JP7373272B2 - Gear reducers, oil seals with encoders, industrial machinery and factories - Google Patents

Description

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

For example, as disclosed in Patent Document 1, reduction gears are employed in various industrial machines. In recent years, automation of factories using industrial machinery has progressed with the goal of efficient production. On the other hand, if the reducer breaks down, production at the factory has to stop. Therefore, acquiring and using information regarding reducers is useful for factory automation.

JP2016-98860A

The present invention has been made in consideration of the above points, and an object of the present invention is to make it possible to obtain information regarding a reduction gear.

The first speed reducer according to the present invention includes:
a speed reduction mechanism having a crankshaft;
and a sensor that acquires information regarding the rotation speed of the crankshaft.

In the first reduction gear according to the present invention, the sensor may include a counter sensor.

The second speed reducer according to the invention includes:
a reduction machine having a rotatable member;
A sensor that acquires information regarding the rotation speed of the member.

The third speed reducer according to the present invention is
a crankshaft rotated by an input shaft connected to the motor;
a rocking gear rocked by the crankshaft;
a case that rotates relative to the oscillating gear as the input shaft meshes with the oscillating gear;
and a sensor that acquires information regarding the rotation speed of the crankshaft.

The fourth speed reducer according to the present invention is
an input shaft;
a speed reduction mechanism that receives rotation from the input shaft;
a case that at least partially houses the speed reduction mechanism;
and a sensor that detects sludge accumulated on either the input shaft or the case.

In the fourth reduction gear according to the present invention, the sensor may include a capacitive displacement sensor.

The fourth speed reducer according to the present invention is
an oil seal provided between the case and the input shaft;
The sensor may be located within an area sealed by an oil seal.

The fifth speed reducer according to the present invention includes:
a reduction machine having a rotatable member;
and a sensor that detects sludge accumulated on the member.

The sixth speed reducer according to the present invention includes:
an input shaft connected to the motor;
an output shaft that decelerates and outputs rotation from the input shaft;
a case that houses at least a portion of the output shaft;
an oil seal disposed between the case and the input shaft;
The apparatus further includes a sensor that detects sludge that collects in an area between the case where the oil seal is disposed and the input shaft.

The seventh speed reducer according to the present invention includes:
A deceleration machine that decelerates the input rotation and outputs it,
A sensor attached to the deceleration machine and detects the presence or absence of an impact on the deceleration machine.

In the seventh reduction gear according to the present invention, the sensor may include an impact detection label.

In the seventh reduction gear according to the present invention, the sensor may be attached to a seal cap.

The seventh speed reducer according to the present invention includes:
An output shaft that decelerates the rotation from the motor and outputs the output;
a case that houses at least a portion of the output shaft;
a seal cap disposed at the center of the output shaft;
The sensor may be attached to the seal cap.

The eighth reduction gear according to the present invention is
a speed reduction mechanism having a crankshaft;
and a sensor disposed within the crankshaft to obtain information regarding temperature.

In the eighth reduction gear according to the present invention, the sensor may include a data logger that records information regarding the acquired temperature.

In the eighth reduction gear according to the present invention, the sensor is arranged in an internal space of the crankshaft,
This speed reducer may include a seal cap that seals the internal space.

The ninth reduction gear according to the present invention is
An encoder stator placed in the oil seal,
an encoder rotor disposed on the shaft.

In the ninth reduction gear according to the present invention, the encoder stator may transmit the acquired information wirelessly.

In the ninth reduction gear according to the present invention, the oil seal includes a first lip and a second lip that contact the shaft, and an arm portion that connects the first lip and the second lip and to which the encoder stator is attached. It may also have the following.

The tenth speed reducer according to the present invention is
a first member;
an oil seal attached to the first member;
a second member that rotates relative to the first member and comes into contact with the oil seal;
and an encoder attached to the oil seal to acquire information regarding the relative position of the second member with respect to the first member.

The first encoder-equipped oil seal according to the present invention includes:
an oil seal that contacts a second member that is attached to the first member and rotates relative to the first member;
an encoder attached to the oil seal.

