Motor seal device, control method thereof, and robot

Abstract

This application relates to a motor sealing device and its control method, as well as a robot. The motor sealing device is disposed between a motor and a reducer, and includes: a motor housing with a rotating shaft rotatably disposed therein, and a rear oil seal disposed at the end of the shaft away from the reducer, the lip of the rear oil seal having a receiving cavity for absorbing lubricating grease; a temperature sensor disposed on the side of the motor housing near the rear oil seal for detecting the temperature of the rear oil seal; and a grease injection gun for replenishing lubricating grease into the receiving cavity when the temperature of the rear oil seal is abnormal. The temperature sensor allows for normal monitoring of the temperature of the rear oil seal. When the temperature of the rear oil seal exceeds a temperature abnormality threshold, the grease injection gun automatically injects lubricating grease into the lip of the rear oil seal to prevent dry friction of the rear oil seal, which would lead to accelerated aging of the oil seal material, thereby improving the service life of the rear oil seal.

Description

Technical Field

[0001] This application relates to the field of sealing device technology, and in particular to a motor sealing device and its control method, and a robot. Background Technology

[0002] Servo motors are widely used in industrial robots, serving as the power source for robots. Robot joints move under the drive of servo motors via reducers. Because reducers are typically filled with lubricating oil, oil-proof seals must be installed at the points where the servo motor and reducer meet to prevent lubricating oil from entering the servo motor and causing damage.

[0003] Generally, a skeleton oil seal is used for oil prevention. In more demanding applications, two or more oil seals may be used for protection. For example, patents CN203104177U and JP2019080467A disclose a sealing structure with a double skeleton oil seal. There is an observation port between the two oil seals for periodically checking for oil leakage. However, this structure has a problem: because the lip of the oil seal closer to the motor side (referred to as the "rear oil seal") has less grease between it and the shaft, when the grease evaporates and is used up, the lip of the rear oil seal will "dry rub" against the shaft. This will drastically reduce the lifespan of the rear oil seal, which may cause it to fail earlier than the oil seal closer to the reducer side (referred to as the "front oil seal"), rendering the double protection of the double oil seal ineffective. Summary of the Invention

[0004] This application provides a motor sealing device and its control method, as well as a robot, to solve the technical problem that the oil seal lip will "dry grind" with the shaft after the lubricating grease has evaporated, resulting in a sharp decrease in the life of the oil seal.

[0005] In a first aspect, this application provides a motor sealing device disposed between a motor and a reducer, comprising: a motor housing, wherein a rotating shaft is rotatably disposed therein, and a rear oil seal is disposed at the end of the rotating shaft away from the reducer, the lip of the rear oil seal having a receiving cavity for accommodating lubricating grease; a temperature sensor disposed on the side of the motor housing near the rear oil seal for detecting the temperature of the rear oil seal; and a grease gun for replenishing lubricating grease into the receiving cavity when the temperature of the rear oil seal is abnormal.

[0006] In one possible implementation, an encoder is provided at one axial end of the shaft, and the encoder is electrically connected to an external controller for measuring the number of rotations of the shaft.

[0007] In one possible implementation, both the temperature sensor and the oil gun are electrically connected to an external controller.

[0008] In one possible implementation, a first pre-embedded notch is provided on the motor housing, and a temperature sensor is installed in the first pre-embedded notch. The temperature sensor's sensing head abuts against the rear oil seal.

[0009] In one possible implementation, a second pre-embedded notch is provided on the motor housing, and an oil injection gun is installed in the second pre-embedded notch.

[0010] In one possible implementation, a front oil seal is provided at one end of the shaft near the reducer, and an oil injection chamber communicating with the receiving cavity is formed between the motor housing, the front oil seal and the rear oil seal, with the nozzle of the oil injection gun facing the oil injection chamber.

[0011] Secondly, this application provides a control method for the motor sealing device as described above, comprising: starting the motor and monitoring the first temperature of the rear oil seal of the rotating shaft; determining whether the first temperature is abnormal, and if so, controlling the grease gun to replenish the receiving cavity of the rear oil seal with grease; after the rotating shaft rotates to a first target number of revolutions, monitoring the second temperature of the rear oil seal; determining whether the second temperature is abnormal, and if the second temperature is normal, determining that the rear oil seal has resumed normal operation, and if the second temperature is abnormal, controlling the grease gun to replenish the receiving cavity of the rear oil seal with grease again.

