JPWO2020179622A1 - Sealing device - Google Patents

Abstract

The deposits can be easily removed.
The sealing device (10) is attached between the rotating shaft and the outer peripheral side member, and slidably contacts the outer peripheral surface of the rotating shaft to seal between the rotating shaft and the outer peripheral side member. The sealing device (10) includes an annular reinforcing ring (20) around the axis (x) and an elastic body portion (30) attached to the reinforcing ring (20) and composed of an annular elastic body around the axis (x). The elastic body portion (30) has a base portion (31) and an annular dust strip (34) around at least one axis (x), and the dust strip (34) has a base portion (31). ) To the inner peripheral side (d) in the axial direction (x) direction, and to the tip portion extending toward the outer peripheral side (a) and reducing in diameter toward the inner peripheral side (d) in the axial line (x) direction. It faces the outside (a) in the axis (x) direction and has an annular tip surface (341) around the axis (x), and the tip surface (341) is 90 degrees with respect to the outer peripheral surface of the rotating shaft in the used state. It has the above angle.

Description

The present invention relates to a sealing device.

Robots are used to perform various tasks on behalf of humans. The robot includes, for example, a joint drive device including a motor and a rotation shaft for rotating an arm for performing work.

A robot joint drive device as described above has been proposed to be provided with a sealing device (oil seal) for sealing a lubricant between the rotating shaft and the case (see, for example, Patent Document 1). ..

Further, a sealing device for a robot / reduction gear has been proposed having a main seal for sealing the sealing target and an auxiliary seal arranged on the sealing target side of the main seal to remove foreign matter (for example, a patent). See Reference 2).

Japanese Unexamined Patent Publication No. 2011-89609 Japanese Unexamined Patent Publication No. 2008-25788

By the way, in recent years, robots are also being used in factories that manufacture foods and beverages (hereinafter referred to as "food factories") from the viewpoint of labor saving and automation of work. Robots for food factories are required to be able to easily remove dust such as dust and dirt, including a joint drive device to which a sealing device is attached, in consideration of hygiene of the food to be manufactured. In addition, robots for food factories are also required to be able to remove deposits such as dust by a simple operation such as washing with high-pressure water.

However, in the conventional sealing device used for the rotating shaft of the robot including the above-mentioned Patent Documents 1 and 2, for example, the contact portion between the dust strip and the rotating shaft of the portion exposed to the outside (atmosphere side). Dust was likely to accumulate around the area and other recesses. Further, in the conventional sealing device, it is difficult to remove deposits such as dust accumulated around such a contact portion or in a recess.

The present invention has been made in view of the above-mentioned problems, and an object of the present invention is to provide a sealing device capable of easily removing deposits.

In order to achieve the above object, the sealing device according to the present invention is attached between a rotating shaft that rotates around an axis and an outer peripheral side member arranged around the axis on the outer peripheral side of the rotating shaft, and the rotation A sealing device that slidably contacts the outer peripheral surface of the shaft to seal between the rotating shaft and the outer peripheral side member, and is attached to an annular reinforcing ring around the axis and the reinforcing ring. The elastic body portion includes an elastic body portion made of an annular elastic body around the axis, and the elastic body portion has a base portion and an annular dust strip around at least one axis, and the dust strip includes the dust strip. The tip portion extending from the base to the inner peripheral side in the axial direction and outward and shrinking in diameter toward the inner peripheral side in the axial direction faces the outer side in the axial direction and is annular around the axis. The tip surface has an angle of 90 degrees or more with respect to the outer peripheral surface of the rotating shaft in the used state.

In the sealing device according to one aspect of the present invention, the reinforcing ring includes a cylindrical cylindrical portion extending in the axial direction and a hollow disk-shaped disk portion extending from the outer end portion of the cylindrical portion toward the inner peripheral side. The elastic body portion has a cover portion that is attached to the disk portion from the outside, faces the outside in an annular shape around the axis, and is formed in a smooth disk shape. ..

In the sealing device according to one aspect of the present invention, the base portion is located between the cover portion and the dust strip in the vicinity of the inner peripheral end portion of the disk portion, and the dust strip is formed with the cover portion. It extends from the flush position toward the inner peripheral side and the outer side in the axial direction.

