TWI819077B - Reducers, industrial machinery and factories - Google Patents

Abstract

The reducer 10 of the present invention has: a reduction mechanism 28, which has a crankshaft 40; and a sensor S, which obtains information related to the rotation number of the crankshaft.

Description

Reducers, industrial machinery and factories

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

For example, as disclosed in Patent Document 1 (JP2016-98860A), reduction gears have been adopted in various industrial machines. In recent years, automation of factories using industrial machinery has been promoted with the goal of production efficiency. On the other hand, if the reducer breaks down, the factory's production will have to be stopped. Therefore, obtaining information about the reducer and utilizing it is useful for factory automation.

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

The first speed reducer of the present invention includes: a speed reduction mechanism having a crankshaft; and a sensor that obtains information on the rotational speed of the crankshaft.

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

The second reducer of the present invention has: A reduction mechanism having a rotatable member; and A sensor that obtains information related to the number of rotations of the above-mentioned components.

The third reducer of the present invention has: A crankshaft that rotates by being connected to the input shaft of the motor; Swing gear, which swings by the above-mentioned crankshaft; A housing that rotates relative to the swing gear as the input shaft meshes with the swing gear rotates; and A sensor that obtains information related to the rotation number of the crankshaft.

The fourth reducer of the present invention has: input shaft; A reduction mechanism that inputs rotation from the above-mentioned input shaft; A housing that at least partially houses the above-mentioned reduction mechanism; and A sensor that detects sludge accumulated on either the input shaft or the housing.

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

The fourth reducer of the present invention has: An oil seal is provided between the above-mentioned housing and the above-mentioned input shaft; and The above-mentioned sensor can also be disposed in an area sealed by an oil seal.

The fifth reducer of the present invention has: Reduced machinery, which has rotatable components; and A sensor that detects sludge accumulated on the above-mentioned components.

The sixth reducer of the present invention has: the input shaft, which is connected to the motor; An output shaft, which decelerates and outputs the rotation from the above input shaft; A housing that accommodates at least a portion of the above-mentioned output shaft; An oil seal is arranged between the above-mentioned housing and the above-mentioned input shaft; and A sensor that detects sludge concentrated in the area between the housing where the oil seal is arranged and the input shaft.

The seventh reducer of the present invention has: Reducing machinery, which decelerates the input rotation and outputs it; and A sensor is installed on the above-mentioned deceleration machine to detect whether there is an impact on the above-mentioned deceleration machine.

In the seventh reducer of the present invention, the above-mentioned sensor may also include an impact detection tag.

In the seventh reducer of the present invention, the above-mentioned sensor can also be installed on the sealing cover.

The seventh reducer of the present invention has: Output shaft, which decelerates and outputs the rotation from the motor; A housing housing at least a portion of the output shaft; and A sealing cover arranged at the center of the above-mentioned output shaft; and The above-mentioned sensor can also be installed on the above-mentioned sealing cover.

The eighth reducer of the present invention has: a reduction mechanism having a crankshaft; and A sensor is arranged in the crankshaft to obtain temperature-related information.

In the eighth reducer of the present invention, the above-mentioned sensor may also have a data logger that records acquired temperature-related information.

In the eighth reducer of the present invention, the sensor is arranged in the internal space of the crankshaft, and The reducer may also be equipped with a sealing cover that seals the above-mentioned internal space.

The ninth reducer of the present invention has: Encoder stator, which is arranged on the oil seal; and Encoder rotor, which is arranged on the shaft.

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

In the ninth reducer of the present invention, the oil seal may have a first lip and a second lip that are in contact with the shaft, and an arm that connects the first lip and the second lip. , and the above-mentioned encoder stator is installed.

The tenth reducer of the present invention has: 1st component; Oil seal, which is installed on the above-mentioned first component; a second member that rotates relative to the first member and contacts the oil seal; and An encoder is installed on the oil seal and obtains information on the relative position of the second member to the first member.

The first oil seal with encoder of the present invention has: An oil seal installed on the first member and in contact with the second member that rotates relative to the first member; and Encoder, which is installed on the above oil seal.

In the first oil seal with an encoder of the present invention, the oil seal may have a first lip and a second lip that are in contact with the first member; and an arm that is connected to the first lip. and the above-mentioned second lip, and the above-mentioned encoder is installed.

