JP5491281B2 - Oil stopper structure for industrial effector end flange mounting flange - Google Patents

Description

  The present invention relates to an oil stopper structure for an end effector mounting flange of an industrial robot.

  Conventionally, for example, in an industrial six-axis robot, an end effector mounting flange (hereinafter referred to as a flange) is provided as a final stage arm on a so-called wrist (fifth axis) which is a front stage arm of a final stage arm (sixth axis). This flange is rotated by a motor and a speed reducer. And the said flange is rotatably supported via the bearing member between the said frames on the wrist side. Further, a rubber seal member such as an oil seal or an O-ring is interposed between the flange and the wrist side frame so as to be closer to the flange tip than the bearing member. Lubricating oil such as grease injected into the bearing member for lubrication is prevented from leaking outside the flange (for example, Patent Document 1).

Japanese Patent Laying-Open No. 2005-14104 (FIG. 5)

  By the way, when the robot repeatedly performs a predetermined behavior, the temperature of the above-mentioned motor and speed reducer, and the sliding part of the flange and wrist part rises, and the lubricating oil becomes low in viscosity. Since a certain flange moves outwardly due to robot behavior, the low-viscosity lubricating oil is urged and moved toward the rubber seal member by the robot behavior, and a small amount of the rubber seal member. It cannot be said that there is no possibility of seeping out of the flange from the part.

  If the exuded low-viscosity lubricating oil is left unattended, a hand as an end effector is attached to the outside of the flange, which is the final stage arm of the robot, and the work is also gripped. It is also assumed that the exudation lubricant is scattered and attached to the hand or workpiece due to the behavior of the exuding lubricant being swung to the outside of the flange.

  The present invention has been made in view of the above-described circumstances, and an object thereof is an end effector for an industrial robot capable of avoiding that the lubricant exuded from the rubber seal member in the flange portion adheres to the end effector, the workpiece, or the like. An object of the present invention is to provide an oil retaining structure for a mounting flange.

  The present invention has been made paying attention to the following points. First, in FIG. 15 showing in detail the structure of the rubber seal member in the flange portion, the flange 101 is constituted by a protruding portion of the inner ring 103 of the cross roller bearing 102 from the outer ring 104, and the cross roller bearing 102 includes the inner ring 103. And an outer ring 104 and a large number of rollers 105. The outer ring 104 is connected to a wrist 106. The flange 101 (inner ring 103) is normally connected to a flex spline 108 which is an output stage of a harmonic reduction gear 107. The sliding part of the harmonic reduction gear 107 and the roller 105 are filled with lubricating oil such as grease. In the cross roller bearing 102, an oil seal 109 is disposed between the flange 101 and the outer ring 104 as a rubber seal member.

  Here, as a countermeasure when the lubricating oil oozes out of the oil seal 109 as described above, the present inventor provides an oil absorbing member 110 such as a felt that absorbs the lubricating oil as shown in FIG. A configuration has been devised in which the oil seal 109 is disposed on the outer surface side and the end surface of the oil absorbing member 110 is pressed by a solid metal holder 111 having a substantially annular shape as a whole. In this case, the holder 111 has a shape (outer diameter, etc.) matched to the cross roller bearing 102 and is screwed to the wrist 106 with a screw 112 from the radial direction.

  By the way, in the above configuration, when the size of the cross roller bearing 102 changes depending on the model of the robot, it is necessary to change the shapes and sizes of the oil absorbing member 110 and the holder 111 correspondingly, and in this case, the oil absorbing member Since 110 is composed of felt or the like, the cutting process itself into the shape and size of the change destination itself is extremely easy. However, with the metal holder 111 described above, design changes and machining must be performed for each model. It is necessary to prepare the holder 111 having a high manufacturing cost and different in cost for each model. Further, in the configuration in which the holder 111 is screwed 112, it is necessary to process the female screw 106a or the like on the robot side such as the wrist 106, and when the oil absorbing member 110 and the holder 111 are added to an existing robot, It is practically difficult.

