Pile driving barge pile frame main oil cylinder knuckle bearing state detection system and method

Abstract

The invention discloses a pile driving barge pile frame main oil cylinder knuckle bearing state detection system, which comprises a pin shaft sensor which replaces an original pin shaft to be mounted at a pin shaft of a knuckle bearing and is used for monitoring a load when the knuckle bearing is in service; the noise sensor is mounted at the joint bearing seat and is used for acquiring sound information during service of the joint bearing in real time; the vibration sensor is mounted at the joint bearing seat; according to the oil cylinder joint bearing online performance evaluation and state real-time detection system, online performance evaluation and state real-time detection of the oil cylinder joint bearing are achieved, abnormal conditions of the joint bearing are found in time, the joint bearing is repaired and maintained, and long-time safe use of an oil cylinder is guaranteed. The residual life of the knuckle bearing in the service process is predicted, various losses caused by sudden failure of the knuckle bearing are avoided, the failure time of the knuckle bearing is pre-judged in advance, replacement of the knuckle bearing is planned in advance, and the construction period is prevented from being delayed.

Description

Technical Field

[0001] The present invention relates to the field of state detection of joint bearings of main oil cylinders of pile frames of pile driving vessels, and more specifically, to a system and method for detecting the state of joint bearings of main oil cylinders of pile frames of pile driving vessels. Background Art

[0002] As marine engineering construction continues to extend to deep offshore areas, major engineering projects such as cross-sea channels and deep-sea wind power construction are increasing, and large-scale piling vessels are increasingly relied on, and their specifications are getting larger and larger. The main oil cylinder of the pile frame of the piling vessel is the core component of the large piling vessel. It is mainly used for the pitching action of the pile frame. The diameter of the variable oil cylinder exceeds 1.6m and the stroke exceeds 21m.

[0003] The spherical bearings at both ends of the hydraulic cylinder are key components to ensure the normal operation of the hydraulic cylinder, achieve precise movement and improve the stability of the system. The spherical bearings play a supporting and guiding role in the hydraulic cylinder, allowing the cylinder to achieve linear or rotational movement. During the operation of the hydraulic cylinder, it is often subjected to loads in various directions, including vertical, horizontal and oblique loads. The spherical bearings help distribute and absorb these loads, ensuring that the hydraulic cylinder can stably withstand external forces while maintaining smooth movement. In addition, the hydraulic cylinder may be subjected to shock or vibration, and the spherical bearings can absorb part of the impact force to protect the integrity of the hydraulic cylinder and the system.

[0004] The main oil cylinder of the pile frame of the pile-driving ship works with a long stroke. The spherical bearing may fail under low-speed and heavy-load conditions. Since the pile frame weighs thousands of tons, it is very inconvenient to repair. When the spherical bearing suddenly fails, the pile-driving ship cannot be used and needs to be repaired or replaced, causing delays in the construction period. In addition, the extra-large spherical bearings are expensive and the cost of repair and replacement is high. In severe cases, the boom may suddenly collapse, resulting in serious safety accidents.

[0005] The current operation monitoring system of the main oil cylinder of the pile frame of a pile driving ship only monitors key parameters such as the working pressure and stroke of the cylinder. There is no effective means to perform real-time detection of the operation status of the cylinder joint bearings, which poses certain safety risks. Therefore, a system and method for detecting the status of the joint bearings of the main oil cylinder of the pile frame of a pile driving ship is urgently needed. Summary of the invention

[0006] In order to achieve these purposes and other advantages according to the present invention, a preferred embodiment of the present invention provides a state detection system for the joint bearing of the main oil cylinder of a pile driving ship, wherein the joint bearing is installed on the joint bearing seat, one end of the piston rod is movably arranged in the cylinder body, and the other end of the piston rod is connected to the joint bearing, the joint bearing comprises an inner ring and an outer ring, and a liner is pasted on the inner wall of the outer ring. The state detection system for the joint bearing of the main oil cylinder of the pile driving ship comprises:

[0007] A pin shaft sensor is installed at the pin shaft of the spherical bearing to replace the original pin shaft, and monitors the load of the spherical bearing during service. The pin shaft sensor is connected to an industrial computer. When the load exceeds a specified load value, the industrial computer controls the sound and light alarm to send out an alarm signal.

