TW202014623A - Speed reducer, oil seal with encoder, industrial machinery and factory characterized by acquiring the information of the speed reducer that can affect the operation of industrial machinery - Google Patents

Abstract

The present invention provides a speed reducer 10 equipped with: a speed reducing mechanism 28 provided with a crankshaft 40; and a sensor S acquiring information related to the rotation numbers of the crankshaft, wherein the sensor S of the speed reducer 10 is provided with a counting sensor.

Description

Reducer, oil seal with encoder, industrial machinery and factory

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

For example, as disclosed in Patent Document 1 (JP2016-98860A), reducers have been used in various industrial machines. In recent years, with the aim of production efficiency, the automation of factories using industrial machinery has been promoted. On the other hand, if the speed reducer fails, the factory has to stop production. Therefore, it is useful for the automation of the factory to obtain information about the reducer and use it.

The present invention is completed in consideration of the above points, and its purpose is to obtain information about the reducer.

The first speed reducer of the present invention includes: Speed reduction mechanism with a crankshaft; and A sensor, which obtains information about the rotation number of the crankshaft.

In the first speed reducer of the present invention, the sensor may have a counting sensor.

The second speed reducer of the present invention includes: A deceleration mechanism with rotatable components; and A sensor, which obtains information about the rotation number of the above-mentioned member.

The third speed reducer of the present invention includes: Crankshaft, which rotates by connecting to the input shaft of the motor; Swing gear, which swings by the above crankshaft; A housing that rotates relative to the swing gear as the input shaft that meshes with the swing gear rotates; and A sensor, which obtains information about the rotation number of the crankshaft.

The fourth speed reducer of the present invention includes: Input shaft; Speed reduction mechanism, which inputs rotation from the above input shaft; A housing that at least partially houses the above-mentioned speed reduction mechanism; and The sensor detects sludge accumulated on any one of the input shaft and the housing.

In the fourth speed reducer of the present invention, the sensor may also have an electrostatic capacitance type displacement sensor.

The fourth speed reducer of the present invention includes: An oil seal, which is arranged between the housing and the input shaft; and The above sensor can also be arranged in an area sealed by an oil seal.

The fifth speed reducer of the present invention includes: Reducer machinery with rotatable components; and A sensor that detects sludge accumulated on the above-mentioned members.

The sixth speed reducer of the present invention includes: Input shaft, which is connected to the motor; Output shaft, which decelerates the rotation from the above input shaft and outputs it; A housing that houses at least a part of the output shaft; An oil seal, which is arranged between the housing and the input shaft; and The sensor detects the sludge concentrated in the area between the housing where the oil seal is arranged and the input shaft.

The seventh speed reducer of the present invention includes: Deceleration machinery, which decelerates the input rotation and outputs it; and The sensor, which is mounted on the above-mentioned speed reduction machine, detects whether there is an impact on the above-mentioned speed reduction machine.

In the seventh speed reducer of the present invention, the sensor may include an impact detection tag.

In the seventh speed reducer of the present invention, the above-mentioned sensor may be mounted on the sealing cover.

The seventh speed reducer of the present invention includes: Output shaft, which decelerates the rotation from the motor and outputs it; A housing that houses at least a part of the output shaft; and A sealing cover, which is arranged at the center of the output shaft; and The sensor can also be mounted on the sealing cover.

The eighth speed reducer of the present invention includes: Speed reduction mechanism with a crankshaft; and The sensor is arranged in the crankshaft to obtain temperature-related information.

In the eighth speed reducer of the present invention, the sensor may also have a data recorder that records the obtained temperature-related information.

In the eighth speed reducer of the present invention, the sensor is disposed in the internal space of the crankshaft, and The reducer may also have a sealing cover that seals the internal space.

The 9th speed reducer of the present invention includes: Encoder stator, which is arranged on the oil seal; and The encoder rotor is disposed on the shaft.

In the ninth speed reducer of the present invention, the encoder stator can also wirelessly transmit the acquired information.

In the ninth speed reducer of the present invention, the oil seal may include: a first lip portion and a second lip portion that contact the shaft; and an arm portion that connects the first lip portion and the second lip portion , And installed the above-mentioned encoder stator.

The 10th speed reducer of the present invention includes: Component 1; Oil seal, which is installed on the first member; A second member which rotates relatively to the first member and contacts the oil seal; and The encoder, which is mounted on the oil seal, obtains information about the relative position of the second member with respect to the first member.

The first oil seal with an encoder of the present invention includes: An oil seal mounted on the first member and in contact with the second member that rotates relative to the first member; and The encoder is mounted on the above oil seal.

