JP6745154B2 - Seal member and cleaning robot - Google Patents

Description

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

Seal members are used in various technical fields. For example, the sealing member is used to prevent leakage of the oil enclosed inside the device. Alternatively, the seal member is used to prevent the inflow of liquid into the interior of the device.

Patent Document 1 discloses an oil seal that can be suitably used in muddy water as a seal member. U.S. Pat. No. 5,697,097 proposes to use vapor permeable films to separate dust lip from the external environment.

Japanese Utility Model Publication No. 4-49267

Since the vapor-permeable film of Patent Document 1 is rubbed against the movable part of the device to which the oil seal is attached, the designer needs to give the film sufficient mechanical strength. This increases the cost of the oil seal.

According to Patent Document 1, the vapor-permeable film can block dust floating in muddy water. However, water can flow into the void between the dust lip and the vapor permeable film. For example, if the oil seal is used in an environment that deteriorates the oil seal (for example, a high temperature environment or an environment filled with chemicals), chemicals or high temperature fluid that has passed through the film may not pass between the dust lip and the film. It accumulates in the voids and deteriorates the dust lip.

It is an object of the present invention to provide an inexpensive sealing technique that is resistant to high temperature environments and environments where chemicals are used.

The seal member according to one aspect of the present invention can prevent fluid from flowing between an external space outside the device and an internal space inside the device. The seal member includes an outer surface facing the side opposite to the inner space, and a close contact member that is in close contact with the outer surface. The contact 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 close contact member with the outer surface, the outer surface does not come into direct contact with the chemicals or the hot fluid. In addition, since the adhesion member has at least one of chemical resistance and heat resistance, the sealing member should maintain excellent sealing performance for a long period of time even in a high temperature environment or an environment where chemicals are used. You can Since the close contact member is in close contact with the outer surface, the designer who designs the seal member can design the strength of the close contact member and the member forming the outer surface as an integral member. Therefore, the designer does not have to give the close contact member great mechanical strength. As a result, the seal member can be manufactured at low cost.

In the above configuration, the contact member may be a coating that covers the outer surface.

According to the above configuration, the contact member is a film that covers the outer surface, so that the manufacturer of the seal member can easily form the contact member by a technique such as painting or vapor deposition.

With regard to the above configuration, the seal member may further include a lip portion that is pressed against the device. The contact member may entirely adhere to the outer surface formed by the lip portion.

According to the above configuration, the contact member is wholly adhered to the outer surface formed by the lip portion that is pressed against the device. Excellent sealing performance can be maintained throughout.

With regard to the above configuration, the seal member may further include a spring that presses the lip portion against the device. The lip portion may include a main lip sandwiched by the spring and the device, and a dust lip pressed against the device outside the main lip. The contact member may be entirely in contact with the outer surface formed by the dust lip.

According to the above configuration, since the main lip is sandwiched by the spring and the device, the seal member can exhibit excellent sealing performance. Since the dust lip is pressed against the device outside the main lip, the risk of damage to the main lip by small particles floating in the external space is reduced. In addition, since the adhesion member is entirely adhered to the outer surface formed by the dust lip, the sealing member maintains excellent sealing performance for a long time even in a high temperature environment or an environment where chemicals are used. can do.

A cleaning robot according to another aspect of the present invention sprays a cleaning liquid into an external space. The cleaning robot includes a speed reducer that reduces the input driving force at a predetermined reduction ratio, and the above-described seal member. The seal member prevents fluid from flowing between the external space and the internal space inside the speed reducer.

According to the above configuration, since the cleaning robot includes the above-mentioned seal member, the flow of the fluid between the external space and the internal space inside the speed reducer is appropriately prevented for a long period of time.

The sealing technique described above can be constructed at low cost and can withstand high temperature environments and environments where chemicals are used.

It is a schematic sectional drawing of an oil seal illustrated as a seal member. It is a schematic sectional drawing of a part of cleaning robot. It is a schematic sectional drawing which follows the AA line shown by 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.

FIG. 1 is a schematic sectional view of an oil seal 100 exemplified as a seal member. The oil seal 100 will be described with reference to FIG. 1.

FIG. 1 shows a device MAP to which an oil seal 100 is attached. The device MAP includes a first member FMB and a second member SMB. The first member FMB has a generally cylindrical shape. The second member SMB has a generally cylindrical 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 oil seal 100 is fitted in an annular space formed between the first member FMB and the second member SMB. The device MAP may be a speed reducer, a motor, or other mechanical equipment. The principles of this embodiment are not limited to a particular machine used as the device MAP.

