Reducers, oil seals with encoders, industrial machinery and factories

Abstract

The invention provides a speed reducer, an oil seal with an encoder, an industrial machine and a factory. The speed reducer (10) comprises: a speed reduction mechanism (28) having a crankshaft (40); and a sensor (S) for acquiring information related to the rotation speed of the crankshaft.

Description

Technical Field

[0001] The invention relates to a reducer, an oil seal with an encoder, an industrial machine and a factory. Background Art

[0002] For example, as disclosed in Patent Document 1 (JP2016-98860A), speed reducers are used in various industrial machines. In recent years, the automation of factories using industrial machines has been developing with the goal of efficient production. On the other hand, if a speed reducer fails, production in the factory has to be stopped. Therefore, it is useful for factory automation to obtain information related to the speed reducer and use it. Summary of the invention

[0003] The present invention has been made in consideration of the above points, and an object of the present invention is to be able to acquire information related to a speed reducer.

[0004] The first speed reducer of the present invention comprises:

[0005] a speed reduction mechanism having a crankshaft; and

[0006] A sensor acquires information related to the rotational speed of the crankshaft.

[0007] In the first speed reducer of the present invention, the sensor may include a counting sensor.

[0008] The second speed reducer of the present invention comprises:

[0009] a reduction mechanism having a rotatable member; and

[0010] A sensor acquires information about the rotational speed of the component.

[0011] The third speed reducer of the present invention comprises:

[0012] a crankshaft that is rotated by an input shaft connected to the motor;

[0013] an oscillating gear which oscillates using the crankshaft;

[0014] a housing meshed with the swing gear and rotating relative to the swing gear as the input shaft rotates; and

[0015] A sensor acquires information related to the rotational speed of the crankshaft.

[0016] The fourth speed reducer of the present invention comprises:

[0017] Input shaft;

[0018] a speed reduction mechanism which receives rotation from the input shaft;

[0019] a housing that at least partially accommodates the speed reduction mechanism; and

[0020] A sensor detects deposits accumulated on either the input shaft or the housing.

[0021] In the fourth speed reducer of the present invention, the sensor may include a capacitive displacement sensor.

[0022] The fourth speed reducer of the present invention may include an oil seal provided between the housing and the input shaft.

[0023] The sensor is arranged in a region sealed by an oil seal.

[0024] The fifth speed reducer of the present invention comprises:

[0025] a reduction mechanism having a rotatable member; and

[0026] A sensor detects deposits accumulated on the component.

[0027] The sixth speed reducer of the present invention comprises:

[0028] an input shaft connected to the motor;

[0029] an output shaft that decelerates and outputs the rotation input from the input shaft;

[0030] a housing that receives at least a portion of the output shaft;

[0031] an oil seal disposed between the housing and the input shaft; and

[0032] A sensor detects deposits collected in a region between the housing and the input shaft where the oil seal is disposed.

[0033] The seventh speed reducer of the present invention comprises:

[0034] a reduction mechanism that reduces the speed of the input rotation and outputs the rotation; and

[0035] The sensor is installed on the reduction mechanism to detect whether there is an impact on the reduction mechanism.

[0036] In the seventh speed reducer of the present invention, the sensor may include an impact detection tag.

[0037] In the seventh speed reducer of the present invention, the sensor may be attached to a sealing cover.

[0038] Alternatively, the seventh reducer of the present invention may include:

[0039] an output shaft that decelerates and outputs the rotation from the motor;

[0040] a housing that receives at least a portion of the output shaft; and

[0041] a sealing cover, which is configured to the center of the output shaft,

[0042] The sensor is mounted on the sealing cover.

[0043] The eighth speed reducer of the present invention comprises:

[0044] a speed reduction mechanism having a crankshaft; and

[0045] The sensor is arranged in the crankshaft to obtain information related to temperature.

[0046] In the eighth speed reducer of the present invention, the sensor may include a data logger that records information on the acquired temperature.

[0047] In the eighth speed reducer of the present invention, the sensor may be arranged in an internal space of the crankshaft.

[0048] The speed reducer includes a sealing cover for sealing the internal space.

