CN217434368U - Robot joint combined sealing structure - Google Patents
Robot joint combined sealing structure Download PDFInfo
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- CN217434368U CN217434368U CN202221591554.XU CN202221591554U CN217434368U CN 217434368 U CN217434368 U CN 217434368U CN 202221591554 U CN202221591554 U CN 202221591554U CN 217434368 U CN217434368 U CN 217434368U
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Abstract
The utility model discloses a robot joint combined sealing structure.A framework bushing of a joint combined oil seal is fixedly arranged on a shell at the output end of a speed reducer, and an elastic sealing ring is arranged between the framework bushing and a shell of the speed reducer and is in static sealing contact with the shell of the speed reducer; the sealing ring is fixedly arranged in the sealing ring mounting groove of the second moving member and is in static sealing contact with the second moving member; the sealing ring is sleeved on the framework bushing to realize sealing. And a sealing lip on the inner ring surface of the sealing ring is in sealing contact with the circumferential side wall of the outer ring of the framework lining. The framework lining can also be provided with a flange edge, and an end face sealing lip on the outer end face of the sealing ring is in sealing contact with the flange edge of the framework lining, so that the sealing reliability is improved. The structure has good sealing effect, and can meet the requirements of cleanness and high protection level. The framework bushing and the speed reducer are statically sealed, the sealing ring and the joint motion component are statically sealed, the static sealing surface is large, the joint is reliably fixed when rotating, and follow-up rotation cannot occur.
Description
Technical Field
The utility model relates to a seal structure of robot joint combination, specifically be applied to in the joint of robot relative rotation, and set up on decelerator for cavity between sealed decelerator and the robot member.
Background
With the continuous development of the robot technology, some application occasions have the requirement on cleanness or high protection level of the robot. In order to prevent the robot joints with relative motion from leaking, oil stains in the joints are leaked to the external environment, or foreign matters from the external environment are prevented from entering the interior of the joints, the robots in the prior art often need to add sealing components at the robot joints.
For example, in the chinese utility model patent "a novel robot joint sealing structure and protection robot" (authorization publication No. CN215358521U), the robot joint sealing structure disclosed in this document is that the robot joint includes a first housing, a second housing, a motor gear, a speed reducer, and a sealing ring. The motor shell is fixedly installed at one end of a first shell of the robot, a motor output shaft is fixedly connected with a motor gear, a speed reducer is fixed at the other end of the first shell, an input gear of the speed reducer is meshed with the motor gear and is connected with an output end of the speed reducer, a second shell of the robot is fixedly connected with the output end of the speed reducer, a sealing ring is sleeved on the outer peripheral surface of the output end of the speed reducer, and the sealing ring is connected with the second shell in a rotating and sealing mode. The utility model discloses an it is sealed to have increased in joint department, has improved the effect to joint oil leakage oil. However, the following disadvantages also exist: 1. the inner ring of the sealing ring is firstly arranged on the speed reducer, and the sealing ring has no axial installation positioning surface, so that the oil seal cannot be installed in place during installation, and the sealing effect is influenced; 2. the outer lip of the sealing ring realizes rotary sealing, the size of the outer lip is larger than the size of the aperture of the second shell, and larger friction force exists during movement. Under the drive of friction force, the sealing ring may rotate along with the second shell, and the sealing effect is affected. And because the outer lip is great in size, dislocation may occur during installation, the implementation is not easy, and the production difficulty is higher.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to overcome the technical defect that prior art exists, provide a robot joint composite seal structure, solve current joint sealing reliability and installation difficulty problem.
In order to solve the above problems, the utility model adopts the following technical proposal: the utility model provides a robot joint combination seal structure, includes first motion component, decelerator, second motion component and joint combination oil blanket, its characterized in that: the speed reducer is fixed at one end of the first moving component, and the output end of the speed reducer is fixedly connected with the second moving component; the joint combination oil seal consists of a framework bushing and a sealing ring; the framework bushing is fixedly installed on the outer peripheral surface of the output end shell of the speed reducer, a sealing ring installation groove is formed in the position, corresponding to the framework bushing, of the second moving component, and the sealing ring is fixedly installed in the sealing ring installation groove of the second moving component and is in static sealing contact with the second moving component; the sealing ring is sleeved on the framework bushing to realize sealing.
The further improved scheme is that an elastic sealing ring is arranged between the framework bushing and the shell of the speed reducing device, and the elastic sealing ring is in static sealing contact with the shell of the speed reducing device. The elastic sealing ring is made of elastic sealing materials, grease leakage and external pollutants in the cavity can be effectively prevented from entering the joint through the gap between the framework bushing and the speed reducer, and meanwhile, the phenomenon that the framework bushing is pressed to produce overlarge extrusion stress on the shell of the speed reducer, the shell of the speed reducer is damaged, and the main bearing clearance of the speed reducer is influenced is avoided.