[0008] The noise sensor is installed at the joint bearing seat to collect the sound information of the joint bearing in real time when it is in service; the sound processing module removes the interfering sound data in the sound information and uploads it to the industrial computer for data processing. When the sound data is abnormal, the industrial computer controls the sound and light alarm to send out an alarm signal;

[0009] The vibration sensor is installed at the joint bearing seat to measure the real-time vibration of the joint bearing; the industrial computer processes the received frequency data, and if abnormal frequency data appears, the industrial computer controls the sound and light alarm to send out an alarm signal;

[0010] The red thermal external imager is installed at the end of the piston rod to perform real-time temperature detection on the friction point between the liner and the inner ring of the spherical bearing. When the heating rate reaches or exceeds 0.5°C / h and the temperature exceeds 100°C, the industrial computer controls the sound and light alarm to send out an alarm signal.

[0011] Preferably, it also includes:

[0012] The acceleration sensor is installed at the joint bearing seat to detect the acceleration of the joint bearing.

[0013] Preferably, it also includes:

[0014] There are multiple high-definition cameras, some of which are installed at the end of the piston rod to cover the entire monitoring range of the joint bearing and monitor the appearance of the joint bearing. Some high-definition cameras are installed at the joint bearing seat to shoot the joint bearing fittings. The video is input into the trained model. The model is equipped with visual recognition, and the model provides real-time feedback on the clearance at the joint bearing fitting and whether the liner is falling off or squeezed out.

[0015] Preferably, it also includes:

[0016] The high-precision displacement sensor is installed on the side of the spherical bearing. When the liner is worn, it will be displaced. The movement drives the movement of the displacement sensor. The wear amount of the spherical bearing liner is calculated by the difference between the measured value of the displacement sensor and the initial value.

[0017] Another technical solution of the present invention further provides a detection method for a state detection system of a main oil cylinder joint bearing of a pile frame of a pile driving ship, comprising the following steps:

[0018] S1. Initialization

[0019] Initialize the parameters of pin sensor, noise sensor, vibration sensor, red-hot external imager, acceleration sensor, high-definition camera, and high-precision displacement sensor;

[0020] S2. Machine Learning

[0021] A large amount of spherical bearing service process data and life test data are obtained through machine learning to obtain a database;

[0022] S3. Collecting raw data

[0023] The pin sensor monitors the load of the spherical bearing in real time and outputs the real-time load data F of the spherical bearing;

[0024] The noise sensor collects sound information and outputs real-time sound data S of the spherical bearing;

[0025] The vibration sensor measures vibration and outputs real-time frequency data ω of the spherical bearing;

[0026] The red thermal external imager detects the real-time temperature of the spherical bearing friction area and outputs the real-time temperature data T of the spherical bearing;

[0027] The acceleration sensor monitors the acceleration value A of the output vibration and the state parameters of the spherical bearing in real time;

[0028] The high-precision displacement sensor monitors the wear of the spherical bearing pad in real time and outputs the real-time wear amount L of the spherical bearing;

[0029] S4, high-definition cameras monitor the appearance of the spherical bearing in real time, and compare the appearance signal with the content in the database to determine whether the appearance of the spherical bearing has pitting corrosion or surface peeling;

[0030] S5. Process the original data, remove invalid data, and obtain valid data

[0031] The sound, vibration and acceleration signals collected in S3 are filtered to remove invalid data, obtain valid data, and then upload to the industrial computer;

[0032] S6. Abnormal alarm

[0033] S61, if the load data F reaches 95% of the rated load [F], the industrial computer determines that it is abnormal and reminds to stop the machine for maintenance;

[0034] If the load data F>[F], the industrial computer determines that the spherical plain bearing has failed due to crushing, and reminds you to replace the spherical plain bearing;

[0035] S62, if the sound data S exceeds the preset value and lasts for ≥2s, the industrial computer determines that it is abnormal and reminds you to shut down for maintenance;

[0036] S63, if the frequency data ω exceeds the preset value and lasts for ≥2s, the industrial computer determines that it is abnormal and reminds you to shut down for maintenance;

[0037] S64: If the temperature data T reaches a heating rate of 0.5°C / h or the temperature exceeds 100°C, the industrial computer determines that it is abnormal and reminds you to stop the machine for maintenance;

[0038] If the temperature data T≥150℃, the industrial computer determines that the spherical bearing temperature is too high and fails, and reminds you to replace the spherical bearing;

[0039] S65, if the acceleration value A exceeds the limit value [A], the industrial computer determines that it is abnormal and reminds you to stop the machine for maintenance;

[0040] S66: If the wear amount L is less than the thickness of the liner, but its increasing speed is ≥1mm / min, the industrial computer determines that it is abnormal and reminds you to stop the machine for maintenance;

[0041] If the wear amount L is equal to the thickness of the liner, the industrial computer determines that the spherical plain bearing has failed and reminds you to replace the spherical plain bearing;

[0042] S67. If the high-definition camera detects that the gasket is squeezed out and the spherical bearing fails, it will remind you to replace the spherical bearing.