[0012] In one possible implementation, after the shaft rotates to the second target number of revolutions, the third temperature of the rear oil seal is monitored; it is determined whether the third temperature is abnormal. If the third temperature is normal, it is determined that the rear oil seal has resumed normal operation. If the third temperature is abnormal, it is determined that the rear oil seal cannot resume normal operation.

[0013] In one possible implementation, an encoder is provided at one axial end of the shaft, the encoder being used to measure the number of rotations of the shaft, the second target number of rotations being greater than the first target number of rotations.

[0014] In one possible implementation, the first target number of revolutions is: c1 = c0 + Δc; the second target number of revolutions is: c2 = c0 + 2Δc; where c0 is the initial number of revolutions of the encoder shaft measured when the first temperature is determined to be abnormal, and Δc is the incremental number of revolutions.

[0015] Thirdly, this application provides a robot, including: a motor; a reducer, which is driven and connected to the motor; a joint, which is driven and connected to the reducer, and the joint operates by driving the reducer to rotate through the motor; and a motor sealing device as described above.

[0016] The technical solutions provided in this application have the following advantages compared with the prior art:

[0017] This application provides a motor sealing device, its control method, and a robot. The device monitors the temperature of the rear oil seal using a temperature sensor. When the rear oil seal temperature exceeds a temperature abnormality threshold, a grease injection gun automatically injects grease into the lip of the rear oil seal, restoring it to normal operation. This prevents dry friction and accelerated aging of the seal material, thereby extending the service life of the rear oil seal. After the motor has been operating for a period of time, the device can again determine if the rear oil seal temperature is abnormal, thus assessing the effectiveness of grease replenishment. Finally, if the rear oil seal fails to recover, an alarm is triggered to alert the operator for inspection, preventing motor seal failure. Attached Figure Description

[0018] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0021] Figure 1 This is a schematic diagram of the structure of a motor sealing device provided in an embodiment of this application;

[0022] Figure 2 for Figure 1 A partially enlarged schematic diagram of region A of the motor sealing device is shown;

[0023] Figure 3 A flowchart illustrating the control method for the motor sealing device provided in this application embodiment;

[0024] Figure 4 The temperature change curve of the rear oil seal when there is sufficient grease.

[0025] Figure 5 The temperature change curve of the rear oil seal when there is insufficient grease.

[0026] Figure 6 The operating temperature change curve of the rear oil seal after re-injection of grease.

[0027] Explanation of reference numerals in the attached figures:

[0028] 1. Motor housing; 2. Shaft; 3. Rear oil seal; 4. Receiving cavity; 5. Temperature sensor; 6. Oil injection gun; 7. Encoder; 8. First pre-embedded notch; 9. Second pre-embedded notch; 10. Front oil seal; 11. Oil injection cavity; 12. Stator; 13. Rotor; 14. Reducer housing. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0030] The following disclosure provides numerous different embodiments or examples for implementing various structures of the invention. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the scope of the invention. Furthermore, reference numerals and / or letters may be repeated in different examples. Such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed.

[0031] For ease of description, spatial relative terms may be used in the text to describe the relative position or movement of one element or feature relative to another element or feature, as shown in the figure. These relative terms include, for example, "inside," "outside," "middle," "outer," "below," "below," "above," "front," "back," etc. Such spatial relative terms are intended to include different orientations of the device in use or operation, other than those depicted in the figure. For example, if the device in the figure undergoes a positional flip, orientation change, or change of motion, these directional indications will change accordingly. For instance, an element described as "below other elements or features" or "below other elements or features" will subsequently be oriented "above other elements or features" or "above other elements or features." Therefore, the example term "below" can include both upper and lower orientations. The device may be otherwise oriented (rotated 90 degrees or in other directions), and the spatial relative descriptors used in the text will be interpreted accordingly.

[0032] To address the technical problem in existing technologies where the lip of the rear oil seal rubs against the shaft after the grease has evaporated, leading to a sharp decline in the lifespan of the rear oil seal, this application provides a motor sealing device and its control method, as well as a robot. This device can routinely monitor the temperature of the rear oil seal. When the temperature of the rear oil seal exceeds the abnormal temperature threshold, the grease injection gun automatically injects grease into the lip of the rear oil seal to prevent dry friction and accelerated aging of the oil seal material, thereby improving the service life of the rear oil seal.