In the first oil seal with an encoder according to the present invention, the oil seal connects a first lip and a second lip that contact the first member, and the first lip and the second lip, and the encoder is attached to the oil seal. It may also have an arm portion with a closed position.

The industrial machine according to the present invention includes any of the reduction gears according to the present invention described above.

The factory according to the invention comprises:
An industrial machine having any of the reducers according to the present invention described above,
a recording unit that stores information acquired from the sensor or the encoder stator of the industrial machine;
A control unit that controls the industrial machine based on information in the recording unit.

According to the present invention, it is possible to acquire information on a reduction gear that can affect the operation of industrial machinery.

FIG. 1 is a diagram for explaining one embodiment, and is a longitudinal cross-sectional view showing a reduction gear. FIG. 2 is a cross-sectional view taken along line II-II in FIG. FIG. 3 is a perspective view showing an industrial machine including a reduction gear. FIG. 4 is a longitudinal sectional view for explaining first and fourth specific examples of the speed reducer. FIG. 5 is a longitudinal sectional view for explaining a second specific example of the speed reducer. FIG. 6 is a longitudinal sectional view for explaining a third specific example of the speed reducer. FIG. 7 is a longitudinal sectional view for explaining a fifth specific example of the speed reducer.

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. 1 to 7 are diagrams for explaining one embodiment of the present invention. In the following, as an example, an example will be described in which the present embodiment is applied to an eccentric rocking type speed reducer. However, the present invention is not limited to the example described below, and the present invention may be applied to other than eccentric rocking type speed reducers.

First, with reference to FIGS. 1 and 2, the overall configuration of the eccentric swing type reduction gear 10 will be described. The speed reducer 10 includes a speed reduction machine 11 as a device that decelerates and outputs input rotation, and a sensor S that acquires information related to the speed reduction machine 11. Of these, the sensor S will be described later, but the deceleration machine 11 will be described first. The deceleration machine 11 includes an input shaft 15 that receives rotation from a drive means such as a motor, a deceleration mechanism 28 that decelerates the rotation from the input shaft 15, and a case that at least partially houses the deceleration mechanism 28. are doing. In an example configured as an eccentric rocking type speed reducer 10, the speed reduction mechanism 28 includes a carrier 30, a crankshaft 40, and external gears 50a, 50b.

The case 20 has internal teeth 25. The crankshaft 40 is supported by the carrier 30 and drives two external gears 50a and 50b. In this reducer 10, the external teeth 55 of the external gears 50a, 50b mesh with the internal teeth 25, so that the case 20 and the carrier 30 rotate relative to each other about the rotation axis RA. In the following, a direction parallel to the rotation axis RA will be referred to as an axial direction DA, and a direction perpendicular to the rotation axis RA will be referred to as a radial direction DR. The axial direction DA and the radial direction DR are perpendicular to the circumferential direction DC centered on the rotation axis RA.

The case 20 includes a substantially cylindrical case body 21 and an internally toothed pin 24 held on the inner surface of the case body 21. Pin grooves arranged along the circumferential direction DC are formed in the case body 21. The pin grooves extend in the axial direction DA and accommodate and hold the cylindrical internal pins 24. The internal tooth pin 24 extends in the axial direction DA and forms internal teeth 25.

The carrier 30 is held by the case 20 so as to be rotatable about the rotation axis RA via a pair of bearings 17 . The carrier 30 has a carrier base portion 31 and a plate portion 32 that are fixed to each other with bolts. The carrier base portion 31 includes a disc-shaped base plate portion 31a and a plurality of pillar portions 31b protruding from the base plate portion 31a. In the illustrated example, the base plate portion 31a and the plurality of pillar portions 31b are integrally formed. As shown in FIG. 2, the plurality of pillar portions 31b are provided at equal intervals in the circumferential direction DC around the rotation axis RA. In the illustrated example, three pillar portions 31b are provided.