In the first oil seal with an encoder of the present invention, the oil seal may further include: a first lip portion and a second lip portion that contact the first member; and an arm portion that connects the first lip portion And the second lip, and the encoder is attached.

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

The plant of the invention has: Industrial machinery, which has any of the above-mentioned speed reducers of the present invention; A recording part, which stores information obtained from the sensor of the industrial machine or the encoder stator; and The control unit controls the industrial machinery based on the information of the recording unit.

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

Hereinafter, an embodiment of the present invention will be described with reference to the drawings. 1 to 7 are diagrams for explaining one embodiment of the present invention. Hereinafter, as an example, an example in which this embodiment is applied to an eccentric swing type reduction gear will be described. However, the invention is not limited to the examples described below, and the present invention can be applied to eccentric swing type reduction gears.

First, referring to FIGS. 1 and 2, the overall configuration of the eccentric swing type speed reducer 10 will be described. The speed reducer 10 has: a speed reduction machine 11 as a device that decelerates and outputs the input rotation; and a sensor S that obtains information associated with the speed reduction machine 11. Among them, the sensor S will be described later, and first, the speed reduction machine 11 will be described. The reduction machine 11 has an input shaft 15 that inputs rotation from a drive mechanism such as a motor; a reduction mechanism 28 that reduces the rotation from the input shaft 15; and a housing that at least partially houses the reduction mechanism 28. In the configuration example of the eccentrically oscillating speed reducer 10, the speed reduction mechanism 28 has a bracket 30, a crankshaft 40, and external gears 50a, 50b.

The housing 20 has internal teeth 25. The crankshaft 40 is held by the bracket 30 and drives two externally toothed gears 50a and 50b. In the speed reducer 10, the external teeth 55 and the internal teeth 25 mesh with the external teeth gears 50a and 50b, so that the housing 20 and the bracket 30 relatively rotate around the rotation axis RA. Hereinafter, the direction parallel to the rotation axis RA is referred to as the axial direction DA, and the direction orthogonal to the rotation axis RA is referred to as the radial direction DR. The axial direction DA and the radial direction DR are orthogonal to the circumferential direction DC centering on the rotation axis RA.

The housing 20 has a substantially cylindrical housing body 21 and an internal tooth pin 24 held on the inner surface of the housing body 21. The housing body 21 is formed with pin grooves arranged along the circumferential direction DC, and the pin grooves extend in the axial direction DA, and house the cylindrical internal tooth pins 24 that are held in a cylindrical shape. The internal tooth pin 24 extends in the axial direction DA to form internal teeth 25.

The bracket 30 is held by the housing 20 so as to be rotatable about the rotation axis RA via a pair of bearings 17. The bracket 30 has a bracket base 31 and a plate 32 fixed to each other by bolts. The bracket base 31 has a base portion 31a on a circular plate and a plurality of pillar portions 31b protruding from the base portion 31a. In the example shown in the figure, the base portion 31a and the plurality of column portions 31b are integrally formed. As shown in FIG. 2, the plural column portions 31 b are provided at equal intervals in the circumferential direction DC centering on the rotation axis RA. In the example shown in the figure, three pillar portions 31b are provided.

In the bracket base 31 and the plate portion 32 of the bracket 30, central holes 34 are formed on the rotation axis RA, respectively. Furthermore, the bracket 30 is formed with a through hole 35 penetrating the bracket base 31 and the plate portion 32. The plurality of through-holes 35 are provided at equal intervals in the circumferential direction DC centering on the rotation axis RA, and are provided in the bracket base 31 and the plate 32, respectively. In the example shown in the figure, three through holes 35 are provided in the bracket base 31 and the plate 32.

Bearings 18a and 18b are provided in the through holes 35 formed in the bracket base 31 and the plate 32. The pair of bearings 18 a and 18 b provided in the axial direction DA keeps the crankshaft 40 rotatable relative to the bracket 30. In addition, the rotation axis RAC of the crankshaft 40 is parallel to the axial direction DA. The crankshaft 40 has two eccentric bodies 41 a and 41 b arranged in the axial direction DA and an input gear 42. Each eccentric body 41a, 41b has a shape other than a disc shape or a cylindrical shape. The central axes CAa, CAb of the two eccentric bodies 41a, 41b are eccentrically symmetrical about the rotation axis RAC of the crankshaft 40.

The two externally toothed gears 50 a and 50 b are arranged in the space formed between the base portion 31 a and the plate portion 32 of the bracket base 31 of the bracket 30. The two externally toothed gears 50a and 50b are arranged in the axial direction DA. As shown in FIG. 2, a center hole 51 located at the center is formed in each externally toothed gear 50 a, 50 b. The externally toothed gears 50 a and 50 b have external teeth 55 arranged along the outer periphery centering on the center hole 51. The number of external teeth 55 is less than the number of internal teeth 25 of the housing 20. As an example, the number of external teeth 55 is only one less than the number of internal teeth 25 of the housing 20. In addition, the outer diameters of the externally toothed gears 50a and 50b are slightly smaller than the inner diameter of the housing 20.