  In light of the above-described circumstances, the present inventor has sought an oil stopper structure that is more inexpensive and easy to use. In particular, when a holder for holding the oil absorbing member 110 was searched for an inexpensive and improved manufacturability point, the holder is not formed in an annular shape from the beginning, but is initially made of a synthetic resin that forms a flexible linear belt shape. The structure which consists of this long member, this was wound around the cross roller bearing, and the structure which hold | maintains the oil absorption member 110 with the synthetic resin band from the outer periphery in this winding state was considered. In this way, even if the size of the cross roller bearing varies depending on the model of the robot, the length of the long member may be cut to an appropriate length in advance (since it is a synthetic resin, it can be easily cut). .

  However, in this case, as shown in FIG. 17, if the elongate member (indicated by reference numeral 113) is formed in a flat plate shape, the pressing portion 114 that presses the end surface of the oil absorbing member 110 and a portion continuous thereto. The above winding cannot be performed at all.

Therefore, as shown in FIGS. 18 and 19, the pressing portion 114 is formed in a comb shape so that the end surface of the oil absorbing member 110 can be held even when the shape is changed from a straight belt shape to an annular shape.
However, in this case, there are the following problems. When the long member 113 shown in FIGS. 18 and 19 is actually wound around the outer ring 104 of the cross roller bearing 102 of the robot and tightened with the band, the long member 113 is slightly displaced in the direction of the arrow Q due to long-term operation of the robot. was there.

  Here, when the cross roller bearing 102 of the actual robot was verified, an annular recess 104k having a shallow depth was present on the outer peripheral surface of the outer ring 104 of the cross roller bearing 102, but it was found by touch. The reason why a line such as the annular recess 104k enters the outer peripheral surface of the outer ring 104 is that there is a flange that rotates at the forefront of an industrial robot. The rotating member of the bearing such as a roller or a ball for rotating the flange is used as the outer ring. Since it was necessary to make the outer ring 104 into a two-piece joint type in order to enter the inner ring 104, it was noticed that a line like the annular recess 104k was formed. The reason why the annular recess 104k is concave is that the corners of the outer peripheral surfaces of the divided parts 104A and 104B are chamfered and the chamfers are close to each other. Therefore, it is always formed in normal machine parts, and the annular recess 104k is always present. As described above, the present inventor has noticed that the annular recess 104k always exists in the industrial robot in general as long as it is provided with the flange.

  Focusing on this point, the present inventor considered that the annular recess 104k is used for preventing the axial displacement of the long member 113, and as shown in FIG. A convex bead portion 113a that fits into the annular recess 104k is formed on the belt, and the long member 113 is wound around the cross roller bearing 102 in a form in which the bead portion 113a is fitted into the annular recess 104k, and the band is tightened. Thus, the above-described axial displacement can also be prevented.

  The oil stop structure of the end effector mounting flange of the industrial robot according to the invention of the first aspect of the invention devised after the above-described circumstances includes an inner ring, a first outer ring portion and a second outer ring that are divided into two in the axial direction. An outer ring having a portion, and a roller that is held between the inner ring and the first outer ring part and the second outer ring part, and includes a cross roller bearing in which the inner ring and the outer ring are relatively rotatable. The inner ring of the cross roller bearing constitutes an end effector mounting flange as a final stage arm, and the outer ring is fixed to a front arm that is a front stage of the end effector mounting flange, and the end effector mounting flange is the front stage arm. It is rotated by a motor and a speed reducer provided in the arm, and a rubber seal member is interposed between the inner ring and the outer ring at the axially distal end portion of the outer ring An industrial robot, comprising: an annular oil absorbing member that covers the rubber seal member; a flexible belt-shaped holder made of synthetic resin; and a band-shaped binding band made of synthetic resin, The holder has a long flat plate surface wound around the outer peripheral surface of the outer ring of the cross roller bearing, and a tip portion protruding from one edge portion along the longitudinal direction of the holder main body with a gap therebetween A plurality of comb-tooth plate portions which are substantially perpendicular to the plate surface of the holder main body, and a bead having a convex cross section provided on the surface of the holder main body on the protruding direction side of the comb tooth plate portion and extending in the longitudinal direction. And the annular oil absorbing member is fitted to the end effector mounting flange to cover the rubber seal member with the oil absorbing member, and the bead portion of the holder is Outer ring The holder is wound around the outer ring so that the comb-tooth plate portion is attached to the oil absorbing member in a form fitted to an annular concave portion existing on the outer peripheral portion of the joint portion between the first outer ring portion and the second outer ring portion. It is characterized in that the wound holder is fastened and fixed to the outer ring by the binding band against the end face.