The oil seal 100 is fitted in an annular space formed between the first member FMB and the second member SMB. The annular void communicates with the internal space inside the device MAP. The oil seal 100 fitted in the annular space separates the internal space inside the device MAP from the external space outside the device MAP. Lubricating oil is filled inside the device MAP. The oil seal 100 prevents the lubricating oil from leaking from the internal space. The external space may be a high temperature environment. Alternatively or additionally, a chemical such as a cleaning agent 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 seal ring 110 and a contact member 120. The seal ring 110 may have the same structure as a commercially available oil seal. The principles of this embodiment are not limited to a particular construction of the seal ring 110.

The seal ring 110 includes an outer surface 111 and an inner surface 112. The inner surface 112 contacts the lubricating oil with which the inner space is filled. The outer surface 111 is formed on the side opposite to the inner surface 112. The contact member 120 is in contact with the outer surface 111. In the present embodiment, the term “contact” means that the two members are in contact with each other without a gap.

The adhesion 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 an alkaline (pH>11) chemical is suspended in the external space, the clinging member 120 is formed from a material that does not deteriorate upon exposure to the alkaline chemical. If a weakly alkaline (11≧pH>8) chemical is suspended in the external space, the adhesion member 120 is formed from a material that does not deteriorate upon exposure to the weakly alkaline chemical. If acidic (pH<3) chemicals are suspended in the external space, the clinging member 120 is formed from a material that does not deteriorate upon exposure to the acidic chemicals. If a weakly acidic (3≦pH<6) chemical is suspended in the external space, the adhesive member 120 is formed of a material that does not deteriorate upon exposure to the weakly acidic chemical. If the external space has a high temperature environment of 90° C., the contact member 120 is formed of a material that does not deteriorate and/or deform in a high temperature environment of 90° C. or higher.

The adhesion member 120 may be a fluororesin layer. If the fluororesin layer is formed as the adhesion member 120, the oil seal 100 can have high chemical resistance and high heat resistance. The manufacturer of the oil seal 100 may apply the fluororesin to the outer surface 111 by using a general coating technique (for example, painting). In this embodiment, the coating is exemplified by a layer of fluororesin coated on the outer surface 111.

The contact member 120 may be silicone rubber. If silicone rubber is used as the adhesive member 120, the oil seal 100 can have high chemical resistance and high heat resistance. The manufacturer may adhere the silicone rubber to the outer surface 111 using a heat and/or chemical resistant adhesive.

The adhesion member 120 may be a metal foil such as gold or aluminum. If the metal foil is used as the adhesion member 120, the oil seal 100 can have high chemical resistance and high heat resistance. The manufacturer may adhere the metal foil to the outer surface 111 using a heat and/or chemical resistant adhesive. Alternatively, the manufacturer may use a plating technique (eg, electrolytic plating or electroless plating) to form the thin metal film on the outer surface 111. Further alternatively, the manufacturer may use a vapor deposition technique (eg, thermal vapor deposition, sputter vapor deposition or ion plating) to form the thin metal film on the outer surface 111. In the present embodiment, the coating film is exemplified by a metal foil or a metal thin film.

<Second Embodiment>
Oil seals typically include a lip that is pressed against the device. In the second embodiment, an exemplary relationship between the lip portion and the contact member will be described.

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 part 130 is located between the lip part 140 and the second member SMB and surrounds the lip part 140. The ring portion 130 is pressed against the inner peripheral surface of the second member SMB.

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 projects from the inner peripheral portion of the ring portion 130 toward the internal space. Therefore, the main lip 141 cooperates with the ring portion 130 to form the contour of the inner surface 112 that is bent toward the external space.

The oil seal 100 includes an annular spring 150. The spring 150 is arranged in a concave space surrounded by the inner surface 112. The main lip 141 is sandwiched by the spring 150 and the first member FMB. The main lip 141 is strongly pressed against the outer peripheral surface of the first member FMB by the spring 150. As a result, the oil seal 100 can prevent the lubricating oil filled in the internal space from leaking out. A coil spring may be used as the spring 150. Alternatively, another elastic member capable of pressing the main lip 141 against the first member FMB may be used as the spring 150. The principle of this embodiment is not limited to a specific member used as the spring 150.

Unlike the main lip 141, the dust lip 142 projects from the inner peripheral portion of the ring portion 130 toward the outer space. Therefore, the dust lip 142 is pressed against the outer peripheral surface of the first member FMB outside the main lip 141.

The dust lip 142 cooperates with the ring portion 130 to form the outer surface 111. The contact member 120 is entirely adhered to the region of the outer surface 111 formed by the dust lip 142. As a result, the sealing function of the dust lip 142 is appropriately protected by the contact member 120 from a high temperature environment and/or a chemical environment.