Each of the externally toothed gears 50a, 50b is formed with eccentric body insertion holes 52a, 52b provided at equal intervals along the circumferential direction centering on the center hole 51. Bearings 18c and 18d are arranged in the eccentric body insertion holes 52a and 52b, respectively. The bearings 18c and 18d hold the eccentric bodies 41a and 41b of the crankshaft 40.

In addition, each of the externally toothed gears 50a, 50b is formed with column portion insertion holes 53a, 53b provided at equal intervals in the circumferential direction DC centering on the center hole 51. In each of the externally toothed gears 50a, 50b, the column part insertion holes 53a, 53b and the eccentric body insertion holes 52a, 52b are alternately arranged in the circumferential direction centering on the central hole 51. Each column portion 31b of the bracket base portion 31 penetrates the column portion insertion holes 53a and 53b corresponding to the externally toothed gears 50a and 50b.

In the reduction gear 10 (reduction machine 11) having the above configuration, the torque from the drive mechanism such as a motor is input to the input shaft 15. In the example shown in the figure, the input shaft 15 is meshed with the input gear 42 through the central hole 34 of the bracket 30 and the central holes 51 of the external gears 50a and 50b. That is, the input shaft 15 becomes the input end of the reduction mechanism 28. The input shaft 15 rotates about the rotation axis RA. When the 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. In addition, each of the externally toothed gears 50a and 50b oscillates as the first and second eccentric bodies 41a and 41b rotate eccentrically. Strictly speaking, each of the externally toothed gears 50a and 50b moves parallel to the carrier 30 on a circumferential path centered on the rotation axis RA. Furthermore, when the externally toothed gears 50a, 50b swing, the external teeth 55 of the externally toothed gears 50a, 50b mesh with the internal teeth 25 of the housing 20. Moreover, since the number of teeth of the external teeth 55 is less than the number of teeth of the internal teeth 25, the external gears 50a and 50b swing and rotate with respect to the housing 20. In other words, the externally toothed gears 50a and 50b revolve around the rotation axis RA, and further rotate about their own center axis. As a result, the bracket 30 supporting the externally toothed gears 50a and 50b via the crankshaft 40 will also rotate about the rotation axis RA about the housing 20. In this way, the rotation input to the reduction mechanism 28 via the input shaft 15 is decelerated, and output as the relative rotation of the housing 20 and the bracket 30.

The speed reducer 10 described above is assembled and used in, for example, an industrial machine IM. More specifically, the driving device and the speed reducer 10 can be used for the rotating body of the robot 6 such as the rotating body or the wrist joint, and the rotating parts of various work machines. As a specific example shown in FIG. 3, since the base 6X fixing bracket 30 of the robot 6 is connected to the rotating body 6Y of the robot 6 by the housing 20, the rotating body 6Y can be rotated with high torque relative to the base 6X and controlled with high accuracy The rotation of the rotating body 6Y.

In this example, the rotation input to the reduction gear 10 (the reduction gear 11) is output from the housing 20. That is, the housing 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 the through-hole 26 provided in the flange portion 22 of the housing body 21. That is, the rotating body 6Y of the robot 6 and the housing 20 of the reducer 10 can be fastened using bolts. In addition, the base 6X of the robot 6 is provided with, for example, a through hole through which a bolt passes. The bracket base 31 of the bracket 30 has a screw hole 39 that engages with a bolt that passes through the through hole of the base 6X. That is, the base 6X of the robot 6 and the bracket 30 of the reducer 10 can be fastened using bolts.

However, not limited to this example, the bracket 30 of the reducer 10 may be connected to the rotating body 6Y of the industrial machine IM (robot 6), and the housing 20 of the reducer 10 may be connected to the base 6X of the industrial machine 1M (robot 6). In this example, the bracket 30 functions as an output shaft.

However, as stated in the previous technical column, if the speed reducer 10 fails, the industrial machinery IM cannot be operated. Therefore, in order to improve the production efficiency of the factory, it is preferable to obtain information about the reducer 10, and also consider the information to automate the factory F. Hereinafter, some specific examples of the sensor S that can be assembled in the speed reducer 10 will be described with reference to FIGS. 4 to 7. In the following description, the corresponding constituent elements, components, parts, etc. are denoted by the same symbols, and repeated explanations are omitted.