  In the first aspect, since the oil absorbing member is disposed and held so as to cover the rubber seal member, even if the lubricating oil oozes from the rubber seal member of the end effector mounting flange, the hand or the like Lubricant does not splash and adhere to the end effector or workpiece.

  In addition, the oil absorbing member can be arranged and held by winding the holder around the outer ring from the outside and fixing the oil absorbing member with a binding band, so that the size of the cross roller bearing varies depending on the robot model. Even if they are different, only the winding length of the holder is changed. If the length of the holder is set to be long in advance, one type of cutting can be performed by cutting the holder into an appropriate length with a scissors or the like. The oil absorbing member can be held by the holder and the binding band. As a result, there is no need to prepare different size holders for each robot model, and the troublesome part management on the manufacturer side can be reduced.

Furthermore, since the bead portion is fitted to the annular recess that exists on the outer peripheral portion of the outer ring of the cross roller bearing, the holder can be prevented from shifting in the axial direction using the annular recess.
In this case, the comb-tooth plate portions are spaced apart from each other, but the holder main body is curved by the winding of the holder so that the tip portions thereof approach each other, so that the oil absorbing member can be pressed almost entirely. .

  In this case, the oil absorbing member may be formed in an end ring shape (invention of claim 2). In this way, the oil absorbing member can be expanded at both ends and fitted to the end effector mounting flange from the outer peripheral surface side and disposed on the end surface of the rubber seal member. Even when the end effector is attached, the oil absorbing member can be attached, and it is not necessary to remove the end effector for attaching the oil absorbing member.

  Further, a plurality of gate-shaped band insertion portions corresponding to the bead portions may be provided on the surface of the holder main body opposite to the bead portions so that the binding band can be inserted and the separation from the holder main body is prevented. Good (invention of claim 3). In this way, the binding band can be attached to the holder, the band can be prevented from dropping during the winding operation of the holder, and the winding operation of the holder is extremely easy. In other words, if the holder and the binding band are separated, the binding band is wound around the outer side of the holder while tightening the binding band while keeping the holder wound around the outer peripheral surface of the outer ring. In addition, when the work space is narrow, this winding operation is extremely difficult. However, in this aspect, if the binding band is wound around the outer peripheral surface of the outer ring, the holder inside the binding band is also removed. It is naturally wound around the outer peripheral surface of the outer ring, and the winding work becomes extremely easy even in a narrow work space. Furthermore, since the portal-shaped band insertion portion is provided corresponding to the bead portion, when the binding band inserted through the band insertion portion is fastened, the bead portion is strongly fitted into the annular recess. Thus, the fitting and holding of the bead portion and the annular concave portion can be strengthened, and the above-described holder displacement prevention can be further ensured.

1 shows a first embodiment of the present invention, and a longitudinal side view of a flange and a wrist part in an oil absorbing member attached state. Similarly, a perspective view of the flange and wrist part with the oil absorbing member attached Front view of the flange part with the oil absorbing member attached Vertical side view of holder and oil absorbing member (A) is a front view of an oil absorption member, (b) is a side view. Perspective view of holder Front view of holder Bottom view of holder (A) is a side view of the binding band, (b) is a bottom view. Perspective view showing how the holder is wound Longitudinal side view of the flange and wrist before mounting the oil absorbing member Similarly, a perspective view of the flange and wrist portion before the oil absorbing member is attached Robot perspective view FIG. 1 equivalent view showing a second embodiment of the present invention Vertical side view of flange and wrist showing reference example (1) Vertical side view of flange and wrist showing reference example (2) Perspective view of holder The perspective view of the holder which shows a reference example (the 3) Vertical side view of flange and wrist Vertical side view of flange and wrist showing reference example (4)

  Hereinafter, a first embodiment of the present invention will be described with reference to FIGS. Here, a specific example is a small industrial robot having a load capacity of 20 kg or less (for example, 10 kg), for example, a 6-axis vertical articulated robot. FIG. 13 schematically shows the appearance of the robot 1 (as viewed from the front and slightly from the upper right). This robot 1 is configured to have six-axis arms on a base 2, and these arms are connected so as to be sequentially rotatable through joint portions as follows.

