A pile driving vessel pile frame main cylinder joint bearing state detection system and method

Abstract

The present invention discloses a state detection system for the joint bearing of the main oil cylinder of a pile-driving ship pile frame, comprising: a pin sensor, which replaces the original pin and is installed at the pin of the joint bearing to monitor the load of the joint bearing during service; a noise sensor, which is installed at the joint bearing seat to collect sound information of the joint bearing in real time during service; a vibration sensor, which is installed at the joint bearing seat; and a red-hot external imager, which is installed at the end of the piston rod to perform real-time temperature detection on the friction part of the joint bearing. The present invention realizes online performance evaluation and real-time state detection of the oil cylinder joint bearing, timely discovers abnormal conditions of the joint bearing, performs maintenance on the joint bearing, and ensures the long-term safe use of the oil cylinder. The remaining life of the joint bearing in service is predicted to avoid various losses caused by the sudden failure of the joint bearing, predict the failure time of the joint bearing in advance, and plan the replacement of the joint bearing in advance to avoid delays in the construction period.

Description

Technical Field

[0001] The present invention relates to the field of state detection of the articulated bearing of the main oil cylinder of a pile frame of a pile driving vessel, and more specifically, to a system and method for detecting the state of the articulated bearing of the main oil cylinder of a pile driving vessel. Background Art

[0002] As marine engineering construction continues to expand into deepwater offshore areas, major projects such as cross-sea passages and deep-sea wind power construction are increasing in number. This has led to a growing reliance on large piling vessels, and their specifications are also increasing. The main cylinder of a piling vessel's pile frame is a core component of large piling vessels, primarily responsible for the pitching and lowering of the pile frame. The diameter of the luffing cylinder exceeds 1.6 meters, and the stroke exceeds 21 meters.

[0003] The spherical plain bearings (SNPs) at each end of a hydraulic cylinder are critical components for proper operation, precise movement, and system stability. They provide support and guidance within the cylinder, enabling linear and rotational motion. During operation, hydraulic cylinders are subject to a variety of loads, including vertical, horizontal, and diagonal loads. Spherical plain bearings help distribute and absorb these loads, ensuring the cylinder can withstand external forces while maintaining smooth movement. Furthermore, hydraulic cylinders may be subject to shock or vibration, and the spherical plain bearings absorb some of this impact, protecting the integrity of the cylinder and the system.

[0004] The main oil cylinder of the pile frame of the pile-driving vessel operates with a long stroke. Under low-speed and heavy-load conditions, the spherical bearing may fail. As the pile frame weighs thousands of tons, maintenance is very inconvenient. When the spherical bearing suddenly fails, the pile-driving vessel may be unusable and need to be repaired or replaced, causing construction delays. In addition, the extra-large spherical bearing is expensive, and the cost of repair and replacement is high. In severe cases, the boom may suddenly collapse, resulting in a serious safety accident.

[0005] The current operation monitoring system of the main oil cylinder of the pile frame of a pile driving vessel only monitors key parameters such as the cylinder working pressure and stroke. 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 detection system and method for the status of the main oil cylinder joint bearings of the pile frame of a pile driving vessel is urgently needed. Summary of the Invention

[0006] To achieve these objectives and other advantages of the present invention, a preferred embodiment of the present invention provides a system for detecting the state of a spherical bearing in a main oil cylinder of a pile driving vessel, wherein the spherical bearing is mounted on a spherical bearing seat, one end of a piston rod is movably disposed within the cylinder body, and the other end of the piston rod is connected to the spherical bearing. The spherical bearing includes an inner ring and an outer ring, and a gasket is adhered to the inner wall of the outer ring. The system for detecting the state of a spherical bearing in a main oil cylinder of a pile driving vessel comprises:

[0007] The pin sensor replaces the original pin and is installed at the pin of the spherical bearing to monitor the load of the spherical bearing during service. The pin 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.

[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 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 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 plain 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, which is equipped with visual recognition and provides real-time feedback from the model on the clearance at the joint bearing fittings 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 driving vessel pile frame, comprising the following steps:

[0018] S1. Initialization

[0019] Initialize the parameters of the 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 plain 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 plain bearing;

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

[0026] The red thermal external imager performs real-time temperature detection on the friction part of the spherical joint bearing and outputs the real-time temperature data T of the spherical joint bearing;

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

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

[0029] S4. A high-definition camera monitors the appearance of the spherical plain bearing in real time and compares the appearance signal with the content in the database to determine whether the spherical plain bearing has pitting corrosion or surface peeling.