The industrial machine of the present invention is equipped with any of the speed reducers of the present invention described above.

The factory of the present invention is equipped with: Industrial machinery, which has any of the above-mentioned reducers of the present invention; A recording unit that stores information obtained from the above-mentioned sensor of the above-mentioned industrial machinery or from the above-mentioned encoder stator; and The control unit controls the above-mentioned industrial machinery based on the information in the above-mentioned recording unit.

According to the present invention, information on the reducer that can affect the operation of industrial machinery can be obtained.

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

First, the overall structure of the eccentric swing type reducer 10 will be described with reference to FIGS. 1 and 2 . The speed reducer 10 has a speed reduction mechanism 11 as a device that decelerates input rotation and outputs it, and a sensor S that acquires information related to the speed reduction machine 11 . The sensor S will be described later, and the reduction mechanism 11 will be described first. The reduction machine 11 has an input shaft 15 that inputs rotation from a driving mechanism such as a motor, a reduction mechanism 28 that reduces rotation from the input shaft 15, and a casing that at least partially accommodates the reduction mechanism 28. In the example of the reducer 10 configured as an eccentric swing type, the reduction mechanism 28 has a bracket 30, a crankshaft 40, and external gears 50a and 50b.

Housing 20 has internal teeth 25 . The crankshaft 40 is held by the bracket 30 and drives two external gears 50a and 50b. In this reducer 10, the external teeth 55 of the external gears 50a and 50b mesh with the internal teeth 25, so that the housing 20 and the bracket 30 relatively rotate about the rotation axis RA as the center. 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 centered on the rotation axis RA.

The housing 20 has a substantially cylindrical housing body 21 and an inner 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 receive the internal toothed pin 24 that maintains a cylindrical shape. The internal tooth pin 24 extends in the axial direction DA to form an internal tooth 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 part 31 and a plate part 32 fixed to each other by bolts. The bracket base portion 31 has a base portion 31a on a circular plate and a plurality of column portions 31b protruding from the base portion 31a. In the example shown in the figure, the base part 31a and the plurality of column parts 31b are formed integrally. As shown in FIG. 2 , a plurality of pillar portions 31 b are provided at equal intervals in the circumferential direction DC with the rotation axis RA as the center. In the example shown in the figure, three column parts 31b are provided.

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

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

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

Eccentric body insertion holes 52a and 52b are formed in each of the externally toothed gears 50a and 50b at equal intervals along the circumferential direction centered on the central hole 51. Bearings 18c and 18d are respectively arranged in the eccentric body insertion holes 52a and 52b. The eccentric bodies 41a and 41b of the crankshaft 40 are held by the bearings 18c and 18d.

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

In the speed reducer 10 (speed 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 passes through the central hole 34 of the bracket 30 and the central holes 51 of the external gears 50a and 50b, and meshes with the input gear 42. That is, the input shaft 15 serves as 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 perform eccentric rotation. Furthermore, each of the externally toothed gears 50a and 50b swings in accordance with the eccentric rotation of the first and second eccentric bodies 41a and 41b. More strictly speaking, each of the externally toothed gears 50a and 50b moves in parallel with the bracket 30 along a circumferential path centered on the rotation axis RA. Furthermore, when the external gears 50a and 50b swing, the external teeth 55 of the external gears 50a and 50b mesh with the internal teeth 25 of the housing 20. Furthermore, since the number of teeth of the external teeth 55 is smaller than the number of teeth of the internal teeth 25 , the external gears 50 a and 50 b swing and rotate relative to the housing 20 . That is, the external gears 50a and 50b revolve around the rotation axis RA and further rotate around their own central axis. As a result, the bracket 30 that supports the external gears 50 a and 50 b across the crankshaft 40 also rotates with respect to the housing 20 about the rotation axis RA. In this way, the rotation input to the reduction mechanism 28 via the input shaft 15 is decelerated and output as the relative rotation between the housing 20 and the bracket 30 .