[0043] Preferably, the method for detecting the state of the joint bearing of the main oil cylinder of the pile frame of the pile driving ship further includes:

[0044] S6. Prediction of remaining life of spherical plain bearings

[0045] Theoretically, the remaining service life of spherical plain bearings is:

[0046] The remaining life of the spherical plain bearing = the design life - the equivalent of the service life;

[0047] According to the data collected from a large number of life tests simulating offshore construction environments and a large number of spherical plain bearings in actual offshore construction environments, it can be seen that the remaining life of spherical plain bearings is gradually reduced, but not linearly, but fluctuatingly, and the life reduction rate is different at different stages. A reduction coefficient α is obtained through test and actual service data and calculation. Therefore, combined with the weight of online monitoring temperature and wear data of spherical plain bearings, the remaining life of spherical plain bearings is:

[0048]

[0049] Preferably, the initialized parameters include acquisition frequency, invalid signals to be filtered, remaining life model formula, life correlation coefficient, and a large amount of spherical bearing service process data and life test data.

[0050] The present invention has at least the following beneficial effects:

[0051] 1. Realize online performance evaluation and real-time status detection of cylinder joint bearings, timely discover abnormal conditions of joint bearings, repair and maintain joint bearings, and ensure long-term safe use of cylinders.

[0052] 2. Predict the remaining life of spherical bearings in service to avoid various losses caused by sudden failure of spherical bearings, predict the failure time of spherical bearings in advance, plan the replacement of spherical bearings in advance, and avoid delays in construction.

[0053] Other advantages, objectives and features of the present invention will be embodied in part through the following description, and in part will be understood by those skilled in the art through study and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 It is a structural schematic diagram of the spherical bearing in the present invention.

[0055] Figure 2 This is a schematic diagram of the installation position of the monitoring sensor in the spherical bearing in a technical solution of the present invention.

[0056] Figure 3 This is a schematic diagram of the installation position of the monitoring sensor in the spherical bearing in another technical solution of the present invention.

[0057] Figure 4 This is a workflow diagram for online monitoring of spherical bearings in the present invention. DETAILED DESCRIPTION

[0058] The present invention is further described in detail below in conjunction with the accompanying drawings so that those skilled in the art can implement the invention with reference to the description.

[0059] The following description is used to disclose the present invention so that those skilled in the art can implement the present invention. The preferred embodiments described below are only examples, and those skilled in the art can think of other obvious variations. The basic principles of the present invention defined in the following description can be applied to other embodiments, variations, improvements, equivalents, and other technical solutions that do not deviate from the spirit and scope of the present invention.

[0060] Those skilled in the art should understand that, in the disclosure of the present invention, the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, which are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the above terms should not be understood as limiting the present invention.

[0061] It is to be understood that the term "one" should be understood as "at least one" or "one or more", that is, in one embodiment, the number of an element may be one, while in another embodiment, the number of the element may be multiple, and the term "one" should not be understood as a limitation on the quantity.

[0062] like Figure 1-4 As shown, a preferred embodiment of the present invention provides a state detection system for the joint bearing of the main oil cylinder of a pile-driving ship pile frame, wherein one end of a piston rod is movably arranged in the cylinder body, and the other end of the piston rod is connected with the joint bearing, and the joint bearing 1 is installed on the joint bearing seat 2, and the joint bearing 1 comprises an inner ring 1-1 and an outer ring 1-2, and the outer ring 1-2 is sleeved on the inner ring 1-1, and a liner 1.3 is pasted on the inner wall of the outer ring 1-2, and the state detection system for the joint bearing of the main oil cylinder of the pile-driving ship pile frame comprises:

[0063] The pin shaft sensor 3 replaces the original pin shaft and is installed at the pin shaft of the spherical bearing to monitor the load of the spherical bearing when it is in service. The pin shaft sensor is connected to the industrial computer. When the load exceeds the specified load value, the industrial computer controls the sound and light alarm to send out an alarm signal;

[0064] The noise sensor 4 is installed at the joint bearing seat to collect sound information of the joint bearing in real time when it is in service; the sound processing module eliminates the interfering sound data in the sound information and uploads it to the industrial computer for data processing. When the sound data is abnormal, the industrial computer controls the sound and light alarm to send out an alarm signal; the sound information is collected when the joint bearing starts to be in service.

