Академический Документы
Профессиональный Документы
Культура Документы
Background
By Solaris2006 [GFDL or CC-BY-SA-3.0], via Wikimedia Commons
Bearing is a mechanical component consists of two bodies when one is fixed and
the other can move relatively to the other. Bearing are very common in every
motion mechanism, especially in robotics and automation. The bearing allows
motion between mechanical elements and lowers the friction between them. The
motion can be either angular or linear.
The first bearings were invented in ancient times. Large stones were placed on round wood logs so
they can roll on the logs. In this way the wooden logs were rotating between the stone and the
ground. Even after thousands of years, the principle I the same – only the size, the accuracy and the
technology have changed.
General Bearing Structure
Bearing internal structure consists of outer ring, inner ring, balls or other round shaped bodies, cage
and protective plates.
Suppose that one of the rings is static (Say the external) and the second ring is dynamic (say the
internal). When the dynamic ring starts to rotate then the friction between it and the round balls
cause it to slip one on the other. At the same time, the round balls roll on the static ring. If the
dynamic ring rotates at a speed of 1000 rpm, then the round balls rolls at a speed of 500rpm.
A plain bearing is also consists of internal and external rings but without the internal bearing bodies.
This type of bearings consists of low friction between the two rings and the motion is relatively
between the two rings.
The cage roll is to maintain an equal distance between the internal bearing balls.
The protective plates roll is to prevent dirt and dust from entering inside the bearing huts lowering
the performance and life time of the bearing.
Radial Force
Force acting perpendicular to the rotation axis of the bearing
Axial Force
Force acting Parallel to the rotation axis of the bearing
Combined Forces
A Combination of radial and axial forces:
Bearing Material
Material from which the bearing is made. There are many common materials such as: metal, plastic
and glass.
Rotation Speed
Every bearing has a maximum allowable rotation speed. As with any design of a mechanical system,
you should never design the bearing to rotate at 100% of the maximum allowable speed. Safety
factor should always be considered.
Shielded Bearing
Bearing protective plates that cover the entire structure of the bearing. Typically, protective plates
shall be fixed to the outer ring by “C” Shaped tightening ring. These plates provide good protection
against dust and dirt, but not perfect insulation. The protective plates are pressed against the outer
ring but there is always some very small gap in which dirt and dust can enter.
Sealed Bearing
Sealed bearing are protected bearing based on the same principle as shielding plates but in this type
of bearing the plates replaced with rubber plates. The rubber plates create perfect insulation that
prevent dust, dirt and even liquid to enter inside the bearing. However there is a downside – the
rubber ring may touch the inner ring and reduce the rotation speed of the bearing.
Loading Direction
Loading direction is the direction of the stresses in the bearing. For example, the following picture:
© SKF
The bearing in the image placed in a way to withstand stress that exerted from the left side. If the
same force will be exerted from the right side, the bearing might fail. Therefore, it is very important
to analyze what is the load direction.
When using bearing with shifted rings (as in the picture), various loading direction can be addressed
by using several bearing arranged in three main methods:
Tandem Arrangement
© SKF
In this arrangement, the load lines are parallel and the bearing is distributing evenly the axial and
radial forces. However, this arrangement allows axial forces in one direction only. If additional force
is exerted on the opposite direction, or combined forces are expected, the a third bearing or different
arrangements should be considered.
Back-to-Back Arrangement
© SKF
In this arrangement, the load lines are acting towards the outside of the bearings. Axial forces acting
on both directions are handled well but each direction is handled with one bearing. This arrangement
is a rigid one and can handle well with torque exerted on the bearings.
Face-to-Face Arrangement
© SKF
In this arrangement, the load lines are acting towards the inside of the bearings. Axial forces acting
on both directions are handled well but each direction is handled with one bearing. This arrangement
is a less rigid then the last one and deals less with torque exerted on the bearings.
When:
If the rotational speed is known and constant, then the following formula should be used:
When:
There are three thumb rules about the life time of bearings. Higher bearing life time achived with:
If you cannot determine the exact life time a bearing should have, the following table can be used to
help assess the bearing life time based on the application of the bearing. To save cost of a very
reliable bearing (too reliable), it is recommended to follow this table and select the appropriate life
time (reliability = money).
>100000 Large electric machines, power plants, pumps Mines, Mine Fans
© SKF
Equivalent static load is a characteristic that summarizes the forces acting on the bearing at rest or at
very low rotation speed. This is one of the most important characteristic when selecting bearings.
Equivalent static load is calculated using the following formula:
When:
– Radial bearing load coefficient (each bearing has its own coefficient)
– Axial bearing load coefficient (each bearing has its own coefficient)
Checking against the following table for the case where the bearing is supposed to work:
If the calculated static safety factor is lower than the one in the table, a “stronger” bearing should be
selected that fits the load requirements and the desired safety factors.
© SKF
Equivalent Dynamic load is a characteristic that summarizes the forces acting on the bearing at rest
or at very low rotation speed. This is one of the most important characteristic when selecting
bearings. Equivalent static load is calculated using the following formula:
When:
– Radial bearing load coefficient (each bearing has its own coefficient)
– Axial bearing load coefficient (each bearing has its own coefficient)
Friction Moment
Friction Moment is describing the resistance of the bearing to motion. When a torque equation of
motion mechanism is calculated, these characteristic has to be taken into account. There are bearing
with extremely low friction moment and some with higher friction moment.
Rolling bearing based on spherical bearing bodies. Designed for higher speeds and smaller loads due
to small contact area between the balls and the rings. Can also carry axial load in addition to radial
loads. Cheap bearings relative to other types of bearings.