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

In this example, the rotation input to the speed reducer 10 (speed reduction machine 11) is output from the housing 20. That is, the housing 20 functions as an output shaft. For example, the rotating main body 6Y of the robot 6 has a screw hole that is engaged with a bolt passing through a 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 a through hole for allowing a bolt to pass through. The bracket base portion 31 of the bracket 30 has a spiral hole 39 that is engaged with a bolt passing through a through hole in 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, it is 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 IM (robot 6). In this example, the bracket 30 functions as an output shaft.

However, as mentioned in the previous technical column, if the speed reducer 10 breaks down, the industrial machine IM cannot be operated. Therefore, in order to improve the production efficiency of the factory, it is better to obtain information about the reducer 10 and to automate the factory F taking this information into consideration. Hereinafter, some specific examples of the sensor S that can be assembled in the reducer 10 will be described with reference to FIGS. 4 to 7 . In the following description, the corresponding constituent elements, members, parts, etc. are marked with the same symbols, and repeated explanations are omitted.

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

Previously, the life of the reducer 10 was evaluated based on the number of rotations of a driving mechanism connected to the reducer 10 , such as a motor. Specifically, if the number of rotations of the motor exceeds a specific number of rotations, it is determined that the time for replacement of the reducer 10 is reached. However, this evaluation is not based on the evaluation of the reducer 10 . Moreover, in the actual use of industrial machinery, etc., there are cases where only the driving mechanism is replaced due to motor failure, etc. In this case, the life evaluation of the reducer 10 becomes ambiguous. If the speed reducer 10 fails unexpectedly, the industrial machine IM needs to be stopped. Furthermore, it may be necessary to stop the entire factory where the industrial machine IM is installed, and sometimes it may cause serious damage.

Therefore, in the first specific example, the reducer 10 has the 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 unit M installed in the factory F. Furthermore, the control unit C installed in the factory F sets the replacement time of the reducer 10 based on the information recorded in the recording unit M, and reflects it in the production plan, for example.

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

In the speed reducer 10 shown in FIG. 4 , the sensor S has a counting sensor 81 . The counting sensor 81 is held by a support 91 at a position opposite to the crankshaft 40 . The counting sensor 81 can detect a detected portion such as a gap formed in the input gear 42 or a magnet embedded in the input gear 42, and record the number of detections in the recording portion M, for example. When the detected portion is provided at a position along 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 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, it is not limited to this example. When the bracket 30 rotates as the output shaft, the sensor S may also be held on the bracket 30 and specify the rotation number of the crankshaft 40 and the input gear 42 . 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 the reducer used by an AGV (Automated Guided Vehicle), the walking distance of the AGV can also be specified based on the information obtained by the sensor S. In this way, the life span of the reducer 10 can also be predicted with high accuracy based on the rotation number of specific components included in the reducer 10 itself. Thereby, 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 reduction gear 10 of the second specific example includes: a reduction mechanism 11 having a rotatable member; and a sensor S capable of detecting sludge accumulated on the rotatable member. Accumulation of sludge means wear of components included in the reduction machine 11 . Therefore, the accumulation of sludge becomes an indicator of the life of the reducer 10 . By replacing or repairing the reducer 10 based on the presence or absence of sludge accumulation or the amount of sludge accumulation, unexpected failure of the reducer 10 can be effectively avoided. Therefore, in the second specific example, the reducer 10 has the sensor S that can detect sludge accumulated on any member.

The reduction gear 10 shown in FIG. 5 has a different structure from the example shown in FIG. 1 . In the example shown in FIG. 5 , the housing 20 is located outside the bracket 30 in the radial direction DR, and further is also located outside the bracket 30 in the axial direction DA. Furthermore, the housing 20 is opposite to the input shaft 15 in the radial direction DR, and an 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 remains in contact with the first lip 61 and rotates relative to the oil seal 60 and the housing 20 . By contacting the input shaft 15, the lip 61 can retain lubricating oil in the reducer 10 (reduction machine 11).

In addition, the outer side in the axial direction DA is the side separated from the center position of the reducer 10 in the axial direction DA. Therefore, the side separated from the area where the lubricating oil is retained by the oil seal 60 becomes the outer side in the axial direction DA.