[0065] The vibration sensor 5 is installed at the joint bearing seat to measure the real-time vibration of the joint bearing; the industrial computer processes the received frequency data, and if abnormal frequency data appears, the industrial computer controls the sound and light alarm to send out an alarm signal;

[0066] The red-hot external imager 6 is installed at the end of the piston rod to perform real-time temperature detection on the friction point between the liner and the inner ring in the spherical bearing. When the heating rate reaches or exceeds 0.5°C / h and the temperature exceeds 100°C, the industrial computer controls the sound and light alarm to send out an alarm signal.

[0067] The acceleration sensor 7 is installed at the joint bearing seat;

[0068] The acceleration sensor 7 adopts the S908A-AE split vibration transmitter, which integrates the shear piezoelectric acceleration sensor with the amplifier, integrator, envelope demodulation circuit, transmitter, etc., and outputs the acceleration value of the vibration and the bearing state parameter (2-way 3-wire 4-20mA current signal). It has the advantages of high sensitivity, good stability, strong anti-interference, etc. It can be installed on the equipment very conveniently.

[0069] There are multiple high-definition cameras 8, some of which are installed at the end of the piston rod to cover the entire monitoring range of the joint bearing and monitor the appearance of the joint bearing. Some of the high-definition cameras are installed at the joint bearing seat to shoot the joint bearing fittings. The video is input into the trained model. The model is equipped with visual recognition, and the model provides real-time feedback on the clearance at the joint bearing fitting and whether the liner is falling off or squeezed out.

[0070] The high-precision displacement sensor 9 is installed on the side of the spherical bearing. When the liner is worn, it will be displaced. The movement drives the movement of the displacement sensor. The wear amount of the spherical bearing liner is calculated by the difference between the measured value of the displacement sensor and the initial value.

[0071] Another technical solution of the present invention also provides a method for detecting the state of a joint bearing of a main oil cylinder of a pile frame of a pile driving ship, comprising the following steps:

[0072] S1. Initialization

[0073] Initialize the parameters of pin sensor, noise sensor, vibration sensor, red-hot external imager, acceleration sensor, high-definition camera, and high-precision displacement sensor;

[0074] S2. Machine Learning

[0075] A large amount of spherical bearing service process data and life test data are obtained through machine learning to obtain a database;

[0076] S3. Collecting raw data

[0077] The pin sensor monitors the load of the spherical bearing in real time and outputs the real-time load data F of the spherical bearing;

[0078] The noise sensor collects sound information and outputs real-time sound data S of the spherical bearing;

[0079] The vibration sensor measures vibration and outputs real-time frequency data ω of the spherical bearing;

[0080] The red thermal external imager detects the real-time temperature of the spherical bearing friction area and outputs the real-time temperature data T of the spherical bearing;

[0081] The acceleration sensor monitors the acceleration value A of the output vibration and the state parameters of the spherical bearing in real time;

[0082] The high-precision displacement sensor monitors the wear of the spherical bearing pad in real time and outputs the real-time wear amount L of the spherical bearing;

[0083] S4, high-definition cameras monitor the appearance of the spherical bearing in real time, and compare the appearance signal with the content in the database to determine whether the appearance of the spherical bearing has pitting corrosion or surface peeling;

[0084] S5. Process the original data, remove invalid data, and obtain valid data

[0085] Since spherical plain bearings are used in the main oil cylinder of pile frames of piling vessels, the environment is very complex and there are many interference signals such as noise and vibration. Through a large number of life tests simulating offshore construction environments and a large number of data collected when spherical plain bearings are actually used in offshore construction environments, it is necessary to filter the collected sound, vibration, and acceleration signals and upload them to the industrial computer;

[0086] S6. Abnormal alarm

[0087] S61, if the load data F reaches 95% of the rated load [F], the industrial computer determines that it is abnormal and reminds to stop the machine for maintenance;

