CN110319333B - Sliding bearing grease supplementing method for large-scale clearance motion - Google Patents

Sliding bearing grease supplementing method for large-scale clearance motion Download PDF

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Publication number
CN110319333B
CN110319333B CN201810293603.3A CN201810293603A CN110319333B CN 110319333 B CN110319333 B CN 110319333B CN 201810293603 A CN201810293603 A CN 201810293603A CN 110319333 B CN110319333 B CN 110319333B
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grease
lubricating
line distributor
central control
control room
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CN110319333A (en
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王军
李明
孙健
李伯林
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Baoshan Iron and Steel Co Ltd
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Baoshan Iron and Steel Co Ltd
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    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16NLUBRICATING
    • F16N13/00Lubricating-pumps
    • F16N13/22Lubricating-pumps with distributing equipment
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16NLUBRICATING
    • F16N21/00Conduits; Junctions; Fittings for lubrication apertures
    • F16N21/02Lubricating nipples
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16NLUBRICATING
    • F16N23/00Special adaptations of check valves
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16NLUBRICATING
    • F16N27/00Proportioning devices
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16NLUBRICATING
    • F16N29/00Special means in lubricating arrangements or systems providing for the indication or detection of undesired conditions; Use of devices responsive to conditions in lubricating arrangements or systems
    • F16N29/04Special means in lubricating arrangements or systems providing for the indication or detection of undesired conditions; Use of devices responsive to conditions in lubricating arrangements or systems enabling a warning to be given; enabling moving parts to be stopped
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16NLUBRICATING
    • F16N39/00Arrangements for conditioning of lubricants in the lubricating system
    • F16N39/06Arrangements for conditioning of lubricants in the lubricating system by filtration

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Rolling Contact Bearings (AREA)

Abstract

The invention discloses a sliding bearing grease supplementing method for large-scale clearance movement, which comprises the steps of acquiring signals for completing the head and tail shearing of each flying shear through a PLC central control room, controlling an electric lubrication pump station to start, pumping pressure grease, filtering the pressure grease through a dry oil filter, entering a single-line distributor through a one-way valve, enabling a piston in the single-line distributor to act under the pushing action of lubricating grease, distributing the lubricating grease in proportion, then sequentially discharging the lubricating grease from each oil outlet nozzle on the single-line distributor, and conveying the lubricating grease to corresponding sliding bearing lubricating points on the flying shears through a pipeline, thereby automatically completing the grease supplementing work. The invention avoids the problem that when one lubricating point of the original lubricating system has a problem, the next lubricating point can not be timely supplemented with grease, and can also reduce the workload of back-and-forth switching and ensure the normal grease supply amount of equipment.

Description

Sliding bearing grease supplementing method for large-scale clearance motion
Technical Field
The invention relates to a grease lubricating device, in particular to a method for supplementing grease to a sliding bearing for large-scale clearance motion.
Background
The flying shears are a common device for rapidly cutting off iron plates and steel pipes in the metallurgical and steel rolling industries, and the current 2050 hot rolling flying shears are crankshaft type flying shears and are divided into an upper tool rest and a lower tool rest. The 'hayao' copper bush on the tool rest and the 'hayao' steel sleeve on the crankshaft form a sliding bearing structure, and the sealing form adopts mechanical labyrinth sealing. The original design adopts a double-line grease supplementing mode, and the current mode is found to be incapable of meeting the requirement of normal work by combining the actual performance of the flying shear in use over the years and the existing mechanical lubricating structure of the flying shear. There are several drawbacks:
1. the upper and lower tool rests adopt copper bush sliding bearings, the used oil is extreme pressure lithium-based grease, the working surface is wide, and the intermittent motion and intermittent oil supplement modes are adopted, so that the rolling length and the rolling rhythm of each hot-rolled strip steel are changed, and the uniform and good lubricating effect of the lubricated parts is difficult to realize;
2. the main disadvantages of the double-line lubrication method are as follows:
1) if one loop leaks oil, the leakage will affect the normal work of the whole system;
2) the environment is severe, and the time for removing the pipeline leakage is long;
3) the oil supplement amount of key parts can not realize variable control.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a sliding bearing grease supplementing method for large-scale clearance motion, which can avoid the problem that when one lubricating point of the original lubricating system is in a problem, the next lubricating point cannot be supplemented with grease in time, reduce the workload of switching back and forth and ensure the normal grease supplementing amount of equipment; in addition, the rolling length and the rolling rhythm of each hot-rolled strip steel are changed, and the invention completely breaks through the industrial problem that the existing lubricating part can not form uniform and good lubricating effect in time.
