KR20180007312A - Seal member, speed reducer and cleaning robot - Google Patents

Abstract

The present specification provides a seal member to prevent a fluid from being distributed between an external space outside a device and an internal space inside the device. The seal member comprises an external surface heading for an opposite side of the internal space, and a contact member in contact with the external surface. The contact member has at least one of chemical resistance and thermal resistance.

Description

Technical Field [0001] The present invention relates to a seal member, a speed reducer, and a cleaning robot,

The present invention relates to a seal member, a speed reducer, and a cleaning robot.

The seal member is used in various technical fields. For example, the seal member is used to prevent leakage of the oil sealed inside the apparatus. Alternatively, the seal member is used to prevent the inflow of liquid into the interior of the apparatus.

Japanese Utility Model Application Laid-Open No. 4-49267 discloses an oil seal which can be suitably used as a seal member in muddy water. Japanese Utility Model Application Laid-Open No. 4-49267 proposes to use a vapor-permeable film to separate the dust lip from the external environment.

The vapor-permeable film disclosed in Japanese Utility Model Application Laid-Open Publication No. Hei 4-49267 rubs against a movable portion of an apparatus provided with an oil seal, so that the designer needs to impart sufficient mechanical strength to the film. This increases the cost of the oil seal.

According to Japanese Utility Model Application Laid-Open Publication No. 4-49267, a vapor-permeable film can block a photograph floating in muddy water. However, water can enter the air gap between the dust lip and the vapor permeable film. For example, if an oil seal is used under an environment that degenerates the oil seal (e.g., a high temperature environment or a drug-filled environment), the medicament or hot fluid passing through the film will accumulate on the gap between the dust lip and the film , Deteriorating the dust lip.

An object of the present invention is to provide an inexpensive sealing technology having resistance to a high temperature environment or environment in which a medicine is used.

The seal member according to one aspect of the present invention can prevent the fluid from flowing between the outer space outside the apparatus and the inner space inside the apparatus. The seal member includes an outer surface facing away from the inner space, and a contact member closely attached to the outer surface. The adhesion member has at least one of chemical resistance and heat resistance.

1 is a schematic cross-sectional view of an oil seal as illustrated as a seal member;
Figure 2a is a schematic sectional view of a part of a cleaning robot.
2B is a schematic cross-sectional view along line AA shown in FIG. 2A;

≪ First Embodiment >

The present inventors have developed a seal member having high chemical resistance and / or heat resistance by bringing a member or layer having chemical resistance and / or heat resistance into close contact with the surface of the seal member. In the first embodiment, an exemplary seal member is described.

1 is a schematic cross-sectional view of an oil seal 100 which is an example of a seal member. Referring to Figure 1, an oil seal 100 is described.

1 shows a device map in which an oil seal 100 is installed. The device MAP includes a first member FMB and a second member SMB. The first member FMB is generally cylindrical in shape. The second member SMB is generally cylindrical in shape. The second member SMB partially surrounds the first member FMB. The first member FMB and the second member SMB can relatively rotate around the rotation axis RAX. The device map may be a deceleration contribution, a motor, or other hardware. The principle of the present embodiment is not limited to a specific machine used as the device MAP.

The oil seal 100 is fitted in an annular gap formed between the first member FMB and the second member SMB. The annular gap communicates with the inner space of the device MAP. The oil seal 100 inserted into the annular gap isolates the inner space inside the device MAP from the outer space outside the device MAP. The inner space of the device MAP is filled with lubricating oil. The oil seal 100 prevents leakage of the lubricating oil from the internal space. The external space may be a high-temperature environment. Alternatively, or additionally, a medicament, such as a detergent, may be present in the external space. The oil seal 100 prevents hot fluids and / or chemicals from entering the interior space.

The oil seal 100 includes a sealing ring 110, which is the main body of the oil seal 100, and a contact member 120. The seal ring 110 may have the same structure as a commercially available oil seal. The principle of the present embodiment is not limited to the specific structure of the seal ring 110. [

The seal ring 110 includes an outer surface 111, an inner surface 112, a first connecting surface 113, and a second connecting surface 114. The inner surface 112 faces the inner space side and contacts the lubricating oil filled in the inner space. The outer surface 111 is formed on the side opposite to the inner surface 112, and is directed opposite to the inner space.