[0088] If the load data F>[F], the industrial computer determines that the spherical plain bearing has failed due to crushing, and reminds you to replace the spherical plain bearing;

[0089] S62, if the sound data S exceeds the preset value and lasts for ≥2s, the industrial computer determines that it is abnormal and reminds you to shut down for maintenance;

[0090] S63, if the frequency data ω exceeds the preset value and lasts for ≥2s, the industrial computer determines that it is abnormal and reminds you to shut down for maintenance;

[0091] S64: If the temperature data T reaches a heating rate of 0.5°C / h or the temperature exceeds 100°C, the industrial computer determines that it is abnormal and reminds you to stop the machine for maintenance;

[0092] If the temperature data T≥150℃, the industrial computer determines that the spherical bearing temperature is too high and fails, and reminds you to replace the spherical bearing;

[0093] S65, if the acceleration value A exceeds the limit value [A], the industrial computer determines that it is abnormal and reminds you to stop the machine for maintenance;

[0094] S66: If the wear amount L is less than the thickness of the liner, but its increasing speed is ≥1mm / min, the industrial computer determines that it is abnormal and reminds you to stop the machine for maintenance;

[0095] If the wear amount L is equal to the thickness of the liner, the industrial computer determines that the spherical plain bearing has failed and reminds you to replace the spherical plain bearing;

[0096] S67. If the high-definition camera detects that the gasket is squeezed out and the spherical bearing fails, it will remind you to replace the spherical bearing.

[0097] S7. Prediction of remaining life of spherical plain bearings

[0098] Theoretically, the remaining service life of spherical plain bearings is:

[0099] The remaining life of the spherical plain bearing = the design service life - the equivalent of the service life.

[0100] According to the data collected from a large number of life tests simulating offshore construction environments and a large number of spherical plain bearings in actual offshore construction environments, it can be seen that the remaining life of spherical plain bearings is gradually reduced, but not linearly, but fluctuatingly, and the life reduction rate is different at different stages. A reduction coefficient α is obtained through test and actual service data and calculation. Therefore, combined with the weight of online monitoring temperature and wear data of spherical plain bearings, the remaining life of spherical plain bearings is:

[0101]

[0102] The initialized parameters include the acquisition frequency, invalid signals to be filtered, the remaining life model formula, and a large amount of spherical bearing service process data and life test data.

[0103] Although the embodiments of the present invention have been disclosed as above, they are not limited to the applications listed in the specification and the implementation modes, and they can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the present invention is not limited to the specific details and the illustrations shown and described herein.

Claims

1. A state detection system for the joint bearing of the main oil cylinder of a pile-driving ship, wherein the joint bearing is installed on the joint bearing seat, one end of the piston rod is movably arranged in the cylinder body, and the other end of the piston rod is connected to the joint bearing, the joint bearing comprises an inner ring and an outer ring, and a gasket is pasted on the inner wall of the outer ring, characterized in that: The pile driving ship pile frame main oil cylinder joint bearing state detection system comprises: A pin shaft sensor is installed at the pin shaft of the spherical bearing to replace the original pin shaft, and monitors the load of the spherical bearing during service. The pin shaft sensor is connected to an industrial computer. When the load exceeds a specified load value, the industrial computer controls the sound and light alarm to send out an alarm signal. The noise sensor is installed at the joint bearing seat to collect the sound information of the joint bearing in real time when it is in service; the sound processing module removes the interfering sound data in the sound information and uploads it to the industrial computer for data processing. When the sound data is abnormal, the industrial computer controls the sound and light alarm to send out an alarm signal; The vibration sensor is installed at the joint bearing seat to measure the real-time vibration of the joint bearing; the industrial computer processes the received frequency data, and if abnormal frequency data appears, the industrial computer controls the sound and light alarm to send out an alarm signal; The red thermal external imager is installed at the end of the piston rod to perform real-time temperature detection on the friction point between the liner and the inner ring of the spherical bearing. When the heating rate reaches or exceeds 0.5°C / h and the temperature exceeds 100°C, the industrial computer controls the sound and light alarm to send out an alarm signal.

2. The pile driving ship pile frame main oil cylinder joint bearing state detection system according to claim 1 is characterized in that: Also includes: The acceleration sensor is installed at the joint bearing seat to detect the acceleration of the joint bearing.

