CN110894868A

CN110894868A - Speed reducer, oil seal with encoder, industrial machine and factory

Info

Publication number: CN110894868A
Application number: CN201910863078.9A
Authority: CN
Inventors: 朱祺; 大石一真; 镰形州一; 久保田孝治; 平田笃; 渡边晃治
Original assignee: Nabtesco Corp
Current assignee: Nabtesco Corp
Priority date: 2018-09-13
Filing date: 2019-09-12
Publication date: 2020-03-20
Also published as: KR20200031045A; DE102019213960A1; TW202014623A; JP2020041670A; TWI819077B; JP7373272B2

Abstract

The invention provides a speed reducer, an oil seal with an encoder, an industrial machine and a factory. A speed reducer (10) is provided with: a speed reduction mechanism (28) having a crankshaft (40); and a sensor (S) that acquires information relating to the rotational speed of the crankshaft.

Description

Speed reducer, oil seal with encoder, industrial machine and factory

Technical Field

The invention relates to a speed reducer, an oil seal with an encoder, an industrial machine and a factory.

Background

For example, as disclosed in patent document 1(JP2016-98860a), a reduction gear is adopted for various industrial machines. In recent years, automation of factories using industrial machines has been advanced for efficient production. On the other hand, if the reduction gear is out of order, the production in the factory has to be stopped. Therefore, it is useful for automation of a factory to acquire information on the speed reducer and use the acquired information.

Disclosure of Invention

The present invention has been made in view of the above points, and an object thereof is to obtain information on a speed reducer.

The 1 st speed reducer of the present invention includes:

a speed reduction mechanism having a crankshaft; and

a sensor that acquires information related to a rotational speed of the crankshaft.

In the 1 st reduction gear of the present invention, the sensor may have a counter sensor.

The 2 nd speed reducer of the present invention includes:

a reduction machine having a rotatable member; and

a sensor that acquires information related to a rotational speed of the member.

The 3 rd speed reducer of the present invention comprises:

a crankshaft rotated by an input shaft connected to a motor;

a swing gear that swings by the crankshaft;

a housing that meshes with the swing gear and rotates relative to the swing gear in accordance with rotation of an input shaft; and

The 4 th speed reducer of the present invention includes:

an input shaft;

a speed reduction mechanism to which rotation is input from the input shaft;

a housing that at least partially houses the speed reduction mechanism; and

a sensor that detects deposits accumulated on either one of the input shaft and the housing.

In the 4 th speed reducer of the present invention, the sensor may have a capacitance type displacement sensor.

The 4 th speed reducer according to the present invention may be provided with an oil seal provided between the housing and the input shaft,

the sensor is disposed in an area sealed by the oil seal.

The 5 th speed reducer of the present invention includes:

a reduction machine having a rotatable member; and

a sensor that detects deposits accumulated on the member.

The 6 th speed reducer of the present invention includes:

an input shaft connected with the motor;

an output shaft that decelerates and outputs the rotation input from the input shaft;

a housing that houses at least a portion of the output shaft;

an oil seal disposed between the housing and the input shaft; and

a sensor that detects deposits collected in a region where the oil seal is disposed between the housing and the input shaft.

The 7 th speed reducer of the present invention includes:

a speed reduction mechanism that reduces the speed of the input rotation and outputs the reduced rotation; and

and a sensor attached to the reduction gear, and detecting whether or not there is an impact on the reduction gear.

In the 7 th decelerator according to the present invention, the sensor may include an impact detection tag.

In the 7 th speed reducer of the present invention, the sensor may be attached to a seal cover.

The 7 th speed reducer of the present invention may include:

an output shaft that decelerates and outputs rotation from the motor;

a housing that houses at least a portion of the output shaft; and

a seal cover disposed to the center of the output shaft,

the sensor is mounted to the seal cap.

The 8 th speed reducer of the present invention includes:

a speed reduction mechanism having a crankshaft; and

and a sensor disposed in the crankshaft and configured to acquire information related to temperature.

In the 8 th retarder according to the present invention, the sensor may have a data recorder that records information on the acquired temperature.

In the 8 th speed reducer according to the present invention, the sensor may be disposed in an internal space of the crankshaft,

the speed reducer includes a seal cover for sealing the internal space.

The 9 th speed reducer of the present invention includes:

an encoder stator disposed on the oil seal; and

and an encoder rotor disposed on the shaft.

In the 9 th reduction gear of the present invention, the encoder stator may transmit the acquired information wirelessly.

In the 9 th speed reducer of the present invention, the oil seal may include: a 1 st lip and a 2 nd lip in contact with the shaft; and an arm portion which connects the 1 st lip and the 2 nd lip and to which the encoder stator is attached.