The first connecting surface 113 connects the radially outer end of the outer surface 111 and the radially outer end of the inner surface 112. [ The first connecting surface 113 is annular and forms a radially outer surface of the sealing ring 110. At least a part of the first connection surface 113 in the direction of the rotation axis RAX is in contact with the second member SMB over the entire circumference. Therefore, a high temperature fluid and / or medicine is prevented from passing between the first connecting surface 113 and the second member SMB.

The second connecting surface 114 connects the radially inner end of the outer surface 111 and the radially inner end of the inner surface 112. [ The second connecting surface (114) is annular and is located radially inward of the first connecting surface (113). At least a part of the second connecting surface 114 in the direction of the rotational axis RAX is in contact with the first member FMB over the entire circumference. Therefore, the high-temperature fluid and / or medicine is prevented from passing between the second connecting surface 114 and the first member FMB.

The contact member 120 is in close contact with the outer surface 111. In the present embodiment, the term " close contact " means that two members are in contact with each other without gaps.

The contact member 120 is superior to the seal ring 110 in at least one of chemical resistance (alkali resistance or acid resistance) and heat resistance. If the alkaline (pH > 11) drug is floating in the outer space, the adherence member 120 is formed of a material that does not deteriorate under exposure to alkaline chemicals. If the weakly alkaline (11 ≥ pH> 8) drug is floating in the outer space, the adherence member 120 is formed of a material that does not deteriorate under exposure to weakly alkaline chemicals. If the acidic (pH < 3) drug is floating in the outer space, the adherence member 120 is formed of a material that does not deteriorate under exposure to acidic chemicals. If the drug of weak acidity (3? PH <6) is floating in the external space, the contact member 120 is formed of a material that does not deteriorate under the exposure to weakly acidic drugs. If the external space is a high-temperature environment of 90 占 폚, the contact member 120 is formed of a material which is not deformed and / or deformed under a high-temperature environment of 90 占 폚 or more.

The contact member 120 may be made of a fluororesin. When the fluororesin layer is formed as the contact member 120, the oil seal 100 can have high chemical resistance and high heat resistance. The manufacturer of the oil seal 100 may coat the outer surface 111 with a fluororesin using a common coating technique (e.g., coating). In this case, the contact member made of fluororesin is formed as a film which is in close contact with the outer surface 111.

The contact member 120 may be made of silicone rubber. When the silicone rubber is used as the contact member 120, the oil seal 100 can have high chemical resistance and high heat resistance. The silicone rubber may be bonded to the outer surface 111 using an adhesive having heat resistance and / or chemical resistance.

The contact member 120 may be a metal foil made of gold, aluminum, or the like. When the metal foil is used as the contact member 120, the oil seal 100 can have high chemical resistance and high heat resistance. The metal foil may be bonded to the outer surface 111 using an adhesive having heat resistance and / or chemical resistance. Alternatively, a metal thin film may be formed on the outer surface 111 by using a plating technique (for example, electrolytic plating or electroless plating). Also alternatively, a metal thin film may be formed on the outer surface 111 by using a deposition technique (for example, thermal deposition, sputter deposition, or ion plating). In this case, a metal foil or a metal thin film is formed as a film which is in close contact with the outer surface 111.

The seal ring 110 includes a ring portion 130 and a lip portion 140. Both the ring portion 130 and the lip portion 140 are generally annular. The ring portion 130 is located between the lip portion 140 and the second member SMB and surrounds the lip portion 140. [ In other words, the ring part 130 is composed of a first part 131 which contacts the second member SMB and has a thickness in the axial direction of the rotation axis RAX, and a second part 131 which is in contact with the outer part (on the outer surface 111 side) And a second portion 132 extending inward in the radial direction. In the first part 131 of the ring part 130, the surface facing outward in the radial direction is constituted by the first connecting surface 113. The first portion 131 of the ring portion 130 is pressed against the inner peripheral surface of the second member SMB.

The lip portion 140 is connected to the inner circumferential end portion of the second portion 132. The lip portion 140 is pressed against the first member FMB. The lip portion 140 includes a main lip 141 and a dust lip 142. The main lip 141 protrudes from the inner peripheral end portion of the second portion 132 of the ring portion 130 toward the inner space. The outer surface of the main lip 141 and the outer surface of the ring portion 130 form an inner surface 112 bent to be recessed toward the outer space.