  That is, a shoulder portion 3 is connected to the base 2 so as to be pivotable in a horizontal direction around a rotation axis J1 extending in the vertical direction, and a lower arm 4 extending upward in the figure is connected to the shoulder portion 3. These are coupled so as to be pivotable in the vertical direction about a rotation axis J2 extending in the horizontal direction. A first upper arm 5 is connected to the tip of the lower arm 4 so as to be pivotable in the vertical direction about a rotation axis J3 extending in the horizontal direction. The second upper arm 6 is coupled so as to be coaxially rotatable about the rotation axis J4.

  A wrist 7 is coupled to the distal end of the second upper arm 6 so as to be pivotable in the vertical direction about the pivot axis J5, and an end effector mounting flange 8 (hereinafter referred to as flange 8) is coupled to the distal end of the wrist 7. ) Are coupled so as to be coaxially rotatable about the rotation axis J6. A tool such as a hand (not shown) is attached to the flange 8. The flange 8 corresponds to the final stage arm, and the wrist 7 corresponds to the front stage arm in front of the final stage arm.

  The configuration of the wrist 7 and the flange 8 is shown in FIGS. The frame 7a of the wrist 7 is provided with a harmonic speed reducer 9 as a speed reducer. The harmonic speed reducer 9 includes a circular spline 10, a flex spline 11, and a wave generator 12 as main components.

  The circular spline 10 is fixed to the cylindrical frame 7 a of the wrist 7 with screws 13. The circular spline 10 has an annular shape and has internal teeth 10a on the inner periphery.

  The flexspline 11 is made of a bottomed cylindrical metal having thin cup-like elasticity, and a predetermined number of external teeth 11a are formed on the outer periphery of the opening. The external teeth 11 a are two fewer than the internal teeth 10 a of the circular spline 10.

  The wave generator 12 is formed by mounting a ball bearing 15 configured to be elastically deformable on the outer periphery of an elliptical cam 14. The inner ring of the ball bearing 15 is fixed to the elliptical cam 14, and the outer ring is elastically deformed according to the rotation of the elliptical cam 14. The elliptical cam 14 of the wave generator 12 has a shaft boss 14a formed at the center thereof.

  The flex spline 11 is disposed (interpolated) in the circular spline 10 such that its outer teeth 11a mesh with the internal teeth 10a of the circular spline 10, and the bottom of the flex spline 11 is a cross roller bearing described later. It is connected to 16 inner rings (corresponding to the output shaft) 16 a by screws 17.

  The wave generator 12 is attached (interpolated) to the inner surface of the external teeth 11a of the flexspline 11, and the shaft boss 14a of the elliptical cam 14 is integrated with the rotary shaft 18a of the servo motor 18 as an input shaft by a key 18b. It is rotatably connected and is prevented from coming off by an end presser 19 and a screw 20. The servo motor 18 is attached to a circular spline presser 21 attached to a cylindrical frame 7a of the wrist 7.

  The cross roller bearing 16 includes the inner ring 16a, an outer ring 16b, and a plurality of rollers 16c that are rotatably held between the inner ring 16a and the outer ring 16b. The outer ring 16b is divided into two in the axial direction so as to incorporate the roller 16c, and has a first outer ring part 16b1 and a second outer ring part 16b2. The first outer ring portion 16b1 and the second outer ring portion 16b2 are connected to each other by a screw 23 to form an outer ring 16b. The outer ring 16b is fixed to the end surface of the wrist 7 on the frame 7a by a screw 24. .

  In the outer ring 16b, a V-shaped annular recess 16k (also shown in FIG. 4) exists on the outer peripheral portion of the joint portion between the first outer ring portion 16b1 and the second outer ring portion 16b2. The annular recess 16k is formed by chamfering the corners of the first outer ring portion 16b1 and the second outer ring portion 16b2.