In order to achieve the purpose, the invention adopts the following technical scheme:
a grease filling method for a sliding bearing used for large-scale clearance motion comprises the following steps:
1) the PLC central control room acquires a flying shear tool rest position signal according to a hot rolling finish rolling basic automatic system;
2) the steel coil reaches the position of the speed measuring roller;
3) the PLC central control room acquires the advancing speed of the head of the strip steel, and the cutting head of the flying shear is in a preparation state;
4) the PLC central control room calculates the time of the flying shears to cut the head according to the advancing speed of the strip steel, and then the flying shears perform head cutting work;
5) the hot rolling finish rolling basic automation system transmits a signal that the shearing head of the flying shear is finished to a PLC central control room;
6) the PLC central control room controls the electric lubricating pump station to start, pressure grease is pumped out, filtered by the dry oil filter and enters the single-line distributor through the one-way valve;
7) the piston in the single-line distributor acts under the pushing of the lubricating grease, the lubricating grease is sequentially discharged from each oil outlet nozzle on the single-line distributor after being distributed in proportion, and then is sent to corresponding sliding bearing lubricating points on the flying shears through pipelines;
8) the PLC central control room acquires the grease supplementing completion information, and the tail cutting of the flying shear is in a preparation state;
9) the PLC central control room calculates the tail cutting time of the flying shears according to the advancing speed of the strip steel, and then the flying shears perform tail cutting work;
10) the hot rolling finish rolling basic automatic system transmits a signal that the tail shearing of the flying shear is finished to a PLC central control room;
11) the PLC central control room controls the electric lubricating pump station to start, pressure grease is pumped out, filtered by the dry oil filter and enters the single-line distributor through the one-way valve;
12) the piston in the single-line distributor acts under the pushing of the lubricating grease, the lubricating grease is sequentially discharged from each oil outlet nozzle on the single-line distributor after being distributed in proportion, and then is sent to corresponding sliding bearing lubricating points on the flying shears through pipelines;
13) and (5) repeating the steps 3) to 12), and completing automatic fat supplement after the head and the tail of the flying shear are cut each time.
The electric lubricating pump stations are provided with two electric lubricating pump stations, and the PLC central control room controls the two electric lubricating pump stations to be started simultaneously or only starts one of the electric lubricating pump stations according to the actual required grease supplementing quantity.
The single line distributor is an eight-channel single line distributor comprising: the oil outlet assembly comprises a shell, an oil inlet and four groups of oil outlet assemblies, wherein the oil inlet is formed in the shell;
the oil outlet assemblies each include: the oil outlet nozzles are arranged on the shell in opposite directions and communicated with each other, the piston is arranged between the communication positions of the two oil outlet nozzles, and the oil inlet is connected with the electric lubricating pump station; each oil outlet nozzle is connected with a pipeline, and each pipeline is connected with a corresponding sliding bearing lubricating point on the flying shear;
each pipeline is also sequentially provided with a check valve and a pressure detection sensor.
Each oil outlet nozzle is also provided with an overflow valve.