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

Bearings 18a and 18b are provided in through holes 35 formed in the carrier base portion 31 and the plate portion 32. The crankshaft 40 is rotatably held relative to the carrier 30 by a pair of bearings 18a and 18b provided in the axial direction DA. Note that the rotational axis RAC of the crankshaft 40 is parallel to the axial direction DA. The crankshaft 40 has two eccentric bodies 41a and 41b arranged in the axial direction DA, and an input gear 42. Each eccentric body 41a, 41b has a disk-like or cylindrical outer shape. The central axes CAa and CAb of the two eccentric bodies 41a and 41b are symmetrically eccentric with respect to the rotational axis RAC of the crankshaft 40.

The two external gears 50a and 50b are arranged 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 and 50b are arranged in the axial direction DA. As shown in FIG. 2, each external gear 50a, 50b has a central hole 51 located in the center. The external gears 50a and 50b have external teeth 55 arranged along the outer periphery around the central hole 51. The number of external teeth 55 is smaller than the number of internal teeth 25 of case 20. As an example, the number of external teeth 55 is one less than the number of internal teeth 25 of case 20. Further, the outer diameter of the external gears 50a and 50b is slightly smaller than the inner diameter of the case 20.

Eccentric body insertion holes 52a and 52b are formed in each of the external gears 50a and 50b, and are spaced at equal intervals along the circumferential direction around the center hole 51. Bearings 18c and 18d are arranged in the eccentric body insertion holes 52a and 52b, respectively. Eccentric bodies 41a and 41b of the crankshaft 40 are held by these bearings 18c and 18d.

Further, each of the external gears 50a, 50b is formed with pillar insertion holes 53a, 53b provided at equal intervals along the circumferential direction DC with the central hole 51 as the center. In each of the external gears 50a, 50b, the pillar insertion holes 53a, 53b and the eccentric body insertion holes 52a, 52b are arranged alternately along the circumferential direction around the central hole 51. Each column 31b of the carrier base portion 31 passes through a corresponding column insertion hole 53a, 53b of the external gear 50a, 50b.

In the reduction gear 10 (reduction machine 11) having the above configuration, torque from a driving means such as a motor is input to the input shaft 15. In the illustrated example, the input shaft 15 passes through the center hole 34 of the carrier 30 and the center holes 51 of the external gears 50a, 50b, and meshes with the input gear 42. That is, the input shaft 15 constitutes an input end of the speed reduction mechanism 28. The input shaft 15 rotates around the rotation axis RA. When rotation is transmitted from the input shaft 15 to the input gear 42, the crankshaft 40 rotates about the rotation axis RAC. At this time, the first and second eccentric bodies 41a and 41b rotate eccentrically. Moreover, each external gear 50a, 50b swings with the eccentric rotation of the first and second eccentric bodies 41a, 41b. More precisely, each external gear 50a, 50b translates in a circumferential path centered on the rotation axis RA with respect to the carrier 30. Further, when the external gears 50a, 50b swing, the external teeth 55 of the external gears 50a, 50b mesh with the internal teeth 25 of the case 20. Since the number of external teeth 55 is smaller than the number of internal teeth 25, external gears 50a and 50b swing and rotate with respect to case 20. That is, the external gears 50a and 50b further rotate about their own central axes while revolving around the rotational axis RA. As a result, the carrier 30 that supports the external gears 50a and 50b via the crankshaft 40 also rotates relative to the case 20 about the rotation axis RA. In this way, the rotation input to the speed reduction mechanism 28 via the input shaft 15 is slowed down and output as relative rotation between the case 20 and the carrier 30.

The speed reducer 10 described above is used, for example, by being incorporated into an industrial machine IM. More specifically, the reducer 10 can be used together with a drive device in a rotating part such as a rotating body or an arm joint of the robot 6, or in a rotating part of various machine tools. As a specific example shown in FIG. 3, the carrier 30 is fixed to the base 6X of the robot 6, and the case 20 is connected to the rotating trunk 6Y of the robot 6, so that the rotating trunk 6Y is rotated with high torque with respect to the base 6X. In addition, the rotation of the rotating drum 6Y can be controlled with high precision.