The 10 th speed reducer of the present invention includes:

a 1 st member;

an oil seal mounted to the 1 st member;

a 2 nd member that rotates relatively to the 1 st member and is in contact with the oil seal; and

an encoder mounted to the oil seal that acquires information relating to a relative position of the 2 nd member with respect to the 1 st member.

The 1 st oil seal with an encoder of the present invention comprises:

an oil seal mounted to a 1 st member and contacting a 2 nd member that rotates relative to the 1 st member; and

an encoder mounted to the oil seal.

In the 1 st oil seal with an encoder according to the present invention, the oil seal may include: a 1 st lip and a 2 nd lip in contact with the 1 st member; and an arm portion which connects the 1 st lip and the 2 nd lip and to which the encoder is attached.

The industrial machine of the present invention includes any of the speed reducers of the present invention described above.

The plant of the present invention comprises:

an industrial machine having any one of the speed reducers of the present invention described above;

a recording unit that stores information obtained from the sensor or the encoder stator of the industrial machine; and

and a control unit that controls the industrial machine based on the information of the recording unit.

According to the present invention, information on a speed reducer that can affect the operation of an industrial machine can be acquired.

Drawings

Fig. 1 is a diagram for explaining an embodiment, and is a longitudinal sectional view showing a speed reducer.

Fig. 2 is a sectional view taken along line II-II of fig. 1.

Fig. 3 is a perspective view showing an industrial machine including a speed reducer.

Fig. 4 is a longitudinal sectional view for explaining the 1 st and 4 th concrete examples of the speed reducer.

Fig. 5 is a longitudinal sectional view for explaining a 2 nd concrete example of the speed reducer.

Fig. 6 is a longitudinal sectional view for explaining specific example 3 of the speed reducer.

Fig. 7 is a longitudinal sectional view for explaining a 5 th concrete example of the speed reducer.

Detailed Description

Hereinafter, an embodiment of the present invention will be described with reference to the drawings. Fig. 1 to 7 are diagrams for explaining an embodiment of the present invention. Hereinafter, an example in which the present embodiment is applied to an eccentric oscillating type reduction gear will be described as an example. However, the present invention is not limited to the examples described below, and may be applied to apparatuses other than the eccentric oscillating type reduction gear.

First, the overall structure of the eccentric rocking type reduction gear 10 will be described with reference to fig. 1 and 2. The speed reducer 10 includes: a reduction machine 11 that reduces the speed of the input rotation and outputs the reduced rotation; and a sensor S that acquires information associated with the reduction machine 11. First, the sensor S will be described with reference to the reduction machine 11. The reduction machine 11 includes: an input shaft 15 to which rotation is input from a driving member such as a motor; a speed reduction mechanism 28 that reduces the speed of rotation from the input shaft 15; and a housing that at least partially houses the speed reduction mechanism 28. In the example of the reduction gear 10 configured as the eccentric oscillating type, the reduction mechanism 28 includes a carrier 30, a crankshaft 40, and

external gears

50a and 50 b.

The housing 20 has internal teeth 25. The crankshaft 40 is supported by the carrier 30 and drives the two

external gears

50a and 50 b. In the reduction gear 10, the external teeth 55 of the

external gears

50a, 50b mesh with the internal teeth 25, and the housing 20 and the carrier 30 rotate relative to each other about the rotation axis RA. Hereinafter, a direction parallel to the rotation axis RA is referred to as an axial direction DA, and a direction perpendicular to the rotation axis RA is referred to as a radial direction DR. The axial direction DA and the radial direction DR are orthogonal to the circumferential direction DC centered on the rotation axis RA.

The housing 20 has: a substantially cylindrical case main body 21; and an internal tooth pin 24 held on the inner surface of the housing main body 21. The housing main body 21 is formed with pin grooves arranged in a row along the circumferential direction DC, the pin grooves extending in the axial direction DA, and the internal gear pins 24 having a cylindrical shape are housed and held. The inner gear pin 24 extends in the axial direction DA to form inner teeth 25.

The carrier 30 is rotatably held by the casing 20 about the rotation axis line RA by a pair of bearings 17. The carrier 30 has a carrier base portion 31 and a plate portion 32 fixed to each other by bolts. The carrier base part 31 includes: a disc-shaped base plate portion 31 a; and a plurality of column portions 31b projecting from the base plate portion 31 a. In the illustrated example, the base plate portion 31a and the plurality of column portions 31b are integrally formed. As shown in fig. 2, the plurality of columnar portions 31b are provided at equal intervals in the circumferential direction DC about the rotation axis RA. In the illustrated example, three column portions 31b are provided.