[0033] Figures 1 to 2 An embodiment of this application provides a motor sealing device, which is disposed between a motor and a reducer. The motor sealing device includes a motor housing 1, a temperature sensor 5, and an oil injection gun 6. A rotating shaft 2 is rotatably disposed inside the motor housing 1. A rear oil seal 3 is disposed at the end of the rotating shaft 2 away from the reducer. The lip of the rear oil seal 3 has a receiving cavity 4 for receiving lubricating grease.

[0034] Temperature sensor 5 is located on the side of motor housing 1 near rear oil seal 3 to detect the temperature of rear oil seal 3. Lubrication gun 6 is used to add grease to receiving cavity 4 when the temperature of rear oil seal 3 is abnormal.

[0035] Specifically, temperature sensor 5 refers to a sensor that can sense temperature and convert it into a usable output signal. In the embodiments of this application, temperature sensor 5 can be an existing thermocouple sensor, thermistor sensor, resistance temperature detector, or digital temperature sensor 5, etc. Those skilled in the art can choose according to actual needs, and no specific restrictions are made here.

[0036] Understandably, temperature sensor 5 routinely monitors the temperature of the rear oil seal 3. When the temperature of the rear oil seal 3 exceeds the abnormal temperature threshold, the grease gun 6 automatically injects grease into the lip of the rear oil seal 3 to prevent dry friction and accelerated aging of the seal material, thereby extending its service life. After the motor has been running for a period of time, the system can again determine if the temperature of the rear oil seal 3 is abnormal, thus assessing the effectiveness of grease replenishment. Finally, if the rear oil seal 3 fails to recover, an alarm is triggered to alert the operator for inspection, thereby preventing motor seal failure.

[0037] In some embodiments, an encoder 7 is provided at one axial end of the rotating shaft 2. The encoder 7 is electrically connected to an external controller and is used to measure the number of rotations of the rotating shaft 2.

[0038] Specifically, a stator 12 and a rotor 13 are arranged inside the motor housing 1. The rotor 13 is fixedly connected to the rotating shaft 2 and supported on the front and rear bearings. When power is supplied to the stator 12, the rotor 13 will rotate. The encoder 7 mounted on the shaft end of the rotating shaft 2 can accurately transmit the position and speed information of the motor rotor 13 to the external controller, thereby realizing the function of precisely controlling the speed and position of the reducer input shaft. The motor rotating shaft 2 extends into the reducer housing 14 and connects with the gear system therein, ultimately transmitting power to the robot's joints through the reducer output shaft.

[0039] Since the gear train inside the reducer is not the focus of this invention, it is omitted from the drawing. However, the gear train requires lubricating oil for lubrication. Figure 2 As can be seen, the inside of the reducer housing 14 is filled with lubricating oil. Lubricating oil is not allowed to enter the motor, and since the motor shaft 2 is rotating and not stationary, a skeleton oil seal is required at the shaft 2 for sealing. To improve sealing reliability, a front oil seal 10 and a rear oil seal 3 are used. The front oil seal 10 is located near the reducer, so even if the front oil seal 10 fails, the rear oil seal 3 serves as a backup. Figure 2 As shown, in this structure, the contact point between the lip of the rear oil seal 3 and the rotating shaft 2 is usually pre-applied with grease to prevent dry friction. However, the grease will evaporate with use and time. Moreover, since the rear oil seal 3 is separated from the lubricating oil in the reducer housing 14, once the grease in this position evaporates, the rear oil seal 3 will experience dry friction, and the life of the rear oil seal 3 will decrease rapidly. The rear oil seal 3 may even fail before the front oil seal 10 fails, rendering this double oil seal structure meaningless.

[0040] Therefore, it can be understood that encoder 7 acquires the position and speed information of motor rotor 13. Since motor rotor 13 and shaft 2 are fixedly connected, the number of rotations of shaft 2 can be measured. This rotation number information is fed back to the external controller to identify whether the target number of rotations has been reached. Once the target number of rotations is reached, the temperature of rear oil seal 3 is checked again to determine whether the injected grease is effective. If rear oil seal 3 cannot return to normal operation, an alarm is issued to remind the operator to check, thereby preventing motor seal failure.

[0041] Furthermore, both the temperature sensor 5 and the grease gun 6 are electrically connected to an external controller. The temperature of the rear oil seal 3 monitored by the temperature sensor 5 is fed back to the external controller. When the operating temperature of the rear oil seal 3 is abnormal, the external controller controls the grease gun 6 to open automatically and inject grease into the receiving cavity 4.

