Large rolling bearing and method and device for monitoring such large rolling bearing

Abstract

The invention relates to a method for monitoring a rolling bearing, in particular in the form of a hollow large rolling bearing, delimited by two bearing rings between which at least one rolling bearing row is arranged, in which a control device specifies different rotational positions of the bearing rings relative to each other and different load states at each rotational position, the sensor system determines the rotational angle and load-dependent gap angles for different load states at different rotational positions, and the evaluation device compares the determined rotational angle and load-dependent gap angles with each other. And determining the wear state and / or the remaining service life of the rolling bearing on the basis of the result of the comparison of the clearance angles.

Description

Technical Field

[0001] This invention relates to rolling bearings, particularly large hollow rolling bearings, and methods and apparatus for monitoring such rolling bearings, wherein the clearance angle (Klaffwinkel) between the bearing rings of the rolling bearing is determined by a sensor system, and, if necessary, the axial and / or radial clearance between these bearing rings is further determined. Background Technology

[0002] Large rolling bearings, with diameters exceeding half a meter and often even larger (e.g., exceeding 1 meter or 1.5 meters), are prone to warping under inherently high loads, a problem exacerbated by their hollow design. This warping is caused by uneven circumferential loads, primarily due to bending loads transmitted to the bearing. For example, when large rolling bearings support the superstructure of construction machinery or cranes, the extended booms or jibs transfer high bending moments to the bearings; or if the bearings support adjustable rotor blades on a hub or support the nacelle of a wind turbine, the turbine blades also transmit corresponding bending moments to the bearings.

[0003] If the bearing rings of a rolling bearing separate and open at a clearance angle, this will significantly shorten the bearing's service life. Due to the clearance, the contact points between the rolling elements and the raceways shift. This contact point displacement leads to an increase in peak loads because the raceways no longer conform precisely to the rolling elements as desired, thus shortening the bearing's lifespan. Therefore, based on the frequency of clearance occurrence, and especially the size of the clearance angle, it is possible to determine whether the bearing is being subjected to excessive loads and to assess its wear condition and remaining service life.

[0004] Various monitoring systems employing different types of sensors have been proposed for monitoring large rolling bearings. For example, document EP 1 528 356 B1 describes a non-contact monitoring system that uses two distance sensors to detect the axial and radial clearances between bearing rings, thereby determining the tilt clearance between the bearing rings. Two distance sensors are used here, one facing the radial plane along the axial direction and the other facing the wedge-shaped circumferential surface along the radial direction.

[0005] For example, other monitoring devices are known in documents US 5,955,880 B1, US 5,336,996 B1 and DE 101 07 067 A1, which detect axial and radial bearing movements using non-contact sensors and compare these movements to limit values ​​to detect whether the bearing is excessively worn.

[0006] While these existing monitoring systems can detect increases in bearing clearance with fairly high accuracy, they struggle to distinguish between normal uniform wear and abnormal non-uniform wear, and they also find it difficult to make at least some degree of accurate predictions about the actual remaining service life. In particular, previously known systems are not accurate enough in detecting and assessing bearing damage that accompanies the development of clearance in the bearing rings. Summary of the Invention

[0007] Therefore, the object of the present invention is to provide an improved rolling bearing of the above type, an improved monitoring method of the above type, and an improved monitoring device of the above type, which avoid the disadvantages of the prior art and further develop the prior art in an advantageous manner. In particular, more accurate and detailed monitoring of bearing deformation and its effect on bearing wear should be provided without the need for overly complex detection and sensor systems.

[0008] The above-mentioned objectives are achieved by the method according to claim 1, the apparatus according to claim 6, and the rolling bearing according to claim 7. Preferred embodiments of the invention are the subject of the dependent claims.

[0009] Therefore, according to the first aspect, it is proposed to move the rolling bearing to different defined rotational positions and subject it to different load conditions at each position, thereby determining the resulting clearance angle. According to the invention, a control device specifies different rotational positions of the bearing rings relative to each other and different load conditions at each rotational position, and a sensor system determines the clearance angles related to the rotational angle and load at each rotational position for each load condition. An evaluation device compares the determined clearance angles related to the rotational angle and load with each other and determines the wear condition and / or remaining service life of the rolling bearing based on the comparison results of the clearance angles.

[0010] By considering different rotational positions and the different load conditions specified at those positions, the uneven opening (Aufklaffen) can be determined more accurately, thereby more precisely identifying abnormal, uneven wear and better distinguishing it from normal, uniform wear. Simultaneously, by determining the clearance angle at different rotational positions, the abnormal load peaks borne by the bearing rings and the wear they exhibit can be better assessed based on the clearance angle magnitude.