<Third Embodiment>
The seal member described in connection with the above embodiment is preferably incorporated in a cleaning robot for cleaning parts of automobiles and other mechanical equipment. Since the seal member can have excellent resistance to a high-temperature cleaning liquid, the seal member can exhibit excellent sealing performance in the cleaning robot for a long period of time. In the third embodiment, an exemplary cleaning robot is described.

FIG. 2A is a schematic sectional view of a part of the cleaning robot 200. 2B is a schematic cross-sectional view taken along the line AA shown in FIG. 2A. The cleaning robot 200 will be described with reference to FIGS. 1 to 2B.

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 stationary member 203. The oil seals 101 and 102 partition the internal space inside the speed reducer 300 from the external space outside the speed reducer 300. The oil seals 101 and 102 prevent the fluid (that is, the lubricating oil in the speed reducer 300 and the cleaning liquid injected in the external space) from flowing between the external space and the internal space. The oil seals 101, 102 are designed according to the principles of the above-described embodiments. Therefore, the description of the above embodiment is applied to the oil seals 101 and 102.

The rotation axis RAX is a common central axis of the oil seals 101 and 102. The input shaft gear 201 rotates around the rotation axis RAX and inputs the driving force to the speed reducer 300. The input shaft gear 201 may be a rotating 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 about the rotation axis RAX.

The movable arm 202 is attached to the speed reducer 300 and is located in the external space. The movable arm 202 is given an angular motion about the rotation axis RAX by the speed reducer 300. A nozzle (not shown) for injecting the high-temperature cleaning liquid may be attached to the movable arm 202. In this case, the high temperature cleaning liquid is scattered around the oil seals 101 and 102. However, since the oil seals 101 and 102 are designed based on the principle of the above-described embodiment, the oil seals 101 and 102 withstand the high temperature cleaning liquid and maintain excellent sealing performance for a long period of time. be able to. Instead of the nozzle, other components that require angular movement about the rotation axis RAX may be attached to the movable arm 202. The principles of this embodiment are not limited to the particular components attached to the moveable arm 202.

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

The speed reducer 300 includes an outer cylinder 310, a carrier 320, three crankshaft assemblies 330 (FIG. 2A shows one of the three crankshaft assemblies 330), a gear unit 340, and two main shafts. The bearings 351 and 352 and the outer wall 360 are provided. The movable arm 202 is fixed to the outer cylinder 310. The rotation 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 description regarding the second member SMB may be applied to the outer cylinder 310. The description regarding the first member FMB may be incorporated in the carrier 320. The oil seal 101 is fitted in an annular space 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 into a through hole formed in the outer wall 360. Regarding 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. .. Therefore, the description regarding the first member FMB may be applied to the input shaft gear 201. The description of the second member SMB may be incorporated in the outer wall 360. The oil seal 102 is fitted in an annular space between the outer peripheral surface of the input shaft gear 201 and the inner peripheral surface of the outer wall 360 forming the contour 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 stationary. During rotation of the outer cylinder 310, the movable arm 202 makes an angular motion about the rotation axis RAX.

The driving force is input to each of the three crankshaft assemblies 330 through the input shaft gear 201 extending along the rotation axis RAX. The driving force input to each of the three crankshaft assemblies 330 is transmitted to the gear unit 340 arranged in the internal 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 the annular space formed between the outer cylinder 310 and the carrier 320 surrounded by the outer cylinder 310. The outer cylinder 310 is rotated around the rotation axis RAX by the driving force transmitted to the gear unit 340.

As shown in FIG. 2A, the outer cylinder 310 includes a substantially cylindrical case 311 and a plurality of inner tooth pins 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 central axis common to the first cylindrical portion 313, the second cylindrical portion 314, and the third cylindrical portion 315. The first cylindrical portion 313 has a larger outer diameter than the second cylindrical portion 314 and the third cylindrical portion 315. The movable arm 202 is attached to the first cylindrical portion 313.

The first cylindrical portion 313 surrounds the gear portion 340. As shown in FIG. 2B, the first cylindrical portion 313 includes an inner peripheral surface 316 having a plurality of grooves formed therein. The plurality of groove portions are formed at substantially constant intervals so as to surround the rotation axis RAX. Each of the plurality of groove portions is substantially parallel to the rotation axis RAX. The plurality of internal tooth pins 312 are fitted into the plurality of groove portions, respectively. Therefore, each of the plurality of inner tooth pins 312 is appropriately held by the first cylindrical portion 313.

