KR20200031045A - Speed reducer, oil seal with encoder, industrial machine and factory - Google Patents

Abstract

A reduction gear (10) has: a reduction mechanism (28) having a crankshaft (40); and a sensor (S) for acquiring information about the number of revolutions of a crankshaft.

Description

Oil seal with reducer, encoder, industrial machinery and factory {SPEED REDUCER, OIL SEAL WITH ENCODER, INDUSTRIAL MACHINE AND FACTORY}

The present invention relates to a reducer, an oil seal with an encoder, industrial machinery and factories.

For example, as disclosed in Patent Document 1 (JP2016-98860A), a speed reducer is employed in various industrial machines. In recent years, with the goal of efficient production, the automation of factories using industrial machines is progressing. On the other hand, if the speed reducer fails, production at the factory is forced to stop. Therefore, it is useful for the automation of a factory to acquire and use information about a speed reducer.

This invention is made | formed in view of the above points, and it aims at making it possible to acquire information regarding a speed reducer.

The first reducer according to the present invention,

A reduction mechanism having a crankshaft,

And a sensor that acquires information regarding the number of revolutions of the crankshaft.

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

The second reducer according to the present invention,

A reduction machine having a rotatable member,

And a sensor that acquires information regarding the number of revolutions of the member.

The third reducer according to the present invention,

A crankshaft rotated by an input shaft connected to the motor,

A rocking gear oscillated by the crankshaft,

A case engaged with the oscillation gear to rotate relative to the oscillation gear with rotation of the input shaft;

And a sensor that acquires information regarding the number of revolutions of the crankshaft.

The fourth reducer according to the present invention,

Input shaft,

A reduction mechanism in which rotation is input from the input shaft,

A case accommodating at least partially the reduction mechanism;

And a sensor for detecting sludge deposited on either side of the input shaft and the case.

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

The fourth reducer according to the present invention,

It has an oil seal provided between the case and the input shaft,

The sensor may be arranged in an area sealed by an oil seal.

The fifth reducer according to the present invention,

A reduction machine having a rotatable member,

It is equipped with a sensor for detecting the sludge deposited on the member.

The sixth reduction gear according to the present invention,

An input shaft connected to the motor,

An output shaft output by decelerating rotation from the input shaft,

And a case for storing at least a portion of the output shaft,

An oil seal disposed between the case and the input shaft,

And a sensor for detecting sludge collected in an area between the case where the oil seal is disposed and the input shaft.

The seventh reduction gear according to the present invention,

A deceleration machine that decelerates the input rotation and outputs it,

It is installed on the reduction machine and has a sensor that detects the presence or absence of an impact on the reduction 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 provided on a seal cap.

The seventh reduction gear according to the present invention,

The output shaft is output by decelerating the rotation from the motor,

And a case for storing at least a portion of the output shaft,

It has a seal cap disposed at the center of the output shaft,

The sensor may be provided on the seal cap.

The eighth reduction gear according to the present invention,

A reduction mechanism having a crankshaft,

It is arranged in the crankshaft and is provided with a sensor for acquiring information about temperature.

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

In the eighth reduction gear according to the present invention, the sensor is disposed in the inner space of the crankshaft,

This reducer may be provided with a seal cap sealing the inner space.

The ninth reduction gear according to the present invention,

An encoder stator placed on an oil seal,

It has an encoder rotor disposed on the shaft.

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

In the ninth speed reducer according to the present invention, the oil seal is connected to the first lip and the second lip contacting the shaft, and the first lip and the second lip so as to have an arm portion in which the encoder stator is installed. do.

The tenth reducer according to the present invention,

A first member,

An oil seal installed on the first member,

A second member contacting the oil seal by rotating relative to the first member,

And an encoder installed on the oil seal to obtain information regarding a position relative to the first member of the second member.

Oil seal having a first encoder according to the present invention,

An oil seal installed on the first member and contacting the second member rotating relative to the first member;

It is equipped with an encoder installed in the oil seal.

In the oil seal having the first encoder according to the present invention, the oil seal is connected to the first lip and the second lip contacting the first member, and the first lip and the second lip to connect the encoder You may have the arm part installed.

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

Factory according to the present invention,

Industrial machine having any of the reducers according to the present invention described above,

A recording unit that stores information obtained from the sensor or the encoder stator of the industrial machine,

And a control unit for controlling the industrial machine based on the information of the recording unit.