[0011] Preferably, the control device can be configured to specify at least one radial load state and at least one tilting load state for different rotational positions. In the radial load state, a radial load is applied directionally to the rolling bearing, acting substantially perpendicular to the axis of rotation of the rolling bearing, or attempting to move the bearing rings relative to each other in the radial direction. Advantageously, the radial force or radial load can be the only load in the radial load state, more precisely, essentially the only load acting on the bearing other than the bearing load caused by installation. Depending on the installation condition, the rolling bearing must withstand typical installation loads, such as the weight of the installation environment supported by the rolling bearing, for example, the weight of the superstructure of construction machinery or cranes, which are present even when the rolling bearing and its installation environment are in an idling or stationary state. In the specified radial load state, in addition to these installation loads, the radial load is applied directionally to the bearing so that the relative movement between the bearing rings caused by this additional radial load can be measured by a sensor system.

[0012] Similarly, under a specified tilting load condition, a tilting moment is applied to the rolling bearing in a specific direction, wherein the tilting moment is preferably the only additional load other than the bearing load caused by installation.

[0013] Preferably, when the bearing is installed in its intended installation environment, the control device can specify the radial load state and tilt load state online. In particular, additional radial loads and tilt moments can be generated during machine movements or operations specified by the control device. For example, if a rolling bearing is used as a slewing rolling bearing supporting the superstructure of construction machinery, the chassis's travel mechanism can be locked or braked, and a directional horizontal force can be applied to the superstructure. For example, if the construction machinery is an excavator, the tracked or wheeled travel mechanism can be braked, the excavator bucket can be inserted into or anchored to the ground, and propulsion can be generated by operating the excavator arm, thereby causing the superstructure and chassis to move relative to each other in the horizontal direction.

[0014] To apply additional tilting torque under a specified tilting load, a predetermined weight can be mounted on the extended robotic arm, or a predetermined load can be suspended on the crane boom or the boom can be raised to lift a predetermined load. If necessary, this can be achieved by placing the robotic arm (e.g., an excavator boom) in the extended position such that the weight of the extended robotic arm applies a corresponding tilting torque to the rolling bearings.

[0015] In an improved example of the invention, clearance angles determined at different rotational positions and under different load conditions can be compared with each other in different and / or multiple ways, and / or compared with their reference values, in order to infer the wear condition or remaining service life. Specifically, for example, clearance angles detected at different rotational positions can be compared with each other under a specified radial load condition. For example, if, despite the same radial load being applied, the clearance angle at one rotational position is significantly larger than the clearance angles at other rotational positions, abnormal, uneven wear can be inferred.

[0016] If the mounting environment may have varying stiffness, it is meaningful to consider its influence during the comparison process, for example, by adapting the reference value of the clearance angle (e.g., in the form of a permissible maximum value) to, or taking into account, the stiffness of the mounting environment. This can be achieved, for example, by increasing or decreasing a standard value that takes the mounting environment into account. For instance, if the bearing is rigidly mounted on all sides, allowing the mounting environment to mitigate warping of the bearing rings under unilateral loads, the standard reference value for the critical clearance angle can be reduced by 25% or 33%, because in this mounting condition, the resulting clearance angle should be smaller provided the bearing itself is functioning properly. Conversely, for unstable or more flexible mounting environments, the opposite approach can be taken.

[0017] Alternatively or supplementarily, the reference value can be adapted to some different installation environments, such as installation environments with different stiffness in different directions or different parts. For example, if the clearance angle is determined at different rotational positions with different stiffness in the installation environment, the reference value at the different rotational positions can be adjusted accordingly, for example, decreasing the reference value at positions with higher environmental stiffness and increasing the reference value at positions with lower environmental stiffness.

[0018] Similarly, clearance angles determined at different rotational positions under inclined load can be compared. If a significantly increased clearance angle is observed at one or, for example, two rotational positions, while the same inclined load is applied at other rotational positions, abnormal, uneven wear can be inferred. Alternatively or supplementarily, the detected clearance angle can be compared with a predetermined reference value, which can be adapted to the installation environment as described above, or the installation environment can be taken into account. If the tilt angle deviates inconsistently or excessively from its respective reference value, abnormal wear can be inferred.

[0019] Comparisons between clearance angles can be combined with comparisons relative to reference values. For example, even when a value clearly conforms to the reference, larger deviations between them can be tolerated, and vice versa. On the other hand, if both comparison results are close to the allowable limits, even if they are still within the allowable range themselves, abnormal wear can be inferred. By considering these two comparison results together, a comprehensive and accurate determination of abnormal wear can be achieved.

[0020] However, alternatively or additionally, if necessary, the clearance angle under radial load conditions can be compared with the clearance angle under inclined load conditions at each rotational position, and / or compared with a reference value, to determine whether the clearance angle deviation at one or another rotational position under different load conditions exceeds a predetermined threshold, thereby inferring abnormal wear based on the excessive deviation of the clearance angle.