[0049] The ninth speed reducer of the present invention comprises:

[0050] an encoder stator, which is disposed on the oil seal; and

[0051] The encoder rotor is arranged on the shaft.

[0052] In the ninth speed reducer of the present invention, the encoder stator may transmit acquired information wirelessly.

[0053] In the ninth speed reducer of the present invention, the oil seal may include: a first lip and a second lip that are in contact with the shaft; and an arm portion that connects the first lip and the second lip and to which the encoder stator is mounted.

[0054] The tenth speed reducer of the present invention comprises:

[0055] Component 1;

[0056] An oil seal mounted on the first member;

[0057] a second member that rotates relative to the first member and contacts the oil seal; and

[0058] An encoder is mounted on the oil seal and acquires information on a relative position of the second member with respect to the first member.

[0059] The first oil seal with encoder of the present invention comprises:

[0060] an oil seal mounted on the first member and in contact with a second member that rotates relative to the first member; and

[0061] An encoder is mounted on the oil seal.

[0062] In the first oil seal with an encoder of the present invention, the oil seal may include: a first lip and a second lip that are in contact with the first member; and an arm that connects the first lip and the second lip and has the encoder mounted thereon.

[0063] An industrial machine according to the present invention includes any one of the above-described speed reducers according to the present invention.

[0064] The factory of the present invention has:

[0065] An industrial machine having any of the above-mentioned speed reducers of the present invention;

[0066] a recording unit that stores information acquired from the sensor or the encoder stator of the industrial machine; and

[0067] A control unit controls the industrial machine based on the information from the recording unit.

[0068] According to the present invention, it is possible to acquire information on a speed reducer that may affect the operation of an industrial machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0069] Figure 1 It is a diagram for explaining one embodiment and is a longitudinal sectional view showing a speed reducer.

[0070] Figure 2 It is along Figure 1 Cross-sectional view along line II-II.

[0071] Figure 3 It is a perspective view showing an industrial machine including a speed reducer.

[0072] Figure 4 It is a longitudinal sectional view for explaining the first specific example and the fourth specific example of the speed reducer.

[0073] Figure 5 It is a longitudinal sectional view for explaining the second specific example of the speed reducer.

[0074] Figure 6 It is a longitudinal sectional view for explaining the third specific example of the speed reducer.

[0075] Figure 7 It is a longitudinal sectional view for explaining the fifth specific example of the speed reducer. DETAILED DESCRIPTION

[0076] Hereinafter, one embodiment of the present invention will be described with reference to the drawings. Figure 1 to Figure 7 1 is a diagram for explaining an embodiment of the present invention. As an example, the present embodiment is applied to an eccentric oscillating type reducer. However, the present invention is not limited to the example described below, and the present invention can also be applied to equipment other than eccentric oscillating type reducers.

[0077] First, refer to Figure 1 and Figure 2 The overall structure of the eccentric oscillating type reducer 10 will be described. The reducer 10 includes: a reduction mechanism 11, which is a device that reduces the speed of the input rotation and outputs it; and a sensor S, which obtains information related to the reduction mechanism 11. Among them, the sensor S will be described later. First, the reduction mechanism 11 will be described. The reduction mechanism 11 includes: an input shaft 15, which inputs rotation from a driving component such as a motor; a reduction mechanism 28, which reduces the speed of the rotation from the input shaft 15; and a housing, which at least partially accommodates the reduction mechanism 28. In the example of the eccentric oscillating type reducer 10, the reduction mechanism 28 has a gear frame 30, a crankshaft 40, and external gears 50a, 50b.

[0078] The housing 20 has internal teeth 25. The crankshaft 40 is supported by the gear frame 30 and drives two external gears 50a and 50b. In the 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 gear frame 30 rotate relative to each other around the rotation axis RA. Hereinafter, the direction parallel to the rotation axis RA is set as the axial direction DA, and the direction orthogonal to the rotation axis RA is set 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.

[0079] The housing 20 includes: 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 provided with pin grooves arranged along the circumferential direction DC, the pin grooves extending along the axial direction DA, and accommodating and holding the cylindrical internal tooth pin 24. The internal tooth pin 24 extends along the axial direction DA, forming internal teeth 25.