Further, the elastic sealing ring is preferably formed by covering rubber on the framework by adopting a vulcanization process; or the framework is provided with an annular groove, and the annular groove is internally provided with a sealing ring of an O-shaped ring, a Glare ring or other elastic sealing materials.
Furthermore, an annular sealing lip is arranged on the inner ring surface of the sealing ring, and the sealing lip is in sealing contact with the outer ring circumferential side wall of the framework lining. The structure can further enhance the sealing performance of the joint combination oil seal.
Furthermore, the framework lining is provided with a flange edge, an annular end face sealing lip is arranged on the outer end face of the sealing ring, and the end face sealing lip is in sealing contact with the flange edge of the framework lining, so that the sealing effect is further enhanced.
Further, the sealing ring can also adopt a double-main-lip framework oil seal, or a framework Y-shaped oil seal, a framework V-shaped oil seal, a framework A-shaped oil seal, a framework B-shaped oil seal and a framework C-shaped oil seal.
The utility model discloses robot joint combined seal structure has following beneficial effect for prior art:
1. can meet the requirements of cleanness and high protection grade. The joint combination oil seal is arranged in a cavity formed by the speed reducer and the second moving component, and when the robot is applied to an environment with a large amount of metal chips or dust, the oil seal lip of the speed reducer can be protected, and the service life of the oil seal of the speed reducer is prolonged. When the clean room environment uses, if the decelerator slightly oil leak appears, can form the second through sealing washer lip and 2 static seal faces and seal, guarantee the clean requirement of robot.
2. Consistency of seal structure installation;
the framework bushing of the joint combination oil seal can provide good support due to the adoption of the structure of the rubber coated framework, can be effectively positioned during press fitting, ensures the consistency of the installation position of the framework bushing, and realizes the consistency of the installation position of the sealing ring by positioning the outer side sealing ring through the installation groove arranged on the second motion member.
3. Reliability of the sealing structure;
static seal is formed between the framework lining and the speed reducer, static seal is formed between the sealing ring and the joint motion component, the static seal surface is large, the joint is fixed reliably when rotating, and follow-up rotation cannot occur. The framework lining and the sealing ring are effectively fixed before being installed, and the problems of dislocation, deviation and the like caused by installation and influencing the sealing effect can be avoided during combined installation, so that the sealing reliability is ensured during assembly.
4. The service life is long;
the surface hardness of the shell material of the speed reducer is not high, and the surface roughness value is low, so that the speed reducer cannot be directly used for dynamic rotary sealing. The utility model discloses an on taking elastic material's skeleton bush to install the decelerator casing, skeleton surface hardness is high, the roughness is low, and the friction is little during the operation to extension sealing washer lip life. Meanwhile, the problems that the framework pressing generates overlarge extrusion stress on the shell of the speed reducer, so that the shell of the speed reducer is damaged and the clearance of a main bearing of the speed reducer is influenced are solved.
Drawings
Fig. 1 is a schematic sectional view of the robot joint combination sealing structure of the present invention;
FIG. 2 is an enlarged view of a portion of FIG. 1 at the location of the joint compound oil seal;
FIG. 3 is a partially enlarged view of the joint assembly oil seal of FIG. 1, wherein the skeleton bushing has a flange edge, and an annular end face sealing lip is arranged on the outer end face of the sealing ring;
FIG. 4 is a partially enlarged view of the joint assembly oil seal of FIG. 1, wherein the seal ring is a double main lip skeleton oil seal;
FIG. 5 is an end view of the seal ring, wherein views a and b are both A-rings;
FIG. 6 is an end view of the seal ring, a Y-ring;
FIG. 7 is an end view of the seal ring, B-ring;
FIG. 8 is an end view of the seal ring, a C-ring.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention are described in detail and completely with reference to the accompanying drawings and embodiments.
Example 1.
Referring to fig. 1 to 2, fig. 1 shows a typical robot joint structure, which is provided with a first moving member 1, a second moving member 2, a speed reducer 3, a joint combination oil seal 4, a motor 5, and a speed reducer input gear 6. The motor 5 drives the speed reducer 3 to output rotation through the speed reducer input gear 6, the second moving component 2 is fixedly arranged at the output end of the speed reducer 3, and the second moving component 2 and the shell of the speed reducer 3 rotate relatively. The joint combination oil seal 4 is provided between the second moving member 2 and the reduction gear 3. As shown in fig. 2, the joint combination oil seal 4 comprises a framework bushing 4-1 and a sealing ring 4-2, wherein an elastic sealing ring 4-11 is arranged on the inner side of the framework bushing 4-1, and the elastic sealing ring 4-11 is in static sealing contact with the shell of the speed reducer 3. The elastic sealing rings 4-11 are made of elastic sealing materials, so that grease leakage in the cavity and external pollutants can be effectively prevented from entering through gaps between the framework and the speed reducer, and the phenomenon that the framework is pressed and used for generating overlarge extrusion stress on the shell of the speed reducer, damaging the shell of the speed reducer and influencing the main bearing clearance of the speed reducer is avoided. A sealing ring mounting groove is formed in the position, corresponding to the framework bushing 4-1, of the second moving member 2, and the sealing ring 4-2 is fixedly mounted in the sealing ring mounting groove of the second moving member 2 and is in static sealing contact with the second moving member 2; the sealing ring 4-2 is sleeved on the framework lining 4-1 to realize sealing.