<First specific example> First, referring to FIG. 4, a first specific example of this embodiment will be described. The speed reducer 10 of the first specific example includes: a speed reduction machine 11 having a rotatable member; and a sensor S that obtains information about the number of rotations of the rotatable member. Especially in the example shown in the figure, the sensor S obtains information about the rotatable member of the speed reduction mechanism 28, more specifically the number of rotations of the crankshaft.

Previously, the life of the reducer 10 was evaluated based on the number of rotations of the drive mechanism connected to the reducer 10, such as the motor. Specifically, if the number of rotations of the motor exceeds a specific number of rotations, it is determined that the speed reducer 10 has reached the time to be replaced. However, this evaluation is not based on the evaluation of the reducer 10. In addition, in actual industrial machinery and the like, only the drive mechanism is replaced due to a malfunction of the motor, etc. In this case, the life assessment of the reducer 10 becomes ambiguous. If the speed reducer 10 fails unexpectedly, the industrial machinery IM needs to be stopped. Furthermore, sometimes the entire plant where the industrial machinery IM is installed needs to be stopped, and sometimes it may cause very great damage.

Therefore, in the first specific example, the speed reducer 10 has a sensor S that can obtain information about the rotation number of the rotatable member. In the example shown in FIG. 4, the information obtained by the sensor S is recorded in the recording part M provided in the factory F. Moreover, the control part C provided in the factory F sets the replacement time of the speed reducer 10 based on the information recorded in the recording part M, and is reflected in the production plan, for example.

The information about the rotation number acquired by the sensor S may be various information that can specify the rotation number of a specific member. Therefore, the information that the control unit C can calculate the rotation number of the specific member of the speed reducer 10 based on the information recorded in the recording unit M is called information about the rotation number of the specific member. For example, the sensor S may also obtain the rotation angular velocity of the specific member and the rotation time of the specific member as information about the number of rotations.

In the reduction gear 10 shown in FIG. 4, the sensor S has a count sensor 81. The count sensor 81 is held by the support 91 at a position opposite to the crankshaft 40. The count sensor 81 can detect a detected portion formed in a slit formed in the input gear 42 or a magnet embedded in the input gear 42 and record, for example, the number of detections in the recording portion M. In the case where the detected portion is provided along a portion of the circumferential direction of the input gear 42, the number of detections of the detected portion becomes the number of rotations of the input gear 42.

In the example shown in the figure, the speed reducer 10 rotates the housing 20 as an output shaft. Therefore, since the crankshaft 40 and the input gear 42 only rotate, the sensor S can detect the number of rotations of the input gear 42 with high accuracy. However, not limited to this example, when the bracket 30 rotates as the output shaft, the sensor S may be held by the bracket 30 and the rotation speed of the crankshaft 40 and the input gear 42 may be specified. Furthermore, the sensor S can also obtain information about the rotation of components other than the crankshaft 40, such as the bracket 30.

According to the first specific example, the number of rotations of the specific member included in the speed reducer 10 can be grasped. For example, in a speed reducer used in an AGV (Automated Guided Vehicle), the walking distance of the unmanned transport vehicle can also be specified based on the information obtained by the sensor S. In this way, the life of the speed reducer 10 can be predicted with high accuracy based on the number of rotations of specific members included in the speed reducer 10 itself. With this, the unexpected failure of the reducer 10 can be effectively avoided, and the productivity of the factory F can be effectively improved.

<Second specific example> Next, a second specific example of this embodiment will be described mainly with reference to FIG. 5. The speed reducer 10 of the second specific example includes: a speed reduction machine 11 having a rotatable member; and a sensor S that can detect sludge accumulated on the rotatable member. The accumulation of sludge means the wear of the components contained in the reduction gear 11. Therefore, the accumulation of sludge becomes an index indicating the life of the reduction gear 10. By replacing or renovating the reducer 10 based on the presence or absence of the accumulated amount of sludge, the unexpected failure of the reducer 10 can be effectively avoided. Therefore, in the second specific example, the speed reducer 10 has a sensor S that can detect sludge accumulated on any member.

The reduction gear 10 shown in FIG. 5 has a different configuration from the example shown in FIG. 1. In the example shown in FIG. 5, the housing 20 is located on the outer side of the bracket 30 in the radial direction DR, and further on the outer side of the bracket 30 in the axial direction DA. Moreover, the housing 20 and the input shaft 15 are opposite to the radial direction DR, and the oil seal 60 is installed at a position of the housing 20 opposite to 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 maintains a state of being in contact with the first lip 61 and relatively rotates with respect to the oil seal 60 and the housing 20. The lip portion 61 can maintain lubricating oil in the speed reducer 10 (speed reduction mechanism 11) by contacting the input shaft 15.