[0021] Alternatively or additionally, the clearance angle deviations determined under radial and tilting load conditions can be examined to see if they differ significantly from each other at different rotational positions and / or if they differ significantly from a reference value. For example, if the deviation in one or two rotational positions is significantly greater or less than the deviation in other rotational positions, it may indicate accelerated wear or a shortened remaining service life.

[0022] In an improved example of the present invention, when the rolling bearing is subjected to different load states in the manner described above at different rotational positions, the sensor system can determine not only the clearance angle between the bearing rings, but also the axial clearance and / or radial clearance, or the axial movement and / or radial movement between the bearing rings, at different rotational positions.

[0023] The evaluation device can be configured to consider, in addition to the clearance angle, specific axial and / or radial clearances related to the rotation angle and load condition when determining the remaining service life or wear condition.

[0024] This can be considered in several ways. For example, axial and / or radial clearances related to rotation angle and load condition can be used as independent criteria for determining excessive wear or reduced remaining service life, regardless of the clearance angle. For instance, axial clearances measured at different specified rotation positions can be compared; if excessive axial clearance is observed at one rotation position, or if the axial clearance at one rotation position deviates significantly from that at other rotation positions, accelerated wear or reduced remaining service life can be inferred. Radial clearances related to rotation angle and load condition can be evaluated in a similar manner.

[0025] However, when determining wear condition and remaining service life, it is also possible to consider combining axial and / or radial clearances under different rotational positions and load conditions with the determined clearance angles. For example, if, in one of the specified rotational positions, not only does the clearance angle at that position and / or its deviation from the clearance angles at other rotational positions exceed or fall below a predetermined threshold, but also the axial clearance at that rotational position and / or the radial clearance determined therein, and / or its deviation from the radial and / or axial clearances at other rotational positions, also exceed or fall below a predetermined threshold, then accelerated wear or a shortened remaining service life can be inferred.

[0026] In principle, sensor systems used to determine clearance angles and / or axial and / or radial clearances or axial and / or radial motion can employ different designs. For example, a distance sensor can be used to determine the size of the bearing clearance between bearing rings at different locations, so as to determine the tilt angle, or the axial and / or radial clearance, based on the clearance width at a predetermined portion of the bearing clearance determined by the distance sensor and the known bearing ring geometry.

[0027] However, according to another aspect of the invention, the sensor system may further include multiple tilt sensors, wherein at least one tilt sensor is mounted on each bearing ring, and the evaluation device is configured to determine the clearance angle based on the tilt signals determined by the tilt sensors on the two bearing rings. Specifically, the clearance angle can be calculated based on the difference in tilt angles detected on the two bearing rings by the tilt sensors mounted thereon. If it is assumed that there is no clearance between the bearing rings, but rather that they are precisely concentric with each other as expected, or that they are not in an open state, then the bearing rings can be considered to have the same tilt in space. If the bearing rings or specific portions of the bearing rings have different alignment orientations in space or different tilts relative to the vertical or horizontal direction, then these different orientations or tilts can be considered to be caused by a clearance.

[0028] In an improved embodiment of the invention, at least one or each bearing ring may be equipped with multiple tilt sensors, which may be arranged in different sector regions or distributed along the circumference to enable the determination of the tilt of different bearing ring sectors individually. By detecting the tilt of the bearing ring sector by sector, deformation can be detected with particular precision, and different clearance angles appearing in different sectors can be accurately detected. Furthermore, even at different rotational positions, it is ensured that tilt sensors are present in the bearing ring sector expected to have the maximum clearance angle, so that the tilt of that region can be accurately measured.

[0029] Here, the tilt angles detected in different sectors of the bearing ring can be compared with each other, or the clearance angles of adjacent or adjacent sectors of different bearing rings can be compared with each other, so as to shorten the remaining service life when the threshold is exceeded, or to determine the accelerated wear condition.

[0030] Alternatively or supplementally, according to another aspect of the invention, the sensor system may further include one or more triangulation sensor units that determine the clearance angle at the bearing clearance between the two bearing rings by triangulation of the measurement signal.

[0031] For example, such a triangulation sensor unit can have two signal transmitters and two signal receivers. The two signal transmitters are each mounted on one of the bearing rings and project a signal onto the profile of the other bearing ring on the opposite side of the bearing clearance. The signal receiver is also mounted on one of the bearing rings and can receive signals emitted, reflected, or echoed from the opposite bearing ring, and determine their direction and / or incident position so as to determine the clearance angle between the two bearing rings based on the two signal angles using triangulation.