© SKF
Bearing is based on the spherical bearing bodies. The difference between this type of bearing and the
previous one is that the internal slide rails are asymmetric. These bearing support much better
combined loads. It is important to diagnose the loading direction. Positioning the bearing in the
wrong loading direction can cause malfunction in the robot or the moving mechanical mechanism.
Self Aligning Ball Roller Bearing
This bearing is very similar to the rolling ball bearing except that the slide rails are
spherical instead of straight ones. This means that when a mismatch is created
between the tracks of the inner ring and the outer ring tracks, the rolling balls can
align itself in the center of the sliding tracks automatically.
Thrust bearing based on spherical bearing bodies. Unlike the standard ball
bearing, these bearing designed to withstand much higher axial forces and not
intended to deal with radial force.
Cylindrical Bearing
Rolling bearing based on cylindrical bearing bodies. Designed for lower speeds
applications due to increased friction but can deal with high loads and forces.
Bearing performance lowered drastically if the sliding tracks are not aligned with
each other.
By Silberwolf [CC-BY-2.5], via Wikimedia Commons
Needle Bearing
Rolling bearing based on needles as the body bearing. The needles are actually
long cylinders with very small diameter. Due to the small diameter of the rolling
bodies (the needles), the inner ring and the outer ring are very close one to the
other. This contributes to a design when one has to choose an internal diameter
bearing closely as possible to the axis. Bearing is characterized by quick
degradation and low reliability.
Tapered Bearing
Rolling bearing based on conical bearings bodies. The cones roll on the inner rail
that is shaped as conical rails too. Most of the bearing can deal with axial and
radial forces but this type of bearing can deal much better with combined and
inclined loads. Usually, they are more expansive due to the complication of the
manufacturing process.
Thrust bearing based on conical bearings bodies. Bearing that, unlike standard
tapered bearing, can deal with much higher axial loads and almost no radial loads.
These bearings are usually expensive due to the complexity in manufacturing.
These bearings consist of two sealed rings and no internal bearing elements.
Pressurized liquid (usually, oil, water or air) is put inside and between the two
rings. The advantages of these bearings are low cost and much lower friction
mechanical bearings. However, these bearings are very sensitive to temperature
changes and can fail in an instant when subjected to sudden high loads (shocks).
Spherical Bearing
Spherical bearing allows a slight angular movement of the drive shaft relatively to
the bearing rings. The inner ring supports the drive shaft and can turn relatively to
the outer ring.
Magnetic Bearing
© NASA
Plain Bearing
Plain bearing is the simplest type of bearing without any internal bearing elements
and based on sliding motion. This bearing is built from one ring (sleeve), where
the drive shaft is turning inside it. Sliding bearing is very common and most
affordable. It is a good choice where high radial loads may be subjected but has a
very high degradation rate. This type of bearing is not built for high speed
applications due to the high friction
Loads
Is there an axial load on the bearing? Is there radial loads? Or maybe a combination of both?
Now begins the stage of trial and error. first choose a bearing from the catalog that corresponds to
the expected loads.
Using the Characteristics of the bearing ( , , , , , ) Calculate the equivalent dynamic load
and the equivalent static load.
Compare the equivalent static load to the static safety factor. Choose a safety factor from the top
table and use it in the following formula:
Now check the bearing manufactures tables and look for a bearing with a static load factor fits to the
calculated one. After a bearing has been selected, check the equivalent dynamic load of the bearing. To do
so use the following equation:
or
Coefficient depends on the bearing type. m=3 for ball bearings, m=3.3 for sleeve bearings.
Now estimate how long the bearing should work. If you don’t know exactly how long the bearing
should work, you can use the following table:
Type of application
Machines used in domestic, agricultural equipment, instruments, technical equipment
300 - 3000 for medical use
3000 - Machinery intended for short use: Manual appliances, freight elevators in garages and
8000 workshops, construction machinery
8000 -
Machines designed to work reliably during a short actions: lifts, cranes
12000
10000 - Machines designed to work eight hours a day but not regularly: transmissions for
25000 different uses, industrial electric motors
20000 - Machines designed to work eight hours a day and regularly: metalworking machines,
woodworking machines, industrial machinery engineering, cranes, fans, conveyor
30000 rails, printing equipment, separators and centrifuges
40000 - Machines for continuous 24 hours a day: Turn in machining equipment, medium-sized
50000 electric machines, compressors, pumps, machinery textile industry
60000 - Water industry machinery, cable manufacturing machines, equipment, vehicles and
100000 marine propulsion
<100000 Large electric machines, power plants, pumps Mines, Mine Fans
Put all the gathered data in the formula to get C. now check the bearing tables for the most suitable equivalent static load
and the equivalent dynamic load .
If one of the calculated figures is smaller than the one in the table, a “stronger” bearing has to be
selected and the dynamic load has to be recalculated (X and Y are variables and depended on the
selected bearing).
If the two calculated figures are higher than the one appearing in the table the one of the two
following choices can be made:
Stay with the selected bearing with the knowledge that it has higher requirements than needed.
Choose a "weaker" bearing to lower cost and the safetey factor as well.
Using bearings manufacturer’s catalogs, you can select the appropriate bearing by the indicated
speed in the technical datasheets.
If dust or dirt is expected in the work environment, protected and sealed bearing should be
considered.
If large environment temperature variations are expected, then avoid using hydrostatic bearings.
If a sensitive instruments for EMC or electrostatic positioned near the bearings, then avoid using
magnetic bearings or find a way to protect the sensitive instruments.
Written by Eran Cenciper (Robot-and-Machines-Design webmaster)