In the technical scheme, the sliding bearing grease filling method for large-size clearance motion provided by the invention further has the following beneficial effects:
1) when the grease is supplemented, each lubricating loop is not interfered with each other, and the normal operation of the whole system can not be caused because other loops are influenced by the oil leakage of one loop;
2) according to the invention, the actual grease supplement amount and the oil leakage condition are monitored at each sliding bearing lubricating point, so that the working condition at each lubricating point can be controlled in time;
3) the invention is convenient and intuitive for fault checking and confirmation,
4) the invention can set time period to automatically operate, achieves automatic grease supplement in refined time period, and realizes good and effective grease supplement and lubrication effects.
Drawings
FIG. 1 is a schematic flow diagram of the present invention;
FIG. 2 is a schematic structural diagram of a multi-point synchronous lubrication system of the flying shear;
fig. 3-10 are schematic diagrams of the output of each nozzle of the single line distributor in the flying shear multi-point synchronous lubrication system.
Detailed Description
The technical scheme of the invention is further explained by combining the drawings and the embodiment.
Referring to fig. 1, the method for greasing a sliding bearing for large-scale clearance motion according to the present invention includes the following steps:
1) the PLC central control room 2 is installed in a hot rolling and finish rolling base automation system 13 (abbreviation: BA) obtaining a position signal of a tool rest on the flying shear device 1;
2) the steel coil reaches the position of the speed measuring roller;
3) the PLC central control room 2 acquires the advancing speed of the head of the strip steel, and the cutting head of the flying shear is in a preparation state;
4) the PLC central control room 2 calculates the time of the flying shears to cut the head according to the advancing speed of the strip steel, and then the flying shears perform head cutting work;
5) the finish rolling BA transmits a signal that the shearing head of the flying shear is finished to a PLC central control room 2;
6) the PLC central control room 2 controls the electric lubrication pump station 3 to start, pressure grease is pumped out, filtered by the dry oil filter 8 and enters the single-line distributor 4 through the one-way valve 9;
7) the piston in the single-line distributor 4 acts under the pushing of the lubricating grease, the lubricating grease is sequentially discharged from each oil outlet nozzle on the single-line distributor 4 after being distributed in proportion, and then is sent to a corresponding sliding bearing lubricating point 11 on the flying shear through a pipeline 5;
8) the PLC central control room 2 acquires the grease supplementing completion information, and the tail cutting by the flying shear is in a preparation state;
9) the PLC central control room 2 calculates the tail cutting time of the flying shears according to the advancing speed of the strip steel, and then the flying shears perform tail cutting work;
10) the finish rolling BA transmits a signal that the tail shearing of the flying shear is finished to the PLC central control room 2;
11) the PLC central control room 2 controls the electric lubrication pump station 3 to start, pressure grease is pumped out, filtered by the dry oil filter 8 and enters the single-line distributor 4 through the one-way valve 9;
12) the piston in the single-line distributor 4 acts under the pushing of the lubricating grease, the lubricating grease is sequentially discharged from each oil outlet nozzle on the single-line distributor 4 after being distributed in proportion, and then is sent to the corresponding sliding bearing lubricating point 11 on the flying shear through a pipeline;
13) and (5) repeating the steps 3) to 12), and completing automatic fat supplement after the head and the tail of the flying shear are cut each time.
The invention uses the hot-rolled crank type flying shear multipoint synchronous lubricating system, comprising: the flying shear device 1 further includes: the PLC central control room 2 is used for a master control system, and the electric lubrication pump station 3 and the single-line distributor 4 are used for driving out pressure grease.
Preferably, the two electric lubricating pump stations 3 are arranged, and the PLC central control room 2 controls the two electric lubricating pump stations 3 to be started simultaneously or only one electric lubricating pump station 3 is started according to the actual required grease supplementing quantity.