The carrier base portion 31 and the plate portion 32 of the carrier 30 are respectively formed with a central hole 34 located on the rotation axis RA. The carrier 30 is formed with a through hole 35 that penetrates the carrier base part 31 and the plate part 32. The plurality of through holes 35 are provided at equal intervals in the circumferential direction DC about the rotation axis RA in the carrier base part 31 and the plate part 32. In the illustrated example, three through holes 35 are provided in the carrier base portion 31 and the plate portion 32.

Bearings

18a and 18b are provided in through-holes 35 formed in the carrier base part 31 and the plate part 32. Crankshaft 40 is held rotatably with respect to carrier 30 by a pair of

bearings

18a and 18b provided along axial direction DA. Furthermore, rotational axis RAC of crankshaft 40 is parallel to axial direction DA. The crankshaft 40 includes two

eccentric bodies

41a and 41b arranged in parallel in the axial direction DA, and an input gear 42. Each of the

eccentric bodies

41a and 41b has a disc-like or cylindrical outer shape. Central axes CAa, CAb of both

eccentric bodies

41a, 41b are eccentric symmetrically about rotation axis RAC of crankshaft 40.

The two

external gears

50a, 50b are disposed in a space formed between the base plate portion 31a and the plate portion 32 of the carrier base portion 31 of the carrier 30. The two

external gears

50a, 50b are arranged in line along the axial direction DA. As shown in fig. 2, a central hole 51 is formed in each of the

external gears

50a and 50 b. The

external gears

50a and 50b have external teeth 55 arranged in line along the outer peripheral edge centered on the central hole 51. The number of teeth of the external teeth 55 is smaller than that of the internal teeth 25 of the housing 20. As an example, the number of teeth of the external teeth 55 is only one less than that of the internal teeth 25 of the housing 20. Further, the outer diameters of the

external gears

50a, 50b are slightly smaller than the inner diameter of the housing 20.

Eccentric body through

holes

52a and 52b are formed in the

external gears

50a and 50b, respectively, at equal intervals in the circumferential direction around the central hole 51.

Bearings

18c and 18d are disposed in the eccentric body through

holes

52a and 52b, respectively. The

eccentric bodies

41a, 41b of the crankshaft 40 are held by the

bearings

18c, 18 d.

Further, the

external gears

50a and 50b are respectively formed with column through

holes

53a and 53b provided at equal intervals in the circumferential direction DC about the central hole 51. In each of the

external gears

50a and 50b, the column portion through

holes

53a and 53b and the eccentric body through

holes

52a and 52b are alternately arranged along the circumferential direction around the central hole 51. Each column portion 31b of the carrier base portion 31 passes through the corresponding column portion through-

hole

53a, 53b of the

external gear

50a, 50 b.

In the speed reducer 10 (speed reduction machine 11) having the above-described configuration, torque from a driving member such as a motor is input to the input shaft 15. In the illustrated example, the input shaft 15 passes through the central hole 34 of the carrier 30 and the central holes 51 of the

external gears

50a and 50b to mesh with the input gear 42. That is, the input shaft 15 constitutes an input end of the reduction mechanism 28. The input shaft 15 rotates about the rotation axis RA. When rotation is transmitted from input shaft 15 to input gear 42, crankshaft 40 rotates about rotation axis RAC. At this time, the 1 st eccentric body 41a and the 2 nd eccentric body 41b eccentrically rotate. Further, the respective

external gears

50a and 50b oscillate according to the eccentric rotation of the 1 st eccentric body 41a and the 2 nd eccentric body 41 b. More strictly speaking, each of the

external gears

50a and 50b moves in translation on a circular path centered on the rotation axis RA with respect to the carrier 30. When the

external gears

50a and 50b oscillate, the external teeth 55 of the

external gears

50a and 50b mesh with the internal teeth 25 of the housing 20. Since the number of teeth of the external teeth 55 is smaller than that of the internal teeth 25, the

external gears

50a and 50b rotate in a wobbling manner with respect to the housing 20. That is, the

external gears

50a and 50b rotate about their central axes while revolving around the rotation axis RA. As a result, the carrier 30 supporting the

external gears

50a and 50b via the crankshaft 40 also rotates about the rotation axis RA with respect to the housing 20. In this way, the rotation input to the reduction mechanism 28 via the input shaft 15 is reduced in speed and output as relative rotation between the casing 20 and the carrier 30.

The speed reducer 10 described above is incorporated into, for example, an industrial machine IM and used. More specifically, the speed reducer 10 can be used together with the drive device in a revolving unit such as a revolving body and a wrist joint of the robot 6, a revolving unit of various machine tools, and the like. As a specific example shown in fig. 3, by fixing the carrier 30 to the base 6X of the robot 6 and connecting the housing 20 to the revolving unit 6Y of the robot 6, the revolving unit 6Y can be rotated with high torque with respect to the base 6X and the rotation of the revolving unit 6Y can be controlled with high accuracy.