In addition, the outer side of the axial direction DA is a side spaced apart from the central position of the reduction gear 10 in the axial direction DA. Therefore, the side separated from the region where the oil seal 60 holds the lubricating oil becomes the outer side in the axial direction DR.

In the example shown in FIG. 5, the sensor S is arranged in the area sealed by the oil seal 60. More specifically, the sensor S is located near the oil seal 60 and is more inward of the axial DR than the oil seal 60. As shown in FIG. 5, the sludge X containing abrasive powder is concentrated in the area between the housing 20 and the input shaft 15 where the oil seal 60 is arranged. In particular, the sludge X tends to accumulate in the vicinity of the first lip 61 of the oil seal 60 because of its low fluidity. Therefore, the sensor S shown in the figure is arranged to face the deposited sludge X.

Since the input shaft 15 accumulates sludge X, the distance between the input shaft 15 and the housing 20 becomes shorter. Therefore, by using a displacement sensor as the sensor S, the accumulation of sludge X can be detected. In particular, the sensor S shown in the figure is constituted by an electrostatic capacitance type displacement sensor 82. The electrostatic capacitance type displacement sensor 82 can detect the displacement of the two conductors based on the change in the electrostatic capacitance between the two conductors. In this example, the voltage output wiring 92 passes through the reduction gear 11 and is electrically connected to the recording unit M and the control unit C. Based on the voltage output from the capacitance-type displacement sensor 82, the control unit C can detect with high accuracy that the conductive sludge X including abrasive powder is deposited on the metal member.

From the above, according to the second specific example, the accumulation of sludge X on the specific member included in the speed reducer 10 can be detected. Based on the presence or absence of accumulation of sludge X, and further based on the accumulation amount of sludge X, the life of the speed reducer 10 can also be predicted with high accuracy. With this, the unexpected failure of the reducer 10 is effectively avoided, and the productivity at the factory F is effectively improved.

In the example shown in the figure, although the sensor S detects the accumulation of the sludge X on the input shaft 15, the sensor S may also detect the accumulation of the sludge X on the housing 20. , Or the accumulation of sludge X on the bracket 30, etc., and the accumulation of sludge X on any member included in the speed reduction machine 11. In addition, although the example in which the sensor S is mounted on the housing 20 is shown, it is not limited to this example, and the sensor S may be mounted on the bracket 30 or the input shaft 15. However, if the wiring to the sensor S or the power supply to the sensor S is considered, it is preferable that the non-rotating member included in the reduction gear 11 is attached to the bracket 30 in the example of FIG. 1, The sensor S is fixed.

<Third specific example> Next, a third specific example of this embodiment will be described mainly with reference to FIG. 6. In addition, the eccentric swing type reducer 10 (reduction machine 11) shown in FIG. 6 has a part different from the shape of the reducer (reduction machine) shown in FIG. 1 and FIG. 2, and the description with reference to FIGS. 1 and 2 is omitted. Illustration of a part of the constituent elements (for example, the input shaft 15 or the external gears 50a, 50b). In the example shown in FIG. 6, the bracket 30 of the reducer 10 is connected to the rotating body 6Y of the industrial machine IM (robot 6), and the housing 20 of the reducer 10 is connected to the base 6X of the industrial machine IM (robot 6). In this example, the bracket 30 functions as an output shaft. In addition, as described above, it is not limited to the third specific example, in the first specific example or the second specific example, and further in the fourth specific example or the fifth specific example described later, the bracket 30 can be used as an output The shaft functions, and the housing 20 can also function as an output shaft.

The reduction gear 10 of the third specific example includes: a reduction gear 11 that reduces the speed of the input rotation and outputs it; and a sensor S, which is mounted on the reduction gear 11 and detects whether there is an impact on the reduction gear 11. When the reducer 10 or the industrial machine IM equipped with the reducer 10 is used, it may be subjected to an impact, and more strictly, an impact overload. For example, the speed reducer 10 incorporated in the robot 6 may be impacted due to the collision of the robot 6's arm against a workpiece or the like to be processed. If the speed reducer 10 is impacted, the operation accuracy of the speed reducer 10 may decrease, and even the normal operation may not be performed. Therefore, when the speed reducer 10 is impacted, the speed reducer 10 needs to be renovated or replaced quickly.

On the other hand, it is also assumed that when the industrial machine IM automatically operates, it is impossible to confirm that the speed reducer 10 is impacted. In addition, it is difficult to specify that the speed reducer 10 is impacted afterwards. Therefore, in the third specific example, the sensor S detects the presence or absence of an impact on the reduction machine 11. Based on the detection result of the sensor S, it can be determined whether the speed reducer 10 is to be repaired or replaced.

As the sensor S, an impact detection tag 83 can be used. The impact detection label 83 is a mechanism that can record the impact of a specific magnitude. For example, a "drop impact detection label" available from 3M can be used as the sensor S.