  Further, the inner ring 16a protrudes outward from the outer ring 16b, and the inner ring 16a serves as the flange 8. An end effector such as a hand is attached to the front end surface of the flange 8, and for this purpose, an internal thread 24 and a positioning pin hole 24a (see FIG. 3) are formed.

Here, the meshing portion of the harmonic reduction gear 9 and the roller 16c portion are filled with lubricating oil such as grease for lubrication.
As shown in FIG. 4, the seal between the inner ring 16a and the outer ring 16b is provided with a recess 16d at the tip end side in the axial direction of the outer ring 16b. A housing portion 16e is formed, and an oil seal 25 corresponding to a rubber seal member is inserted into the seal housing portion 16e, so that the oil seal 25 is interposed between the inner ring 16a and the outer ring 16b. .

  In the above-described harmonic speed reducer 9, the flexspline 11 and the circular spline 10 mesh with each other only at two positions targeted for 180 degrees. When the wave generator 12 rotates, the meshing position between the flexspline 11 and the circular spline 10 rotates. Then move. In this case, since the number of teeth of the flex spline 11 is two less than the number of teeth of the circular spline 10, the flex spline 11 rotates by two teeth difference in the direction opposite to the rotation direction of the wave generator 12. The rotation is output and transmitted to the inner ring 16 a of the cross roller bearing 16, that is, the flange 8.

  Here, the exposed end surface of the oil seal 25 is made of, for example, felt, as shown in FIGS. 1 to 3, so that the lubricating oil that has oozed out from the oil seal 25 is not scattered. The oil absorbing member 26 is provided in a stopped state by a holder 27 and a binding band 28.

  The oil absorbing member 26 is made of a felt capable of absorbing oil, and is formed in an end ring shape as shown in FIGS. 5 (a) and 5 (b). A thin film portion 26 a having no oil permeability is formed on one surface of the oil absorbing member 26. The inner diameter dimension of the oil absorbing member 26 is set substantially equal to the outer diameter dimension of the flange 8, and the outer diameter dimension of the oil absorbing member 26 is set slightly larger than the outer diameter dimension of the seal housing 16e. Yes.

  The holder 27 is made of a synthetic resin, and as shown in FIGS. 6 to 8, the holder 27 as a whole has a long belt shape. The holder 27 includes a holder main body 27a, a plurality of comb-tooth plate portions 27b, and a bead portion 27c. The holder body 27a has a long flat plate shape, has a long flat plate surface 27a3 (see FIG. 3), and is wound around the outer peripheral surface of the outer ring 16b of the cross roller bearing 16. The comb-tooth plate portion 27b protrudes from one edge portion 27a1 along the longitudinal direction of the holder body 27a with a gap therebetween.

  The comb-tooth plate portion 27b includes a first portion 27b1 flush with the plate surface of the holder body 27a, a second portion 27b2 perpendicular to the first portion 27b1, and the second portion 27b2. From the third portion 27b3 projecting in a direction parallel to the holder main body 27a, and a fourth portion 27b4 projecting from the third portion 27b3 in a right angle direction. Therefore, the 4th part 27b4 which is the front-end | tip part in the said comb-tooth board part 27b is bent so that it may make a substantially right angle with the board surface 27a3 of the said holder main body 27a.

  Further, the bead portion 27c is provided in the holder main body 27a so that the cross-sectional shape of the surface portion 27a2 (see FIG. 8) on the protruding direction side of the comb tooth plate portion 27b is convex and extends in the longitudinal direction. Is formed.

  Furthermore, the binding band 28 can be inserted into the plate surface 27a3 (see FIG. 6) which is the surface portion on the opposite side of the bead portion 27c in the holder main body 27a, and prevents the detachment from the holder main body 27a. A plurality of, for example, three band insertion portions 27d are provided corresponding to the bead portions. In addition, a die-cutting hole 27e is formed at a portion facing the band insertion portion 27d.