The oil seal 100 has an annular spring 150. The spring 150 is disposed in the concave space surrounded by the inner surface 112. The main lug 141 is sandwiched between the spring 150 and the first member FMB. The diaphragm 141 is strongly urged by the spring 150 against the outer peripheral surface of the first member FMB. As a result, the oil seal 100 can prevent leakage of the lubricating oil filled in the inner space. A coil spring may be used as the spring 150. Alternatively, another resilient member capable of pressing the main lip 141 against the first member FMB may be used as the spring 150. The principle of the present embodiment is not limited to a specific member used as the spring 150. [

Unlike the main lip 141, the dust lip 142 protrudes from the inner peripheral end portion of the second portion 132 of the ring portion 130 toward the outer space. Therefore, the dust lip 142 is pressed against the outer circumferential surface of the first member FMB, outside the circumference of the circumferential rib 141.

The outer surface 111 of the dust lip 142 and the outer surface of the ring portion 130 are formed. The contact member 120 is in close contact with the entire region of the outer surface 111 formed by the dust lip 142 and the ring portion 130. In the contact member 120, the radially outward end portion is in contact with the inner circumferential surface of the second member SMB, and the radially inner end portion is in contact with the outer circumferential surface of the first member FMB. As a result, the sealing function of the dust lip 142 is appropriately protected by the contact member 120 from the high-temperature environment and / or the chemical environment.

&Lt; Second Embodiment >

The seal member described in connection with the above-described embodiment is suitably assembled into a cleaning robot having a speed reducer and also cleaning parts of automobiles and other hardware. Since the sealing member can have excellent resistance to the high-temperature cleaning liquid, the sealing member can exhibit excellent sealing performance over a long period of time in the cleaning robot. In the second embodiment, an exemplary cleaning robot and a speed reducer are described.

2A is a schematic cross-sectional view of a part of the cleaning robot 200. Fig. FIG. 2B is a schematic cross-sectional view taken along the line A-A shown in FIG. 2A. FIG. Referring to Figs. 1 and 2B, a cleaning robot 200 and a speed reducer 300 are described.

The cleaning robot 200 includes two oil seals 101 and 102, a speed reducer 300, an input shaft gear 201, a movable arm 202 and a floating member 203. The oil seals 101 and 102 partition the internal space in the speed reducer 300 from the external space outside the speed reducer 300. [ The oil seals 101 and 102 prevent the flow of fluid between the outer space and the inner space (i.e., the lubricant in the speed reducer 300 or the cleaning liquid injected from the outer space). The oil seals 101 and 102 are designed in accordance with the principles of the above-described embodiments. Therefore, the description of the above-described embodiment is used for the oil seals 101 and 102. [

The rotary shaft RAX is a common central axis of the oil seals 101, 102. The input shaft gear 201 rotates about the rotation axis RAX and inputs the driving force to the speed reducer 300. [ The input shaft gear 201 may be a rotary shaft of a motor (not shown). The speed reducer 300 amplifies the driving force from the input shaft gear 201 at a predetermined reduction ratio. The amplified driving force is transmitted to the movable arm 202 as rotation around the rotation axis RAX.

The movable arm 202 is installed in the speed reducer 300 and is located in the external space. The movable arm 202 is imparted with angular motion around the rotation axis RAX by the reducer 300. [ A nozzle (not shown) for spraying a high-temperature cleaning liquid may be provided on the movable arm 202. In this case, the high-temperature cleaning liquid is scattered around the oil seals 101, 102. However, since the oil seals 101 and 102 are designed on the basis of the principle of the above-described embodiment, the oil seals 101 and 102 can withstand the high-temperature cleaning liquid and can maintain excellent sealing performance over a long period of time . Instead of the nozzle, other components requiring angular movement about the rotation axis RAX may be provided on the movable arm 202. [ The principle of the present embodiment is not limited to a specific component provided on the movable arm 202. [

The speed reducer 300 is fixed to the floating member 203. Since the floating member 203 does not move, the speed reducer 300 is stably held.

The reducer 300 includes an outer cylinder 310, a carrier 320, a plurality of (three) crankshaft assemblies 330 (FIG. 2A shows one of the three crankshaft assemblies 330) (340), two main bearings (351, 352), and an outer wall (360). The movable arm 202 is fixed to the outer cylinder 310. The rotational axis RAX is a common central axis of the main bearings 351 and 352.