In the example shown in the figure, in the center hole 34 of the bracket 30, the first seal cover 93A and the second seal cover 93B are arranged offset 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 bracket 30 functions as an output shaft, the first sealing cap 93A and the second sealing cap 93B are arranged at the center of the output shaft. The second seal cap 93B is located further inside in the axial direction DA than the first seal cap 93A. Furthermore, the second sealing cap 93B substantially seals the lubricating oil. In the space between the first seal cap 93A and the second seal cap 93B, lubricating oil does not substantially flow in. Therefore, the first sealing cap 93A does not actually function to seal lubricating oil. On the other hand, the first sealing cap 93A has a function of keeping the impact detection label 83 from being exposed to the outside. According to the arrangement of the impact detection label 83 using such a first sealing cover 93A, as an example, the impact detection label 83 can also be effectively used to specify the cause of the failure of the manufacturer of the reducer 10.

Especially in the illustrated example, the first sealing cap 93A is located adjacent to the rotating body 6Y of the industrial machine IM. Therefore, it is possible to accurately detect the impact of the industrial machine IM when it collides with a workpiece or the like.

Based on the above, according to the third specific example, it is possible to determine the necessity of repair or replacement of the speed reducer 10 based on the impact detection result of the sensor S, for example, based on the result of periodically checking whether or not the sensor S is detected. With this, the production efficiency of the factory F using industrial machinery IM can be improved. In addition, when investigating the cause of the failure of the speed reducer 10, it is possible to confirm whether there is an impact on the speed reducer 10 based on the sensor S.

In addition, although an example in which the sensor S is held by the first sealing cover 93A in the central hole 34 of the reduction machine 11 is described with reference to FIG. 6, it is not limited to this example, and the sensor S may be mounted on the housing 20 or the bracket 30器S。 S. In addition, as in the first and second specific examples, the information acquired by the sensor S may be sent to the recording unit M, and the control unit C may process the information recorded in the recording unit M.

<Fourth specific example> Next, a fourth specific example of this embodiment will be described mainly with reference to FIG. 4. The reduction gear 10 of the fourth specific example includes: a reduction mechanism 28 having a crankshaft 40; and a sensor 90 disposed in the crankshaft. The sensor S can obtain information about temperature. That is, the sensor S obtains information on the index of the temperature displayed at the location where the sensor S is arranged. Therefore, the sensor S may record only the highest temperature, or may be a sensor that can detect the temperature at any time.

With respect to the speed reducer 10 or the industrial machinery IM in which the speed reducer 10 is assembled, according to the recent requirements for improving productivity, high-speed operation is sought. When the constituent elements of the speed reducer 10 rotate at a high speed, the temperature of the speed reducer 10 (speed reduction machine 11) rises. In the eccentric swing type reduction gear 10, the temperature of the crankshaft 40 of the reduction mechanism 28 is likely to rise. When the temperature of the reducer 10 rises, it also depends on the value of the highest temperature and the time of the temperature rise, but there are also cases where the operation accuracy of the reducer 10 is low and it cannot operate normally. Therefore, when an excessive temperature rise of the speed reducer 10 occurs, the speed reducer 10 must be renovated or the speed reducer 10 should be replaced quickly.

On the other hand, it is impossible to visually grasp the temperature increase of the reducer 10. In addition, it is difficult to increase the transient temperature of the specific reducer 10 afterwards. Therefore, in the fourth specific example, the sensor S can obtain information about the temperature, especially information about the temperature of the crankshaft 40 that is prone to temperature rise. Therefore, based on the detection result of the sensor S, the renovation of the speed reducer 10 or the replacement of the speed reducer 10 can be determined.

As the sensor S, various sensors that can measure temperature can be used. In addition, the data acquired by the sensor S may also be sent to the recording unit M. In this case, the control part C can also process the information recorded in the recording part M. As another example, the sensor S may be the data recorder 84 built in the crankshaft 40. The data recorder 84 may store the information about the obtained temperature for a specific period, for example, one year. Therefore, the information recorded in the data logger 84 can be used for specifying the cause of the failure of the reducer 10 caused by the manufacturer, or for the optimal operation of the operation history analysis of the reducer 10 after replacement by the user The specific conditions.

In the example shown in the figure, the temperature sensor S is disposed in the internal space IS of the crankshaft 40. More specifically, the sensor S is disposed in the counterbore (internal space IS) formed in the crankshaft 40, and then, by backfilling the counterbore or blocking the counterbore with the sealing cover 94, the sensor S can be disposed in Within the crankshaft 40.

