing, driving mechanism, distribution of forces of the moment,
calculation of bearing.
1. INTRODUCTION
The other solution (Figure 1,b) is almost identical to
Axial-radial bearings with big diameters were the first one. The only difference between these two
introduced in the second part of the twentieth century as solutions is the driving unit which is mainly in the form of
indirect elements in the connection between rotating electric motor 1, and rarely in the form of internal
platform and support structure in the machines of transport combustion engine.
and building mechanization. To drive rotating platforms The electric motor is connected with horizontal
the driving mechanism with hydraulic motor is widely reducer 2 and on its shaft there is gear 3 which meshes
used at hydraulic excavators (Figure 1,a); to drive rotating with the large gear 4 and is an element of axial-radial
platforms of portal cranes [1,2] the driving mechanism bearing 5.
with electric motor is used (Figure 1,b).
5 3
4
а) b)
Figure 1: Driving mechanisms of rotating platforms
a) building machines (hydraulic excavators)
b) transport machines (portal cranes)
The driving components of rotating platforms in
The first solution (Figure 1,a) involves the hydraulic excavators (Figure 1,a), as stated above, make a
mechanism for rotary motion and it consists of hydraulic planetary mechanism where rotation of output gear of the
motor and reducer 4 with output shaft and small gear 3. reducer causes the rotation of rotating platform too, while
The small gear meshes with large gear 2 which is also a the large gear of the bearing is stationary.
part of axial-radial bearing 1. The large gear is screwed to
support structure. The outer ring of the bearing is screwed The reducer housing is firmly connected to the
to the rotating platform and they rotate together. rotating platform as well as the outer ring of axial-radial
bearing which is screwed to the frame of rotating platform,
whereas toothed ring is also screwed to the carrying Prior to installation of the bearing, it is
structure. recommended to control and measure roughness of treated
Input parameters of rotating platform mechanism of areas by modern optical measuring devices or lasers. If
hydraulic type are pressure and flow of hydraulic motor, measured values are beyond prescribed tolerances which
while output parameters are the number of revolutions and depend on bearing diameters, it is recommended to repeat
moment at the output gear of reducer. Driving mechanisms the machining. Permissible deviation is prescribed by
are produced in several forms [3,4]: manufacturers of bearings [5,6]. Some types of the
bearings made by one of the most popular producer Rothe
• mechanism with a low-speed high-moment Erde [6] are shown in Figure 2. They consist of internal
hydraulic motor with the small gear built in the ring 2 and external ring 1, connected by rolling bodies in
output shaft, and it is directly meshed with fixed the form of the ball 3 or the roller 4, inserted in profiled
channels, thus making a compact whole. External and
big gear of axial-radial bearing,
internal rings are made with and without gearing, and rings
• mechanism with a high-speed axial-piston with gears are firmly screwed to the fixed part of support
hydraulic motor and a double or triple reducer. It structure [7]. They can be single-row, double-row and
is produced as a separate solution so that the three-row bearings according to the number of rows of
hydraulic motor and reducer are independently rolling bodies. When single-row bearings with rollers are
chosen and coordinate with each other. This drive used, the cross position of rollers is usually used.
The group of single-row bearings with big
has a concept of reducer kinematics with one pair
diameters comprises the bearings with four points of
of spur gears and one or more planetary sets and contact; their construction is simple, which makes them
special connection of drum brake or disk brake. economical. If it is necessary to achieve accuracy in the
• mechanism with a high-speed axial-piston course of rotation, double-row bearings with rollers are
hydraulic motor and a double or triple planetary applied.
reducer integrally produced so that it makes one Rolling bodies are heat treated and made with
high accuracy, which provides relative rotation and
module.
transmission of loads between external and internal rings.
Their size is defined so that they can transmit prescribed
2. BASIC CHARACTERISTICS OF AXIAL-RADIAL loads for the given bearing. Distance between rolling
BEARINGS WITH BIG DIAMETERS bodies is made by distribution rings made of material with
low coefficient of friction in the contacting points with
All loads acting on the rotating platform at building rolling bodies during rotation. Lubrication by oil cup 5
and transport machines are transmitted to their fixed provides rolling with no slide. Sealers 6 between the rings
support structures through axial-radial bearing with big (Figure 2,a) prevent leakage of lubricants (grease, oil) as
diameters. They differ from other bearings primarily due well as penetration of dust inside bearings.
to the size of diameters (more than 10m). They demand The catalogues of widely known producers (Rothe
prescribed conditions of assembly which are defined by Erde, INA, SKF, etc.) present geometrical and other
manufacturers of bearings, operate with relatively low parameters which are significant for the choice of axial-
speeds of rotation and specific loads. radial bearings with big diameters:
Apart from transmitting axial and radial forces, they
transmit the moment of forces in the plane of action which - Geometrical parameters:
is normal to basic plane going through the path of rolling
• Pitch diameter of the big gear do (mm)
bodies. They are very compact and have large internal free
space which enables passage of accompanying lines and • Number of teeth of the big gear z
devices of fixed carrying structure. • Module of the gear m (mm)
Lifetime of these bearings as well as their reliability • Diameter of path of rolling bodies DL
during operation depend mainly on the stiffness of support (mm)
frame because their own stiffness is small due to large
dimensions (big diameter and small cross section of rings).
- Other parameters:
Therefore, it is very important to research the relation
between geometrical values of support frame carrier, in • Maximum force at the tooth Fz (kN)
order to define stiffness at which deflection of supporting • Dynamic axial and radial carrying
area does not exceed deviation higher than recommended capacity Ca, Cr
deviations. • Mass m (kg)
Thus, it is extremely important to study theoretical
relation between relevant geometrical parameters of Depending on the position of rotating platform in
support frames which provide stiffness at which paths of relation to supporting structure, axial-radial bearings can
rolling bodies lie in undistorted plane. In addition to be installed on the upper or lower part of the supporting
research of parameters influencing geometrical structure.
identification of support frames of axial-radial bearings
with big diameters, it is necessary to perform proper
treatment of support areas to which the bearing is
connected.