Regarding the oil seal 101, the outer cylinder 310 corresponds to the second member SMB described with reference to Fig. 1, while the carrier 320 corresponds to the first member FMB described with reference to Fig. Therefore, the explanation about the second member SMB may be used for the outer cylinder 310. The description of the first member FMB may be used for the carrier 320. The oil seal 101 is fitted in an annular gap formed between the inner peripheral surface of the outer cylinder 310 and the outer peripheral surface of the carrier 320.

The input shaft gear 201 is inserted through a through hole formed in the outer wall 360. With respect to the oil seal 102, the input shaft gear 201 corresponds to the first member FMB described with reference to Fig. 1, while the outer wall 360 corresponds to the second member SMB described with reference to Fig. 1 . Therefore, the explanation about the first member FMB may be used for the input shaft gear 201. The description of the second member SMB may be made available to the outer wall 360. The oil seal 102 is fitted in the annular gap between the outer peripheral surface of the input shaft gear 201 and the inner peripheral surface of the outer wall 360 forming the outline of the through hole.

When the input shaft gear 201 rotates about the rotation axis RAX, the outer cylinder 310 rotates about the rotation axis RAX. During this time, the carrier 320 is stopped. During rotation of the outer cylinder 310, the movable arm 202 performs angular motion around the rotation axis RAX.

The driving force is inputted to the three crankshaft assemblies 330 through the input shaft gear 201 extending along the rotation axis RAX. The driving force inputted to each of the three crankshaft assemblies 330 is transmitted to the gear portion 340 disposed in the inner space surrounded by the outer cylinder 310 and the carrier 320. [

As shown in Fig. 2A, the two main bearings 351 and 352 are fitted in an annular space formed between the outer cylinder 310 and the carrier 320 surrounded by the outer cylinder 310. As shown in Fig. The outer cylinder 310 is rotated around the rotation axis RAX by the driving force transmitted to the gear portion 340.

2A, the outer cylinder 310 includes a substantially cylindrical case 311 and a plurality of inner teeth 312. The case 311 includes a first cylindrical portion 313, a second cylindrical portion 314, and a third cylindrical portion 315. The rotation axis RAX is a common central axis of the first cylindrical portion 313, the second cylindrical portion 314, and the third cylindrical portion 315. The first cylindrical portion 313 has an outer diameter larger than that of the second cylindrical portion 314 and the third cylindrical portion 315. The movable arm 202 is installed in the first cylindrical portion 313.

The first cylindrical portion 313 (outer cylinder 310) surrounds the gear portion 340. As shown in Fig. 2B, the first cylindrical portion 313 includes an inner peripheral surface 316 formed with a plurality of grooves. The plurality of grooves are formed at substantially constant intervals so as to surround the rotation axis RAX. Each of the plurality of grooves is approximately parallel to the rotation axis RAX. The plurality of internal tooth pins 312 are respectively fitted into the plurality of groove portions. Accordingly, each of the plurality of internal teeth 312 is appropriately held by the first cylindrical portion 313.

The second cylindrical portion 314 is used to connect with the outer wall 360 and is connected to one end of the first cylindrical portion 313 in the direction of the rotation axis RAX. An O-ring or other suitable seal member is used to seal between the second cylindrical portion 314 and the outer wall 360. An annular gap is formed between the second cylindrical portion 314 and the carrier 320. The main bearing 352 is inserted into the annular gap. The third cylindrical portion 315 is connected to the other end of the first cylindrical portion 313 in the direction of the rotation axis RAX. Another annular gap is formed between the third cylindrical portion 315 and the carrier 320. The main bearing 351 is sandwiched between the third cylindrical portion 315 and the carrier 320. As a result, the outer cylinder 310 becomes relatively rotatable with respect to the carrier 320. Like the main bearing 351, the oil seal 101 is sandwiched in the gap between the third cylindrical portion 315 and the carrier 320. As a result, the leakage of the lubricating oil passed through the boundary between the outer cylinder 310 and the carrier 320 and the inflow of the cleaning liquid are prevented.

As shown in FIG. 2B, the plurality of internal gear pins 312 are arranged at substantially regular intervals in a ring around the rotation axis RAX. The counter surface of each of the plurality of internal teeth 312 protrudes from the inner wall of the case 311 toward the rotation axis RAX. Therefore, the plurality of internal tooth pins 312 function as a plurality of internal teeth engaged with the gear portion 340.