[0080] The gear frame 30 is held by the housing 20 in a manner that allows it to rotate around the rotation axis RA by means of a pair of bearings 17. The gear frame 30 includes a gear frame base portion 31 and a plate portion 32 that are fixed to each other by bolts. The gear frame base portion 31 includes: a circular plate-shaped base plate portion 31a; and a plurality of column portions 31b that protrude from the base plate portion 31a. In the example shown in the figure, the base plate portion 31a and the plurality of column portions 31b are formed integrally. Figure 2As shown, the plurality of column portions 31b are provided at equal intervals along the circumferential direction DC centered on the rotation axis RA. In the example shown in the figure, three column portions 31b are provided.

[0081] A central hole 34 located on the rotation axis RA is formed in the gear frame base portion 31 and the plate portion 32 of the gear frame 30, respectively. In addition, a through hole 35 penetrating the gear frame base portion 31 and the plate portion 32 is formed in the gear frame 30. A plurality of through holes 35 are arranged in the gear frame base portion 31 and the plate portion 32 at equal intervals along a circumferential direction DC centered on the rotation axis RA. In the example shown in the figure, three through holes 35 are arranged in the gear frame base portion 31 and the plate portion 32.

[0082] Bearings 18a and 18b are provided in the through hole 35 formed in the gear frame base portion 31 and the plate portion 32. The crankshaft 40 is held by a pair of bearings 18a and 18b provided along the axial direction DA so as to be rotatable relative to the gear frame 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 41a and 41b and an input gear 42 arranged along the axial direction DA. Each eccentric body 41a and 41b has a disc-shaped or cylindrical outer shape. The center 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.

[0083] The two external gears 50a and 50b are arranged in a space formed between the base plate portion 31a and the plate portion 32 of the gear carrier base portion 31 of the gear carrier 30. The two external gears 50a and 50b are arranged side by side along the axial direction DA. Figure 2 As shown, each external gear 50a, 50b is formed with a central hole 51 located in the center. The external gears 50a, 50b have external teeth 55 arranged along the outer periphery centered on the central hole 51. The number of teeth of the external teeth 55 is less than the number of teeth of the internal teeth 25 of the housing 20. As an example, the number of teeth of the external teeth 55 is only one less than the number of teeth of the internal teeth 25 of the housing 20. In addition, the outer diameter of the external gears 50a, 50b is slightly smaller than the inner diameter of the housing 20.

[0084] The external gears 50a and 50b are provided with eccentric body through holes 52a and 52b at equal intervals in the circumferential direction around the central hole 51. Bearings 18c and 18d are disposed in the eccentric body through holes 52a and 52b, respectively. The eccentric bodies 41a and 41b of the crankshaft 40 are held by the bearings 18c and 18d.

[0085] Furthermore, each of the external gears 50a, 50b is provided with column through holes 53a, 53b which are arranged at equal intervals along the circumferential direction DC centered on the central hole 51. In each of the external gears 50a, 50b, the column through holes 53a, 53b and the eccentric body through holes 52a, 52b are alternately arranged along the circumferential direction centered on the central hole 51. Each column 31b of the gear frame base 31 penetrates the corresponding column through holes 53a, 53b of the external gears 50a, 50b.

[0086] In the reducer 10 (reduction mechanism 11) having the above structure, the torque from the driving components such as the 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 gear frame 30 and the central hole 51 of the external gears 50a and 50b and meshes with the input gear 42. That is, the input shaft 15 constitutes the input end of the reduction mechanism 28. The input shaft 15 rotates around the rotation axis RA. If the rotation is transmitted from the input shaft 15 to the input gear 42, the crankshaft 40 rotates around the rotation axis RAC. At this time, the first eccentric body 41a and the second eccentric body 41b rotate eccentrically. In addition, each external gear 50a, 50b swings with the eccentric rotation of the first eccentric body 41a and the second eccentric body 41b. More strictly speaking, each external gear 50a, 50b moves translationally on a circular path centered on the rotation axis RA relative to the gear frame 30. Moreover, 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. In addition, the number of teeth of the external teeth 55 is less than the number of teeth of the internal teeth 25, so the external gears 50a and 50b swing and rotate relative to the housing 20. In other words, the external gears 50a and 50b revolve around the rotation axis RA as the center, and also rotate around their own center axis as the center. As a result, the gear frame 30 that supports the external gears 50a and 50b by the crankshaft 40 also rotates relative to the housing 20 around the rotation axis RA as the center. In this way, the rotation input to the reduction mechanism 28 by the input shaft 15 is reduced and output as a relative rotation between the housing 20 and the gear frame 30.