In this example, the rotation input to the reduction gear 10 (reduction machine 11) is output from the casing 20. That is, the housing 20 functions as an output shaft. For example, the rotator 6Y of the robot 6 has screw holes for engaging with bolts inserted through the through holes 26 provided in the flange portion 22 of the housing body 21. That is, the rotator 6Y of the robot 6 and the housing 20 of the reducer 10 can be fastened using bolts. Further, a through hole through which, for example, a bolt is inserted is provided in the base 6X of the robot 6. The carrier base portion 31 of the carrier 30 has screw holes 39 for engaging with bolts passing through the through holes of the base 6X. That is, the base 6X of the robot 6 and the carrier 30 of the reduction gear 10 can be fastened using bolts.

However, the present invention is not limited to this example, and the carrier 30 of the reduction gear 10 may be connected to the revolving structure 6Y of the industrial machine IM (robot 6), and the casing 20 of the reduction gear 10 may be connected to the base 6X of the industrial machine IM (robot 6). In this example, the carrier 30 functions as an output shaft.

However, as mentioned in the column of the prior art, if the reducer 10 fails, the industrial machine IM cannot be operated. Therefore, in terms of improving the production efficiency of the plant, it is preferable to acquire information about the speed reducer 10 and automate the plant F in consideration of the information. Next, a description will be given of specific examples of the sensor S that can be incorporated in the speed reducer 10, with reference to fig. 4 to 7. In the following description, the same reference numerals are given to corresponding components, members, portions, and the like, and redundant description is omitted.

< embodiment 1 >

First, specific example 1 of the present embodiment will be described with reference to fig. 4. The speed reducer 10 according to example 1 includes: a reduction machine 11 having a rotatable member; and a sensor S that acquires information on the rotation speed of the rotatable member. In the illustrated example, in particular, the sensor S acquires information on the rotational speed of a rotatable member of the reduction mechanism 28, more specifically, the crankshaft.

Conventionally, the life of the reduction gear 10 has been evaluated based on the rotation speed of a driving member, for example, a motor, connected to the reduction gear 10. Specifically, if the rotation speed of the motor exceeds a predetermined rotation speed, it is determined that the speed reducer 10 has reached a time when replacement is necessary. However, such evaluation is not based on the evaluation of the speed reducer 10. In addition, in the use of an actual industrial machine or the like, only the drive member may be replaced due to a failure of the motor or the like, and in this case, the life evaluation of the speed reducer 10 becomes ambiguous. If the retarder 10 unexpectedly fails, the industrial machine IM needs to be stopped. Further, the entire plant in which the industrial machine IM is installed may need to be stopped, and a large damage may be caused.

Therefore, in concrete example 1, the speed reducer 10 includes a sensor S that can acquire information on the rotation speed of the rotatable member. In the example shown in fig. 4, the information acquired by the sensor S is recorded in a recording unit M provided at a factory F. The control unit C provided in the plant F sets the replacement timing of the reduction gear unit 10 based on the information recorded in the recording unit M, and reflects the replacement timing in, for example, a production plan.

The information on the rotation speed acquired by the sensor S can be various information that can specify the rotation speed of a specific member. Therefore, the control unit C can calculate the information of the rotation speed of the specific member of the reduction gear 10 based on the information recorded in the recording unit M, and can be said to be information related to the rotation speed of the specific member. For example, the sensor S may acquire a rotation angular velocity of a specific member and a rotation time of the specific member as the information on the rotation speed.

In the decelerator 10 shown in fig. 4, the sensor S has a count sensor 81. The counter sensor 81 is held by a support 91 at a position facing the crankshaft 40. The count sensor 81 can detect a detected portion such as a groove formed in the input gear 42 or a magnet embedded in the input gear 42, and record the number of times of detection in the recording portion M. When the detected portion is provided at a position along the circumferential direction of the input gear 42, the number of times of detection of the detected portion becomes the number of rotations of the input gear 42.

In the illustrated example, the housing 20 of the reducer 10 rotates as an output shaft. Therefore, the crankshaft 40 and the input gear 42 only rotate, and therefore the sensor S can accurately detect the number of rotations of the input gear 42. However, the present invention is not limited to this example, and when the carrier 30 rotates as the output shaft, the sensor S may be held by the carrier 30 to determine the number of rotations of the crankshaft 40 and the input gear 42. Further, sensor S may acquire information on the rotation of a member other than crankshaft 40, for example, carrier 30.