As shown in FIG. 2A, the carrier 320 includes a base 321 and an end plate 322. The carrier 320 is generally cylindrical in shape. The end plate 322 has a substantially disc shape. The outer circumferential surface of the end plate 322 is partially surrounded by the second cylindrical portion 314. The main bearing 352 is fitted in an annular gap between the inner circumferential surface of the second cylindrical portion 314 and the outer circumferential surface of the end plate 322.

The base 321 includes a base portion 323 (see FIG. 2A) and a plurality of (three) shaft portions 324 (see FIG. 2B). The substrate portion 323 includes a first disk portion 325 and a second disk portion 326. The second disk portion 326 is located between the first disk portion 325 and the end plate 322. The diameter of the second disk portion 326 is smaller than that of the first disk portion 325. The three shaft portions 324 extend from the second disk portion 326 toward the end plate 322.

The outer peripheral surface of the second disk portion 326 is surrounded by the third cylindrical portion 315. The main bearing 351 is fitted in an annular gap between the inner circumferential surface of the third cylindrical portion 315 and the outer circumferential surface of the second disk portion 326. The third cylindrical portion 315 partially surrounds the outer peripheral surface of the first disk portion 325. The oil seal 101 is fitted in an annular gap between the inner circumferential surface of the third cylindrical portion 315 and the outer circumferential surface of the first disk portion 325.

The base portion 323 is spaced from the end plate 322 in the extending direction of the rotation axis RAX. The substrate portion 323 is substantially coaxial with the end plate 322. That is, the rotation axis RAX corresponds to the central axis of the base plate 323 and the end plate 322.

The second disk portion 326 includes an inner surface 327 facing the gear portion 340. The first disk portion 325 includes an outer surface 328 opposite the inner surface 327. The inner surface 327 and the outer surface 328 follow an imaginary plane (not shown) perpendicular to the rotation axis RAX. The outer surface 328 is secured to the floating member 203. Therefore, the base portion 323 is supported in the cantilever state by the floating member 203. [

The present invention is not limited to the configuration in which the carrier 32 is fixed to the floating member 203 and the movable arm 202 is fixed to the outer cylinder 310. Alternatively, the outer cylinder 310 may be fixed to the floating member 203, and the movable arm 202 may be fixed to the carrier 32. [ In this case, when the input shaft gear 201 rotates about the rotation axis RAX, the carrier 320 rotates around the rotation axis RAX. During this time, the outer cylinder 310 is stopped.

The center through hole 371 (see FIG. 2A) and the plurality of (three) holding through holes 372 (FIG. 2A represents one of the three holding through holes 372) . The central through hole 371 extends between the inner surface 327 and the outer surface 328 along the rotation axis RAX. The rotation axis RAX corresponds to the central axis of the central through hole 371. [ The centers of the three holding through holes 372 are arranged at substantially equal intervals on an imaginary circle (not shown) centering on the rotational axis RAX.

2A shows a transmission axis TAX in addition to the rotation axis RAX. The transmission axis TAX is defined at a position apart from the rotation axis RAX. The transmission axis TAX is approximately parallel to the rotation axis RAX. The retaining through hole 372 extends between the inner surface 327 and the outer surface 328 along the transmission axis TAX. The transmission shaft TAX corresponds to the center of rotation of the crankshaft assembly 330 and the central axis of the retaining through hole 372. A portion of the crankshaft assembly 330 is disposed within the retaining through hole 372.

The end plate 322 includes an inner surface 381 and an outer surface 382 opposite the inner surface 381. The inner surface 381 is opposed to the gear portion 340. The inner surface 381 and the outer surface 382 follow an imaginary plane (not shown) perpendicular to the rotation axis RAX.

The central through hole 373 (see FIG. 2A) and the plurality (three) of the retention through holes 374 (FIG. 2A represents one of the three retention through holes 374) . The central through hole 373 extends between the inner surface 381 and the outer surface 382 along the rotation axis RAX. The rotation axis RAX corresponds to the central axis of the central through hole 373. [ The centers of the three holding through holes 374 are arranged at substantially equal intervals on virtual circles (not shown) centered on the rotational axis RAX. Each of the three retention through holes 374 extends between the inner surface 381 and the outer surface 382 along the transmission axis TAX. The transmission axis TAX corresponds to the central axis of the holding through hole 374. [ A portion of the crankshaft assembly 330 is disposed within the retaining through hole 374. The three holding through holes 374 formed in the end plate 322 are each substantially coaxial with the three holding through holes 372 formed in the base portion 323.