According to the present invention, it is possible to obtain information of a speed reducer that can affect the operation of an industrial machine.

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

Hereinafter, one embodiment of the present invention will be described with reference to the drawings. 1 to 7 are views for explaining an embodiment of the present invention. In the following, as an example, an example in which the present embodiment is applied to an eccentric swing type speed reducer will be described. However, the present invention is not limited to the examples described below, and the present invention may be applied other than an eccentric swing type speed reducer.

First, with reference to FIGS. 1 and 2, the overall configuration of the eccentric swing type speed reducer 10 will be described. The reduction gear 10 has a reduction machine 11 as a device for decelerating and outputting the input rotation, and a sensor S for acquiring information related to the reduction machine 11. Among them, the sensor S will be described later, and the reduction machine 11 will be described first. The deceleration machine 11 at least partially accommodates an input shaft 15 to which rotation is input from a driving means such as a motor, a deceleration mechanism 28 to decelerate rotation from the input shaft 15, and a deceleration mechanism 28. I have a case. In the example configured as an eccentric swing type speed reducer 10, the speed reduction mechanism 28 has a carrier 30, a crankshaft 40, and external gears 50a and 50b.

The case 20 has an inner tooth 25. The crankshaft 40 is supported by the carrier 30 to drive two external gears 50a and 50b. In the speed reducer 10, the case 20 and the carrier 30 rotate relative to the rotation axis RA by engaging the inner teeth 25 of the outer teeth 55 of the outer gears 50a and 50b. Hereinafter, the direction parallel to the rotation axis RA is called axial DA, and the direction orthogonal to the rotation axis RA is called radial direction DR. The axial DA and the radial DR are orthogonal to the circumferential DC around the rotation axis RA.

The case 20 has a substantially cylindrical case body 21 and an inner tooth pin 24 held on the inner surface of the case body 21. A pin groove arranged along the circumferential DC is formed in the case body 21. The pin groove extends in the axial DA, and accommodates and holds the cylindrical internal tooth pin 24. The inner tooth pin 24 extends in the axial DA to form the inner tooth 25.

The carrier 30 is held by the case 20 so as to be rotatable around the rotation axis RA through 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 portion 31 has a base plate portion 31a on a disc 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.

In the carrier base portion 31 and the plate portion 32 of the carrier 30, a central hole 34 positioned on the rotation axis RA is formed, respectively. In addition, a through hole 35 penetrating the carrier base portion 31 and the plate portion 32 is formed in the carrier 30. A plurality of through holes 35 are provided at the carrier base portion 31 and the plate portion 32 at equal intervals in the circumferential direction DC around the rotation axis RA. In the illustrated example, three through holes 35 are provided in the carrier base portion 31 and the plate portion 32.

In the through hole 35 formed in the carrier base portion 31 and the plate portion 32, bearings 18a and 18b are provided. The crankshaft 40 is rotatably supported with respect to the carrier 30 by the pair of bearings 18a and 18b provided in the axial DA. Further, the rotation axis RAC of the crankshaft 40 is parallel to the axial direction DA. The crankshaft 40 has two eccentric bodies 41a, 41b arranged in the axial DA, and an input gear 42. Each of the eccentric bodies 41a and 41b has a disc-shaped or cylindrical shape. The center axes CAa and CAb of the two eccentric bodies 41a and 41b are symmetrically eccentric about the rotation axis RAC of the crankshaft 40.

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

Each of the external gears 50a and 50b is provided with eccentric insert holes 52a and 52b provided at equal intervals along the circumferential direction centering on the central hole 51. Bearings 18c and 18d are disposed in the eccentric body insertion holes 52a and 52b, respectively. The eccentric bodies 41a and 41b of the crankshaft 40 are held by these bearings 18c and 18d.

In addition, the columnar insertion holes 53a and 53b provided at equal intervals along the circumferential direction DC centered on the central hole 51 are formed in each of the external gears 50a and 50b. In each of the external gears 50a and 50b, the columnar insertion holes 53a and 53b and the eccentric insertion holes 52a and 52b are alternately arranged along the circumferential direction centering on the central hole 51. have. Each pillar portion 31b of the carrier base portion 31 penetrates the corresponding pillar portion insertion holes 53a, 53b of the external gears 50a, 50b.