[0042] In some embodiments, the motor housing 1 is provided with a first pre-embedded notch 8, the first pre-embedded notch 8 is provided with a temperature sensor 5, the temperature sensor 5's sensing head abuts against the rear oil seal 3, and the cable of the temperature sensor 5 is led out from the first pre-embedded notch 8 and electrically connected to an external controller.

[0043] By setting temperature sensor 5, the working temperature of the rear oil seal 3 can be monitored in real time on a regular basis.

[0044] Specifically, the first embedded notch 8 can be arranged radially along the motor housing, and the cross-sectional shape of the first embedded notch 8 can be circular, square, or other shapes, without specific limitations. The first embedded notch 8 can also be configured as a two-section structure, with the cross-sectional dimension of the section of the first embedded notch 8 away from the rotating shaft 2 being smaller than the cross-sectional dimension of the section of the first embedded notch 8 closer to the rotating shaft 2. The section of the first embedded notch 8 closer to the rotating shaft 2 is used to prevent the temperature sensing head of the temperature sensor 5 from being blocked.

[0045] In some embodiments, the motor housing 1 is provided with a second pre-embedded notch 9, and the second pre-embedded notch 9 is provided with an oil injection gun 6. The oil pipe of the oil injection gun 6 is led out from the second pre-embedded notch 9 so as to inject grease into the receiving cavity 4 of the rear oil seal 3 through the oil pipe of the oil injection gun 6 to prevent the rear oil seal 3 from dry friction.

[0046] Specifically, the second pre-embedded notch 9 can be arranged radially along the motor housing. The cross-sectional shape of the second pre-embedded notch 9 can be circular, square, or other shapes. There are no specific restrictions here, as long as it is convenient to install the oil gun 6.

[0047] In some embodiments, a front oil seal 10 is provided at one end of the rotating shaft 2 near the reducer, and an oil injection chamber 11 is formed between the motor housing 1, the front oil seal 10 and the rear oil seal 3, which communicates with the receiving cavity 4. The nozzle of the oil injection gun 6 faces the oil injection chamber 11.

[0048] By setting up the oil injection chamber 11, the nozzle of the oil injection gun 6 replenishes the oil injection chamber 11 with grease, so that the grease can simultaneously lubricate the lips of the front oil seal 10 and the rear oil seal 3.

[0049] According to embodiments of the present invention, such as Figure 3 As shown, a control method for the motor sealing device as described above is also provided, comprising the following steps:

[0050] Start the motor and monitor the first temperature T1 of the rear oil seal 3 of shaft 2.

[0051] Determine if the first temperature T1 is abnormal. If the first temperature T1 is abnormal, i.e., T1 ≥ T m At the same time, the grease gun 6 adds grease to the receiving cavity 4 of the rear oil seal 3, and simultaneously reads the initial number of rotations c0 of the shaft 2 measured by the encoder 7; if the first temperature T1 is not abnormal, i.e., T1 < Tm Then, return to the initial monitoring process.

[0052] After the shaft 2 rotates to the first target number of revolutions c1, monitor the second temperature T2 of the rear oil seal 3.

[0053] An encoder 7 is provided at one axial end of the rotating shaft 2. The encoder 7 is used to measure the number of rotations of the rotating shaft 2. The first target number of rotations is: c1 = c0 + Δc, where c0 is the initial number of rotations of the rotating shaft 2 measured by the encoder 7 when the first temperature is determined to be abnormal, and Δc is the incremental number of rotations of the rotating shaft 2.

[0054] It is understandable that the heat generated by the oil seal comes from friction, and the heat generated by the friction of the oil seal is proportional to the number of revolutions of the motor. Therefore, it is necessary to determine whether the motor will return to normal after the target number of revolutions after the oil is injected.

[0055] Determine if the second temperature T2 is abnormal. If the second temperature T2 is normal, i.e., T2 < T m If the oil seal 3 returns to normal operation, the first oil injection is successful, and the process returns to monitoring the first temperature of the oil seal 3.

[0056] If the second temperature T2 is abnormal, i.e., T2 ≥ T m At this time, control the grease gun 6 to replenish the lubricating grease into the receiving cavity 4 of the rear oil seal 3 again.

[0057] After the rotating shaft 2 rotates to the second target number of revolutions c2, the third temperature T3 of the rear oil seal 3 is monitored. The second target number of revolutions is greater than the first target number of revolutions, and the second target number of revolutions is: c2 = c0 + 2Δc.