In the example shown in FIG. 5 , the sensor S is disposed in an area sealed by the oil seal 60 . More specifically, the sensor S is located near the oil seal 60 and further inward in the axial direction DA than the oil seal 60 . As shown in FIG. 5 , the sludge X containing the abrasive powder is concentrated in the area between the housing 20 where the oil seal 60 is arranged and the input shaft 15 . In particular, since the sludge X has low fluidity, it is easy to accumulate in the area near the first lip 61 of the oil seal 60 . Therefore, the sensor S shown in the figure is arranged to face the accumulated sludge X.

Since the sludge X is accumulated on the input shaft 15, 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 composed of an electrostatic capacitance type displacement sensor 82. The electrostatic capacitance displacement sensor 82 can detect the displacement of the two conductors based on changes in the electrostatic 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 unit M and the control unit C. Based on the voltage output from the electrostatic capacitance type displacement sensor 82, the control unit C can detect with high accuracy that the conductive sludge X containing the abrasive powder is accumulated 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 reducer 10 can be detected. Based on the presence or absence of accumulation of sludge X, and further based on the amount of accumulation of sludge X, the life of the reducer 10 can be predicted with high accuracy. This effectively avoids unexpected failure of the reducer 10 and effectively improves the productivity of the factory F.

In addition, in the example shown in the figure, although the sensor S detects the accumulation of sludge X on the input shaft 15, the sensor S is not limited to this. The sensor S can also detect the accumulation of 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 component included in the reduction machine 11 . In addition, although the example in which the sensor S is mounted on the housing 20 is shown, the sensor S is not limited to this example. The sensor S may be mounted on the bracket 30 or the input shaft 15 . However, when considering the wiring to the sensor S or the power supply to the sensor S, it is preferable to use a non-rotating member included in the deceleration machine 11, for example, in the example of FIG. 1, it is attached to the bracket 30. Fixed sensor S.

＜Third specific example＞ Next, the 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 different shape from the reducer (reduction machine) shown in FIGS. 1 and 2, and the description with reference to FIGS. 1 and 2 is omitted. Illustration of a part of the component (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. Moreover, as mentioned above, it is not limited to the third specific example. In the first specific example or the second specific example, and the fourth specific example or the fifth specific example which will be described later, the bracket 30 can be used as an output. The shaft functions, and the housing 20 also functions as an output shaft.

The reducer 10 of the third specific example includes: a reduction mechanism 11 that decelerates the input rotation and outputs it; and a sensor S that is installed on the reduction mechanism 11 and detects whether there is an impact on the reduction mechanism 11. During use, the reducer 10 or the industrial machine IM equipped with the reducer 10 may be subject to impact, or more strictly speaking, impact overload. For example, the speed reducer 10 assembled in the robot 6 may be impacted due to the collision of the arm of the robot 6 with the workpiece, which is a processing object. If the reducer 10 is impacted, the operation accuracy of the reducer 10 may be reduced or even fail to operate normally. Therefore, when the reducer 10 is impacted, it is necessary to repair the reducer 10 or quickly replace the reducer 10 .

On the other hand, it is also assumed that when the industrial machine IM automatically operates, it is impossible to confirm that the reduction gear 10 receives an impact. In addition, it is difficult to identify afterward that an impact was applied to the speed reducer 10 . Therefore, in the third specific example, the sensor S detects whether or not there is an impact on the speed reduction machine 11 . Based on the detection result of the sensor S, it can be determined that the reducer 10 needs to be repaired or the reducer 10 needs to be replaced.

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

In the example shown in the figure, the first sealing cover 93A and the second sealing cover 93B are offset in the axial direction DA in the central hole 34 of the bracket 30 . The first sealing cover 93A and the second sealing cover 93B are located on the rotation axis RA. Furthermore, when the bracket 30 functions as an output shaft, the first sealing cover 93A and the second sealing cover 93B are arranged at the center of the output shaft. The second sealing cover 93B is located further inward in the axial direction DA than the first sealing cover 93A. Furthermore, the second sealing cap 93B substantially seals the lubricating oil. Lubricating oil does not substantially flow into the space between the first sealing cover 93A and the second sealing cover 93B. Therefore, the first sealing cap 93A actually does not function to seal the lubricating oil. On the other hand, the first sealing cover 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 the first sealing cover 93A, as an example, the impact detection label 83 can be effectively used to identify the cause of the manufacturer's failure of the reducer 10 .