In the reduction gear 10 (reduction machine 11) having the above-described 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 central hole 34 of the carrier 30 and the central hole 51 of the external gears 50a, 50b and is engaged with the input gear 42. That is, the input shaft 15 forms an input terminal of the 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 around the rotation axis RAC. At this time, the first and second eccentric bodies 41a and 41b rotate eccentrically. Further, each of the external tooth gears 50a and 50b oscillates with eccentric rotation of the first and second eccentric bodies 41a and 41b. More precisely, each of the external gears 50a and 50b translates the circumferential path around the rotation axis RA with respect to the carrier 30. In addition, when the external gears 50a and 50b swing, the external teeth 55 of the external gears 50a and 50b engage with the internal teeth 25 of the case 20. In addition, since the number of teeth of the external tooth 55 is less than the number of teeth of the internal tooth 25, the external tooth gears 50a and 50b rotate with respect to the case 20. That is, the external gears 50a and 50b rotate around the rotation axis RA and rotate around their own central axis. As a result, the carrier 30 supporting the external gears 50a and 50b through the crankshaft 40 also rotates relative to the case 20 around the rotation axis RA. In this way, the rotation input to the reduction mechanism 28 through the input shaft 15 is decelerated, and output as a relative rotation between the case 20 and the carrier 30.

The speed reducer 10 described above is used, for example, built into the industrial machine IM. More specifically, the reducer 10 may be used with a driving device, such as a turning body of the robot 6, a turning part such as an arm joint, a turning part of various machine tools, and the like. As a specific example shown in Fig. 3, the carrier 6 is fixed to the base 6X of the robot 6, and the case 6 is connected to the turning body 6Y of the robot 6, thereby allowing the base 6X. With respect to this, the rotating body 6Y can be rotated at a high torque, and rotation of the rotating body 6Y can be controlled with high precision.

In this example, the rotation input to the speed reducer 10 (reduction machine 11) is output from the case 20. That is, the case 20 functions as an output shaft. For example, the swivel body 6Y of the robot 6 has a screw hole that engages a bolt passing through the through hole 26 provided in the flange portion 22 of the case body 21. That is, by using the bolt, the rotating body 6Y of the robot 6 and the case 20 of the speed reducer 10 can be fastened. In addition, a through hole through which a bolt passes is provided in the base 6X of the robot 6. The carrier base portion 31 of the carrier 30 has a screw hole 39 that engages a bolt that has passed through the through hole of the base 6X. That is, the base 6X of the robot 6 and the carrier 30 of the speed reducer 10 can be fastened using a bolt.

However, the present invention is not limited to this example, and the carrier 30 of the reducer 10 is connected to the turning body 6Y of the industrial machine IM (robot 6), and the case 20 of the reducer 10 is an industrial machine. You may be connected to the base 6X of the 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 order to improve the production efficiency of the factory, it is preferable to obtain information about the speed reducer 10 and to automate the factory F taking this information into consideration. Hereinafter, some specific examples of the sensor S that may be incorporated in the reduction gear 10 will be described with reference to FIGS. 4 to 7. In the following description, the same reference numerals are assigned to corresponding components, members, and portions, and overlapping descriptions are omitted.

<First specific example>

First, a first specific example in this embodiment will be described with reference mainly to FIG. 4. The speed reducer 10 according to the first specific example includes a speed reduction machine 11 having a rotatable member and a sensor S for acquiring information about the number of revolutions of the rotatable member. Particularly in the illustrated example, the sensor S acquires information regarding the rotational member of the reduction mechanism 28, more specifically, the number of revolutions of the crankshaft.

Conventionally, the life of the reduction gear 10 has been evaluated based on the number of revolutions of a driving means connected to the reduction gear 10, for example, a motor. Specifically, when the number of revolutions of the motor exceeded the predetermined number of revolutions, it was judged that the speed reducer 10 had reached a necessary time for replacement. However, this evaluation is not based on the reduction gear 10. And in the use of an actual industrial machine, etc., only the drive means may be exchanged due to the failure of the motor, etc. In this case, the life evaluation of the speed reducer 10 is obscure. If the reducer 10 fails unexpectedly, there is a need to stop the industrial machine IM. Furthermore, there is a case where it is necessary to stop the entire plant where the industrial machine IM is installed, and in some cases, it may lead to enormous damage.

Therefore, in the first specific example, the speed reducer 10 has a sensor S capable of acquiring information about the number of revolutions of the rotatable member. In the example shown in FIG. 4, the information acquired by the sensor S is recorded in the recording unit M installed in the factory F. And the control part C installed in the factory F sets the exchange time of the speed reducer 10 based on the information recorded in the recording part M, and reflects it in a production plan, for example.