The second cylindrical portion 314 is used to connect with the outer wall 360. An O-ring or other suitable sealing member is used to seal between the second cylindrical portion 314 and the outer wall 360. An annular space is formed between the second cylindrical portion 314 and the carrier 320. The main bearing 352 is fitted in the annular space. Another annular gap is formed between the third cylindrical portion 315 and the carrier 320. The main bearing 351 is fitted in the space between the third cylindrical portion 315 and the carrier 320. As a result, the outer cylinder 310 becomes rotatable relative to the carrier 320. Similar to the main bearing 351, the oil seal 101 is fitted in the space between the third cylindrical portion 315 and the carrier 320. As a result, leakage of lubricating oil and inflow of cleaning liquid through the boundary between the outer cylinder 310 and the carrier 320 are prevented.

As shown in FIG. 2B, the plurality of internal tooth pins 312 are annularly arranged around the rotation axis RAX at substantially regular intervals. The half peripheral surface of each of the plurality of inner tooth pins 312 projects from the inner wall of the case 311 toward the rotation axis RAX. Therefore, the plurality of inner tooth pins 312 function as a plurality of inner teeth that mesh 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. The end plate 322 has a substantially disc shape. The outer peripheral surface of the end plate 322 is partially surrounded by the second cylindrical portion 314. The main bearing 352 is fitted into an annular space between the inner peripheral surface of the second cylindrical portion 314 and the outer peripheral surface of the end plate 322.

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

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

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

The second disc portion 326 includes an inner surface 327 facing the gear portion 340. The first disc portion 325 includes an outer surface 328 opposite to the inner surface 327. The inner surface 327 and the outer surface 328 are along an imaginary plane (not shown) orthogonal to the rotation axis RAX. The outer surface 328 is fixed to the immovable member 203. Therefore, the substrate portion 323 is supported by the immovable member 203 in a cantilever state.

The central through hole 371 (see FIG. 2A) and the three holding through holes 372 (FIG. 2A shows one of the three holding through holes 372) are formed in the substrate portion 323. 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 a virtual circle (not shown) centered on the rotation axis RAX.

FIG. 2A shows the 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 substantially parallel to the rotation axis RAX. The holding 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 central axis of rotation of the crankshaft assembly 330 and the central axis of the holding through hole 372. A part of the crankshaft assembly 330 is arranged in the holding through hole 372.

The end plate 322 includes an inner surface 381 and an outer surface 382 opposite to the inner surface 381. The inner surface 381 faces the gear portion 340. The inner surface 381 and the outer surface 382 are along a virtual plane (not shown) orthogonal to the rotation axis RAX.

A central through hole 373 (see FIG. 2A) and three holding through holes 374 (FIG. 2A shows one of the three holding through holes 374) are formed in the end plate 322. 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 a virtual circle (not shown) centered on the rotation axis RAX. Each of the three holding 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 part of the crankshaft assembly 330 is arranged in the holding through hole 374. The three holding through holes 374 formed in the end plate 322 are substantially coaxial with the three holding through holes 372 formed in the substrate portion 323.

Each of the three shaft portions 324 extends from the inner surface 327 of the second disc portion 326 toward the inner surface 381 of the end plate 322. The end plate 322 is connected to the tip surface of each of the three shaft portions 324. The end plate 322 may be connected to the tip surface of each of the three shaft portions 324 by reamer bolts, locating pins or other suitable fastening techniques. The principles of this embodiment are not limited to a particular connection technique between the end plate 322 and each of the three shaft portions 324.

As shown in FIG. 2A, the gear portion 340 is arranged between the inner surface 327 of the second disc portion 326 and the inner surface 381 of the end plate 322. 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 unit 340 includes two swing gears 341 and 342. The oscillating gear 341 is arranged between the end plate 322 and the oscillating gear 342. The oscillating gear 342 is arranged between the substrate portion 323 and the oscillating gear 341. The oscillating gears 341 and 342 may be formed based on common design drawings. Each of the oscillating gears 341 and 342 may be a trochoid gear or a cycloid gear. The principles of this embodiment are not limited to a particular type of gear used as the oscillating gears 341, 342.

Each of the oscillating gears 341 and 342 includes a plurality of external teeth 343 (see FIG. 2B) protruding toward the inner wall of the case 311. When the crankshaft assembly 330 rotates about the transmission axis TAX, the oscillating gears 341 and 342 move circularly (that is, oscillate) in the case 311 while engaging the plurality of outer teeth 343 with the plurality of inner tooth pins 312. Rotate). During this time, the centers of the oscillating gears 341 and 342 circulate around the rotation axis RAX. The rotation of the outer cylinder 310 is caused by the swing rotation of the swing gears 341 and 342.