Especially in the example shown in the figure, the first sealing cover 93A is located adjacent to the rotating main body 6Y of the industrial machine IM. Therefore, the impact generated when the industrial machine IM collides with the workpiece etc. can be detected with high precision.

From the above, according to the third specific example, it is possible to determine the necessity of repair or replacement of the reducer 10 based on the impact detection result of the sensor S, for example, based on regularly confirming the detection result of the sensor S. Thereby, the production efficiency of 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 can be confirmed based on the sensor S whether there is an impact on the reducer 10.

In addition, although the example in which the sensor S is held in the first sealing cover 93A in the central hole 34 of the speed reduction machine 11 has been described with reference to FIG. Device S. Moreover, like 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.

<4th specific example>

Next, the 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 S arranged in the crankshaft. The sensor S can obtain information about temperature. That is, the sensor S obtains the information of the temperature indicator displayed at the position where the sensor S is arranged. Therefore, the sensor S can only record the maximum temperature, or it can also be a sensor that can detect the temperature at any time.

With respect to the speed reducer 10 or the industrial machine IM in which the speed reducer 10 is assembled, high-speed operation is required in accordance with recent demands for improved productivity. If the components of the reduction gear 10 rotate at high speed, the temperature of the reduction gear 10 (reduction machine 11) rises. In the eccentric swing type reducer 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 its maximum temperature and the time of temperature rise. However, there are cases where the operation accuracy of the reducer 10 is low, and it may not operate normally. Therefore, when excessive temperature rise occurs in the reducer 10 , the reducer 10 must be repaired or the reducer 10 must be quickly replaced.

On the other hand, the temperature rise of the speed reducer 10 cannot be grasped visually. In addition, it is difficult to identify the transient temperature rise of the speed 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, it can be determined whether the reducer 10 should be repaired or the reducer 10 should be replaced.

As the sensor S, various sensors capable of measuring temperature can be used. In addition, the data obtained 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 logger 84 built into the crankshaft 40 . The data logger 84 may store information about the obtained temperatures for a specific period of time, such as one year. Therefore, the information recorded in the data recorder 84 can be used to identify the cause of the failure of the reducer 10 caused by the manufacturer, or to analyze the operation history of the reducer 10 after replacement by the user for optimal operation. Specific conditions.

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

From the above, according to the fourth specific example, it is possible to determine whether to repair or replace the reducer 10 based on the detection result of the temperature of the sensor S, and based on the result of confirming the temperature detected by the sensor S periodically or at any time, for example. Thereby, the production efficiency of 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 can be confirmed based on the sensor S whether there is an excessive temperature increase of the reducer 10 .

＜5th specific example＞ Next, the 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 provided in the speed reducer 10 . The position encoder needs to be installed in a location that is not easily affected by dirt or iron powder. In addition, due to the arrangement of the position encoder, the reducer 10 is enlarged, especially in the axial direction. It is also assumed that the enlarged speed reducer 10 interferes with other components constituting the industrial machine IM. That is, there are restrictions on the installation position of the position encoder. Therefore, in the fifth specific example, a method is devised to determine the mounting position of the sensor S that functions as an encoder in the speed reducer 10 .

In the fifth specific example, the speed reducer 10 has: a first member M1 and a second member M2 that rotate relative to each other; an oil seal 60 that is installed on the first member M1 and in contact with the second member M2; and an encoder 85 (sensor). Detector S), which is installed on the oil seal 60. The encoder 85 obtains information on the relative rotational position of the second member M2 with respect to the first member M1. In the reducer 10 shown in FIG. 7 , like the example shown in FIG. 5 , the housing 20 is located outside the bracket 30 in the radial direction DR and is also located outside the bracket 30 in the axial direction DA. In this example, the housing 20 is opposite the input shaft 15 in the radial direction DR. The oil seal 60 is installed on the housing 20 and contacts the input shaft 15 . Moreover, the encoder 85 held in 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 obtained by the encoder 85 can also be sent to the recording part M through wireless communication, for example, and the control part C processes the information recorded in the recording part 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 lubricating oil. The second lip 62 is also called an auxiliary lip and prevents foreign matter from being mixed into the area where the lubricating oil is sealed. The arm portion 63 is spaced apart from the input shaft 15 in the radial direction DR, and a gap is formed between the arm portion 63 and the input shaft 15 . The encoder 85 is arranged in the 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 installed on the input shaft 15 to face the encoder stator 85a. For example, the encoder stator 85a functions as a detection component, and by detecting the encoder rotor 85b as a detection component held by the input shaft 15, the relative rotational 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 this fifth specific example, while preventing the reduction gearbox 10 from being enlarged, the relative positions of the two relatively rotatable members M1 and M2 of the reduction gearbox can be specified with high accuracy. Thereby, the industrial machine IM in which the speed reducer 10 is assembled can be controlled with high precision and productivity can be improved.