According to specific example 1, the rotation speed of a specific member included in the reduction gear 10 can be grasped. For example, in a decelerator used for an Automated Guided Vehicle AGV (Automated Guided Vehicle), the travel distance of the Automated Guided Vehicle can be determined based on information acquired by the sensor S. By basing the rotational speed of the specific member included in the reduction gear 10 itself in this manner, the life of the reduction gear 10 can be estimated with high accuracy. This effectively avoids unexpected failure of the speed reducer 10, and effectively improves productivity in the plant F.

< embodiment 2 >

Next, specific example 2 of the present embodiment will be described with reference mainly to fig. 5. The speed reducer 10 according to example 2 includes: a reduction machine 11 having a rotatable member; and a sensor S capable of detecting deposits accumulated on the rotatable member. The deposit accumulation means wear of the components included in the reduction machine 11. Therefore, the accumulation of the deposits serves as an index indicating the life of the speed reducer 10. Replacement and maintenance of the reduction gear 10 are performed based on the presence or absence of deposits and the amount of deposits, and unexpected failure of the reduction gear 10 can be effectively avoided. Therefore, in concrete example 2, the speed reducer 10 has a sensor S capable of detecting deposits accumulated on any one of the members.

The speed reducer 10 shown in fig. 5 has a structure different from the example shown in fig. 1. In the example shown in fig. 5, the casing 20 is located outside the carrier 30 in the radial direction DR, and is also located outside the carrier 30 in the axial direction DA. The housing 20 faces the input shaft 15 in the radial direction DR, and an oil seal 60 is attached to the housing 20 at a position facing the input shaft 15. The oil seal 60 fixed to the housing 20 has a lip (main lip) 61 that contacts the input shaft 15. The input shaft 15 rotates relative to the oil seal 60 and the housing 20 in a state of being in contact with the 1 st lip 61. The lip 61 is in contact with the input shaft 15, whereby the lubricating oil can be retained in the reduction gear 10 (reduction gear 11).

Further, the outer side in the axial direction DA refers to the side away from the center position of the reduction gear 10 in the axial direction DA. Thus, the side away from the area where the lubricating oil is held by the oil seal 60 becomes the outer side in the axial direction DR.

In the example shown in fig. 5, the sensor S is disposed in the region sealed by the oil seal 60. More specifically, the sensor S is located in the vicinity of the oil seal 60 and inside the oil seal 60 in the axial direction DR. As shown in fig. 5, the deposits X containing the wear debris are collected toward the area between the housing 20 and the input shaft 15 where the oil seal 60 is disposed. In particular, the deposit X has low fluidity and is therefore likely to accumulate in the region near the 1 st lip 61 of the oil seal 60. Therefore, the illustrated sensor S is disposed so as to face the deposited deposit X.

As the deposits X accumulate toward the input shaft 15, the distance between the input shaft 15 and the housing 20 becomes short. Therefore, by using the displacement sensor as the sensor S, the deposition of the deposit X can be detected. The sensor S is particularly illustrated as being constituted by a capacitive displacement sensor 82. The capacitance type displacement sensor 82 is capable of detecting displacement of two conductors based on a change in capacitance between the two conductors. In this example, the voltage output wire 92 is electrically connected to the recording unit M and the control unit C through the inside of the reduction gear 11. The control unit C can detect with high accuracy that the conductive deposit X containing the wear powder is deposited on the metal member based on the voltage output from the capacitive displacement sensor 82.

From the above, according to example 2, the deposit X can be detected from depositing on a specific member included in the speed reducer 10. The life of the speed reducer 10 can be accurately estimated based on the presence or absence of the deposit X, and further, based on the amount of deposit X deposited. This effectively avoids unexpected failure of the speed reducer 10, and effectively improves productivity in the plant F.

In the illustrated example, the sensor S detects the deposit X on the input shaft 15, but the present invention is not limited to this, and the sensor S may detect the deposit X on any one of the members included in the reduction gear 11, such as the deposit X on the casing 20, the deposit X on the carrier 30, and the like. Further, although the sensor S is attached to the housing 20, the sensor S is not limited to this example, and may be attached to the carrier 30 or the input shaft 15. However, considering the wiring to the sensor S and the power supply to the sensor S, it is preferable that the sensor S is fixed to a non-rotating member included in the reduction machine 11, for example, the carrier 30 in the example of fig. 1.

