JP2009107116A5 - - Google Patents
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- Publication number
- JP2009107116A5 JP2009107116A5 JP2009014657A JP2009014657A JP2009107116A5 JP 2009107116 A5 JP2009107116 A5 JP 2009107116A5 JP 2009014657 A JP2009014657 A JP 2009014657A JP 2009014657 A JP2009014657 A JP 2009014657A JP 2009107116 A5 JP2009107116 A5 JP 2009107116A5
- Authority
- JP
- Japan
- Prior art keywords
- joint
- bearing
- member gap
- seal element
- drive mechanism
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000002093 peripheral Effects 0.000 claims 4
- 239000003638 reducing agent Substances 0.000 claims 2
- 238000007789 sealing Methods 0.000 claims 2
- 210000000088 Lip Anatomy 0.000 claims 1
- 239000000314 lubricant Substances 0.000 claims 1
Claims (3)
前記軸受がクロスローラベアリングであり、
前記密封装置は、
前記駆動機構に与えられる潤滑剤保有部に隣接して形成される第１の部材間隙をシールする第１の接触シール要素を備えた第１シール部と、
前記第１シール部の外側に配置され、前記駆動機構の収容空間を画定する前記関節部の周囲壁に形成される第２の部材間隙をシールする第２の接触シール要素を備えた第２シール部とを具備し、
前記第１の部材間隙は、前記軸受に隣接して形成され、
前記第１の接触シール要素は、前記第１の部材間隙に配置され、
前記関節部の前記周囲壁は、相対回転移動する２つの壁部材を含み、前記第２の部材間隙が、それら壁部材の、回転軸線に沿った方向へ互いに近接対向する端面の外周縁領域の間に形成され、
前記第２の接触シール要素は、前記第２の部材間隙に配置されて、前記２つの壁部材の一方の前記端面にリップ接触することにより前記第２の部材間隙をシールすること、
を特徴とする、関節ロボット。 A joint, a drive mechanism incorporated into the joint portion, provided in the driving mechanism, a bearing for rotatably supporting a pair of relative movable portion connected via the articulation portion to each other, to the joint provided, in joint robot comprising a sealing device for forming a seal portion which overlaps in a plurality of stages with respect 該駆 kinematic mechanism,
The bearing is a cross roller bearing;
The sealing device includes:
A first seal portion including a first contact seal element that seals a first member gap formed adjacent to a lubricant retaining portion provided to the drive mechanism;
A second seal including a second contact seal element that is disposed outside the first seal portion and seals a second member gap formed on a peripheral wall of the joint portion that defines a receiving space of the drive mechanism. ; and a part,
The first member gap is formed adjacent to the bearing;
The first contact seal element is disposed in the first member gap;
The peripheral wall of the joint portion includes two wall members that move relative to each other, and the second member gap has an outer peripheral edge region of end surfaces of the wall members that face each other in the direction along the rotation axis. Formed between,
The second contact seal element is disposed in the second member gap and seals the second member gap by lip contact with one of the end faces of the two wall members ;
An articulated robot characterized by
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2009014657A JP4763063B2 (en) | 2009-01-26 | 2009-01-26 | Jointed robot with sealing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2009014657A JP4763063B2 (en) | 2009-01-26 | 2009-01-26 | Jointed robot with sealing device |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2006236080A Division JP2008055560A (en) | 2006-08-31 | 2006-08-31 | Sealing device for joint section of robot and articulated robot |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| JP2009107116A JP2009107116A (en) | 2009-05-21 |
| JP2009107116A5 true JP2009107116A5 (en) | 2009-07-09 |
| JP4763063B2 JP4763063B2 (en) | 2011-08-31 |
Family
ID=40776179
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2009014657A Active JP4763063B2 (en) | 2009-01-26 | 2009-01-26 | Jointed robot with sealing device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP4763063B2 (en) |
Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5413112B2 (en) * | 2009-10-05 | 2014-02-12 | リコーイメージング株式会社 | Drip-proof structure of lens barrel |
| JP5966532B2 (en) * | 2012-04-02 | 2016-08-10 | セイコーエプソン株式会社 | robot |
| WO2014087615A1 (en) * | 2012-12-05 | 2014-06-12 | 川崎重工業株式会社 | Robot joint sealing structure |
| JP6638878B2 (en) * | 2015-12-01 | 2020-01-29 | 株式会社安川電機 | Robots, robot systems, and robot maintenance methods |
| JP6506227B2 (en) | 2016-08-31 | 2019-04-24 | ファナック株式会社 | Joint structure and robot |
| JP6798591B2 (en) * | 2019-08-30 | 2020-12-09 | 株式会社安川電機 | Robots, robot systems, robot maintenance methods |
| JP7414491B2 (en) | 2019-11-29 | 2024-01-16 | ファナック株式会社 | Robot arm drive unit |
| CN112728048B (en) * | 2021-01-05 | 2024-04-30 | 埃夫特智能装备股份有限公司 | Sealing structure and robot |
| CN116783042A (en) | 2021-01-27 | 2023-09-19 | 发那科株式会社 | Joint structure and robot |
| JP7157276B1 (en) * | 2022-02-24 | 2022-10-19 | ファナック株式会社 | robot |
| WO2023238191A1 (en) * | 2022-06-06 | 2023-12-14 | ヤマハ発動機株式会社 | Robot arm |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0710131Y2 (en) * | 1988-08-25 | 1995-03-08 | 三菱重工業株式会社 | Rotating shaft dust seal structure |
| JPH0717490U (en) * | 1993-09-10 | 1995-03-28 | 新明和工業株式会社 | Robot joint structure |
| JP3488899B2 (en) * | 1994-11-30 | 2004-01-19 | 株式会社安川電機 | Industrial robot |
| JPH09155774A (en) * | 1995-12-06 | 1997-06-17 | Hitachi Ltd | Jointless carrying device |
| JPH1133974A (en) * | 1997-07-14 | 1999-02-09 | Fanuc Ltd | Industrial robot |
| JPH1133949A (en) * | 1997-07-14 | 1999-02-09 | Fanuc Ltd | Industrial robot |
| JPH11291130A (en) * | 1998-04-07 | 1999-10-26 | Asahi Kosan Kk | Floating support device |
| JP3792417B2 (en) * | 1998-10-26 | 2006-07-05 | ナブテスコ株式会社 | Rotary shaft seal mechanism for vacuum chamber |
| JP4208169B2 (en) * | 2000-03-15 | 2009-01-14 | ナブテスコ株式会社 | Reducer and robot joint device |
| JP2004084920A (en) * | 2002-07-03 | 2004-03-18 | Ts Corporation | Vacuum gear device |
-
2009
- 2009-01-26 JP JP2009014657A patent/JP4763063B2/en active Active
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