[0087] The speed reducer 10 described above is used by being incorporated into, for example, an industrial machine IM. More specifically, the speed reducer 10 can be used together with a drive device for a rotary body of a robot 6, a rotary part such as a wrist joint, a rotary part of various machine tools, and the like. Figure 3 In the specific example shown, the gear frame 30 is fixed to the base 6X of the robot 6, and the housing 20 is connected to the rotating body 6Y of the robot 6, so that the rotating body 6Y can be rotated with high torque relative to the base 6X and the rotation of the rotating body 6Y can be controlled with high precision.

[0088] In this example, the rotation input to the reducer 10 (reduction mechanism 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 threaded hole that engages 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, a through hole through which, for example, a bolt passes is provided in the base 6X of the robot 6. The gear rack base portion 31 of the gear rack 30 has a threaded hole 39 that engages with a bolt passing through the through hole of the base 6X. That is, the base 6X of the robot 6 and the gear rack 30 of the reducer 10 can be fastened using bolts.

[0089] However, the present invention is not limited to this example, and the gear frame 30 of the reducer 10 may be connected to the rotary 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 gear frame 30 functions as an output shaft.

[0090] However, as mentioned in the prior art section, if the reducer 10 fails, the industrial machine IM cannot be operated. Therefore, in order to improve the production efficiency of the factory, it is preferable to obtain information related to the reducer 10 and automate the factory F in consideration of the information. Figure 4 to Figure 7 Several specific examples of the sensor S that can be incorporated in the speed reducer 10 will be described. In the following description, the same reference numerals are attached to corresponding components, members, parts, etc., and duplicate descriptions are omitted.

[0091] <First specific example>

[0092] Initially, the main reference Figure 4 The first specific example of the present embodiment will be described. The first specific example of the reducer 10 includes: a reduction mechanism 11 having a rotatable member; and a sensor S that obtains information related to the rotation speed of the rotatable member. In particular, in the example shown in the figure, the sensor S obtains information related to the rotation speed of the rotatable member of the reduction mechanism 28, more specifically, the crankshaft.

[0093] In the past, the life of the reducer 10 was evaluated based on the rotation speed of the driving component connected to the reducer 10, such as the motor. Specifically, if the rotation speed of the motor exceeds the predetermined rotation speed, it is determined that the reducer 10 has reached the period when it needs to be replaced. However, such an evaluation is not based on the evaluation of the reducer 10. In addition, in the actual use of industrial machinery, etc., sometimes only the driving component is replaced due to a motor failure, etc., in which case the life evaluation of the reducer 10 becomes unclear. If the reducer 10 fails unexpectedly, the industrial machinery IM needs to be stopped. Furthermore, sometimes the entire factory where the industrial machinery IM is installed needs to be stopped, and sometimes great damage is caused.

[0094] Therefore, in the first specific example, the speed reducer 10 includes a sensor S that can acquire information about the rotation speed of the rotatable member. Figure 4 In the example shown, information acquired by the sensor S is recorded in a recording unit M provided in the factory F. Furthermore, the control unit C provided in the factory F sets the replacement time of the speed reducer 10 based on the information recorded in the recording unit M, and reflects it in, for example, a production plan.

[0095] The information related to the rotation speed acquired by the sensor S can be various information that can determine the rotation speed of a specific component. Therefore, the information that the control unit C can calculate the rotation speed of a specific component of the speed reducer 10 based on the information recorded in the recording unit M can be said to be information related to the rotation speed of the specific component. For example, the sensor S can also acquire the rotation angular velocity of the specific component and the rotation time of the specific component as the information related to the rotation speed.