[0032] Specifically, two pairs of transmit-receive sensors can be mounted on one bearing ring to transmit two signals to the relative contours of the other bearing ring on the opposite gap side, receive the corresponding echo or reflected signals, and determine the signal angle between the transmitted and reflected signals, thereby determining the gap angle based on the possible different signal angles.

[0033] Preferably, the relative profile of the other bearing ring to which the signal is projected and from which the signal is reflected has an arcuate profile, such as an arcuate cylindrical profile and / or a ball-and-socket profile, but other profiles, such as an elliptical profile, may also be used. Here, the signal transmitter can be aligned to emit a signal that is parallel to itself with a lateral offset, thereby projecting the signal onto different portions of the arcuate reflective profile, such that, depending on the gap of the bearing ring, there will be signal angles with different degrees of deviation between the transmitted and reflected signals, and the gap angle can then be determined based on these signal angles.

[0034] This triangulation sensor unit can be installed very space-efficiently, without requiring separate, widely spaced mounting locations for different sensors. Nevertheless, the gap angle can still be determined with great precision. Attached Figure Description

[0035] The present invention will now be described in more detail with reference to preferred exemplary embodiments and related drawings.

[0036] Figure 1A rolling bearing with a monitoring device according to an advantageous embodiment of the invention is shown, wherein the control device can specify different rotational positions and different bearing loads of the rolling bearing, and determine the clearance angle related to the load at different rotational positions by means of a sensor system.

[0037] Figure 2 It shows Figure 1 A half-sectional view of a rolling bearing, showing the clearance angle between the two bearing rings and a sensor system in the form of an angle sensor mounted on the bearing rings.

[0038] Figure 3 It shows Figure 1 A half-sectional view of the rolling bearing shows the clearance angle between the two bearing rings and a sensor system in the form of a triangulation sensor unit used to determine the clearance angle. The triangulation sensor unit is also shown in a magnified partial view to more clearly show the paired signal transmitters and receivers.

[0039] Figure 4 It shows Figure 1 A half-sectional view of a rolling bearing, showing the clearance angle between two bearing rings and a sensor system in the form of two distance sensors that can determine the clearance angle.

[0040] Figure 5 A screen control view of the control device is shown for specifying different rotation positions when determining the gap angle, wherein partial view a) specifies a rotation position of 0° and partial view b) specifies a rotation position of 180°.

[0041] Figure 6 The menu display of the control device for specifying the bearing load state when determining the clearance angle is shown, wherein partial view a) specifies the tilt and axial load state, and partial view b) specifies the radial load state. Detailed Implementation

[0042] like Figure 5 and Figure 6 As shown, the rolling bearing 1 can, for example, constitute a slewing mechanism bearing for construction machinery (e.g., in the form of an excavator), wherein the slewing mechanism bearing supports the superstructure or rotating platform of the construction machinery on its chassis in a manner rotatable about a vertical axis of rotation. In the case of an excavator, the chassis is equipped with a tracked walking device, and the rotatable superstructure carries an articulated arm with a digging bucket.

[0043] The rolling bearing 1 can be designed as a hollow large rolling bearing, wherein one of the two mutually rotatable inner rings and outer rings 2, 3 can be provided with teeth 20 so that it can be driven to rotate relative to the other bearing ring by a rotary mechanism not shown separately (see See Figures 2 to 4).

[0044] The inner and outer rings 2 and 3 are rotatably supported relative to each other by one or more rows of rolling bearings, wherein, for example, two axial bearing rows 5 and 6 and one radial bearing row 4 may be provided between the inner and outer rings 2 and 3 (see, for example). Figure 2 For example, the axial bearing rows and radial bearing rows 4, 5, 6 can be arranged in the bearing clearance surrounding the annular lug, through which one bearing ring can be inserted into the annular groove of another bearing ring (see...). Figure 2 For example, two axial bearing rows 5 and 6 can be supported on opposite radially extending sides of the annular lug 21, while the radial bearing row 4 can be arranged on the circumferential surface of the annular lug 21 and located between the two axial bearing rows 5 and 6 (see...). Figure 2 ).

[0045] like Figure 2 As shown, due to large loads (e.g., tilting moments and / or axial loads that are unevenly distributed along the circumference), and possibly exacerbated by wear, bearing ring deformation or tilting can occur, resulting in a clearance angle β between the inner ring 2 and the outer ring 3 (see [reference]). Figures 2 to 4 The clearance angle β describes the opening angle (Spreizwinkel) between two opposing circumferential surfaces of the inner ring 2 and the outer ring 3, which would otherwise be coaxially aligned and extend parallel to the axis of rotation. For example, the clearance angle β can be observed at the axial ends of the bearing rings 2 and 3 by placing the outer circumferential surface of the inner ring 2 and the inner circumferential surface of the outer ring 3 opposite each other (see...). Figure 2 ).