The above-described holder 27 is flexible and can be easily cut using a tool or tool such as a scissors.
Further, as shown in FIG. 9, the binding band 28 is made of synthetic resin, and has an annular portion 28a in which one end portion can be inserted, and the annular portion 28a has a locking portion. A portion 28b is formed. Further, on one surface of the binding band 28, a number of locked piece portions 28c that are selectively locked to the locking portions 28b are formed. The binding band 28 is also flexible and can be easily cut using a tool or tool such as a scissors.

  Now, a procedure for attaching the oil absorbing member 26 to the oil seal 25 will be described. If the length of the holder 27 substantially matches the outer peripheral length of the outer ring 16b, the length is not adjusted by cutting. If the length of the holder 27 is longer than the outer peripheral length of the outer ring 16b, the holder 27 is cut so as to be an appropriate length. Keep it. Further, the binding band 28 is inserted through the band insertion portion 27 d of the holder 27. The oil absorbing member 26 has its one end surface (surface opposite to the thin film portion 26 a) facing the outer end surface (end surface on the front end side of the flange 8) of the oil seal 25. Fit from. In this case, the one end surface of the oil absorbing member 26 and the outer end surface of the oil seal 25 may be in contact with each other or may be slightly separated. In this manner, the oil absorbing member 26 covers the oil seal 25 at a position closer to the front end side of the flange 8 than this. In this case, the oil absorbing member 26 may be expanded at both ends 26b and 26c (see FIG. 5A) and fitted to the flange 8 from the outer peripheral surface side of the flange 8.

Further, the holder 27 is wound around the outer ring 16b from the outer peripheral side, and the tip end portion of the binding band 28 is inserted into the ring portion 28a (this state is shown in FIG. 10).
Then, the binding band is formed in such a manner that the bead portion 27c of the holder 27 is fitted to the annular recess 16k existing in the outer peripheral portion of the joint portion of the first outer ring portion 16b1 and the second outer ring portion 16b2 in the outer ring 16b. The front end portion 28 is pulled and fastened, and the holder 27 is fastened and fixed to the outer ring 16b in a wound state. Note that the remaining tip portion of the binding band 28 is appropriately cut with a scissors or the like (the cut end is indicated by reference numeral 28s in FIGS. 2 and 3).

  With the attachment of the holder 27 described above, as shown in FIG. 1, the fourth portion 27b4 that is the tip of the comb-tooth plate portion 27b is applied to the thin film portion 26a that is the other end surface of the oil absorbing member 26, and The third portion 27b3 presses the outer peripheral surface of the oil absorbing member 26. As a result, the oil absorbing member 26 is held in a form that closes one end surface of the oil seal 25. Further, the comb-tooth plate portion 27b has a gap between each other, but because the holder main body 27a is bent by the winding of the holder 27 and the tip portions thereof approach each other (see FIG. 3), the comb-tooth plate portion 27b The oil absorbing member 26 is pressed almost entirely.

Further, as shown in FIG. 4, since the bead portion 27c of the holder 27 is fitted in the annular recess 16k, the holder 27 is not displaced in the direction of arrow A (axial direction) in FIGS.
In the above-described embodiment, when the robot 1 repeatedly executes a predetermined behavior, the temperature of the sliding portions of the motor 18, the harmonic speed reducer 9, and further the flange 8 and the wrist 7 in the robot 1 rises. Further, since the flange 8 moves outwardly due to the robot behavior, the reduced viscosity lubricating oil may ooze out of the flange 8 from the oil seal 25 in a small amount.

  However, according to the present embodiment, the oil absorbing member 26 is disposed and held so as to cover the oil seal 25. Therefore, even if the lubricating oil may ooze out from the oil seal 25 portion, It can be absorbed by the oil absorbing member 26. Accordingly, the leached lubricating oil does not scatter and adhere to the end effector such as the hand or the work.

  Moreover, according to the present embodiment, the oil absorbing member 26 is disposed and held on one end surface portion of the oil seal 25. The oil absorbing member 26 is wound around the outer ring 16b from the outside and fixed by the binding band 28. 26, even if the size of the cross roller bearing 16 differs depending on the robot model, the holder 27 is cut to an appropriate length with a scissors or the like so that one kind of the holder 27 and the binding band 28 can be used. The oil absorbing member 26 can be held. As a result, if the holder 27 having a length that can be used for a larger model of robots prepared in advance is prepared as the holder 27, it is possible to handle different robot models by adjusting the length by cutting as described above. Therefore, it is not necessary to prepare a holder 27 having a different size for each robot model, and the troublesome part management on the manufacturer side can be reduced.