In this example, the rotation input to the reduction gear 10 (reduction machine 11) will be output from the case 20. In other words, the case 20 functions as an output shaft. For example, the rotating body 6Y of the robot 6 has a screw hole that engages with a bolt that passes through a through hole 26 provided in the flange portion 22 of the case body 21. That is, the rotating trunk 6Y of the robot 6 and the case 20 of the reduction gear 10 can be fastened using bolts. Further, the base 6X of the robot 6 is provided with a through hole through which a bolt passes, for example. The carrier base portion 31 of the carrier 30 has a screw hole 39 that engages with a bolt passed through the through hole 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 reducer 10 is connected to the rotating trunk 6Y of the industrial machine IM (robot 6), and the case 20 of the reducer 10 is connected to the base 6X of the industrial machine IM (robot 6). You can do it like this. In this example, carrier 30 functions as an output shaft.

By the way, as mentioned in the prior art section, if the reducer 10 breaks down, the industrial machine IM cannot be operated. Therefore, in order to improve the production efficiency of the factory, it is preferable to acquire information regarding the reduction gear 10 and automate the factory F by taking this information into consideration. Hereinafter, some specific examples of the sensor S that can be incorporated into the speed reducer 10 will be described with reference to FIGS. 4 to 7. In the following description, corresponding components, members, parts, etc. will be denoted by the same reference numerals, and redundant description will be omitted.

<First specific example>
First, a first specific example of the present embodiment will be described mainly with reference to FIG. The speed reducer 10 according to the first specific example includes a speed reduction machine 11 having a rotatable member, and a sensor S that acquires information regarding the rotation speed of the rotatable member. In the illustrated example in particular, the sensor S acquires information regarding the rotational speed of the rotatable member of the reduction mechanism 28, more specifically the crankshaft.

Conventionally, the lifespan of the reducer 10 has been evaluated based on the rotational speed of a drive means connected to the reducer 10, such as a motor. Specifically, when the number of rotations of the motor exceeds a predetermined number of rotations, it is determined that the time has come for the reduction gear 10 to be replaced. However, such evaluation is not based on the reduction gear 10. In actual use of industrial machinery, etc., only the drive means may be replaced due to motor failure, etc., and in this case, the lifespan evaluation of the speed reducer 10 has become ambiguous. When the reducer 10 unexpectedly breaks down, it becomes necessary to stop the industrial machine IM. Furthermore, it may be necessary to stop the entire factory in which the industrial machinery IM is installed, which may result in severe damage.

Therefore, in the first specific example, the reducer 10 includes a sensor S that can obtain information regarding 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 installed in a factory F. Then, the control unit C installed in the factory F sets the replacement timing for the reducer 10 based on the information recorded in the recording unit M, and reflects the change in, for example, a production plan.

The information regarding the rotation speed acquired by the sensor S can be various types of information that can specify the rotation speed of a specific member. Therefore, the information that allows the control unit C to calculate the rotation speed of a specific member of the reducer 10 based on the information recorded in the recording unit M is information regarding the rotation speed of the specific member. I can say it. For example, the sensor S may acquire the rotational angular velocity of a specific member and the rotation time of the specific member as information regarding the number of rotations.

In the reducer 10 shown in FIG. 4, the sensor S includes a counter sensor 81. The counter sensor 81 is held at a position facing the crankshaft 40 by a support 91. The counter sensor 81 can detect a detected portion such as a slit formed in the input gear 42 or a magnet embedded in the input gear 42, and the number of detections is recorded in the recording section M, for example. When the detected portion is provided at one location along the circumferential direction of the input gear 42, the number of times the detected portion is detected becomes the rotation speed of the input gear 42.

In the illustrated example, the case 20 of the reducer 10 rotates as an output shaft. Therefore, since the crankshaft 40 and the input gear 42 only rotate on their own axis, the sensor S can detect the number of rotations of the input gear 42 with high accuracy. However, the present invention is not limited to this example, and when the carrier 30 rotates as an output shaft, the sensor S may be held by the carrier 30 to specify the rotation speed of the crankshaft 40 and the input gear 42. Furthermore, the sensor S may acquire information regarding the rotation of a member other than the crankshaft 40, for example, the carrier 30.