[0058] Determine if the third temperature T3 is abnormal. If the third temperature T3 is normal, i.e., T3 < T m When the oil seal 3 is restored to normal operation, the second oil injection is successful, and the process returns to monitoring the first temperature of the oil seal 3.

[0059] If the third temperature T3 is abnormal, i.e., T3 ≥ T m If the system detects that oil seal 3 cannot be restored to normal operation, the second oil filling attempt will fail. Simultaneously, the external controller will issue an alarm, displaying an alarm message to alert the operator to check the situation.

[0060] The temperature anomaly setpoint T mentioned in the above method m And Δc needs to be set according to different models. In this embodiment, we take a motor with a rated speed of 3000 rpm as an example. The following describes the temperature change of the oil seal of this model under different lubrication conditions.

[0061] like Figure 4The figure shows the temperature change of the rear oil seal 3 when the grease is sufficient (the rear oil seal 3 is properly lubricated). The temperature of the rear oil seal 3 is obtained by the temperature sensor 5. The motor starts working at 0 minutes. The initial temperature of the rear oil seal 3 is the room temperature of 25℃. After the motor has been working for about 60 minutes, the temperature remains basically unchanged at 52℃. At this time, thermal equilibrium is reached. That is, when the grease is sufficient and the lubrication is normal, the working temperature of the rear oil seal 3 is 52℃.

[0062] Figure 5 This describes the temperature change of the rear oil seal 3 when there is insufficient grease. Initially, the rear oil seal 3 was already working under thermal equilibrium. After about 20 minutes, the temperature began to rise at the moment the grease evaporated, and the rate of increase increased until it reached about 145°C before stopping. It then maintained this temperature. In other words, when the rear oil seal 3 experiences dry friction due to insufficient grease, its operating temperature will be 90°C higher than normal. High temperature will accelerate the aging of the oil seal material and greatly reduce its lifespan.

[0063] Figure 6 This describes the temperature change of oil seal 3 after re-injecting grease when the grease is insufficient. The temperature of oil seal 3 begins to rise after 20 minutes (the moment the grease evaporates completely). When the temperature of oil seal 3 reaches 70°C after 35 minutes, grease is replenished, and the temperature of oil seal 3 gradually decreases and returns to the normal temperature of 52°C after a period of time.

[0064] Based on the above, the parameters for this embodiment can be determined, and the temperature anomaly threshold is set as follows:

[0065] T m =70℃.

[0066] In addition, after adding grease, the temperature of the rear oil seal 3 will drop below the abnormal temperature threshold. Since the heat generated by the oil seal comes from friction, and the heat generated by the friction of the oil seal is proportional to the number of rotations of the motor, it is necessary to determine the value of Δc, that is, how many rotations of the motor will return to normal after adding grease.

[0067] Depend on Figure 5 It can be seen that the rear oil seal 3 exceeds the abnormal temperature threshold T. m Start injecting oil when the temperature drops below the abnormal temperature threshold T. m It takes approximately 15 minutes. Based on the rated speed of 3000 rpm, we can calculate:

[0068] Δc=Δt×N=15×3000=45000.

[0069] By adopting the above control method, the working status of the rear oil seal 3 can be monitored in real time, and the grease can be automatically replenished when the rear oil seal 3 needs it. It can also effectively determine whether the replenishment of grease is effective. Finally, it can issue an alarm after the rear oil seal 3 fails to recover, reminding the operator to check, which can prevent the motor seal from failing.

[0070] According to an embodiment of the present invention, a robot is also provided, comprising: a motor; a reducer, driven and connected to the motor; a joint, driven and connected to the reducer, wherein the joint operates by the motor driving the reducer to rotate; and a motor sealing device as described above. The specific working principle of this robot is detailed in the above embodiments and will not be repeated here. By employing the aforementioned motor sealing device, this robot can monitor the sealing condition of the motor in real time and provide good lubrication conditions for a long time, extending the service life of the seal (rear oil seal 3) and ensuring the long-term reliability of the motor operation.

[0071] It should be understood that the terminology used herein is for the purpose of describing particular exemplary embodiments only and is not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms “a,” “an,” and “described” as used herein may also include the plural forms. The terms “comprising,” “including,” “containing,” and “having” are inclusive and therefore indicate the presence of the stated features, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, elements, components, and / or combinations thereof. The method steps, processes, and operations described herein are not construed as requiring them to be performed in a particular order described or illustrated unless the order of performance is explicitly indicated. It should also be understood that additional or alternative steps may be used.