  Furthermore, according to this embodiment, since the bead portion 27c is fitted to the annular recess 16k existing on the outer peripheral portion of the outer ring 16b of the cross roller bearing 16, the axial displacement of the holder 27 is made using the annular recess 16k. Can be prevented.

  The presence of the comb-tooth plate portion 27b facilitates the bending of the holder body 27a. However, there is a concern that the holding area of the oil absorbing member 26 may be reduced due to a gap between the comb-tooth plate portions 27b. Is done. However, according to this embodiment, the holder main body 27a is curved by the winding of the holder 27, so that the tips of the comb-tooth plate portions 27b approach each other, so that the oil absorbing member 26 can be pressed almost entirely.

  In addition, according to the present embodiment, since the oil absorbing member 26 is formed in an end ring shape, the oil absorbing member 26 is expanded at both end portions 26b and 26c, and fitted to the flange 8 from the outer peripheral surface side to thereby form an oil seal. Therefore, even when an end effector such as a hand is attached to the front end of the flange 8, the oil absorbing member 26 can be attached, and the end effector is intentionally removed for attaching the oil absorbing member 26. No need to

  In addition, according to the present embodiment, the band-shaped band insertion portion 27d that allows the binding band 28 to be inserted into the holder main body 27a on the surface portion opposite to the bead portion 27c and prevents separation from the holder main body 27a. Is provided corresponding to the bead portion 27c, and the binding band 28 can be attached to the holder 27 by inserting the binding band 28 into the band insertion portion 27d. The band can be prevented from falling. Therefore, the winding work of the holder 27 becomes extremely easy. In other words, if the holder 27 and the binding band 28 are separated when the holder 27 is wound, it is considered that the binding band 28 does not fall while holding the state where the holder 27 is wound around the outer peripheral surface of the outer ring 16b. On the other hand, the binding band 28 must be wound and fastened to the outside of the holder 27, and this winding operation is extremely difficult when the work space is small. In this embodiment, the binding band 28 is attached to the outer ring 16b. Is wound around the outer peripheral surface of the outer ring 16b, and the winding operation is extremely easy even in a narrow work space. Further, since the portal-shaped binding band 28 is provided corresponding to the bead portion 27c, as can be seen from FIG. 4, when the binding band 28 inserted into the band insertion portion 27d is fastened, the bead The portion 27c can be strongly fitted into the annular recess 16k, the fitting and holding of the bead portion 27c and the annular recess 16k can be strengthened, and the prevention of the deviation of the holder 27 can be further ensured.

  In addition, embodiment of this invention is not limited to the said embodiment, It can change variously. For example, the comb-tooth plate portion of the holder includes a first portion 27bA that is flush with the plate surface of the holder body 27a, like the comb-tooth plate portion 27b shown in FIG. 14 shown as the second embodiment of the present invention. You may make it comprise what is called L shape from 2nd part 27bB which makes a right angle with 1st part 27bA.

  In the above-described embodiment, the oil seal 25 is between the inner ring 16a and the outer ring 16b of the cross roller bearing 16 and between the inner ring 16a and the outer ring 16b of the cross roller bearing 16 as shown in FIG. Of these, the configuration provided on the foremost side (outer side) is shown, but the configuration of the oil seal 25 may be provided at a position further on the back side than FIG. 1 (position approaching the roller 16c). In some cases, the outer peripheral surface of the inner ring 16a and the inner peripheral surface of the outer ring 16b of the cross roller bearing 16 have a stepped shape, and the gap between them has a cross-sectional crank shape. A configuration in which the oil seal 25 is disposed in the portion is also conceivable. In these cases, by fitting the oil absorbing member 26 to the flange 8 at the inner ring front end surface portion in the gap between the inner ring 16a and the outer ring 16b that becomes the passage of the lubricating oil that has oozed from the oil seal 25, Also in this case, the oil absorbing member 26 covers the outer end surface of the oil seal 25 at a position closer to the front end side of the flange 8, thereby preventing the lubricant from being scattered.