Preferably, said single-line dispenser 4 is an eight-channel single-line dispenser 4, with a pressure of 32Mpa, comprising: the oil outlet assembly comprises a shell, an oil inlet 40 arranged on the shell and four groups of oil outlet assemblies arranged on the shell and communicated with the oil inlet 40; each group of oil outlet assemblies comprises: a pair of oil outlets 41, 42, 43, 44, 45, 46, 47, 48 arranged on the shell body and arranged in opposite directions and communicated with each other, pistons 50a, 50b, 50c, 50d arranged between the communication positions of the two oil outlets, and an oil inlet 40 connected with the electric lubrication pump station 3.
Preferably, each of the oil outlets 41, 42, 43, 44, 45, 46, 47, 48 is connected to a pipe 5 made of a copper pipe, and each of the pipes 5 is connected to a corresponding lubricating point 11 on the flying shear device 1, so as to automatically supplement grease to the lubricating point 11.
Preferably, each pipeline 5 is further provided with a one-way valve 6 and a pressure detection sensor 7 in sequence.
Preferably, a dry oil filter 8 and a one-way valve 9 are further sequentially arranged between the electric lubrication pump station 3 and the single-line distributor 4.
Preferably, the front end of each sliding bearing lubricating point 11 is also provided with an overflow valve 10.
When the invention is used, the times of eight ways of grease supplement (according to the oil supplement amount) are set in the close control operation 'OP' picture on the PLC central control room 2, then the electric lubrication pump station 3 is selected to work, the system start key is started, and the system automatically operates according to the time period set by the PLC central control room 2.
When the selected electric lubrication pump station 3 works, pressure grease is pumped out, filtered by the dry oil filter 8 and enters the single-line distributor 4 with eight channels through the one-way valve 9. The single-line grease filling is automatically carried out in sequence, the grease enters corresponding sliding bearing lubricating points 11 (eight points) through the pipelines 5 respectively, a pressure detection sensor 7 is arranged on each channel of the pipelines 5 respectively, an alarm pressure value can be set (according to the actual grease filling pressure value), and the oil leakage detection function and the oil filling counting function of the pipelines 5 can be realized. The number of operations is the number of times of grease supply set on the proximity control operation screen, and the electric lubrication pump station 3 stops the rest waiting state after the set number.
And the PLC central control room 2 performs automatic grease supplement in a refined time period according to the tool rest position point of the flying shear device 1 provided by the finish rolling BA, so that a good and effective grease supplement and lubrication effect is realized.
The invention can be divided into an automatic mode and a manual mode, no matter in the automatic or manual mode, after the system is started, the system firstly detects whether the oil level in the oil storage cylinder of the electric lubrication pump station 3 is at a low level (a high-low oil level signaling device is arranged on the oil storage cylinder of the electric lubrication pump station 3), if the oil level of the oil storage cylinder is low (the oil level low signal is not eliminated, the electric lubrication pump station 3 is locked and cannot be started), the PLC central control room 2 can send out a fault alarm signal of 'low liquid level'. At this moment, the lubricating barrel needs to be replaced, the electric lubricating pump station 3 is locked and cannot be started, and the lubricating pump automatically enters normal work after the completion.
Automatic mode: when the oil supply period of the system is over, the electric lubrication pump station 3 starts to work, the electric lubrication pump station 3 sucks out lubricating grease from the oil storage cylinder, the lubricating grease is pressurized and then discharged to the single-line distributor 4 through the main pipe to supply the lubricating grease to the single-line distributor 4, the piston in the single-line distributor 4 acts under the pushing of the lubricating grease, the lubricating grease is distributed in proportion and then sequentially discharged from each oil outlet nozzle to be sent to the sliding bearing lubrication point 11 through the pipeline 5, the PLC central control room 2 counts the number of movements of the single-line distributor 4 (the number of cycles of the single-line distributor 4 is adjustable), when the number of movements of the single-line distributor 4 reaches a preset value, the electric lubrication pump 3 stops working, the pump is restarted after a set time interval, the work is repeated, and the operation is repeated in such a cycle, and the full-automatic lubrication of the sliding bearing lubrication point 11 is realized.