Each of the three shaft portions 324 extends from the inner surface 327 of the second disk portion 326 toward the inner surface 381 of the end plate 322. The end plate 322 is connected to the distal end surface of each of the three shaft portions 324. The end plate 322 may be connected to the distal end face of each of the three shaft portions 324 by a reamer bolt, a positioning pin, or other suitable fixing technique. The principle of the present embodiment is not limited to a specific connection technique between the end plate 322 and each of the three shaft portions 324.

The gear portion 340 is disposed between the inner surface 327 of the second disk portion 326 and the inner surface 381 of the end plate 322 as shown in FIG. The three shaft portions 324 penetrate the gear portion 340 and are connected to the end plate 322.

As shown in Fig. 2A, the gear portion 340 includes a plurality of (two) rocking gears 341 and 342. As shown in Fig. The rocking gear 341 is disposed between the end plate 322 and the rocking gear 342. The rocking gear 342 is disposed between the base portion 323 and the rocking gear 341. The rocking gears 341 and 342 may be formed based on a common design drawing. Each of the rocking gears 341 and 342 may be a trochoidal gear or a cyclic gear. The principle of the present embodiment is not limited to a specific kind of gear used as the rocking gears 341 and 342. [

Each of the rocking gears 341 and 342 includes a plurality of external teeth 343 (see Fig. 2B) protruding toward the inner wall of the case 311. Fig. When the crankshaft assembly 330 rotates around the transmission shaft TAX, the rocking gears 341 and 342 move in the case 311 in the case 311 while engaging the plurality of external teeth 343 with the plurality of internal gears 312 (I.e., oscillating rotation). During this time, the centers of the rocking gears 341 and 342 are revolved around the rotation axis RAX. The rotation of the outer cylinder 310 is generated by the rocking rotation of the rocking gears 341, 342.

The center through hole 344 is formed at the center of the rocking gear 341. The center through hole 345 is formed at the center of the rocking gear 342. The central through hole 344 communicates with the central through hole 373 of the end plate 322 and the central through hole 345 of the swing gear 342. The central through hole 345 communicates with the central through hole 371 of the base portion 323 and the central through hole 344 of the swing gear 341.

As shown in Fig. 2B, a plurality (three) of circular through holes 346 are formed in the swing gear 342. As shown in Fig. Similarly, a plurality of (three) circular through holes are formed in the swing gear 341. The circular through holes 346 of the swing gear 342 and the circular through holes of the swing gear 341 cooperate with the holding through holes 372 and 374 of the base plate 323 and the end plate 322, Thereby forming a receiving space in which the shaft assembly 330 is received.

A plurality of (three) trapezoidal through holes 347 (one of the three trapezoidal through holes 347 shown in FIG. 2A) is formed in the rocking gear 341. A plurality (three) of trapezoidal through holes 348 (see FIG. 2B) are formed in the rocking gear 342. The shaft portion 324 of the carrier 320 passes through the trapezoidal through holes 347, 348. The size of the trapezoidal through holes 347 and 348 is determined so as not to interfere with the shaft portion 324.

Each of the three crankshaft assemblies 330 includes a transmission gear 331, a crankshaft 332, two journal bearings 333 and 334 and two crankshafts 335 and 336. The transmission gear 331 meshes with the input shaft gear 201. The transmission gear 331 rotates about the transmission axis TAX in accordance with the rotation of the input shaft gear 201.

The crankshaft 332 includes a first journal 391, a second journal 392, a first eccentric portion 393, and a second eccentric portion 394. The first journal 391 extends along the transmission axis TAX and is inserted into the holding through hole 374 of the end plate 322. [ The second journal 392 extends along the transmission axis TAX on the side opposite to the first journal 391 and is inserted into the holding through hole 372 of the base portion 323. The journal bearing 333 is fitted in an annular space between the inner wall of the end plate 322 forming the first journal 391 and the holding through hole 374. As a result, the first journal 391 is connected to the end plate 322. The journal bearing 334 is fitted in an annular space between the inner wall of the base portion 323 forming the second journal 392 and the holding through hole 372. As a result, the second journal 392 is connected to the substrate portion 323. Thus, the carrier 320 can support the crankshaft assembly 330.