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

In the speed reducer 10 shown in Fig. 4, the sensor S has a counter sensor 81. The counter sensor 81 is held by the support tool 91 at a position facing the crankshaft 40. The counter sensor 81 can detect a detection unit such as a slit formed in the input gear 42 or a magnet embedded in the input gear 42, and, for example, the number of detections is recorded in the recording unit M. When the detection unit is provided at one place along the circumferential direction of the input gear 42, the number of detections of the detection unit is the number of revolutions of the input gear 42.

In the illustrated example, the reducer 10 has the case 20 rotated as an output shaft. Therefore, since the crankshaft 40 and the input gear 42 rotate only, the sensor S can detect the number of rotations of the input gear 42 with high precision. However, the present invention is not limited to this example, and when the carrier 30 rotates as an output shaft, the sensor S is held by the carrier 30 to specify the number of rotations of the crankshaft 40 and the input gear 42. do. Further, the sensor S may acquire information other than the crankshaft 40, for example, the rotation of the carrier 30.

According to the first specific example, it is possible to grasp the number of rotations of a specific member included in the reduction gear 10. For example, in a speed reducer used in an unmanned transport vehicle AGV (Automated Guided Vehicle), it is also possible to specify the travel distance of the unmanned transport vehicle based on the information acquired by the sensor S. As described above, by using the number of revolutions of a specific member included in the reduction gear 10 itself, the life of the reduction gear 10 can be estimated with high precision. Thereby, the failure of the unexpected reducer 10 can be effectively avoided, and the productivity in the factory F can be effectively improved.

<Second specific example>

Next, a second specific example in this embodiment will be described with reference mainly to FIG. 5. The reduction gear 10 according to the second embodiment has a reduction machine 11 having a rotatable member and a sensor S capable of detecting sludge deposited on the rotatable member. The deposition of sludge means wear of the members included in the reduction machine 11. Therefore, the deposition of sludge serves as an indicator of the life of the speed reducer 10. On the basis of the presence or absence of the amount of accumulation of sludge or the amount of accumulation of sludge, it is possible to effectively avoid unexpected failure of the speed reducer 10 by performing exchange or maintenance of the speed reducer 10. Therefore, in the second specific example, the speed reducer 10 has a sensor S capable of detecting the sludge deposited on a certain member.

The speed reducer 10 shown in FIG. 5 has a different structure from the example shown in FIG. 1. In the example shown in Fig. 5, the case 20 is located outside the radial direction DR of the carrier 30, and is also located outside the axial DA of the carrier 30. Then, the case 20 faces the input shaft 15 and the radial direction DR, and an oil seal 60 is provided at a position facing the input shaft 15 of the case 20. The 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 as it is in contact with the first lip 61. When the lip 61 comes into contact with the input shaft 15, the lubricant can be held in the speed reducer 10 (reduction machine 11).

In addition, the outer side in the axial DA is a side spaced from the center position of the reduction gear 10 in the axial DA. Therefore, the side spaced apart from the region where the lubricating oil is held by the oil seal 60 becomes the outside in the axial DR.

In the example shown in FIG. 5, the sensor S is arranged in an area sealed by an oil seal 60. More specifically, the sensor S is near the oil seal 60 and is located inside the oil seal 60 in the axial DR. As shown in FIG. 5, the sludge X made of abrasive powder is collected in a region between the case 20 on which the oil seal 60 is disposed and the input shaft 15. In particular, the sludge X is easy to deposit in the region near the first lip 61 of the oil seal 60 because of its low fluidity. Thus, the illustrated sensor S is arranged to face the deposited sludge X.

When the sludge X is deposited on the input shaft 15, the distance between the input shaft 15 and the case 20 is shortened. Therefore, by employing a displacement sensor as the sensor S, the deposition of the sludge X can be detected. In particular, the illustrated sensor S is composed of a capacitive displacement sensor 82. The capacitive displacement sensor 82 can detect the displacement of the two conductors based on the change in the electrostatic capacity between the two conductors. In this example, the wiring 92 for voltage output passes through the reduction machine 11 and is electrically connected to the recording unit M and the control unit C. Based on the voltage output from the capacitive displacement sensor 82, the control unit C can accurately detect that conductive sludge X, including abrasive powder, is deposited on a metal member.