The operating principle of the individual discharge nozzles 41, 42, 43, 44, 45, 46, 47, 48 of the single-line distributor 4 according to the invention for discharging grease is:
as shown in fig. 2, grease is pressed in the direction of the arrow from the oil inlet 40 into the single line distributor 4 to the right end of the piston 50a, the piston 50a is moved to the left side by the grease pressure, and the grease at the left front end of the piston 50a is delivered to the oil outlet nozzle 42 through the housing inner passage and thence to the corresponding sliding bearing lubrication point 11 through the lubrication position piping 5.
When the piston 50a reaches its left end position, as shown in fig. 3, the connection passage leading to the right end position of the piston 50b is opened, the grease flows to the right end of the piston 50b and moves the piston 50b to the left, and the grease at the left front end of the piston 50b is delivered to the oil outlet nozzle 47 through the housing inner passage.
When the piston 50b is in its left end position, as shown in fig. 4, it opens the connection passage to the right end position of the piston 50c, so that the grease flows under pressure and moves the piston 50c to the left, and the grease at the left front end of the piston 50c is delivered to the oil outlet nozzle 45.
As shown in fig. 5, the connection passage to the piston 50d is now open, grease is pressed to the right end of the piston 50d, and grease located at the left front end of the piston 50d is discharged from the oil outlet nozzle 43.
When the piston 50d opens the connecting passage to the left end of the piston 50a, as shown in fig. 6, the grease flows and pushes the piston 50a to the right, and the grease on the front right side of the piston 50a is delivered to the oil outlet 41.
At this time, the pistons 50b to 50d move from left to right, and the above-mentioned sequence of actions in the opposite direction completes one cycle and can restart a new cycle:
as shown in fig. 7, the oil is discharged from the oil discharge nozzle 48 in order to move the piston 50b to the right.
As shown in fig. 8, the oil is discharged from the oil discharge nozzle 46 in order to move the piston 50c to the right.
As shown in fig. 9, the oil is discharged from the oil discharge nozzle 44 in order to move the piston 50d to the right.
Each point of each oil outlet nozzle 41, 42, 43, 44, 45, 46, 47, 48 of the single-line distributor 4 is provided with a check valve 6 (total 8), a pressure sensor 7 (total 8) is arranged behind each check valve 6, the front end of each sliding bearing lubricating point 11 is provided with an overflow valve 10, so that a pressure is always kept between the check valve 6 and the overflow valve 12, and when the pressure control sensor 7 detects that the pressure in the pipeline section is lower than a set value, the pipeline section is indicated to have leakage; when the pressure control sensor 7 detects a pressure above a set value, this indicates that the line or lubrication point 11 behind the non-return valve 6 is blocked.
The oil outlets 41, 42, 43, 44, 45, 46, 47, 48 of the single-line distributor 4 are all also provided with relief valves 12, when each one or more sliding bearing lubricating points 11 (or pipelines) in the 8 sliding bearing lubricating points 11 are blocked, the relief valves 12 at the corresponding oil outlets on the corresponding single-line distributor 4 on the blocked sliding bearing lubricating points 11 are opened under the action of high pressure, grease overflows, the normal operation of the system is ensured, and meanwhile, the pressure control sensors 7 on the blocked sliding bearing lubricating points 11 give high-pressure alarms, so that an operator needs to check and eliminate faults.
It should be understood by those skilled in the art that the above embodiments are only for illustrating the present invention and are not to be used as a limitation of the present invention, and that changes and modifications to the above described embodiments are within the scope of the claims of the present invention as long as they are within the spirit and scope of the present invention.