From the above, according to the fourth specific example, it is possible to judge the renovation or replacement of the speed reducer 10 based on the result of detecting the temperature of the sensor S, and based on, for example, the result of confirming the temperature detected by the sensor S periodically or at any time. By this, the production efficiency of the factory F using industrial machinery IM can be improved. In addition, when investigating the cause of the failure of the speed reducer 10, it is possible to confirm whether there is an excessive temperature rise to the speed reducer 10 based on the sensor S.

<Fifth specific example> Next, a fifth specific example of this embodiment will be described mainly with reference to FIG. 7. In the use of industrial machinery IM, a position encoder is installed in the speed reducer 10. The position encoder should be installed in a position that is not easily affected by dirt or iron powder. In addition, due to the installation of the position encoder, the reduction gear 10 is enlarged, in particular, the reduction gear 10 is enlarged in the axial direction. It can also be assumed that the large-sized speed reducer 10 interferes with other components and the like constituting the industrial machinery IM. That is, there are restrictions on the installation position of the position encoder. Therefore, in the fifth specific example, a method of mounting the sensor S that functions as an encoder to the speed reducer 10 is implemented.

In the fifth specific example, the speed reducer 10 includes: a first member M1 and a second member M2, which rotate relative to each other; an oil seal 60, which is attached to the first member M1 and contacts the second member M2; and an encoder 85 (sensor Detector S), which is mounted on the oil seal 60. The encoder 85 obtains information about the relative rotation position of the second member M2 with respect to the first member M1. In the reduction gear 10 shown in FIG. 7, as in the example shown in FIG. 5, the housing 20 is located outside the radial DR of the bracket 30 and also outside the axial DA of the bracket 30. In this example, the housing 20 and the input shaft 15 are opposite to the radial direction DR. The oil seal 60 is mounted on the housing 20 and contacts the input shaft 15. Moreover, the encoder 85 held by the oil seal 60 obtains information about the position of the input shaft 15 relative to the housing 20, especially the relative rotational position. The information acquired by the encoder 85 may also be sent to the recording unit M by, for example, wireless communication, and the control unit C processes the information recorded in the recording unit M.

As shown in FIG. 7, the oil seal 60 has a first lip 61 and a second lip 62 that are in contact with the input shaft 15, and an arm 63 that connects the first lip 61 and the second lip 62. The first lip 61 is also called the main lip, and has the function of sealing the lubricating oil. The second lip portion 62 is also called an auxiliary lip portion, and prevents foreign matter from entering the area of the sealing lubricant. The arm portion 63 is spaced from the input shaft 15 in the radial direction DR, and forms a gap with the input shaft 15. The encoder 85 is arranged in a recess formed by the first lip 61, the second lip 62, and the arm 63. Especially in the example shown in the figure, the encoder 85 has an encoder stator 85a held by the arm 63, and an encoder rotor 85b mounted on the input shaft 15 so as to face the encoder stator 85a. For example, the encoder stator 85a functions as a detection element. By detecting the encoder rotor 85b as the detection element held by the input shaft 15, the relative rotation position of the input shaft 15 with respect to the housing 20 on which the oil seal 60 is mounted can be specified.

According to the fifth specific example, while preventing the reduction gear 10 from increasing in size, the relative positions of the two members M1 and M2 that can rotate relatively in the reduction gear can be specified with high accuracy. With this, the industrial machinery IM that assembles the speed reducer 10 can be controlled with high accuracy and the productivity can be improved.

According to the present embodiment described above, information of the speed reducer 10 that can affect the operation of the industrial machinery IM can be obtained. This can improve the production efficiency or yield of the factory F using industrial machinery IM.

Although an embodiment is described with reference to a specific example, the specific example is not intended to limit the embodiment. The above-mentioned embodiment can be implemented in various other specific examples, and various omissions, substitutions, changes, and additions can be made without departing from the scope of the gist.

For example, the eccentric swing type reducer using the sensor S 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. In addition, the speed reducer 10 using the sensor S is not limited to an eccentric swing type speed reducer, and may be a planetary gear type speed reducer. In the planetary gear type reducer, the speed reduction mechanism 28 has a rotatable planet gear and a bracket rotatably supporting the planet gear. Furthermore, although the first to fifth specific examples having different sensors S will be described, for example, as shown in FIG. 4, a plurality of specific examples may be used for one reducer 10.