The first eccentric portion 393 is located between the first journal 391 and the second eccentric portion 394. The second eccentric portion 394 is located between the second journal 392 and the first eccentric portion 393. The crank bearing 335 is fitted in an annular space between the first eccentric portion 393 and the inner wall of the swing gear 341 forming a circular through hole. As a result, the rocking gear 341 is provided at the first eccentric portion 393. The crank bearing 336 is fitted in the annular space between the second eccentric portion 394 and the inner wall of the swing gear 342 forming the circular through hole 346. As a result, the rocking gear 342 is installed in the second eccentric portion 394.

The first journal 391 is substantially coaxial with the second journal 392 and rotates about the transmission axis TAX. Each of the first eccentric portion 393 and the second eccentric portion 394 is formed in a cylindrical shape and is eccentric from the transmission axis TAX. Each of the first eccentric portion 393 and the second eccentric portion 394 eccentrically rotates with respect to the transmission shaft TAX to impart rocking rotation to the rocking gears 341 and 342. Since the carrier 320 is fixed to the floating member 203 and the rocking gears 341 and 342 are engaged with the plurality of internal teeth 312 of the outer cylinder 310, the rocking of the rocking gears 341 and 342 The rotation is converted into rotational motion of the outer cylinder 310 around the rotational axis RAX.

The input shaft gear 201 extends along the rotation axis RAX. The input shaft gear 201 meshes with the transmission gear 331. When the input shaft gear 201 rotates about the rotation axis RAX, the transmission gear 331 rotates about the transmission axis TAX. As a result, the crankshaft 332 to which the transmission gear 331 is fixed rotates, and the rocking motions of the rocking gears 341 and 342 are generated.

The outer wall 360 includes a connecting wall 361 and a supporting wall 362. The connecting wall 361 is a cylinder surrounding the input shaft gear 201. The connecting wall 361 is fitted with the second cylindrical portion 314. As a result, the connection wall 361 is connected to the outer cylinder 310.

The support wall 362 cooperates with the connection wall 361 and the end plate 322 to form an internal space in which lubricant is filled. The lubricating oil in the inner space reduces the wear rate of the input shaft gear 201 and the transmission gear 331.

The connecting wall 361 extends along the rotational axis RAX while the supporting wall 362 is substantially orthogonal to the rotational axis RAX and opposes the outer surface 382 of the end plate 322. The support wall 362 closes the circular opening formed by the connecting wall 361. The end plate 322 partially closes the circular opening formed by the connecting wall 361, on the side opposite the support wall 362.

The connection wall 361 is formed with a through hole formed along the rotation axis RAX. The oil seal 102 is inserted into the through hole. The input shaft gear 201 is fitted in the oil seal 102. As a result, the support wall 362 can appropriately support the input shaft gear 201.

The design principles described in connection with the various embodiments described above are applicable to various seal members. Some of the various features described in connection with one of the various embodiments described above may be applied to the seal member described in connection with another still another embodiment.

Here, the above embodiment will be schematically described.

(1) The seal member according to the above embodiment can prevent the fluid from flowing between the outer space outside the apparatus and the inner space inside the apparatus. The seal member includes an outer surface facing away from the inner space, and a contact member closely attached to the outer surface. The adhesion member has at least one of chemical resistance and heat resistance.

According to the above configuration, as a result of the close contact of the contact member with the outer surface, the outer surface does not directly contact the medicine or the high temperature fluid. In addition, since the sealing member has at least one of chemical resistance and heat resistance, the sealing member can maintain excellent sealing performance over a long period of time even under a high temperature environment or an environment where chemicals are used. Since the sealing member is in close contact with the outer surface, the designer designing the sealing member can design the strength by using the sealing member and the member forming the outer surface as an integral member. Therefore, the designer does not have to give a large mechanical strength to the contact member. As a result, the seal member can be manufactured at a low cost.

(2) With respect to the above configuration, the contact member may be a film covering the outer surface.

According to the above configuration, since the sealing member is a coating film covering the outer surface, the manufacturer of the sealing member can easily form the sealing member by a technique such as painting or vapor deposition.