[0072] Although terms such as first, second, third, etc., may be used in this document to describe multiple elements, components, regions, layers, and / or segments, these elements, components, regions, layers, and / or segments should not be limited by these terms. These terms may be used only to distinguish one element, component, region, layer, or segment from another. Unless the context clearly indicates otherwise, terms such as "first," "second," and other numerical terms used herein do not imply order or sequence. Therefore, the first element, component, region, layer, or segment discussed below may be referred to as the second element, component, region, layer, or segment without departing from the teachings of the exemplary embodiments.

[0073] The above description is merely a specific embodiment of the present invention, enabling those skilled in the art to understand or implement the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A motor sealing device, disposed between a motor and a reducer, characterized in that, include: The motor housing has a rotating shaft inside, and a rear oil seal is provided at the end of the rotating shaft away from the reducer. The lip of the rear oil seal has a receiving cavity for grease. A temperature sensor is installed on the side of the motor housing near the rear oil seal to detect the temperature of the rear oil seal; as well as A grease gun is used to replenish grease to the receiving cavity when the temperature of the rear oil seal is abnormal. as well as The controller, electrically connected to the temperature sensor and the oil injection gun, is configured to: Start the motor and monitor the first temperature of the rear oil seal; Determine if the first temperature is abnormal; if so, control the grease gun to add grease to the receiving cavity. After the shaft rotates to the first target number of revolutions, monitor the second temperature of the rear oil seal; Determine if the second temperature is abnormal. If the second temperature is normal, determine if the rear oil seal has returned to normal operation. If the second temperature is abnormal, control the oil injection gun to replenish the lubricating grease to the receiving cavity again.

2. The motor sealing device according to claim 1, characterized in that, An encoder is provided at one axial end of the rotating shaft. The encoder is electrically connected to an external controller and is used to measure the number of rotations of the rotating shaft.

3. The motor sealing device according to claim 2, characterized in that, Both the temperature sensor and the oil injection gun are electrically connected to the external controller.

4. The motor sealing device according to claim 1, characterized in that, The motor housing is provided with a first pre-embedded notch, and the temperature sensor is installed in the first pre-embedded notch. The temperature sensor's sensing head abuts against the rear oil seal.

5. The motor sealing device according to claim 1, characterized in that, The motor housing is provided with a second pre-embedded notch, and the oil injection gun is installed in the second pre-embedded notch.

6. The motor sealing device according to claim 1, characterized in that, A front oil seal is provided at one end of the rotating shaft near the reducer. An oil injection chamber is formed between the motor housing, the front oil seal, and the rear oil seal, which communicates with the receiving cavity. The nozzle of the oil injection gun faces the oil injection chamber.

7. A control method for a motor sealing device as described in any one of claims 1 to 6, characterized in that, include: Start the motor and monitor the first temperature of the rear oil seal on the shaft; Determine if the first temperature is abnormal. If so, control the grease gun to add grease to the cavity of the rear oil seal. After the shaft rotates to the first target number of revolutions, monitor the second temperature of the rear oil seal; Determine if the second temperature is abnormal. If the second temperature is normal, determine if the rear oil seal has resumed normal operation. If the second temperature is abnormal, control the grease gun to replenish the lubricating grease into the cavity of the rear oil seal again.

8. The control method according to claim 7, characterized in that, Also includes: After the shaft has rotated to the second target number of revolutions, monitor the third temperature of the rear oil seal; Determine if the third temperature is abnormal. If the third temperature is normal, determine if the rear oil seal has returned to normal operation. If the third temperature is abnormal, determine if the rear oil seal cannot return to normal operation.

9. The control method according to claim 8, characterized in that, An encoder is provided at one axial end of the rotating shaft. The encoder is used to measure the number of rotations of the rotating shaft, and the second target number of rotations is greater than the first target number of rotations.

10. The control method according to claim 9, characterized in that, The first target number of laps is: c1 = c0 + Δc; The second target number of laps is: c2 = c0 + 2Δc; Wherein, c0 is the initial number of revolutions of the shaft measured by the encoder when the first temperature is determined to be abnormal, and Δc is the incremental number of revolutions.

11. A robot, characterized in that, include: Electric motor; The speed reducer is connected to the motor drive. The joint is connected to the reducer, and the motor drives the reducer to rotate, thereby enabling the joint to operate. as well as The motor sealing device as described in any one of claims 1 to 6.

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