2
1
6
b)
c)
а)
d) e) f)
Figure 2: Types of axial-radial bearings with big diameters
a) Single-row bearings with balls and internal gearing
b) Single-row bearings with balls and external gearing
c) Single-row bearings with rollers and external gearing
d) Double-row bearings with cross rollers and internal gearing
e) Double-row bearings with balls and internal gearing
f) Three-row bearings with rollers and internal gearing
Axial-radial bearings as a segment of connection between rotating platform and carrying structure
IMK-14 – Research and development in heavy machinery
elastic deformations of bearing elements of carrying frame method is based on defining equivalent static loads by
occur, show that there are deviations of maximum force means of expression [6]:
from the moment in a rigid model up to 40%. Also,
maximum load through forces from the moment is
Fes
= ( aFa + bFr ) f stat (5)
transmitted through rolling bodies in the segment which is M es = cM f stat (6)
bounded by angle of 90°, i.e. 45° from both sides with
regard to the plane of operating device [8,9,10]. In expressions (5) and (6) coefficients a, b and c
Transmission of radial force is done by the same law depend on the type of bearing (single-row, double-row,
applied to the radial bearings. ball type, roller type), type and size of machine and its
Identification of equivalent loads significant to operating conditions, whereas coefficient fstat is a factor of
the selection of size of axial-radial bearings is done static safety.
according to the method prescribed by the manufacturers. Thus, Rothe Erde recommends the following
INA, one of the leading manufacturers of the bearings, values of load factor in its catalogue:
selects the bearing based on equivalent static load [5,6], - autocranes, mobile cranes, ship cranes and similar
which is calculated according to the equivalent static cranes: fstat = 1.10, FL = 1, N = 30 000
force: - cranes with rotating platform, port cranes, cranes
Fes = Fa f A f S f R (1) with rotating trolley: fstat = 1.25, FL = 1.15, N =
45 000
and according to the equivalent static moment:
- cranes operating in the steel plants: fstat = 1,45, FL
M es = M f A f S f R (2) = 1,5, N = 100 000
Factors fA, fS and fR in the expressions (1) and (2) - mobile cranes with grapple, bridge cranes with
have the following values in compliance with INA’s grapple and magnet: fstat = 1.45, FL = 1,7, N = 150
recommendations: 000
fA – factor of application (for mobile cranes fA = - rotor excavators, conveyors: fstat = 1.45, FL =
1.25),
2.15, N = 300 000
fS - additional factor of safety (for application
with no special requirements fS = 1), - hydraulic excavators with bearing KD 320: fstat =
fR – factor of static radial load which depends on 1.25
relation 2M/(FaDL) and on relation between radial and - hydraulic excavators with bearings of other
axial force. series, whose bucket volume is up to 1.5m3.
Apart from defining static load of bearings, Note that axial-radial bearings with big
equivalent dynamic load of bearings is defined, which diameters, which are installed in hydraulic excavators,
represents the lifetime of bearings, i.e. the period when have different operating conditions, loads during
fatigue of material appears, which depends on load, revolutions, so selection of load factors fL and N is done by
operating speed and purpose. consulting the manufacturer.
Based on permitted dynamic load, axial stiffness In addition to static loads, equivalent dynamic
Ca or radial stiffness Cr, which are given as characteristics loads of bearings are defined.
of bearings, we can determine dynamic load of bearing L Equivalent dynamic force is defined by the
as lifetime of bearing expressed in millions of revolutions: expression:
L = (C F )
p
(3) n
Lh = (16666 n )( C F )
p
(4)
and equivalent dynamic moment is defined by the
Expressions (3) and (4) contain the following expression
markings: n
- n [rev/min] – frequency of revolutions M ed = f L k ∑pM i
k
ri / 100 (8)
- p – coefficient which depends on the form of i =1
_shared_media/08_media_library/01_publications/schaeffl
f L = N / tc
k (9) er_2/catalogue_1/downloads_6/404_de_en_1.pdf
[6] https://www.thyssenkrupp-rotheerde.com/download/
where N is expected number of cycles in the machine info/tk_GWL_GB_230616_web.pdf
lifetime, and tc is duration of revolution at full load. [7] Волков Д.П., Крикун В.Я., Тоталин П.Е., Гаевскал
Recommended values for N and tc are stated above. К.С., Никулин П.И.: Машины для земляных робот,
The properties of bearings are represented by Москва, Машиностроение, 1992.
curves of static and dynamic carrying capacity. They show [8] Дукельски А.И.: Портовые грузо-подъемные
dependence of permitted equivalent static force Fes and машины, Москва, Транспорт, 1970.
permitted equivalent static moment Mes , i.e. dependence [9] Ерофеев Н. И., Гордеев Г. И., Зилдьдман В. Я.
of dynamic equivalent force Fed and permitted equivalent Масюк М. П.: Комплексная механизация
dynamic moment Med . портовых перегрузочных работ, Москва,
In selection of bearings, the value of calculated Транспорт, 1977.
equivalent loads of bearings in entire cycle of machine [10] Петухов П.З., Ксюнин Г.П., Серлинг Л. Т.:
operation must not exceed boundary curves in diagram of Специалные краны, Москов, Машиностроение,
carrying capacity of bearings. 1985
4. CONCLUSION
ACKNOWLEDGMENT
REFERENCES
Axial-radial bearings as a segment of connection between rotating platform and carrying structure