According to the first specific example, the rotation speed of a specific member included in the reduction gear 10 can be grasped. For example, in a reduction gear used for an automated guided vehicle (AGV), it is also possible to specify the traveling distance of the automated guided vehicle based on information acquired by a sensor S. In this way, the lifespan of the reducer 10 can be estimated with high accuracy based on the rotational speed of a specific member included in the reducer 10 itself. Thereby, unexpected failure of the reduction gear 10 can be effectively avoided, and productivity at the factory F can be effectively improved.

<Second specific example>
Next, a second specific example of the present embodiment will be described mainly with reference to FIG. The speed reducer 10 according to the second specific example includes a speed reduction machine 11 having a rotatable member, and a sensor S capable of detecting sludge accumulated on the rotatable member. The accumulation of sludge means that the members included in the speed reduction machine 11 are worn out. Therefore, the accumulation of sludge is an indicator of the life span of the reducer 10. By replacing or servicing the reducer 10 based on the presence or absence of sludge accumulation and the amount of sludge accumulation, unexpected failures of the reducer 10 can be effectively avoided. Therefore, in the second specific example, the speed reducer 10 includes a sensor S that can detect sludge accumulated on any of the members.

The speed reducer 10 shown in FIG. 5 has a different configuration from the example shown in FIG. In the example shown in FIG. 5, the case 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 case 20 faces the input shaft 15 in the radial direction DR, and an oil seal 60 is attached to the case 20 at a position facing the input shaft 15. An oil seal 60 fixed to the case 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 case 20 while remaining in contact with the first lip 61 . By the lip 61 coming into contact with the input shaft 15, lubricating oil can be held within the reduction gear 10 (reduction machine 11).

Note that the outer side in the axial direction DA is the side that is spaced apart from the center position of the reducer 10 in the axial direction DA. Therefore, the side away from the area where lubricating oil is held by the oil seal 60 is the outside in the axial direction DR.

In the example shown in FIG. 5, the sensor S is placed in an area sealed by an oil seal 60. More specifically, the sensor S is located near the oil seal 60 and on the inner side of the oil seal 60 in the axial direction DR. As shown in FIG. 5, sludge X containing wear powder collects in the area between the input shaft 15 and the case 20 where the oil seal 60 is disposed. In particular, the sludge X tends to accumulate in a region near the first lip 61 of the oil seal 60 because of its low fluidity. Therefore, the illustrated sensor S is arranged so as to face the accumulated sludge X.

As the sludge X accumulates on the input shaft 15, the distance between the input shaft 15 and the case 20 becomes shorter. Therefore, by employing a displacement sensor as the sensor S, the accumulation of sludge X can be detected. In particular, the illustrated sensor S is constituted by a capacitive displacement sensor 82. The capacitive displacement sensor 82 can detect displacement of two conductors based on a change in capacitance between the two conductors. In this example, the voltage output wiring 92 passes through the deceleration machine 11 and is electrically connected to the recording section M and the control section C. Based on the voltage output from the capacitive displacement sensor 82, the control unit C is able to detect with high precision that conductive sludge X containing wear particles is deposited on a metal member. .

From the above, according to the second specific example, it is possible to detect the accumulation of sludge X on a specific member included in the reducer 10. Based on the presence or absence of sludge X accumulation and the amount of sludge X accumulated, the life of the reducer 10 can be estimated with high accuracy. Thereby, unexpected failure of the reduction gear 10 can be effectively avoided, and productivity at the factory F can be effectively improved.