(3) With respect to the above configuration, the seal member may further include a lip portion that is in pressure contact with the apparatus. The contact member may be entirely adhered to the outer surface formed by the lip portion as a whole.

According to the above configuration, since the sealing member is entirely adhered to the outer surface formed by the lip portion that comes into pressure contact with the apparatus, the sealing member can maintain excellent sealing performance over a long period of time even under a high temperature environment or environment where chemicals are used.

(4) With respect to the above configuration, the seal member may further include a spring for urging the lip portion against the apparatus. The lip portion may include a diaphragm sandwiched between the spring and the device and a dust lip pressed against the device from the outside of the diaphragm. The contact member may be entirely adhered to the outer surface formed by the dust lip as a whole.

According to the above configuration, since the main lip is sandwiched between the spring and the device, the sealing member can exhibit excellent sealing performance. Since the dust lip is pressed against the apparatus from the outside of the circumference, the risk that the minute water floating in the outside space damages the circumference is reduced. In addition, since the sealing member is entirely adhered to the outer surface formed by the dust lip, the sealing member can maintain excellent sealing performance over a long period of time even under a high temperature environment or environment in which chemicals are used.

(5) The speed reducer according to the above embodiment amplifies the input driving force at a predetermined reduction ratio. The speed reducer includes a carrier, an outer cylinder arranged to form an inner space between the carrier, and the above-described seal member. The seal member prevents the fluid from flowing between the outer space, which is a space outside the outer cylinder, and the inner space of the speed reducer.

According to the above configuration, since the speed reducer includes the above-described seal member, the flow of the fluid between the outer space and the inner space of the speed reducer is appropriately prevented for a long period of time.

(6) The cleaning robot according to the above embodiment ejects the cleaning liquid to the outer space. The washing robot includes a speed reducer that decelerates the input driving force at a predetermined reduction ratio, and the above-described sealing member. The seal member prevents the fluid from flowing between the outer space and the inner space inside the speed reducer.

According to the above arrangement, since the cleaning robot includes the seal member described above, the flow of the fluid between the outer space and the inner space on the inner side of the decelerator is appropriately prevented for a long period of time.

The above-described sealing technology can be constructed at a low cost, and can also be resistant to a high-temperature environment or an environment in which chemicals are used.

The present invention is suitably applied to a seal member used under a high-temperature environment and / or a chemical environment.

Claims (8)

A seal member for preventing the flow of fluid between an outer space outside the apparatus and an inner space inside the apparatus,
An outer surface facing away from the inner space,
And a contact member which is in close contact with the outer surface,
Wherein the sealing member has at least one of chemical resistance and heat resistance. The method according to claim 1,
Wherein the sealing member is a coating covering the outer surface. The method according to claim 1,
Further comprising a lip portion which is brought into pressure contact with the apparatus,
And the tight contact member is in close contact with the outer surface formed by the lip portion as a whole. The method of claim 3,
Further comprising a spring for urging the lip portion against the device,
Wherein the lip portion includes a main lip sandwiched between the spring and the device and a dust lip pressed against the device outside the main lip,
Wherein the seal member is in close contact with the outer surface formed by the dust lip as a whole. 3. The method of claim 2,
Further comprising a lip portion which is brought into pressure contact with the apparatus,
And the tight contact member is in close contact with the outer surface formed by the lip portion as a whole. 6. The method of claim 5,
Further comprising a spring for urging the lip portion against the device,
Wherein the lip portion includes a main lip sandwiched between the spring and the device and a dust lip pressed against the device outside the main lip,
Wherein the seal member is in close contact with the outer surface formed by the dust lip as a whole. A speed reducer for amplifying an input driving force at a predetermined reduction ratio,
Carrier,
An outer cylinder arranged to form an inner space between the outer cylinder and the carrier,
A sealing member according to any one of claims 1 to 4,
The seal member prevents the fluid from flowing between the outer space which is a space outside the outer cylinder and the inner space of the speed reducer. A cleaning robot for spraying a cleaning liquid into an outer space,
A decelerator for decelerating the input driving force at a predetermined reduction ratio,
A sealing member according to any one of claims 1 to 4,
Wherein the seal member prevents the fluid from flowing between the outer space and the inner space inside the speed reducer.

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