According to this embodiment described above, information on the reducer 10 that can affect the operation of the industrial machine IM can be obtained. This can improve the production efficiency or yield of 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-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 of the embodiment.

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

6:Robot 6X: Base 6Y: Rotate body 10:Reducer 11: Reduction machinery 15:Input shaft 17:Bearing 18a:Bearing 18b:Bearing 18c:Bearing 18d:Bearing 20: Shell 21: Shell body 22:Flange part 24: Internal gear pin 25:Internal teeth 26:Through hole 28: Reduction mechanism 30: Bracket 31: Bracket base 31a: Base part 31b: Column 32:Itabu 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: Column insertion hole 53b: Column insertion hole 55:External teeth 60:Oil seal 61: 1st lip 62: 2nd lip 81: Counting sensor 82:Electrostatic capacitance type displacement sensor 83: Impact detection label 84:Data recorder 85:Encoder 85a: Encoder stator 85b: Encoder rotor 91:Support tool 92: Wiring for voltage output 93A: 1st sealing cover 93B: 2nd sealing cover 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: internal space M:Record 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 one embodiment, and shows a longitudinal sectional view of the reducer. Figure 2 is a cross-sectional view along line II-II of Figure 1. Figure 3 is a perspective view showing an industrial machine including a reducer. Fig. 4 is a longitudinal sectional view for explaining the first and fourth specific examples of the speed reducer. Fig. 5 is a longitudinal sectional view for explaining the second specific example of the speed reducer. FIG. 6 is a longitudinal sectional view for explaining the third specific example of the speed reducer. Fig. 7 is a longitudinal sectional view for explaining the fifth specific example of the speed reducer.

10:Reducer

11: Reduction machinery

15:Input shaft

17:Bearing

18a:Bearing

18b:Bearing

18c:Bearing

18d:Bearing

20: Shell

21: Shell body

22:Flange part

24: Internal gear pin

25:Internal teeth

26:Through hole

28: Reduction mechanism

30: Bracket

31: Bracket base

31a: Base part

31b: Column

32:Itabu

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: Column insertion hole

53b: Column insertion hole

55:External teeth

60:Oil seal

CAa: central axis

CAb: central axis

DA: axial

DR: radial

RA: axis of rotation

RAC: axis of rotation

Claims (8)

A reducer is provided with: a reduction mechanism having a crankshaft; and a sensor arranged at a position opposite the crankshaft to obtain information related to the rotation number of the crankshaft. The reducer of claim 1, wherein the sensor has a counting sensor. The reducer of claim 1, wherein the crankshaft includes an input gear meshing with an input shaft that inputs rotation to the reduction mechanism; and the sensor is opposite to the input gear. The speed reducer of Claim 1 is provided with a casing that rotates as an output shaft and at least partially accommodates the speed reduction mechanism. The reducer of Claim 1, which is provided with: a casing that at least partially accommodates the reduction mechanism; and the reduction mechanism has: a bracket that rotatably holds the crankshaft; and an external gear, It is penetrated by and held by the crankshaft, and has external teeth meshing with the internal teeth of the housing; the bracket rotates as an output shaft; and the sensor is held by the bracket. An industrial machine equipped with a reducer according to any one of claims 1 to 5. A factory equipped with: industrial machinery having the reducer according to any one of claims 1 to 5; a recording unit that stores information obtained from the above-mentioned sensor of the above-mentioned industrial machinery; and a control unit that is based on the above-mentioned Record the information of the department and control the above-mentioned industrial machinery. The factory of claim 7, wherein the control unit sets the replacement time of the reducer based on the information recorded in the recording unit.