< embodiment 3 >

Next, specific example 3 of the present embodiment will be described with reference mainly to fig. 6. Note that the eccentric oscillating type speed reducer 10 (speed reduction machine 11) shown in fig. 6 has a portion different in shape from the speed reducer (speed reduction machine) shown in fig. 1 and 2, and illustration of some of the components (for example, the input shaft 15 and the

external gears

50a and 50b) described with reference to fig. 1 and 2 is omitted. In the example shown in fig. 6, the carrier 30 of the reduction gear 10 is connected to the revolving body 6Y of the industrial machine IM (robot 6), and the casing 20 of the reduction gear 10 is connected to the base 6X of the industrial machine IM (robot 6). In this example, the carrier 30 functions as an output shaft. As described above, the present invention is not limited to the specific example 3, and in the specific examples 1 and 2, and further in the specific examples 4 and 5 described later, the carrier 30 may function as the output shaft, or the housing 20 may function as the output shaft.

The speed reducer 10 according to example 3 includes: a reduction mechanism 11 that reduces the speed of the input rotation and outputs the rotation; and a sensor S attached to the reduction gear 11 and detecting whether or not there is an impact on the reduction gear 11. The reduction gear 10 and the industrial machine IM incorporating the reduction gear 10 may be subjected to an impact, more precisely, an impulsive overload, during use thereof. For example, the reducer 10 incorporated in the robot 6 receives an impact due to collision of an arm of the robot 6 with a workpiece or the like to be processed. When the reduction gear 10 receives an impact, the operation accuracy of the reduction gear 10 is lowered, and the reduction gear 10 may not normally operate. Therefore, when the reduction gear 10 receives an impact, it is necessary to perform maintenance of the reduction gear 10 or to replace the reduction gear 10 quickly.

On the other hand, when the industrial machine IM is automatically operated, it is assumed that it is not possible to confirm that the reduction gear 10 has received an impact. Further, it is difficult to determine the case where the impact is applied to the speed reducer 10 afterwards. Therefore, in specific example 3, the sensor S detects the presence or absence of an impact on the reduction gear 11. Maintenance of the reduction gear 10 and replacement of the reduction gear 10 can be determined based on the detection result of the sensor S.

As the sensor S, an impact detection tag 83 can be used. The impact detection label 83 is a member capable of recording that a predetermined magnitude of impact is applied. For example, "drop impact detection label" or the like available from 3M company can be used as the sensor S.

In the illustrated example, the 1 st seal cover 93A and the 2 nd seal cover 93B are disposed in a staggered manner along the axial direction DA in the center hole 34 of the carrier 30. The 1 st and 2 nd seal caps 93A and 93B are located on the rotation axis RA. When the carrier 30 functions as an output shaft, the 1 st seal cover 93A and the 2 nd seal cover 93B are disposed at the center of the output shaft. The 2 nd seal cover 93B is located inside the 1 st seal cover 93A in the axial direction DA. The 2 nd seal cover 93B substantially seals the lubricating oil. The lubricating oil does not substantially flow into the space between the 1 st seal cap 93A and the 2 nd seal cap 93B. Therefore, the 1 st seal cover 93A does not actually function to seal the lubricating oil. On the other hand, the 1 st sealing cover 93A has a function of holding the impact detection label 83 so as not to expose the impact detection label 83 to the outside. According to the arrangement of the impact detection tag 83 using the 1 st seal cover 93A as described above, the impact detection tag 83 can be effectively used by the manufacturer of the reduction gear 10 to determine the cause of the failure, as an example.

In particular, in the illustrated example, the 1 st seal cover 93A is located adjacent to the rotating body 6Y of the industrial machine IM. Therefore, the impact generated when the industrial machine IM collides with the workpiece or the like can be detected with high accuracy.

As described above, according to example 3, the necessity of maintenance or replacement of the reduction gear 10 can be determined based on the result of detection of the impact by the sensor S, for example, based on the result of regular confirmation of the presence or absence of detection by the sensor S. This improves the production efficiency in the plant F using the industrial machine IM. In addition, when the cause of the failure of the reduction gear 10 is investigated, the presence or absence of the impact on the reduction gear 10 can be confirmed based on the sensor S.

Further, although an example in which the sensor S is held by the 1 st seal cover 93A in the center hole 34 of the reduction gear 11 is described with reference to fig. 6, the present invention is not limited to this example, and the sensor S may be attached to the housing 20 or the carrier 30. In addition, similarly to the 1 st and 2 nd specific examples, the information acquired by the sensor S may be transmitted to the recording unit M, and the control unit C may process the information recorded in the recording unit M.

< embodiment 4 >

Next, a specific example of the 4 th embodiment will be described with reference to fig. 4. The speed reducer 10 according to example 4 includes: a reduction mechanism 28 having a crankshaft 40; and a sensor S disposed in the crankshaft. The sensor S is capable of acquiring information relating to temperature. That is, the sensor S acquires information that is an index indicating the temperature at the position where the sensor S is arranged. Therefore, the sensor S may record only the highest temperature, or may be a sensor capable of detecting the temperature at any time.