Note that in the illustrated example, the sensor S detects the accumulation of sludge X on the input shaft 15, but the sensor S is not limited to this; The accumulation of sludge X on any member included in the speed reduction machine 11, such as the accumulation of sludge X on the carrier 30, may be detected. Further, although an example is shown in which the sensor S is attached to the case 20, the sensor S is not limited to this example, and the sensor S may be attached to the carrier 30 or the input shaft 15. However, in consideration of wiring to the sensor S and power supply to the sensor S, it is preferable that the sensor S is fixed to a non-rotating member included in the deceleration machine 11, for example, the carrier 30 in the example of FIG.

<Third specific example>
Next, a third specific example of the present embodiment will be described mainly with reference to FIG. Note that the eccentric oscillating type reducer 10 (reduction machine 11) shown in FIG. 6 has different parts in shape from the reducer (reduction machine) shown in FIGS. 1 and 2, and Illustrations of some of the components (for example, the input shaft 15 and the external gears 50a, 50b) described with reference to FIGS. 1 and 2 are omitted. In the example shown in FIG. 6, the carrier 30 of the reducer 10 is connected to the rotating trunk 6Y of the industrial machine IM (robot 6), and the case 20 of the reducer 10 is connected to the base 6X of the industrial machine IM (robot 6). is connected to. In this example, carrier 30 functions as an output shaft. Moreover, as already mentioned above, the carrier 30 functions as an output shaft not only in the third specific example but also in the first specific example, the second specific example, and even the fourth specific example and fifth specific example described later. Alternatively, the case 20 may function as an output shaft.

The speed reducer 10 according to the third specific example includes a speed reduction machine 11 that decelerates and outputs input rotation, and a sensor S that is attached to the speed reduction machine 11 and detects the presence or absence of an impact on the speed reduction machine 11. There is. During use, the reducer 10 or the industrial machine IM in which the reducer 10 is incorporated may receive a shock, or more precisely, may receive a shocking overload. For example, the reducer 10 incorporated in the robot 6 receives a shock when the arm of the robot 6 collides with a workpiece to be processed. If the reduction gear 10 receives an impact, the operational accuracy of the reduction gear 10 may decrease, and furthermore, it may not be able to operate normally. Therefore, when the reduction gear 10 receives an impact, it becomes necessary to perform maintenance on the reduction gear 10 or promptly replace the reduction gear 10.

On the other hand, if the industrial machine IM is operating automatically, it is assumed that it may not be possible to confirm that the reduction gear 10 has received an impact. In addition, it is difficult to identify after the fact that an impact has been applied to the reduction gear 10. Therefore, in the third specific example, the sensor S detects the presence or absence of an impact on the deceleration machine 11. Based on the detection result of the sensor S, it is possible to determine whether to maintain the reducer 10 or replace the reducer 10.

As the sensor S, an impact detection label 83 can be used. The impact detection label 83 is a means that can record that an impact of a predetermined magnitude has been applied. For example, a "fall impact detection label" available from 3M Company can be used as the sensor S.

In the illustrated example, a first seal cap 93A and a second seal cap 93B are arranged in the center hole 34 of the carrier 30 so as to be shifted in the axial direction DA. The first seal cap 93A and the second seal cap 93B are located on the rotation axis RA. Furthermore, when the carrier 30 functions as an output shaft, the first seal cap 93A and the second seal cap 93B are arranged at the center of the output shaft. The second seal cap 93B is located inside the first seal cap 93A in the axial direction DA. The second seal cap 93B substantially seals the lubricating oil. Lubricating oil does not substantially flow into the space between the first seal cap 93A and the second seal cap 93B. Therefore, the first seal cap 93A does not actually function to seal the lubricating oil. On the other hand, the first seal cap 93A has a function of holding the impact detection label 83 without exposing it to the outside. According to the arrangement of the impact detection label 83 using the first seal cap 93A, for example, the impact detection label 83 can be effectively used by the manufacturer of the reducer 10 to identify the cause of failure. .

Particularly in the illustrated example, the first seal cap 93A is located adjacent to the rotating trunk 6Y of the industrial machine IM. Therefore, the impact that occurs when the industrial machine IM collides with a workpiece or the like can be detected with high accuracy.