In view of the above, according to the second specific example, the deposition of the sludge X on the specific member included in the speed reducer 10 can be detected. Based on the presence or absence of the deposition of sludge X, and also the amount of deposition of sludge X, the life of the speed reducer 10 can be estimated with high precision. Thereby, the unexpected failure of the reducer 10 can be effectively avoided, and the productivity in the factory F can be effectively improved.

In addition, in the illustrated example, although the example in which the sensor S detects the deposition of the sludge X on the input shaft 15 is shown, the sensor S is not limited to this, and the sensor S of the sludge X on the case 20 The deposition of sludge X on any member included in the deceleration machine 11, such as deposition or deposition of sludge X on the carrier 30, may be detected. Moreover, although the example in which the sensor S is provided in the case 20 was shown, it is not limited to this example, and the sensor S may be provided in the carrier 30 or may be provided in the input shaft 15. However, considering the wiring to the sensor S and the power supply to the sensor S, the non-rotating member included in the reduction machine 11, for example, in the example of FIG. 1, the sensor S is fixed to the carrier 30 desirable.

<The third specific example>

Next, a third specific example in this embodiment will be described with reference mainly to FIG. 6. In addition, the eccentric swing type reducer 10 (reduction machine 11) shown in Fig. 6 has a different portion in shape from the reducer (reduction machine) shown in Figs. And some components described with reference to FIG. 2 (eg, input shaft 15 or external gears 50a, 50b) are omitted. Further, in the example shown in Fig. 6, the carrier 30 of the reducer 10 is connected to the turning body 6Y of the industrial machine IM (robot 6), and the case 20 of the reducer 10 is It is connected to the base 6X of the industrial machine IM (robot 6). In this example, the carrier 30 functions as an output shaft. In addition, as already described above, it is not limited to the third specific example, and even in the first specific example or the second specific example, and also in the fourth specific example or the fifth specific example described later, the carrier 30 may function as an output shaft. Alternatively, the case 20 may function as an output shaft.

The reducer 10 according to the third specific example has a deceleration machine 11 for decelerating and outputting the input rotation, and a sensor S installed on the deceleration machine 11 to detect the presence or absence of an impact on the deceleration machine 11 have. The reducer 10 or the industrial machine IM in which the reducer 10 is built-in may be subjected to shock during use, and more specifically to a shock overload. For example, the reducer 10 built in the robot 6 is impacted by the impact of the arm of the robot 6 colliding with a work object to be processed. When the speed reducer 10 is impacted, the operation precision of the speed reducer 10 is lowered, and further, normal operation may not be possible. Therefore, when the reducer 10 is impacted, there is a need to perform maintenance of the reducer 10 or replace the reducer 10 quickly.

On the other hand, when the industrial machine IM is operating automatically, it is also assumed that the reduction gear 10 cannot be confirmed to have been shocked. In addition, it is difficult to post-specify that an impact is applied to the speed reducer 10. Thus, in the third specific example, the sensor S is configured to detect the presence or absence of an impact on the reduction machine 11. Based on the detection result from the sensor S, maintenance of the reduction gear 10 or replacement of the reduction gear 10 can be judged.

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

In the illustrated example, the first seal cap 93A and the second seal cap 93B are arranged in the axial DA by being shifted in the central hole 34 of the carrier 30. The first seal cap 93A and the second seal cap 93B are located on the rotation axis RA. Further, 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 2nd seal cap 93B is located inward in the axial DA than the 1st seal cap 93A. Then, the second seal cap 93B substantially seals the lubricant. The space between the first seal cap 93A and the second seal cap 93B is substantially free of lubricating oil. Therefore, the 1st seal cap 93A does not actually exhibit the function of sealing a 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, as an example, it is also possible to effectively use the impact detection label 83 to specify the cause of the failure by the manufacturer of the reducer 10. Becomes

In the illustrated example in particular, the first seal cap 93A is located adjacent to the swivel body 6Y of the industrial machine IM. Therefore, it is possible to accurately detect the impact generated when the industrial machine IM collides with the work or the like.

In view of the above, according to the third specific example, maintenance or replacement of the speed reducer 10 is carried out based on the result of regularly checking the presence or absence of detection in the sensor S, based on the detection result of the impact by the sensor S. You can judge the need. Thereby, the production efficiency in the factory F using the industrial machine IM can be improved. Further, when investigating the cause of the failure of the reducer 10, it is possible to check the presence or absence of an impact on the reducer 10 based on the sensor S.