[0096] exist Figure 4 In the speed reducer 10 shown, the sensor S has a counting sensor 81. The counting sensor 81 is held by a support device 91 at a position facing the crankshaft 40. The counting sensor 81 can detect a detected part such as a groove formed in the input gear 42 or a magnet embedded in the input gear 42, and record, for example, the number of times detected in the recording part M. When the detected part is provided at a position along the circumferential direction of the input gear 42, the number of times detected by the detected part becomes the rotation speed of the input gear 42.

[0097] In the example shown in the figure, the housing 20 of the speed reducer 10 rotates as an output shaft. Therefore, the crankshaft 40 and the input gear 42 only rotate on their own, so the sensor S can detect the number of rotations of the input gear 42 with high accuracy. However, this example is not limited to this. In the case where the gear frame 30 rotates as the output shaft, the sensor S can be retained on the gear frame 30 to determine the number of rotations of the crankshaft 40 and the input gear 42. In addition, the sensor S can also obtain information related to the rotation of components other than the crankshaft 40, such as the gear frame 30.

[0098] According to the first specific example, the rotation speed of a specific component included in the reducer 10 can be grasped. For example, in the reducer used in the AGV (Automated Guided Vehicle), the travel distance of the AGV can also be determined based on the information obtained by the sensor S. By thus estimating the life of the reducer 10 based on the rotation speed of a specific component included in the reducer 10 itself, it is possible to estimate the life of the reducer 10 with high accuracy. As a result, unexpected failures of the reducer 10 can be effectively avoided and productivity in the factory F can be effectively improved.

[0099] <Second specific example>

[0100] Next, the main reference Figure 5 The second specific example in the present embodiment will be described. The reducer 10 of the second specific example has: a reduction mechanism 11 having a rotatable component; and a sensor S, which can detect deposits accumulated on the rotatable component. The accumulation of deposits refers to the wear of the components included in the reduction mechanism 11. Therefore, the accumulation of deposits becomes an indicator of the life of the reducer 10. Based on the presence or absence of deposits and the amount of deposits, the reducer 10 is replaced and maintained, thereby effectively avoiding unexpected failures of the reducer 10. Therefore, in the second specific example, the reducer 10 has a sensor S that can detect deposits accumulated on any component.

[0101] Figure 5 The reducer 10 shown has Figure 1 The examples shown are of different structures. Figure 5 In the example shown, the housing 20 is located on the outside of the gear carrier 30 in the radial direction DR, and is also located on the outside of the gear carrier 30 in the axial direction DA. In addition, the housing 20 faces the input shaft 15 in the radial direction DR, and an oil seal 60 is installed at a position of the housing 20 facing the input shaft 15. The oil seal 60 fixed to the housing 20 has a lip (main lip) 61 that contacts the input shaft 15. The input shaft 15 rotates relative to the oil seal 60 and the housing 20 while contacting the first lip 61. The lip 61 contacts the input shaft 15, so that the lubricating oil can be retained in the reducer 10 (reduction machine 11).

[0102] The outer side in the axial direction DA refers to the side away from the center position of the speed reducer 10 in the axial direction DA. Therefore, the side away from the region where the lubricating oil is retained by the oil seal 60 is the outer side in the axial direction DR.

[0103] exist Figure 5 In the example shown, the sensor S is disposed in the area sealed by the oil seal 60. More specifically, the sensor S is located near the oil seal 60 and further inward of the oil seal 60 in the axial direction DR. Figure 5 As shown, the deposit X containing the wear powder gathers in the area where the oil seal 60 is arranged between the housing 20 and the input shaft 15. In particular, the deposit X has low fluidity and is easily accumulated 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 deposit X.

[0104] Since the deposit X accumulates toward the input shaft 15, the distance between the input shaft 15 and the housing 20 becomes shorter. Therefore, by adopting a displacement sensor as the sensor S, the accumulation of the deposit X can be detected. The sensor S shown in the figure is composed of a capacitive displacement sensor 82. The capacitive displacement sensor 82 can detect the displacement of two conductors based on the change in capacitance between the two conductors. In this example, the voltage output wiring 92 passes through the reduction mechanism 11 and is electrically connected to the recording unit M and the control unit C. The control unit C can detect the accumulation of conductive deposits X containing wear powder on the metal component with high accuracy based on the voltage output from the capacitive displacement sensor 82.