From the above, according to the third specific example, based on the impact detection result by the sensor S, for example, based on the result of periodically checking whether or not the sensor S detects the impact, it is necessary to maintain or replace the reducer 10. Can determine gender. Thereby, production efficiency at factory F using industrial machine IM can be improved. Further, when investigating the cause of failure of the reducer 10, it is possible to confirm whether or not there is an impact on the reducer 10 based on the sensor S.

Although an example in which the sensor S is held by the first seal cap 93A in the center hole 34 of the deceleration machine 11 has been described with reference to FIG. 6, the sensor S is not limited to this example. It may be attached. Further, as in the first and second specific examples, the information acquired by the sensor S may be transmitted to the recording section M, and the control section C may process the information recorded on the recording section M.

<Fourth specific example>
Next, a fourth specific example of the present embodiment will be described mainly with reference to FIG. 4. The speed reducer 10 according to the fourth specific example includes a speed reduction mechanism 28 having a crankshaft 40, and a sensor 90 disposed within the crankshaft. This sensor S can acquire information regarding temperature. That is, the sensor S acquires information that is an index indicating the temperature at the position where the sensor S is placed. Therefore, the sensor S may record only the maximum temperature, or may be a sensor that can detect the temperature at any time.

The reduction gear 10 and the industrial machine IM in which the reduction gear 10 is incorporated are required to operate at high speed due to recent demands for improved productivity. When the components of the reducer 10 rotate at high speed, the temperature of the reducer 10 (reduction machine 11) increases. In the eccentric swing type speed reducer 10, the temperature of the crankshaft 40 of the speed reduction mechanism 28 tends to rise. When the temperature of the reducer 10 increases, depending on the maximum temperature value and the time period during which the temperature is rising, the operation accuracy of the reducer 10 decreases, and furthermore, it becomes unable to operate normally. Sometimes I put it away. Therefore, when the temperature of the reducer 10 increases excessively, it becomes necessary to perform maintenance on the reducer 10 or promptly replace the reducer 10.

On the other hand, it is not possible to visually determine the temperature rise in the reducer 10. In addition, it is difficult to identify after the fact that the temperature of the reducer 10 has increased excessively. Therefore, in the fourth specific example, the sensor S can acquire information regarding the temperature, particularly information regarding the temperature of the crankshaft 40, which tends to increase in temperature. Therefore, based on the detection results from the sensor S, it is possible to determine whether to maintain the reducer 10 or replace the reducer 10.

As the sensor S, various sensors that can measure temperature can be used. Further, the data acquired by the sensor S may be transmitted to the recording section M. In this case, the control section C may process the information recorded in the recording section M. As another example, sensor S can be a data logger 84 built into crankshaft 40 . The data logger 84 can store the acquired temperature information for a predetermined period of time, for example, one year. Therefore, the information recorded in the data logger 84 is used for the manufacturer to identify the cause of failure of the failed reducer 10, and for the user to identify the optimum operating conditions by analyzing the operation history of the reduced reducer 10 after replacement. be able to.

In the illustrated example, the temperature sensor S is arranged in the internal space IS of the crankshaft 40. More specifically, by arranging the sensor S in a counterbore hole (internal space IS) formed in the crankshaft 40, and then backfilling the counterbore hole or closing the counterbore hole with a seal cap 94. , a sensor S can be installed within the crankshaft 40.

From the above, according to the fourth specific example, based on the temperature detection result of the sensor S, for example, based on the result of regularly or occasional confirmation of the temperature detected by the sensor You can decide on the exchange. Thereby, production efficiency at factory F using industrial machine IM can be improved. Further, when investigating the cause of failure of the reducer 10, it is possible to check whether there is an excessive temperature rise in the reducer 10 based on the sensor S.

<Fifth specific example>
Next, a fifth specific example of the present embodiment will be described mainly with reference to FIG. When using the industrial machine IM, a position encoder may be installed in the reducer 10. The position encoder must be installed in a location where it is not easily affected by dirt or iron powder. Moreover, the installation of the position encoder increases the size of the reducer 10, especially the size of the reducer 10 in the axial direction. It can also be assumed that the enlarged speed reducer 10 may interfere with other members constituting the industrial machine IM. That is, there are restrictions on the installation position of the position encoder. Therefore, in the fifth specific example, the speed reducer 10 is devised regarding the mounting position of the sensor S functioning as an encoder.