[0046] Figure 2 For illustrative purposes only, it should be noted that the inner ring 2 and the outer ring 3 can be interchanged. That is, in another bearing design, reference numeral 2 can be the outer ring, and reference numeral 3 can be the inner ring. Accordingly, the arrangement of the sensor system components described below may also be reversed, i.e., components described on the outer ring can be on the inner ring, and components described on the inner ring can be on the outer ring.

[0047] However, it can also be on the opposite side of the edge of the bearing ring (e.g., according to...) Figure 2 The clearance angle β is observed on the upper side of the edge of the bearing ring, but it is more difficult to observe here because the bearings are squeezed together or tilted closer to each other. For example, in the case of... Figure 2 When viewed, the clearance angle β can also be observed between the two opposing (at least approximately) radially extending annular surfaces of the inner ring 2 and outer ring 3, for example, between the raceways of the axial bearing rows 5 and 6. Figure 2As shown, the two raceways of the inner ring 2 for the two axial bearing rows 5, 6 have a gap relative to the two raceways of the axial bearing rows 5, 6 located on the annular lug 21 of the outer ring 3. Similarly, the gap angle β can also be observed on the (approximately) circumferential or axially extending raceways of the radial bearing row 4 (see...). Figure 2 ).

[0048] The clearance angle β is an indicator of unexpected or abnormal tilting or skewness of the raceway surfaces in a bearing row. This tilting or skewness causes the rolling elements and raceways to no longer have the intended contact point or contact line because the clearance angle β causes displacement of the contact point. For example, in the case of... Figure 2 The image shows the upper and lower axial bearing rows 5 and 6, where the clearance angle β causes the originally cylindrical rolling elements to make edge contact. The radial bearing row 4 also experiences edge contact due to the clearance angle β.

[0049] However, this displacement of the contact point can occur not only on flat raceways or cylindrical rolling elements, but also on curved raceways of ball bearings, such as those of tonnenlagern or ball bearings, or on tapered roller bearings and raceways that are tapered to each other.

[0050] To determine the clearance angle β, a sensor system 8 is provided. This sensor system preferably includes multiple sensor elements, which can be distributed and positioned in different sector-shaped regions along the circumferential direction of the bearing ring, for example, see [reference needed]. Figure 1 In total, four sensor elements are arranged in sectors opposite to each other. However, the sensors can also be arranged in, for example, four quadrants opposite to each other in order to more accurately determine the deformation or gap angle.

[0051] like Figure 2 As shown, the sensor system 8 may include tilt sensors 17 and 18 as sensor elements, which can detect the absolute tilt in space and / or determine the relative tilt between each other. Preferably, at least one tilt sensor 17 is mounted on the inner ring 2, and one tilt sensor 18 is mounted on the outer ring 3 (see [reference]). Figure 2 In this configuration, for example, one of the tilt sensors can be mounted on the circumferential surface of the bearing ring, and the other tilt sensor can be mounted on the axial surface of the bearing ring. Preferably, one sensor can be mounted on the circumferential side, and the other sensor can be mounted on the end face side. However, it is also possible to mount one inner circumferential side sensor and one end face side sensor on each of the inner ring 2 and the outer ring 3 respectively (see [link to relevant documentation]). Figure 2 ),exist Figure 2Additional tilt sensors are indicated by dashed lines. The tilt sensors 17 and 18 determine the tilt angles θ1 and θ2 of the inner ring 2 and the outer ring 3, respectively, so that the gap angle β can be determined by comparing the measured tilt angles θ1 and θ2 (in particular by calculating the difference between the measured tilt angles θ1 and θ2).

[0052] like Figure 3 As shown, (as an alternative or supplement to tilt sensors 17, 18) the sensor system 8 may also include one or more triangulation sensor units 19 distributed along the circumferential direction, which determine the gap angle β between the inner ring 2 and the outer ring 3 by triangulation.

[0053] like Figure 3 As shown in the enlarged detail view, each of the triangulation sensor units 19 may have two transmitters or signal transmitters S1, S2, each transmitting a signal from one of the bearing rings and projecting it onto the opposite surface of the other bearing ring. For example, the two signal transmitters S1, S2 may be arranged on the same bearing ring (e.g., on the inner ring 2) and projecting the signal onto another bearing ring (e.g., on the outer ring 3), wherein the signal transmitters S1, S2 may be arranged, for example, such that (in the absence of a clearance angle) they transmit signals in the radial direction.