The reduction gear 10, the industrial machine IM in which the reduction gear 10 is incorporated, requires high-speed operation due to recent demands for improvement in productivity. When the constituent elements of the speed reducer 10 rotate at high speed, the temperature of the speed reducer 10 (speed reduction machine 11) increases. In the eccentric rocking type reduction gear 10, the temperature of the crankshaft 40 of the reduction mechanism 28 is likely to rise. If the temperature of the reduction gear 10 rises, the operation accuracy of the reduction gear 10 may be degraded depending on the value of the maximum temperature and the time of the temperature rise, and the reduction gear may not be normally operated. Therefore, if the temperature of the reduction gear 10 is excessively increased, it is necessary to perform maintenance of the reduction gear 10 or to quickly replace the reduction gear 10.

On the other hand, the temperature rise of the speed reducer 10 cannot be visually recognized. Further, it is difficult to determine the excessive temperature rise of the reduction gear 10 after the fact. Therefore, in specific example 4, sensor S can acquire information relating to temperature, particularly information relating to the temperature of crankshaft 40, which is likely to cause a temperature increase. Therefore, maintenance of the reduction gear 10 and replacement of the reduction gear 10 can be determined based on the detection result of the sensor S.

As the sensor S, various sensors capable of measuring temperature can be used. In addition, the data acquired by the sensor S may be transmitted to the recording unit M. In this case, the control unit C may process the information recorded in the recording unit M. As another example, the sensor S may be a data recorder 84 incorporated in the crankshaft 40. The data logger 84 is capable of storing the acquired temperature-related information for a predetermined period of time, such as one year. Therefore, the information recorded in the data recorder 84 can be used in the following cases: the manufacturer determines the cause of the failure of the reducer 10, and the user determines the optimum operating conditions based on the analysis of the operation history of the reducer 10 after replacement.

In the illustrated example, temperature sensor S IS disposed in internal space IS of crankshaft 40. More specifically, the sensor S can be installed in the crankshaft 40 by disposing the sensor S in a counterbore (internal space IS) formed in the crankshaft 40, backfilling the counterbore, and sealing the counterbore with the seal cap 94.

As described above, according to specific example 4, it is possible to determine maintenance or replacement of the reduction gear 10 based on the detection result of the temperature at the sensor S, for example, based on the result of checking the temperature detected by the sensor S periodically or at any time. This improves the production efficiency in the plant F using the industrial machine IM. In addition, when the cause of the failure of the reduction gear 10 is investigated, the presence or absence of excessive temperature rise of the reduction gear 10 can be confirmed based on the sensor S.

< embodiment 5 >

Next, a specific example 5 in the present embodiment will be described with reference to fig. 7. In the use of the industrial machine IM, a position encoder may be provided in the speed reducer 10. The position encoder needs to be installed at a position that is not easily affected by dirt and iron powder. Further, since the position encoder is provided, the reduction gear 10 is increased in size, particularly, the reduction gear 10 is increased in size in the axial direction. It is also conceivable that the large-sized reduction gear 10 interferes with other members and the like constituting the industrial machine IM. That is, the installation position of the position encoder is restricted. Therefore, in concrete example 5, the reduction gear 10 is examined with respect to the mounting position of the sensor S functioning as an encoder.

In the concrete example 5, the speed reducer 10 includes: a 1 st member M1 and a 2 nd member M2 that rotate relative to each other; an oil seal 60 mounted to the 1 st member M1 and in contact with the 2 nd member M2; and an encoder 85 (sensor S) attached to the oil seal 60. The encoder 85 acquires information on the relative rotational position of the 2 nd member M2 with respect to the 1 st member M1. In the reduction gear 10 shown in fig. 7, the casing 20 is positioned outside the carrier 30 in the radial direction DR and also outside the carrier 30 in the axial direction DA, as in the example shown in fig. 5. In this example, the housing 20 faces the input shaft 15 in the radial direction DR. The oil seal 60 is mounted to the housing 20 and contacts the input shaft 15. The encoder 85 held by the oil seal 60 acquires information on the position, particularly the relative rotational position, of the input shaft 15 with respect to the housing 20. The information acquired by the encoder 85 may be transmitted to the recording unit M by, for example, wireless communication, and the control unit C may process the information recorded in the recording unit M.