The central through hole 344 is formed at the center of the oscillating gear 341. The central through hole 345 is formed at the center of the oscillating 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 oscillating gear 342. The central through hole 345 communicates with the central through hole 371 of the substrate portion 323 and the central through hole 344 of the oscillating gear 341.

As shown in FIG. 2B, three circular through holes 346 are formed in the oscillating gear 342. Similarly, three circular through holes are formed in the oscillating gear 341. The circular through hole 346 of the oscillating gear 342 and the circular through hole of the oscillating gear 341 cooperate with the holding through holes 372 and 374 of the base plate 323 and the end plate 322 to accommodate the crankshaft assembly 330. Form a space.

Three trapezoidal through holes 347 (FIG. 2A shows one of the three trapezoidal through holes 347) are formed in the oscillating gear 341. Three trapezoidal through holes 348 (see FIG. 2B) are formed in the oscillating gear 342. The shaft portion 324 of the carrier 320 penetrates the trapezoidal through holes 347 and 348. The sizes of the trapezoidal through holes 347 and 348 are 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 crank bearings 335 and 336. The transmission gear 331 meshes with the input shaft gear 201. The transmission gear 331 rotates around the transmission axis TAX according to the rotation of the input shaft gear 201.

The crank shaft 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 substrate portion 323. The journal bearing 333 is fitted in the annular space between the first journal 391 and the inner wall of the end plate 322 forming 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 the annular space between the second journal 392 and the inner wall of the base plate portion 323 forming the holding through hole 372. As a result, the second journal 392 is connected to the board portion 323. Therefore, 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 the annular space between the first eccentric portion 393 and the inner wall of the oscillating gear 341 forming the circular through hole. As a result, the oscillating gear 341 is attached to 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 oscillating gear 342 forming the circular through hole 346. As a result, the oscillating gear 342 is attached to the second eccentric portion 394.

The first journal 391 is substantially coaxial with the second journal 392 and rotates around 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 shaft TAX. Each of the first eccentric portion 393 and the second eccentric portion 394 eccentrically rotates with respect to the transmission shaft TAX, and gives rocking rotation to the rocking gears 341 and 342. The carrier 320 is fixed to the immovable member 203, and the oscillating gears 341 and 342 mesh with the plurality of internal tooth pins 312 of the outer cylinder 310. It is converted into the rotational movement of the surrounding outer cylinder 310.

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, causing the rocking gears 341 and 342 to rock.

The outer wall 360 includes a connection wall 361 and a support wall 362. The connection wall 361 is a tubular body that surrounds the input shaft gear 201. The connection wall 361 fits with the second cylindrical portion 314. As a result, the connecting 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 filled with lubricating oil. The lubricating oil in the internal space reduces the wear rate of the input shaft gear 201 and the transmission gear 331.

The connecting wall 361 extends along the rotation axis RAX, while the support wall 362 is substantially orthogonal to the rotation axis RAX and faces 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, on the side opposite the support wall 362, partially closes the circular opening formed by the connecting wall 361.

The connecting wall 361 has a through hole formed along the rotation axis RAX. The oil seal 102 is fitted in the through hole. The input shaft gear 201 is fitted in the oil seal 102. As a result, the support wall 362 can properly support the input shaft gear 201.

The design principles described in connection with the various embodiments 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 embodiment.

The principle of the above-described embodiment is preferably applied to mechanical equipment used in a high temperature environment and/or a chemical environment.

100, 101, 102... Oil seal 111... Outer surface 120...Adhesive member 140...・・・・・Lip 141 ・・・・・・・・・Main lip 142 ・・・・・・・・········Dust lip 150······ Spring 200·····・・・Washing robot 300 ・・・・・・・・Reducer MAP・・・······················apparatus

Claims (4)

A seal member for preventing fluid flow between an external space outside the device and an internal space inside the device,
A seal ring including an outer surface facing away from the inner space,
A contact member that is in close contact with the outer surface of the seal ring ,
The adhesion member is a silicone rubber having a chemical resistance and heat resistance,
The seal ring includes a lip portion that is pressed against the device,
The contact member is a seal member that is entirely in contact with the outer surface formed by the lip portion . The seal member according to claim 1, wherein the contact member is a film that covers the outer surface. Further comprising a spring for pressing the lip portion against the device,
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,
The sealing member according to claim 1 , wherein the contact member is entirely in contact with the outer surface formed by the dust lip. A cleaning robot for injecting a cleaning liquid into an external space,
A reduction gear that reduces the input driving force at a predetermined reduction ratio,
A seal member according to any one of claims 1 to 3 ,
The cleaning robot prevents the fluid from flowing between the external space and the internal space inside the speed reducer.

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