[0105] According to the above, according to the second specific example, it is possible to detect the accumulation of the deposit X on a specific member included in the reducer 10. The life of the reducer 10 can be estimated with high accuracy based on the presence or absence of the accumulation of the deposit X, and further based on the accumulation amount of the deposit X. Thus, unexpected failures of the reducer 10 can be effectively avoided and the productivity in the factory F can be effectively improved.

[0106] In addition, in the example shown in the figure, the example in which the sensor S detects the accumulation of the sediment X on the input shaft 15 is shown, but the present invention is not limited to this. The sensor S may also detect the accumulation of the sediment X on the housing 20, the accumulation of the sediment X on the gear frame 30, or any other member included in the reduction mechanism 11. In addition, the example in which the sensor S is mounted on the housing 20 is shown, but the present invention is not limited to this example. The sensor S may be mounted on the gear frame 30 or the input shaft 15. However, considering the wiring to the sensor S and the power supply to the sensor S, it is preferable to mount the sensor S on a non-rotating member included in the reduction mechanism 11, such as a gear frame 30. Figure 1 The gear carrier 30 in the example is fixed with a sensor S.

[0107] <Third specific example>

[0108] Next, the main reference Figure 6 The third specific example in this embodiment is described below. Figure 6 The eccentric oscillating type speed reducer 10 (speed reduction machine 11) shown in FIG. Figure 1 and Figure 2 The different parts of the reducer (reduction mechanism) shown in the figure are omitted. Figure 1and Figure 2 The diagrams of some of the components (such as the input shaft 15, the external gears 50a, 50b) are shown. Figure 6 In the example shown, the gear rack 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 gear rack 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, the second specific example, and further in the fourth specific example and the fifth specific example described later, either the gear rack 30 or the housing 20 can function as the output shaft.

[0109] The reducer 10 of the third specific example includes: a reduction mechanism 11, which reduces the speed of the input rotation and outputs it; and a sensor S, which is installed on the reduction mechanism 11 and detects whether there is an impact on the reduction mechanism 11. The reducer 10 and the industrial machinery IM equipped with the reducer 10 are sometimes subjected to impacts, or more precisely, impact overloads during their use. For example, the reducer 10 installed in the robot 6 is subjected to impact due to the collision between the arm of the robot 6 and the workpiece to be processed. When the reducer 10 is impacted, the operating accuracy of the reducer 10 is reduced, and sometimes it cannot operate normally. Therefore, when the reducer 10 is impacted, it is necessary to maintain the reducer 10 or replace the reducer 10 quickly.

[0110] On the other hand, when the industrial machine IM is automatically operated, it is also conceivable that it is impossible to confirm that the reducer 10 has been impacted. In addition, it is difficult to determine afterwards that an impact has been applied to the reducer 10. Therefore, in the third specific example, the sensor S detects whether there is an impact on the reduction mechanism 11. Based on the detection result of the sensor S, it is possible to determine the maintenance of the reducer 10 and the replacement of the reducer 10.

[0111] As the sensor S, the impact detection tag 83 can be used. The impact detection tag 83 is a component that can record the fact that a predetermined magnitude of impact is applied. For example, a "drop impact detection tag" available from 3M Company can be used as the sensor S.

[0112] In the illustrated example, the first sealing cover 93A and the second sealing cover 93B are arranged in the central hole 34 of the gear frame 30 in a manner staggered along the axial direction DA. The first sealing cover 93A and the second sealing cover 93B are located on the rotation axis RA. Moreover, when the gear frame 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 at a position closer to the inside than the first sealing cover 93A in the axial direction DA. In addition, the second sealing cover 93B substantially seals the lubricating oil. The 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 cover 93A does not actually perform the function of sealing the lubricating oil. On the other hand, the first sealing cover 93A has the function of holding the impact detection label 83 in a manner that does not expose the impact detection label 83 to the outside. According to the arrangement of the impact detection tag 83 using the first seal cover 93A, the impact detection tag 83 can be effectively used, as an example, for identifying the cause of a failure by the manufacturer of the speed reducer 10 .