  In the above-described embodiment, the configuration in which the front end surface of the flange 8 constituted by the inner ring 16a protrudes from the front end surface of the outer ring 16b is illustrated. However, the front end surface of the flange 8 and the front end surface of the outer ring 16b are axial. When the end effector base end having a circular shape in the axial direction is connected to the front end surface of the flange 8, the end effector base end can be regarded as a substantial flange. It is also possible to dispose the oil absorbing member substantially as a flange.

  In addition, as described above, the present invention is a flexible strip made of a synthetic resin having a comb-tooth plate portion and a bead portion in order to prevent scattering of lubricating oil oozed from a rubber seal member in an industrial robot. And a binding band made of synthetic resin, and has the above-mentioned effects, and has a configuration in which a member to be attached is attached to an attachment target by winding a simple band-shaped holder. In addition, a configuration in which an annular recess existing on the outer peripheral surface of the outer ring of the cross roller bearing is fitted to the bead portion to prevent axial displacement, a configuration in which the oil absorbing member is pressed by the comb tooth plate portion, and one more type If the holder is not provided with an effect capable of dealing with different robots, the present invention is completely different from the present invention.

  In the drawings, 1 is an industrial robot, 7 is a wrist (front arm), 8 is a flange (end effector mounting flange), 9 is a harmonic reduction gear (reduction gear), 16 is a cross roller bearing, 16a is an inner ring, and 16b is Outer ring, 16b1 is a first outer ring part, 16b2 is a second outer ring part, 16c is a roller, 16k is an annular recess, 25 is an oil seal (rubber seal member), 26 is an oil absorbing member, 27 is a holder, 27a is The holder body, 27b is a comb tooth plate portion, 27c is a bead portion, 27d is a band insertion portion, and 28 is a binding band.

Claims (3)

An inner ring, an outer ring having a first outer ring portion and a second outer ring portion that are divided into two in the axial direction, and rollers that are held between the inner ring and the first outer ring portion and the second outer ring portion. Comprising a cross roller bearing in which the inner ring and the outer ring are relatively rotatable,
The inner ring of the cross roller bearing constitutes an end effector mounting flange as a final stage arm, and the outer ring is fixed to a front arm that is a front stage of the end effector mounting flange,
The end effector mounting flange is rotated by a motor and a speed reducer provided in the front arm,
An industrial robot in which a rubber seal member is interposed between the inner ring and the outer ring at a portion on the axial front end side of the outer ring,
An annular oil absorbing member covering the rubber seal member;
A flexible belt-shaped holder made of synthetic resin;
It is made of synthetic resin and has a band-like binding band,
The holder protrudes with a gap from the holder main body having a long flat plate surface wound around the outer peripheral surface of the outer ring of the cross roller bearing, and one edge along the longitudinal direction of the holder main body. A plurality of comb-tooth plate portions whose portions are substantially perpendicular to the plate surface of the holder main body, and a convex cross section provided in the surface of the holder main body on the protruding direction side of the comb tooth plate portion and extending in the longitudinal direction. It is configured to have a bead part integrally,
The annular oil absorbing member is fitted to the end effector mounting flange and the rubber absorbing member is covered with the oil absorbing member,
The holder is wound around the outer ring in a form in which the bead portion of the holder is fitted into an annular recess that exists in the outer peripheral portion of the joint portion of the first outer ring portion and the second outer ring portion of the outer ring. A tooth plate part is applied to the other end surface of the oil absorbing member,
An oil stopper structure for an end effector mounting flange of an industrial robot, wherein the wound holder is fastened and fixed to the outer ring by the binding band.   2. The oil stopper structure for an end effector mounting flange of an industrial robot according to claim 1, wherein the oil absorbing member is formed in an end ring shape.   In the holder main body, a plurality of gate-shaped band insertion portions corresponding to the bead portions are provided on a surface portion opposite to the bead portion so that the binding band can be inserted and the separation from the holder main body is prevented. 3. An oil stop structure for an end effector mounting flange of an industrial robot according to claim 1 or 2.

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