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

[0031] The sound, vibration and acceleration signals collected in S3 are filtered to remove invalid data and obtain valid data, which are then uploaded 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 prompts 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 prompts to shut down the machine for maintenance;

[0036] S63: If the frequency data ω exceeds the preset value and lasts for ≥2s, the industrial computer will determine that it is abnormal and remind you to stop the machine for maintenance;

[0037] S64: If the temperature data T rises at a rate of 0.5°C / h or exceeds 100°C, the industrial computer will detect an abnormality and prompt the user to shut down the machine for maintenance.

[0038] If the temperature data T is ≥150℃, the industrial computer will judge that the spherical plain bearing temperature is too high and fail, and remind you to replace the spherical plain bearing;

[0039] S65: If the acceleration value A exceeds the limit [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 liner thickness, but its increasing rate 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 liner thickness, 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 liner 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 piling vessel 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 service life - the equivalent of the service life;

[0047] Based on a large number of life tests simulating offshore construction environments and data collected from a large number of spherical plain bearings in actual offshore construction environments, it can be seen that the remaining life of spherical plain bearings gradually decreases, but not linearly. It decreases in a fluctuating manner, and the rate of life reduction 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, perform maintenance on joint bearings, and ensure long-term safe use of cylinders.

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

[0053] Other advantages, objectives and features of the present invention will be reflected in part from the following description and 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 plain 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 plain bearings in the present invention. DETAILED DESCRIPTION

[0058] The present invention will be described in further 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 intended to disclose the present invention so that those skilled in the art can implement the present invention. The preferred embodiments described below are for illustrative purposes only, and those skilled in the art will readily appreciate other obvious variations. The basic principles of the present invention defined in the following description may be applied to other embodiments, variations, improvements, equivalents, and other technical solutions that do not depart 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", "transverse", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like to indicate orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying 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 elements 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 system for detecting the state of a spherical bearing in a main oil cylinder of a pile frame of a piling vessel. One end of a piston rod is movably disposed in a cylinder body, and the other end of the piston rod is connected to the spherical bearing. The spherical bearing 1 is mounted on a spherical bearing seat 2. The spherical bearing 1 includes an inner ring 1-1 and an outer ring 1-2. The outer ring 1-2 is sleeved on the inner ring 1-1. A liner 1.3 is adhered to the inner wall of the outer ring 1-2. The system for detecting the state of a spherical bearing in a main oil cylinder of a pile frame of a piling vessel comprises:

[0063] The pin sensor 3 replaces the original pin and is installed at the pin of the spherical bearing to monitor the load of the spherical bearing during service. The pin 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 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 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 an alarm signal; the sound information is collected when the joint bearing starts to be put into 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 an alarm signal;

[0066] The red thermal 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 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.

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

[0068] The acceleration sensor 7 uses the S908A-AE split-type vibration transmitter, which integrates a shear-type piezoelectric accelerometer with an amplifier, integrator, envelope demodulation circuit, and transmitter. It outputs vibration acceleration values ​​and bearing condition parameters (a two-way, three-wire, 4-20mA current signal). It has the advantages of high sensitivity, good stability, and strong anti-interference performance. It can be easily installed on the equipment.

[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 high-definition cameras are installed at the joint bearing seat to shoot the joint bearing fittings. The video is input into the trained model, which is equipped with visual recognition. The model provides real-time feedback on the clearance at the joint bearing fittings 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 further provides a method for detecting the state of a joint bearing of a main oil cylinder of a pile frame of a pile driving vessel, comprising the following steps:

[0072] S1. Initialization

[0073] Initialize the parameters of the 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 plain 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 plain bearing;

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

[0080] The red thermal external imager performs real-time temperature detection on the friction part of the spherical joint bearing and outputs the real-time temperature data T of the spherical joint bearing;

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

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

[0083] S4. A high-definition camera monitors the appearance of the spherical plain bearing in real time and compares the appearance signal with the content in the database to determine whether the spherical plain bearing has pitting corrosion or surface peeling.