3. The pile driving ship pile frame main cylinder joint bearing state detection system according to claim 2 is characterized in that: Also includes: There are multiple high-definition cameras, some of which are installed at the end of the piston rod to cover the entire monitoring range of the joint bearing and monitor the appearance of the joint bearing. Some high-definition cameras are installed at the joint bearing seat to shoot the joint bearing fittings. The video is input into the trained model. The model is equipped with visual recognition, and the model provides real-time feedback on the clearance at the joint bearing fitting and whether the liner has fallen off or been squeezed out.

4. The pile driving ship pile frame main oil cylinder joint bearing state detection system according to claim 3 is characterized in that: Also includes: The high-precision displacement sensor is installed on the side of the spherical bearing. When the liner is worn, it will be displaced. The movement drives the movement of the displacement sensor. The wear amount of the spherical bearing liner is calculated by the difference between the measured value of the displacement sensor and the initial value.

5. The detection method of the state detection system of the main oil cylinder joint bearing of the pile frame of the pile driving ship according to any one of claims 1 to 4 is characterized in that: The following steps are involved: S1. Initialization Initialize the parameters of pin sensor, noise sensor, vibration sensor, red-hot external imager, acceleration sensor, high-definition camera, and high-precision displacement sensor; S2. Machine Learning A large amount of spherical bearing service process data and life test data are obtained through machine learning to obtain a database; S3. Collecting raw data The pin sensor monitors the load of the spherical bearing in real time and outputs the real-time load data F of the spherical bearing; The noise sensor collects sound information and outputs real-time sound data S of the spherical bearing; The vibration sensor measures vibration and outputs real-time frequency data ω of the spherical bearing; The red thermal external imager detects the real-time temperature of the spherical bearing friction area and outputs the real-time temperature data T of the spherical bearing; The acceleration sensor monitors the acceleration value A of the output vibration and the state parameters of the spherical bearing in real time; The high-precision displacement sensor monitors the wear of the spherical bearing pad in real time and outputs the real-time wear amount L of the spherical bearing; S4, high-definition cameras monitor the appearance of the spherical bearing in real time, and compare the appearance signal with the content in the database to determine whether the appearance of the spherical bearing has pitting corrosion or surface peeling; S5. Process the original data, remove invalid data, and obtain valid data The sound, vibration and acceleration signals collected in S3 are filtered to remove invalid data, obtain valid data, and then uploaded to the industrial computer; S6. Abnormal alarm S61, if the load data F reaches 95% of the rated load [F], the industrial computer determines that it is abnormal and reminds to stop the machine for maintenance; If the load data F>[F], the industrial computer determines that the spherical plain bearing has failed due to crushing, and reminds you to replace the spherical plain bearing; S62, if the sound data S exceeds the preset value and lasts for ≥2s, the industrial computer determines that it is abnormal and reminds you to stop the machine for maintenance; S63, if the frequency data ω exceeds the preset value and lasts for ≥2s, the industrial computer determines that it is abnormal and reminds you to shut down for maintenance; S64: If the temperature data T reaches a heating rate of 0.5°C / h or the temperature exceeds 100°C, the industrial computer determines that it is abnormal and reminds you to stop the machine for maintenance; If the temperature data T≥150℃, the industrial computer determines that the spherical bearing temperature is too high and fails, and reminds you to replace the spherical bearing; S65, if the acceleration value A exceeds the limit value [A], the industrial computer determines that it is abnormal and reminds you to stop the machine for maintenance; S66: If the wear amount L is less than the thickness of the liner, but its increasing speed is ≥1mm / min, the industrial computer determines that it is abnormal and reminds you to stop the machine for maintenance; If the wear amount L is equal to the thickness of the liner, the industrial computer determines that the spherical plain bearing has failed and reminds you to replace the spherical plain bearing; S67. If the high-definition camera detects that the gasket is squeezed out and the spherical bearing fails, it will remind you to replace the spherical bearing.

6. The method for detecting the state of the joint bearing of the main oil cylinder of the pile frame of the pile driving ship according to claim 5, characterized in that: Also includes: S6. Prediction of remaining life of spherical plain bearings Theoretically, the remaining service life of spherical plain bearings is: The remaining life of the spherical plain bearing = the design life - the equivalent of the service life; A reduction coefficient α is obtained through test and actual service data of spherical plain bearings and calculation. Therefore, combined with the weight of online monitoring temperature and wear data of spherical plain bearings, the remaining life of spherical plain bearings is:

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