[0113] In particular, in the example shown in the figure, the first seal cover 93A is located adjacent to the rotary body 6Y of the industrial machine IM. Therefore, it is possible to detect with high accuracy the impact generated when the industrial machine IM collides with a workpiece or the like.

[0114] According to the above, according to the third specific example, the necessity of maintenance or replacement of the reducer 10 can be determined based on the detection result of the sensor S for the impact, for example, based on the result of regularly confirming whether there is detection at the sensor S. As a result, the production efficiency in the factory F using the industrial machinery IM can be improved. In addition, when investigating the cause of the failure of the reducer 10, it is possible to confirm whether there is an impact on the reducer 10 based on the sensor S.

[0115] In addition, refer to Figure 6 The example in which the sensor S is held in the first sealing cover 93A in the central hole 34 of the reduction mechanism 11 is described, but the present invention is not limited to this example, and the sensor S may be mounted on the housing 20 or the gear rack 30. In addition, similarly to the first and second specific examples, the information acquired by the sensor S may be sent to the recording unit M so that the control unit C processes the information recorded in the recording unit M.

[0116] <4th specific example>

[0117] Next, the main reference Figure 4The fourth specific example of the present embodiment will be described. The reducer 10 of the fourth specific example includes: a reduction mechanism 28 having a crankshaft 40; and a sensor S disposed in the crankshaft. The sensor S can obtain information related to temperature. That is, the sensor S obtains information that is an index indicating the temperature at the position where the sensor S is disposed. Therefore, the sensor S may also record only the highest temperature, or may be a sensor that can detect the temperature at any time.

[0118] Due to the recent demand for improving productivity, the reducer 10 and the industrial machinery IM equipped with the reducer 10 require high-speed operation. If the components of the reducer 10 rotate at high speed, the temperature of the reducer 10 (reduction mechanism 11) rises. In the eccentric swing type reducer 10, the temperature of the crankshaft 40 of the reduction mechanism 28 is easy to rise. If the temperature of the reducer 10 rises, depending on the value of its maximum temperature and the time of temperature rise, the operating accuracy of the reducer 10 is reduced, and sometimes it cannot operate normally. Therefore, in the case where the reducer 10 is overheated, it is necessary to maintain the reducer 10 or replace the reducer 10 quickly.

[0119] On the other hand, it is impossible to visually grasp the temperature rise of the reducer 10. In addition, it is difficult to determine afterwards that the reducer 10 is overheated. Therefore, in the fourth specific example, the sensor S can obtain information related to the temperature, especially information related to the temperature of the crankshaft 40 that is prone to temperature rise. Therefore, it is possible to determine the maintenance of the reducer 10 and the replacement of the reducer 10 based on the detection result of the sensor S.

[0120] As the sensor S, various sensors that can measure temperature can be used. In addition, the data obtained by the sensor S can be sent to the recording unit M. In this case, the control unit C can also process the information recorded in the recording unit M. As another example, the sensor S can be set as a data recorder 84 built into the crankshaft 40. The data recorder 84 can save the obtained temperature-related information for a predetermined period, such as one year. Therefore, the information recorded in the data recorder 84 can be used in the following situations: the manufacturer determines the cause of the failure of the reducer 10 that has failed, and the user determines the optimal operating conditions based on the analysis of the operating history of the replaced reducer 10.

[0121] 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 arranged in a counterbore (internal space IS) formed in the crankshaft 40, and then the counterbore is backfilled and sealed with a sealing cap 94, so that the sensor S can be installed in the crankshaft 40.

[0122] According to the above, according to the fourth specific example, it is possible to determine whether to maintain or replace the reducer 10 based on the detection result of the temperature at the sensor S, for example, based on the result of regularly or at any time confirming the temperature detected by the sensor S. As a result, it is possible to improve the production efficiency in the factory F using the industrial machinery IM. In addition, when investigating the cause of the failure of the reducer 10, it is possible to confirm whether the reducer 10 has excessively increased temperature based on the sensor S.