As shown in fig. 7, the oil seal 60 has: a 1 st lip 61 and a 2 nd lip 62 which are in contact with the input shaft 15; and an arm 63 joining the 1 st lip 61 and the 2 nd lip 62. The 1 st lip 61 is also called a main lip, and has a function of sealing lubricating oil. The 2 nd lip 62 is also called a dust lip, and prevents foreign matter from being mixed into a region where the lubricating oil is sealed. The arm portion 63 is spaced apart from the input shaft 15 in the radial direction DR, and a gap is formed between the arm portion 63 and the input shaft 15. The encoder 85 is disposed in a recess formed by the 1 st lip 61, the 2 nd lip 62, and the arm 63. In particular, in the illustrated example, the encoder 85 includes: an encoder stator 85a held by the arm portion 63; and an encoder rotor 85b attached to the input shaft 15 so as to face the encoder stator 85 a. For example, the encoder stator 85a functions as a detector, and detects the encoder rotor 85b as a detected object held by the input shaft 15, thereby making it possible to specify the relative rotational position of the input shaft 15 with respect to the housing 20 to which the oil seal 60 is attached.

According to the example 5, the relative positions of the two relatively rotatable members M1, M2 of the reduction gear can be accurately determined while preventing the reduction gear 10 from being enlarged. This enables the industrial machine IM incorporating the speed reducer 10 to be controlled with high accuracy, thereby improving productivity.

According to the present embodiment described above, it is possible to acquire information of the speed reducer 10 that can affect the operation of the industrial machine IM. This improves the production efficiency and yield in the factory F using the industrial machine IM.

The embodiment is described with reference to specific examples, but the embodiment is not intended to be limited to the specific examples. The above-described embodiment can be implemented in various other specific examples, and various omissions, substitutions, changes, and additions can be made without departing from the spirit thereof.

For example, the eccentric oscillating type speed reducer to which the sensor S is applied is not limited to the specific example described with reference to the drawings. As an example, a single crankshaft 40 may be disposed on the central axis instead of the plurality of crankshafts 40 described above. The speed reducer 10 to which the sensor S is applied is not limited to an eccentric oscillating type speed reducer, and may be a planetary gear type speed reducer. In the planetary gear type speed reducer, the speed reducing mechanism 28 includes: a planetary gear rotatable; and a carrier that rotatably supports the planetary gear. Further, although the 1 st specific example to the 5 th specific example having different sensors S are described, for example, as shown in fig. 4, a plurality of specific examples may be used for one speed reducer 10.

Claims

1. A speed reducer is provided with:

a speed reduction mechanism having a crankshaft; and

2. A decelerator according to claim 1 wherein,

the sensor has a counting sensor.

3. A speed reducer is provided with:

an input shaft;

a speed reduction mechanism to which rotation is input from the input shaft;

a housing that at least partially houses the speed reduction mechanism; and

4. A decelerator according to claim 3 wherein,

the sensor has a capacitive displacement sensor.

5. A decelerator according to claim 3 wherein,

the speed reducer includes an oil seal provided between the housing and the input shaft,

the sensor is disposed in an area sealed by the oil seal.

6. A speed reducer is provided with:

7. A decelerator according to claim 6 wherein,

the sensor includes an impact detection tag.

8. A decelerator according to claim 6 wherein,

the speed reducer is provided with:

an output shaft that decelerates and outputs rotation from the motor;

a housing that houses at least a portion of the output shaft; and

a seal cover disposed at the center of the output shaft,

the sensor is mounted to the seal cap.

9. A speed reducer is provided with:

a speed reduction mechanism having a crankshaft; and

10. A decelerator according to claim 9 wherein,

the sensor has a data logger that logs information about the acquired temperature.

11. A decelerator according to claim 9 wherein,

the sensor is disposed in an inner space of the crankshaft,

the speed reducer includes a seal cover for sealing the internal space.

12. A speed reducer is provided with:

an encoder stator disposed on the oil seal; and

and an encoder rotor disposed on the shaft.

13. A decelerator according to claim 12 wherein,

the encoder stator wirelessly transmits the acquired information.

14. A decelerator according to claim 12 wherein,

the oil seal has: a 1 st lip and a 2 nd lip in contact with the shaft; and an arm portion which connects the 1 st lip and the 2 nd lip and to which the encoder stator is attached.

15. An oil seal with an encoder, comprising:

an encoder mounted to the oil seal.

16. The oil seal with encoder of claim 15,

the oil seal has: a 1 st lip and a 2 nd lip in contact with the 1 st member; and an arm portion which connects the 1 st lip and the 2 nd lip and to which the encoder is attached.

17. An industrial machine provided with the speed reducer according to claim 1.

18. A plant, comprising:

an industrial machine having the speed reducer of claim 1;

a recording unit that stores information acquired from the sensor of the industrial machine; and

19. A plant, comprising:

an industrial machine having the decelerator of claim 12;

a recording unit that stores information obtained from the encoder stator of the industrial machine; and