6: Robot 6X: base 6Y: Rotate the main body 10: Reducer 11: Reducer 15: input shaft 17: Bearing 18a: Bearing 18b: Bearing 18c: Bearing 18d: Bearing 20: Shell 21: Shell body 22: Flange 24: Internal tooth pin 25: internal tooth 26: through hole 28: Speed reduction mechanism 30: bracket 31: Bracket base 31a: Base part 31b: Pillar 32: Board 34: Central hole 35: through hole 39: Spiral hole 40: crankshaft 41a: Eccentric body 41b: Eccentric body 42: Input gear 50a: external gear 50b: external gear 51: Central hole 52a: Eccentric body insertion hole 52b: Eccentric body insertion hole 53a: Post insertion hole 53b: Post insertion hole 55: external tooth 60: oil seal 61: 1st lip 62: 2nd lip 81: count sensor 82: Electrostatic capacitance type displacement sensor 83: Impact detection label 84: data recorder 85: encoder 85a: Encoder stator 85b: encoder rotor 91: Support 92: Wiring for voltage output 93A: First sealing cap 93B: 2nd sealing cap 94: Sealing cover C: Control Department CAa: central axis CAb: central axis DA: axial DC: circumferential direction DR: radial F: Factory IM: Industrial Machinery IS: interior space M: Recording Department M1: 1st component M2: 2nd component RA: axis of rotation RAC: axis of rotation S: Sensor X: sludge

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

10: Reducer

11: Reducer

15: input shaft

17: Bearing

18a: Bearing

18b: Bearing

18c: Bearing

18d: Bearing

20: Shell

21: Shell body

22: Flange

24: Internal tooth pin

25: internal tooth

26: through hole

28: Speed reduction mechanism

30: bracket

31: Bracket base

31a: Base part

31b: Pillar

32: Board

34: Central hole

35: through hole

39: Spiral hole

40: crankshaft

41a: Eccentric body

41b: Eccentric body

42: Input gear

50a: external gear

50b: external gear

51: Central hole

52a: Eccentric body insertion hole

52b: Eccentric body insertion hole

53a: Post insertion hole

53b: Post insertion hole

55: external tooth

60: oil seal

CAa: central axis

CAb: central axis

DA: axial

DR: radial

RA: axis of rotation

RAC: axis of rotation

Claims (19)

A reducer with: Speed reduction mechanism with a crankshaft; and The sensor obtains the information related to the rotation number of the crankshaft. The reduction gear of claim 1, wherein the above-mentioned sensor has a count sensor. A reducer with: Input shaft; Speed reduction mechanism, which inputs rotation from the above input shaft; A housing that at least partially houses the above-mentioned speed reduction mechanism; and The sensor detects sludge accumulated on any one of the input shaft and the housing. The reduction gear of claim 3, wherein the sensor has an electrostatic capacitance type displacement sensor. If the reducer of claim 3 is equipped with: An oil seal, which is arranged between the housing and the input shaft; and The above sensor is arranged in an area sealed by an oil seal. A reducer with: Deceleration machinery, which decelerates the input rotation and outputs it; and The sensor, which is mounted on the above-mentioned speed reduction machine, detects whether there is an impact on the above-mentioned speed reduction machine. The reduction gear of claim 6, wherein the above sensor includes an impact detection tag. If the reducer of claim 6, it has: Output shaft, which decelerates the rotation from the motor and outputs it; A housing that houses at least a part of the output shaft; and A sealing cover, which is arranged at the center of the output shaft; and The sensor is mounted on the sealing cover. A reducer with: Speed reduction mechanism with a crankshaft; and The sensor is arranged in the crankshaft to obtain temperature-related information. The reduction gear of claim 9, wherein the sensor has a data recorder that records the obtained temperature-related information. As in the reducer of claim 9, where The sensor is arranged in the internal space of the crankshaft, and It has a sealing cover that seals the internal space. A reducer with: Encoder stator, which is arranged on the oil seal; and The encoder rotor is disposed on the shaft. The reduction gear of claim 12, wherein the encoder stator transmits the acquired information wirelessly. The speed reducer according to claim 12, wherein the oil seal has: a first lip portion and a second lip portion which contact the shaft; and an arm portion which connects the first lip portion and the second lip portion and is attached There is the above-mentioned encoder stator. An oil seal with an encoder, which has: An oil seal mounted on the first member and in contact with the second member that rotates relative to the first member; and The encoder is mounted on the above oil seal. The oil seal with an encoder according to claim 15, wherein the oil seal has: a first lip and a second lip that contact the first member; and an arm that connects the first lip and the first lip 2 Lips, and the above encoder is installed. An industrial machine equipped with a reduction gear as in claim 1. A factory with: Industrial machinery, which has a reducer as in claim 1; A recording section, which stores information obtained from the above sensors of the above industrial machinery; and The control unit controls the industrial machinery based on the information of the recording unit. A factory with: Industrial machinery, which has a reducer as in claim 12; A recording section, which stores information obtained from the above-mentioned encoder stator of the above-mentioned industrial machinery; and The control unit controls the industrial machinery based on the information of the recording unit.

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