The inner elastic sealing ring 4-11 of the framework bushing 4-1 is made of rubber material, and the framework 4-12 is coated with rubber preferably by a vulcanization process, or grooves can be formed on the framework, as shown in fig. 4, and O-rings, Gray rings or other elastic sealing materials are used. In the embodiment, the sealing ring 4-2 is a framework oil seal with a secondary lip.
The outer ring of the sealing ring 4-2 is arranged on the second moving component 2 and is in static sealing contact with the second moving component 2, the inner ring of the sealing ring 4-2 is provided with an annular sealing lip 4-22, and the sealing lip 4-22 is in sealing contact with the circumferential side wall of the framework outer ring 4-12 of the framework bushing 4-1. The framework lining outer ring 4-12 is made of high surface hardness materials, the surface roughness value is low, the friction is small during operation, and the service life of the sealing lip 4-22 can be prolonged.
Example 2.
Basically the same as the embodiment, except that the framework of the framework bushing 4-1 comprises a flange edge 4-12 structure (as shown in fig. 3), the outer end face of the sealing ring 4-2 is provided with an annular end face sealing lip 4-21, and the end face sealing lip 4-21 is in sealing contact with the flange edge 4-12 of the framework bushing, so that the sealing effect is further enhanced.
Example 3.
Basically the same as the embodiment, except that the sealing ring 4-2 adopts a double main lip framework oil seal as shown in fig. 4. For the utility model discloses, Y type circle, A type circle, B type circle or C type circle also can be chooseed for use to sealing washer 4-2.
Claims (5)
1. The utility model provides a robot joint combination seal structure, includes first motion component, decelerator, second motion component and joint combination oil blanket, its characterized in that: the speed reducer is fixed at one end of the first moving component, and the output end of the speed reducer is fixedly connected with the second moving component; the joint combination oil seal consists of a framework bushing and a sealing ring; the framework bushing is fixedly installed on the outer peripheral surface of the shell at the output end of the speed reducing device, an elastic sealing ring is arranged between the framework bushing and the shell of the speed reducing device, and the elastic sealing ring is in static sealing contact with the shell of the speed reducing device; a sealing ring mounting groove is formed in the position, corresponding to the framework lining, of the second moving member, and a sealing ring is fixedly mounted in the sealing ring mounting groove of the second moving member and is in static sealing contact with the second moving member; the sealing ring is sleeved on the framework bushing to realize sealing.
2. The robot joint combination seal structure of claim 1, wherein: the elastic sealing ring is structurally characterized in that rubber is coated on the framework by a vulcanization process; or the framework lining is provided with an annular groove, and the annular groove is internally provided with a sealing ring of an O-shaped ring, a Glare ring or other elastic sealing materials.
3. The robot joint combination seal structure of claim 1, wherein: and an annular sealing lip is arranged on the inner ring surface of the sealing ring, and the sealing lip is in sealing contact with the outer ring circumferential side wall of the framework lining.
4. The robot joint combination seal structure of claim 1, wherein: the framework lining is provided with a flange edge, an annular end face sealing lip is arranged on the outer end face of the sealing ring, and the end face sealing lip is in sealing contact with the flange edge of the framework lining.
5. The robot joint combination seal structure of claim 1, wherein: the sealing ring adopts a double-main-lip framework oil seal, a Y-shaped ring, an A-shaped ring, a B-shaped ring or a C-shaped ring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221591554.XU CN217434368U (en) | 2022-06-24 | 2022-06-24 | Robot joint combined sealing structure |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221591554.XU CN217434368U (en) | 2022-06-24 | 2022-06-24 | Robot joint combined sealing structure |
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| CN217434368U true CN217434368U (en) | 2022-09-16 |
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| CN202221591554.XU Active CN217434368U (en) | 2022-06-24 | 2022-06-24 | Robot joint combined sealing structure |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116749240A (en) * | 2023-07-13 | 2023-09-15 | 苏州艾利特机器人有限公司 | Robot joint sealing structure |
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2022
- 2022-06-24 CN CN202221591554.XU patent/CN217434368U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116749240A (en) * | 2023-07-13 | 2023-09-15 | 苏州艾利特机器人有限公司 | Robot joint sealing structure |
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