In the fifth specific example, the reducer 10 includes a first member M1 and a second member M2 that rotate relative to each other, and an oil seal 60 that is attached to the first member M1 and contacts the second member M2. , and an encoder 85 (sensor S) attached to the oil seal 60. The encoder 85 acquires information regarding the relative rotational position of the second member M2 with respect to the first member M1. In the reducer 10 shown in FIG. 7, the case 20 is located outside the carrier 30 in the radial direction DR, as well as outside the carrier 30 in the axial direction DA. are doing. In this example, the case 20 faces the input shaft 15 in the radial direction DR. The oil seal 60 is attached to the case 20 and is in contact with the input shaft 15. Then, the encoder 85 held by the oil seal 60 acquires information regarding the position of the input shaft 15 with respect to the case 20, particularly regarding the relative rotational position. The information acquired by the encoder 85 may be transmitted to the recording section M by wireless communication, for example, and the control section C may process the information recorded on the recording section M.

As shown in FIG. 7, the oil seal 60 includes a first lip 61 and a second lip 62 that contact the input shaft 15, and an arm portion 63 that connects the first lip 61 and the second lip 62. There is. The first lip 61 is also called a main lip and has a function of sealing lubricating oil. The second lip 62, also called a dust lip, prevents foreign matter from entering the lubricating oil sealed area. The arm portion 63 is spaced apart from the input shaft 15 in the radial direction DR, and forms a gap therebetween. The encoder 85 is disposed within a recess formed by the first lip 61, the second lip 62, and the arm portion 63. Particularly 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 85a. For example, the encoder stator 85a functions as a detector, and by detecting the encoder rotor 85b as a detected element held by the input shaft 15, the encoder stator 85a detects the relative rotation of the input shaft 15 with respect to the case 20 to which the oil seal 60 is attached. The location can be determined.

According to such a fifth specific example, the relative positions of the two relatively rotatable members M1 and M2 of the reducer can be specified with high accuracy while preventing the reducer 10 from increasing in size. Thereby, the industrial machine IM in which the reducer 10 is incorporated can be controlled with high precision and productivity can be improved.

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

Although one embodiment has been described with reference to a specific example, the specific example is not intended to limit the embodiment. The embodiment described above can be implemented in various other specific examples, and various omissions, substitutions, changes, and additions can be made without departing from the gist thereof.

For example, the eccentric swing 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, instead of the plurality of crankshafts 40 described above, a single crankshaft 40 may be arranged on the central axis. Further, the reducer 10 to which the sensor S is applied is not limited to an eccentric swing type reducer, but may be a planetary gear type reducer. In the planetary gear type reducer, the reduction mechanism 28 includes a rotatable planetary gear and a carrier that rotatably supports the planetary gear. Furthermore, although the first to fifth specific examples having different sensors S have been described, it is also possible to apply a plurality of specific examples to one reduction gear 10, as shown in FIG. 4, for example.

10 Reduction gear 11 Reduction machine 15 Input shaft 20 Case 28 Reduction mechanism 30 Carrier 40 Crankshaft 60 Oil seal 61 First lip 62 Second lip 63 Arm portion 81 Counter sensor 82 Capacitive displacement sensor 83 Impact detection label 84 Data logger 85 Encoder 85a Encoder stator 85b Encoder rotor

Claims (1)

An industrial machine having a speed reducer including a speed reduction mechanism having a crankshaft, and a sensor disposed at a position facing the crankshaft to obtain information regarding the rotation speed of the crankshaft;
a recording unit that stores information acquired from the sensor of the industrial machine;
a control unit that controls the industrial machine based on information in the recording unit;
In the factory, the control unit sets a replacement timing for the reduction gear based on information recorded in the recording unit.