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

[0085] Since spherical plain bearings are used in the main oil cylinder of the pile frame of a piling vessel, 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 amount of data collected from the actual application of spherical plain bearings in offshore construction environments, the collected sound, vibration, and acceleration signals need to be filtered and uploaded 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 prompts 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 prompts to shut down the machine for maintenance;

[0090] S63: If the frequency data ω exceeds the preset value and lasts for ≥2s, the industrial computer will determine that it is abnormal and remind you to stop the machine for maintenance;

[0091] S64: If the temperature data T rises at a rate of 0.5°C / h or exceeds 100°C, the industrial computer will detect an abnormality and prompt the user to shut down the machine for maintenance.

[0092] If the temperature data T is ≥150℃, the industrial computer will judge that the spherical plain bearing temperature is too high and fail, and remind you to replace the spherical plain bearing;

[0093] S65: If the acceleration value A exceeds the limit [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 liner thickness, but its increasing rate 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 liner thickness, 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 liner 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] Based on a large number of life tests simulating offshore construction environments and data collected from a large number of spherical plain bearings in actual offshore construction environments, it can be seen that the remaining life of spherical plain bearings gradually decreases, but not linearly. It decreases in a fluctuating manner, and the rate of life reduction 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 plain bearing service process data and life test data.

[0103] Although the embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the description and implementation methods. 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 illustrations shown and described herein.

Claims

1. A system for detecting the state of the joint bearing of the main oil cylinder of a pile driving vessel, wherein the joint bearing is mounted on the joint bearing seat, one end of the piston rod is movably disposed 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 attached to the inner wall of the outer ring. The pile driving vessel pile frame main oil cylinder joint bearing state detection system includes: The pin sensor replaces the original pin and is installed at the pin of the spherical bearing to monitor the load of the spherical bearing during service. The pin 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. 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 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 an alarm signal; A 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 plain bearing and output the real-time temperature T of the spherical plain 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; Also includes: The acceleration sensor is installed at the joint bearing seat to detect the acceleration of the joint bearing; 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 spherical plain bearing and monitor the appearance of the spherical plain bearing. Some high-definition cameras are installed at the spherical plain bearing seat to shoot the spherical plain bearing mating area. The video is input into a trained model equipped with visual recognition, and the model provides real-time feedback on the clearance of the spherical plain bearing mating area and whether the liner is falling off or squeezed out. A high-precision displacement sensor is installed on the side of the spherical bearing. When the liner is worn, it will move. The movement drives the displacement sensor to move. The wear amount L of the spherical bearing liner is calculated by the difference between the measured value of the displacement sensor and the initial value. A reduction coefficient α is calculated based on the test and actual service data of the spherical plain bearing. Combined with the weight of the online monitoring temperature and wear data of the spherical plain bearing, the remaining life of the spherical plain bearing is: 。 2. The detection method of the pile driving vessel pile frame main cylinder joint bearing state detection system according to claim 1 is characterized in that: The following steps are involved: S1. Initialization Initialize the parameters of the 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 plain 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 plain bearing; The vibration sensor measures vibration and outputs real-time frequency data ω of the spherical bearing; The red thermal external imager performs real-time temperature detection on the friction part of the spherical joint bearing and outputs the real-time temperature data T of the spherical joint bearing; The acceleration sensor monitors the output vibration acceleration value A and the state parameters of the spherical bearing in real time; The high-precision displacement sensor monitors the wear of the spherical plain bearing pad in real time and outputs the real-time wear amount L of the spherical plain bearing; S4. A high-definition camera monitors the appearance of the spherical plain bearing in real time and compares the appearance signal with the content in the database to determine whether the spherical plain bearing has pitting corrosion or surface peeling. S5. Process the original data, eliminate invalid data, and obtain valid data The sound, vibration and acceleration signals collected in S3 are filtered to remove invalid data and obtain valid data, which are 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 prompts 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 sound value and lasts for ≥2s, the industrial computer determines that it is abnormal and prompts to shut down the machine for maintenance; S63: If the frequency data ω exceeds the preset frequency value and the time lasts ≥ 2s, the industrial computer determines that it is abnormal and reminds you to stop the machine for maintenance; S64: If the temperature data T rises at a rate of 0.5°C / h or exceeds 100°C, the industrial computer will detect an abnormality and prompt the user to shut down the machine for maintenance. If the temperature data T is ≥150℃, the industrial computer will judge that the spherical plain bearing temperature is too high and fail, and remind you to replace the spherical plain bearing; S65: If the acceleration value A exceeds the limit [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 liner thickness, but its increasing rate 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 liner thickness, 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 liner is squeezed out and the spherical bearing fails, it will remind you to replace the spherical bearing.

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