[0054] Another bearing ring (according to) Figure 3 The relative profile of the outer ring 3) can preferably be arc-shaped, especially when viewed in cross-section. For example... Figure 3 As shown, the concave curved profile, particularly when viewed in cross-section, is positioned opposite to the two signal transmitters S1 and S2. The arc-shaped mating profile 22 may extend circumferentially along one of the bearing rings (e.g., outer ring 3) in the form of an annular groove, wherein the bottom profile of the annular groove may be circular or arc-shaped.

[0055] The signals projected by signal transmitters S1 and S2 onto the paired contour 22 are reflected back by the paired contour 22 and received by signal receivers E1 and E2 of the triangulation sensor unit 19. The incident point can be said to shift, or form different signal angles θ1 and θ2, depending on the degree of inclination of the bearing rings relative to each other (see...). Figure 3 The gap angle β can be determined based on the signal angles θ1 and θ2 determined by the triangulation sensor unit 19.

[0056] like Figure 4 As shown, (as an alternative or supplement to tilt sensors 17, 18 and / or triangulation sensor unit 19) sensor system 8 may also include non-contact distance sensors 23, 24 (see Figure 4 ).

[0057] Advantageously, the distance sensors 23 and 24 can measure the distance between the two bearing rings 2 and 3 in the bearing clearance region. Specifically, the two distance sensors 23 and 24 can, for example, measure the radial distance between the bearing rings 2 and 3. That is, it is advantageous to perform measurements in regions spaced apart from each other in the axial direction, for example, once below all bearing rows and once in the region between the uppermost and second-uppermost bearing rows (see...). Figure 4 ).

[0058] Due to the presence of a clearance angle β, the inner ring 2 and the outer ring 3 move relative to each other, causing the radial clearance dimension to vary at different locations. For example, the variation is d2 below the bearing row and d1 in the upper region. Based on the difference between the resulting radial distances d1 and d2, and the known bearing geometry, the clearance angle β can be determined from the radial distances d1 and d2.

[0059] As an alternative or supplement to the radial distance sensor shown, it is also possible to detect the axial distance between bearing rings at characteristic locations in the bearing clearance, based on the design of the bearing clearance geometry.

[0060] like Figure 1 As shown, multiple sensor elements 13, 14, 15, and 16 can be distributed along the circumference in different sectors or quadrants of the inner ring 2 and the outer ring 3 so that the gap angle β can be determined based on different tilt angle signals and / or triangulation signals and / or distance signals in different sectors or quadrants.

[0061] In this case, control device 9 (see Figure 1 as well as Figure 5 and Figure 6 The bearing rings 2 and 3 are specified to have different rotational positions relative to each other and different load states at each rotational position. Then, the clearance angle β related to the rotation angle and load is determined by the sensor system 8 for different load states at different rotational positions.

[0062] like Figure 5 As shown, the control device 9 can specify different rotational positions of the rolling bearing 1 on the display screen 25, for example, by marking the rotational positions with angles of 0° and 180°, and / or by using an image representation of the working equipment or machine (e.g., by displaying the position of the machine arm).

[0063] Then, it can be automatically moved to the corresponding rotational position of the rolling bearing 1, for example, by touching the display area on the screen or by manually operating control elements such as a joystick. Figure 5 For example, you could press the "Apply" button on the touchscreen.

[0064] To achieve different load states for the rolling bearing at various rotational positions, control device 9 can specify the corresponding machine position and / or machine configuration. For example, in the excavator example, to achieve the tilting torque on the slewing mechanism bearing, the bucket arm can be specified to be in a position with approximately horizontal extension (see...). Figure 6 a) To apply radial loads to the slewing mechanism bearings, the excavator bucket can be inserted into or anchored to the ground while the travel drive is operated, for example, to move it backward. Conversely, the travel drive can be braked while the excavator bucket is operated to pull the equipment forward, thus generating a radial reaction load on the slewing mechanism bearings from the braked travel drive elements (see...). Figure 6 b).

[0065] Here, control device 9 can also operate semi-automatically or fully automatically. For example, when displaying according to... Figure 6 After determining the corresponding load condition for a or 6b, you can press the "Apply" button displayed on the touchscreen to apply the load.

[0066] Simultaneously, control device 9 initiates data detection via sensor system 80 (see...). Figure 1 ).

[0067] The data detected by the sensor system 8 and / or the clearance angle β derived therefrom can be displayed via a user interface (e.g., a display screen in a tablet, machine controller, or mobile phone) and / or transmitted to a data storage device, for example. After data evaluation, a warning signal can also be issued if the remaining service life has dropped to a dangerously low value or a specific wear condition has occurred.