Claims (4)

1. A sliding bearing grease filling method for large-scale clearance motion is characterized by comprising the following steps:
1) the PLC central control room acquires a flying shear tool rest position signal according to a hot rolling finish rolling basic automatic system;
2) the steel coil reaches the position of the speed measuring roller;
3) the PLC central control room acquires the advancing speed of the head of the strip steel, and the cutting head of the flying shear is in a preparation state;
4) the PLC central control room calculates the time for the flying shears to cut the head according to the advancing speed of the strip steel, and then the flying shears perform head cutting work;
5) the hot rolling finish rolling basic automatic system transmits a signal that the cutting head of the flying shear is finished to a PLC central control room;
6) the PLC central control room controls the electric lubricating pump station to start, pressure grease is pumped out, filtered by the dry oil filter and enters the single-line distributor through the one-way valve;
7) the piston in the single-line distributor acts under the pushing of the lubricating grease, the lubricating grease is sequentially discharged from each oil outlet nozzle on the single-line distributor after being distributed in proportion, and then is sent to corresponding sliding bearing lubricating points on the flying shears through pipelines;
8) the PLC central control room acquires the grease supplementing completion information, and the tail cutting of the flying shear is in a preparation state;
9) the PLC central control room calculates the time for the flying shear to cut the tail according to the advancing speed of the strip steel, and then the flying shear performs tail cutting work;
10) the hot rolling finish rolling basic automatic system transmits a signal that the tail cutting of the flying shear is finished to a PLC central control room;
11) the PLC central control room controls the electric lubricating pump station to start, pressure grease is pumped out, filtered by the dry oil filter and enters the single-line distributor through the one-way valve;
12) the piston in the single-line distributor acts under the pushing of the lubricating grease, the lubricating grease is sequentially discharged from each oil outlet nozzle on the single-line distributor after being distributed in proportion, and then is sent to corresponding sliding bearing lubricating points on the flying shears through pipelines;
13) repeating the steps 3) to 12), completing the automatic fat supplement after the head and tail of the flying shear are cut off each time,
each pipeline between each oil outlet nozzle of the single-line distributor and the corresponding sliding bearing lubricating point on the flying shear is sequentially provided with a check valve, a pressure detection sensor and a first overflow valve;
the function of detecting oil leakage of a pipeline is realized through the check valve, the pressure detection sensor and the first overflow valve;
each oil outlet nozzle of the single-line distributor is also provided with a second overflow valve, when the lubricating point of the sliding bearing is blocked, the second overflow valve at the corresponding oil outlet nozzle of the single-line distributor corresponding to the blocked lubricating point of the sliding bearing is opened, and the grease overflows; meanwhile, the pressure detection sensor sets an alarm pressure value according to the actual oil and fat flowing pressure value so as to realize high-pressure alarm when the pipeline is blocked;
and the PLC central control room counts the actions of the single-line distributor to realize the grease supplementing counting, and when the action times of the single-line distributor reach a preset value, the electric lubrication pump station stops working and is restarted after a set time interval.
2. A grease adding method for a plain bearing for large-sized clearance motion according to claim 1, wherein: the electric lubricating pump station is provided with two electric lubricating pumps, and the two electric lubricating pumps are controlled by the PLC central control room to be started simultaneously or only one of the electric lubricating pumps is started according to the actual required grease supplementing amount.
3. A grease adding method for a plain bearing for large-sized clearance motion according to claim 1, wherein: the single line distributor is an eight-channel single line distributor, which comprises: the oil inlet that locates on the casing, and locate four groups oil-out subassemblies that are linked together with the oil inlet on the casing.
4. A grease adding method for a plain bearing for large-sized clearance motion according to claim 3, wherein: the oil outlet assemblies each include: the oil outlet nozzles are arranged on the shell in opposite directions and communicated with each other, the piston is arranged between the communication positions of the two oil outlet nozzles, and the oil inlet is connected with the electric lubricating pump station; and each oil outlet nozzle is connected with a pipeline, and each pipeline is respectively connected with a corresponding sliding bearing lubricating point on the flying shear.
CN201810293603.3A 2018-03-30 2018-03-30 Sliding bearing grease supplementing method for large-scale clearance motion Active CN110319333B (en)

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