In addition, although the example in which the sensor S is held in the first seal cap 93A in the central hole 34 of the reduction machine 11 with reference to FIG. 6 has been described, the case 20 is not limited to this example. B. The sensor S may be provided on the carrier 30. Further, as in the first and second 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.

<The fourth specific example>

Next, a fourth specific example in this embodiment will be described with reference mainly to FIG. 4. The reduction gear 10 according to the fourth embodiment has a reduction mechanism 28 having a crankshaft 40 and a sensor 90 disposed in the crankshaft. The sensor S can acquire information about the temperature. That is, the sensor S acquires information that serves as an index indicating the temperature at the position where the sensor S is disposed. Therefore, the sensor S may record only the highest temperature, or may be a sensor capable of detecting the temperature at any time.

With respect to the reduction gear 10 or the industrial machine IM in which the reduction gear 10 is incorporated, a high-speed operation has been demanded from the demand for improved productivity in these days. When the components of the reducer 10 rotate at high speed, the temperature of the reducer 10 (reduction machine 11) rises. In the eccentric swing type speed reducer 10, the temperature of the crankshaft 40 of the speed reduction mechanism 28 becomes easy to rise. When the temperature of the reducer 10 rises, the value of the maximum temperature and the time during which the temperature rises are also dependent, but there is a case that the operation precision of the reducer 10 decreases, and further, normal operation may not be possible. Therefore, when the reducer 10 causes excessive temperature rise, there is a need to perform maintenance of the reducer 10 or replace the reducer 10 quickly.

On the other hand, it is impossible to grasp the temperature rise of the speed reducer 10 visually. In addition, it is difficult to post-specify that the speed reducer 10 is excessively heated. Thus, in the fourth specific example, the sensor S can acquire information about the temperature, in particular information about the temperature of the crankshaft 40 that is likely to cause a temperature rise. Therefore, maintenance of the reduction gear 10 or replacement of the reduction gear 10 can be judged based on the detection result in the sensor S.

As the sensor S, various sensors capable of measuring temperature can be used. Further, 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 can be a data logger 84 built in the crankshaft 40. The data logger 84 can store the acquired temperature information for a predetermined period, for example, one year. Therefore, the information recorded in the data logger 84 is specified for the specification of the cause of the failure of the failed reducer 10 by the manufacturer or the optimum operation condition by the analysis of the operation history of the reducer 10 after replacement by the user. Can be used.

Further, in the illustrated example, the temperature sensor S is disposed in the inner space IS of the crankshaft 40. More specifically, by placing the sensor S into the spot facing hole (inner space IS) formed in the crankshaft 40, and then filling the spot facing hole again or closing the spot facing hole with the seal cap 94 , Sensor S can be installed in the crankshaft 40.

In view of the above, according to the fourth specific example, maintenance or reduction of the speed reducer 10 may be performed based on the result of the temperature detected at the sensor S, for example, periodically or at times. Exchanges can be judged. Thereby, the production efficiency in the factory F using the industrial machine IM can be improved. In addition, when investigating the cause of the failure of the reducer 10, it is possible to check the presence or absence of excessive temperature rise to the reducer 10 based on the sensor S.

<The fifth specific example>

Next, a fifth specific example in this embodiment will be described with reference mainly to FIG. 7. In the use of the industrial machine IM, a position encoder may be provided on the speed reducer 10. Position encoders need to be installed in locations that are less susceptible to contamination or iron. Moreover, the reduction gear 10 is enlarged by the installation of the position encoder, and especially the reduction gear 10 is enlarged in the axial direction. It can also be envisaged that the oversized reducer 10 interferes with other members constituting the industrial machine IM and the like. That is, there is a restriction on the installation position of the position encoder. Therefore, in the fifth specific example, the design of the installation position of the sensor S functioning as an encoder is implemented in the reduction gear 10.