Claims

1. A method for monitoring a rolling bearing (1), in particular in the form of a hollow large rolling bearing, which is delimited by two bearing rings (2, 3) between which at least one rolling bearing row (4, 5, 6), characterized in that, The control device (9) specifies different rotational positions of the bearing rings (2, 3) relative to one another and different load states at each rotational position, and determines the rotation- and load-dependent gap angle (β) for the different load states at the different rotational positions by means of the sensor system (8), wherein the evaluation device (10) compares the determined rotation- and load-dependent gap angles with one another and / or compares the gap angles with at least one predetermined reference value, and determines the wear state and / or the remaining useful life of the rolling bearing (1) on the basis of the comparison results of the gap angles (β).

2. The method according to the preceding claim, wherein, The control device (9) specifies a radial load state and a tilting load state at each specified rotational angular position. Under the radial load state, the rolling bearing (1) bears a predetermined radial load substantially perpendicular to its rotational axis (11), preferably bearing essentially only the radial load except for bearing loads caused by installation. Under the tilting load state, the rolling bearing bears a tilting moment about a tilting axis (12) transverse to the rotational axis (11) of the rolling bearing (1), preferably bearing essentially only the tilting moment except for bearing loads caused by installation. The sensor system (8) determines the clearance angle (β) under the radial load state at each rotational position. r ) and the clearance angle (β) under the inclined load state k ), wherein the evaluation device (10) measures the clearance angle (β) under the radial load state at different rotational positions. r Compare them with each other, and / or compare the gap angle (β) with each other. r The clearance angle (β) is compared with at least one radial load reference value, and the clearance angle (β) under the tilt load state in different rotational positions is compared with the radial load reference value. k Compare them with each other, and / or compare the gap angle (β) with each other. k The clearance angle (β) under the radial and tilt load conditions at each rotational position is compared with at least one tilt load reference value, and if necessary, the clearance angle (β) under the radial and tilt load conditions at each rotational position is also compared with at least one tilt load reference value. r β k Compare them with each other, and / or compare the gap angle (β) with each other. r β k The wear condition and / or remaining service life of the rolling bearing (1) are compared with at least one reference value, and the comparison result is used to determine the wear condition and / or remaining service life of the rolling bearing (1).

3. The method of any preceding claim, wherein, The evaluation device (10) compares the determined rotation- and load-dependent gap angles with a plurality of reference values, which include different reference values for different rotational angles and / or different reference values for different load states, and determines the wear state and / or the remaining useful life of the rolling bearing (1) on the basis of the comparison results of the gap angles (β).

4. The method of any preceding claim, wherein, The evaluation device (10) not only compares the determined rotation- and load-dependent gap angles with one another, but also compares the gap angles with rotation- and load-dependent reference values, and determines the wear state and / or the remaining useful life of the rolling bearing (1) on the basis of the comparison results of the gap angles (β), wherein the evaluation device (10) takes into account an interaction between the mutual comparison of the rotation- and load-dependent gap angles and the comparison of the rotation- and load-dependent gap angles with the rotation- and load-dependent reference values, such that a smaller or good deviation occurring in one comparison can compensate or mitigate a larger or bad deviation occurring in the other comparison when determining the wear state.

5. The method according to any of the preceding claims, wherein, In addition to the gap angles, the sensor system also determines the rotation- and load-dependent axial and / or radial gap between the bearing rings at the different rotational positions for the different load states, wherein the evaluation device (10) compares the determined axial and / or radial gaps with one another, and determines the wear state and / or the remaining useful life of the rolling bearing (1) on the basis of the comparison results of the gap angles and the axial and / or radial gaps.

6. The method according to the two preceding claims, wherein, The sensor system determines the axial gap and the radial gap at the radial load state and the axial gap and the radial gap at the tilting load state at each rotational position, wherein the evaluation device (10) compares the axial gaps at the radial load state in the different rotational positions with one another, compares the radial gaps at the radial load state in the different rotational positions with one another, compares the axial gaps at the tilting load state in the different rotational positions with one another, compares the radial gaps at the tilting load state in the different rotational positions with one another, and determines the wear state and / or the remaining useful life of the rolling bearing (1) on the basis of the comparison results of the gap angles, the axial gaps and the radial gaps.

7. The method of any preceding claim, wherein, The evaluation device (10) evaluates deviations of the gap angle (β) in different rotational positions from one another and / or from at least one reference value, and determines the presence of an abnormal wear state and / or a reduced remaining service life if the deviations of the gap angle in different rotational positions from one another and / or from the at least one reference value exceed a predetermined threshold value.

8. The method of any preceding claim, wherein, The evaluation device (10) adapts the permissible deviations of the at least one reference value and / or of the gap angle in relation to the rotational angle and the load from one another to the stiffness of the mounting environment, preferably by means of an optional addition factor and / or a subtraction factor.

9. The method according to any one of the preceding claims, wherein the evaluation device (10) automatically initializes or calculates the determination of the at least one reference value upon starting the monitoring of the rolling bearing.