[0123] <5th specific example>

[0124] Next, the main reference Figure 7 The fifth specific example in the present embodiment will be described. In the use of industrial machinery IM, a position encoder is sometimes provided in the reducer 10. The position encoder needs to be provided at a position that is not easily affected by dirt or iron powder. In addition, due to the provision of the position encoder, the reducer 10 is enlarged, especially the reducer 10 is enlarged along the axial direction. It is also conceivable that the enlarged reducer 10 interferes with other components 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 study is conducted on the reducer 10 regarding the installation position of the sensor S that functions as an encoder.

[0125] 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 mounted on the first member M1 and contacts the second member M2; and an encoder 85 (sensor S) mounted on the oil seal 60. The encoder 85 obtains information related to the relative rotational position of the second member M2 with respect to the first member M1. Figure 7 In the reducer 10 shown, Figure 5 Similarly to the example shown, the housing 20 is located on the outside of the gear frame 30 in the radial direction DR, and is also located on the outside of the gear frame 30 in the axial direction DA. In this example, the housing 20 faces the input shaft 15 along the radial direction DR. The oil seal 60 is mounted on the housing 20 and is in contact with the input shaft 15. In addition, the encoder 85 retained in the oil seal 60 obtains information related to the position of the input shaft 15 relative to the housing 20, especially the relative rotational position. Alternatively, the information obtained by the encoder 85 may be sent to the recording unit M, for example, by wireless communication, and the control unit C processes the information recorded in the recording unit M.

[0126] like Figure 7As shown, the oil seal 60 includes: a first lip 61 and a second lip 62, which are in contact with the input shaft 15; and an arm portion 63, which connects the first lip 61 and the second lip 62. The first lip 61 is also called a main lip, and has the function of sealing the lubricating oil. The second lip 62 is also called a dust lip, and prevents foreign matter from mixing into the area sealed with the lubricating oil. The arm portion 63 is separated from the input shaft 15 along 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 a recess formed by the first lip 61, the second lip 62 and the arm portion 63. In particular, in the example shown in the figure, the encoder 85 includes: an encoder stator 85a, which is held by the arm portion 63; and an encoder rotor 85b, which is mounted on the input shaft 15 in a manner facing the encoder stator 85a. For example, the encoder stator 85 a functions as a detector and detects the encoder rotor 85 b as a detected object held on the input shaft 15 , thereby being able to determine the relative rotational position of the input shaft 15 with respect to the housing 20 to which the oil seal 60 is attached.

[0127] According to the fifth specific example, the relative positions of the two relatively rotatable members M1 and M2 of the reducer can be determined with high accuracy while preventing the reducer 10 from becoming larger. Thus, the industrial machine IM in which the reducer 10 is incorporated can be controlled with high accuracy to improve productivity.

[0128] According to the present embodiment described above, it is possible to obtain information on the speed reducer 10 that may affect the operation of the industrial machine IM. This can improve the production efficiency and yield rate in the factory F using the industrial machine IM.

[0129] Although one embodiment has been described with reference to a specific example, it is not intended that the specific example limit one embodiment. The above-mentioned one embodiment can be implemented with various other specific examples, and various omissions, substitutions, changes, and additions can be made without departing from the scope of the gist thereof.

[0130] For example, the eccentric oscillating type reducer to which the sensor S is applicable is not limited to the specific example described with reference to the accompanying drawings. As an example, a single crankshaft 40 may be arranged on the central axis instead of the above-mentioned multiple crankshafts 40. In addition, the reducer 10 to which the sensor S is applicable is not limited to the eccentric oscillating type reducer, but may be a planetary gear type reducer. In the planetary gear type reducer, the reduction mechanism 28 has: a planetary gear that is capable of rotating; and a gear carrier that supports the planetary gear so as to be rotatable. Furthermore, the first to fifth specific examples having different sensors S are described, but for example, as Figure 4 As shown, a plurality of specific examples can be used for one speed reducer 10 .

Claims

1. A factory comprising: An industrial machine having a speed reducer, the speed reducer comprising: a speed reduction mechanism having a crankshaft; and a sensor for acquiring information related to the rotation speed of the crankshaft; a recording unit that stores information acquired from the sensor of the industrial machine; and a control unit that controls the industrial machine based on the information of the recording unit, The control unit controls a replacement timing of the speed reducer based on the information recorded by the recording unit.

2. The plant according to claim 1, wherein: The sensor has a counting sensor.

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