In the fifth embodiment, the speed reducer 10 includes a first member M1 and a second member M2 that rotate relative to each other, an oil seal 60 provided on the first member M1 and contacting the second member M2, and oil It has an encoder 85 (sensor S) provided on the seal 60. The encoder 85 acquires information about the relative rotational position of the second member M2 relative to the first member M1. In the reducer 10 shown in FIG. 7, as in the example shown in FIG. 5, the case 20 is located outside the radial direction DR of the carrier 30, and the axis of the carrier 30 It is also located outside in the direction DA. In this example, the case 20 faces the input shaft 15 and the radial direction DR. The oil seal 60 is installed in 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 relative to the case 20, in particular, the relative rotational position. 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 includes the first lip 61 and the second lip 62 and the first lip 61 and the second lip 62 contacting the input shaft 15. It has a connecting arm portion 63. The first lip 61 is also called a main lip, and has a function of sealing lubricant. The second lip 62 is also called a dust lip, and prevents foreign matter from entering the sealed area of the lubricant. The arm portion 63 is spaced apart from the input shaft 15 in the radial direction DR to form a gap between the input shaft 15. The encoder 85 is disposed in a concave portion formed by the first lip 61, the second lip 62, and the arm portion 63. Particularly in the illustrated example, the encoder 85 has an encoder stator 85a held by the arm 63, and an encoder rotor 85b installed on the input shaft 15 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 detectee held by the input shaft 15, the input shaft to the case 20 in which the oil seal 60 is installed The relative rotation position of (15) can be specified.

According to this fifth specific example, the relative positions of the two members M1 and M2 that can be rotated relative to the reducer can be specified with high precision while preventing the reduction gear 10 from being enlarged. Thereby, the industrial machine IM in which the reduction gear 10 is built-in can be controlled with high precision to improve productivity.

According to this embodiment described above, the information of the speed reducer 10 which can affect the operation of the industrial machine IM can be acquired. This makes it possible to improve production efficiency and yield in factory F using industrial machinery IM.

Although one embodiment was described with reference to specific examples, it is intended that the specific examples limit one embodiment. 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 gist thereof.

For example, the eccentric swing type 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 may be a planetary gear type reducer without being limited to an eccentric swing type reducer. In the planetary gear reducer, the reduction mechanism 28 has a rotatable planetary gear and a carrier that rotatably supports the planetary gear. Further, 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 reducer 10, for example, as shown in FIG.

Claims (19)

A reduction mechanism having a crankshaft,
And a sensor for acquiring information regarding the number of revolutions of the crankshaft. The reducer of claim 1, wherein the sensor has a counter sensor. Input shaft,
A reduction mechanism in which rotation is input from the input shaft,
A case accommodating at least partially the reduction mechanism;
And a sensor for detecting sludge deposited on either side of the input shaft and the case. The reducer according to claim 3, wherein the sensor has a capacitive displacement sensor. According to claim 3, It has an oil seal provided between the case and the input shaft,
The reduction gear is arranged in an area sealed by an oil seal. A deceleration machine that decelerates the input rotation and outputs it,
A reduction gear installed in the reduction gear and having a sensor for detecting the presence or absence of an impact to the reduction gear. The reducer according to claim 6, wherein the sensor comprises an impact detection label. According to claim 6, The output shaft is output by decelerating the rotation from the motor,
And a case for storing at least a portion of the output shaft,
It has a seal cap disposed at the center of the output shaft,
The sensor is installed on the seal cap, a reducer. A reduction mechanism having a crankshaft,
And a sensor arranged in the crankshaft to obtain information about temperature. The speed reducer according to claim 9, wherein the sensor has a data logger that records information about the acquired temperature. 10. The method of claim 9, The sensor is disposed in the inner space of the crankshaft,
And a seal cap sealing the inner space. An encoder stator placed on an oil seal,
A reduction gear, comprising an encoder rotor disposed on the shaft. The speed reducer according to claim 12, wherein the encoder stator wirelessly transmits the acquired information. The speed reducer according to claim 12, wherein the oil seal has a first lip and a second lip contacting the shaft, and an arm portion in which the encoder stator is installed by connecting the first lip and the second lip. An oil seal installed on the first member and contacting the second member rotating relative to the first member;
An oil seal having an encoder, comprising an encoder installed on the oil seal. 16. The method of claim 15, wherein the oil seal is provided with an encoder, the first lip and the second lip contacting the first member, and the arm having the encoder installed by connecting the first lip and the second lip One oil seal. An industrial machine comprising the reducer according to claim 1. An industrial machine having the reducer according to claim 1,
A recording unit that stores information acquired from the sensor of the industrial machine;
And a control unit for controlling the industrial machine based on the information of the recording unit. An industrial machine having a reducer according to claim 12,
A recording unit that stores information acquired from the encoder stator of the industrial machine;
And a control unit for controlling the industrial machine based on the information of the recording unit.

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