10. Arrangement for monitoring a rolling bearing (1), comprising a sensor system (8) for determining a gap angle (β) between bearing rings (2, 3) of the rolling bearing (1) and an evaluation device (10) for evaluating a sensor signal of the sensor system (8), characterized in that A control device (9) is provided for specifying different rotational positions of the bearing rings relative to one another and different load states under each rotational position, and the evaluation device (10) is configured to evaluate the gap angles in relation to the rotational angle and the load determined by the sensor system (8) in different rotational positions for different load states and to compare the gap angles with one another and / or with at least one reference value and to determine the wear state and / or the remaining service life of the rolling bearing (1) on the basis of the comparison results, in accordance with the method according to any one of claims 1 to 9.

11. Rolling bearing, in particular a hollow large-size rolling bearing, comprising: Two bearing rings (2, 3) which can rotate relative to one another and are supported by at least one rolling bearing row (4, 5, 6) from one another; a sensor system (8) for determining a gap angle (β) between the bearing rings (2, 3); and an evaluation device (10) for evaluating sensor signals of the sensor system (8), characterized in that a control device (9) is provided for specifying different rotational positions of the bearing rings relative to one another and different load states under each rotational position, and the evaluation device (10) is configured to evaluate the gap angles in relation to the rotational angle and the load determined by the sensor system (8) in different rotational positions for different load states and to compare the gap angles with one another and / or with at least one reference value and to determine the wear state and / or the remaining service life of the rolling bearing (1) on the basis of the comparison results, in accordance with the method according to any one of claims 1 to 9.

12. Rolling bearing according to the preceding claim or the preamble thereto, wherein, The sensor system (8) comprises sensor elements (13, 14, 15, 16) arranged in different sectors for determining the gap angle (β) in different sectors of the rolling bearing (1) which are distributed around its rotational axis (11), wherein the evaluation device (10) is configured for comparing the gap angles (β) occurring in different sectors and determining the wear state and / or the remaining service life of the rolling bearing (1) from the comparison of the gap angles (β) in different sectors. The sensor system (8) comprises sensor elements (13, 14, 15, 16) arranged in different sectors for determining the gap angle (β) in different sectors of the rolling bearing (1) which are distributed around its rotational axis (11), wherein the evaluation device (10) is configured for comparing the gap angles (β) occurring in different sectors and determining the wear state and / or the remaining service life of the rolling bearing (1) from the comparison of the gap angles (β) in different sectors.

13. Rolling bearing according to the preceding claim, wherein, At least four sensor elements (13, 14, 15, 16) are arranged in at least four sectors which are arranged opposite one another in pairs and are configured to determine a gap angle (β) in the at least four sectors.

14. Rolling bearing according to any of the preceding claims 11 to 13 or the preamble of claim 11, wherein The sensor system (8) comprises a plurality of inclination sensors (17, 18), wherein at least one of the inclination sensors (17, 18) is arranged on each of the bearing rings (2, 3) and the evaluation device (10) is configured to determine a gap angle (β) from inclination signals determined on both bearing rings (2, 3).

15. Rolling bearing according to any of the preceding claims 11 to 14 or the preamble of claim 11, wherein The sensor system (8) comprises at least one triangulation sensor unit (19) which determines a gap angle (β) at the bearing gap (7) between the two bearing rings (2, 3) by triangulation of measurement signals.

16. Rolling bearing according to the preceding claim, wherein, The triangulation sensor unit (19) comprises two signal emitters (s1, s2) and two signal receivers (e1, e2), wherein the signal emitters (s1, s2) are each mounted on one of the bearing rings (1, 2) and project a signal onto a curved profile of the other bearing ring, which profile is preferably a circular-arc-shaped or a ball-socket-like curved profile, and the signal receivers (e1, e2) are configured to receive a reflected signal and to determine an angle (θ1, θ2) between the emitted signal of the signal emitters (s1, s2) and the received reflected signal.

17. Rolling bearing according to the preceding claim, wherein, The signal emitters (s1, s2) are oriented essentially perpendicular to a central plane of the bearing gap (7).

18. Rolling bearing according to any one of the preceding claims 11 to 17, wherein, The sensor system (8) comprises at least one distance sensor to determine a distance between at least two profile sections of the bearing rings (2, 3) and the evaluation device (10) is configured to determine a gap angle (β) from distance signals determined on both bearing rings (2, 3).

19. Rolling bearing according to any one of the preceding claims 11 to 18, wherein, The sensor system (8) comprises at least two different types of sensors from the group consisting of inclination sensors, triangulation sensor units and distance sensors. The sensor system (8) comprises at least two different types of sensors from the group consisting of inclination sensors, triangulation sensor units and distance sensors.

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