In the sealing device according to one aspect of the present invention, the sealing device is used as a sealing device between the rotating shaft and the casing provided in the drive unit of the robot.

According to the sealing device according to the present invention, deposits can be easily removed.

It is sectional drawing in the cross section along the axis which shows the structure of the sealing apparatus which concerns on 1st Embodiment of this invention. It is sectional drawing in the cross section along the axis which shows the use state of the sealing apparatus which concerns on 1st Embodiment of this invention. It is a partially enlarged sectional view for showing the dust strip in the sealing apparatus which concerns on 1st Embodiment of this invention. It is sectional drawing in the cross section along the axis which shows the structure of the sealing device which concerns on a comparative example. It is a partially enlarged sectional view for showing the dust strip in the sealing apparatus which concerns on a comparative example. It is sectional drawing in the cross section along the axis which shows the structure of the sealing device which concerns on 2nd Embodiment of this invention. It is sectional drawing in the cross section along the axis which shows the use state of the sealing apparatus which concerns on 2nd Embodiment of this invention.

<First Embodiment>
Hereinafter, the first embodiment of the present invention will be described with reference to the drawings.

FIG. 1 is a cross-sectional view taken along the axis x showing the configuration of the sealing device 10 according to the first embodiment of the present invention. Further, FIG. 2 is a cross-sectional view taken along the axis x showing the usage state of the sealing device 10 according to the first embodiment of the present invention.

The sealing device 10 according to the first embodiment is used as a drive unit included in a robot (not shown) for various operations such as for a food factory. Specifically, as an example of the drive unit, the sealing device 10 is attached to the rotation shaft of the joint drive device for rotating the arm, for example, in the housing (casing) of the robot. In FIG. 1, 103a shown by the alternate long and short dash line indicates the inner peripheral surface of the opening of the casing, which will be described later.

Hereinafter, for convenience of description, the reference numeral a side of the sealing device 10 is outside, and the reference numeral b side of the sealing device 10 is inside. Here, the outside is the outside of the casing 103 and is the side where water, dust, and the like are present, and the inside is the inside of the casing 103. Further, in the direction perpendicular to the axis x (hereinafter, also referred to as “diameter direction”), the direction away from the axis x is the outer peripheral side (arrow c direction), and the direction toward the axis x is the inner peripheral side (arrow d). direction).

As shown in FIGS. 1 and 2, the sealing device 10 includes a rotating shaft 102 that rotates around the axis x and a casing 103 as an outer peripheral side member arranged around the axis x on the outer peripheral side c of the rotating shaft 102. It is attached between the inner peripheral surface 103a of the opening and slidably contacts the outer peripheral surface 102g of the rotating shaft 102 to seal between the rotating shaft 102 and the casing 103. The sealing device 10 includes an annular reinforcing ring 20 around the axis x and an elastic body portion 30 attached to the reinforcing ring 20 and formed of an annular elastic body around the axis x. The elastic body portion 30 is a base 31. And an annular dust strip 34 around at least one axis x, the dust strip 34 extends from the base 31 toward the inner peripheral side d in the axis x direction and toward the outer side a in the axis x direction. The tip portion whose diameter is reduced toward the inner peripheral side d has an annular tip surface 341 facing the outer side a in the axis x direction and around the axis x, and the tip surface 341 is a rotating shaft 102 in a used state. It has an angle of 90 degrees or more with respect to the outer peripheral surface 102 g. Hereinafter, the configuration of the sealing device 10 will be specifically described.

As shown in FIG. 1, the reinforcing ring 20 is an annular metal member centered on or substantially centered on the axis x. Examples of the metal member used for the reinforcing ring 20 include stainless steel and SPCC (cold rolled steel). The reinforcing ring 20 is manufactured by, for example, pressing or forging such a metal member. The reinforcing ring 20 is, for example, a cylindrical portion 21 which is a cylindrical or substantially cylindrical portion extending in the x direction of the axis, and a hollow disk-shaped portion extending from the outer end portion of the cylindrical portion 21 toward the inner peripheral side. It has a disk portion 24 and. As will be described later, the cylindrical portion 21 is formed so that the sealing device 10 can be fitted to the inner peripheral surface 103a of the through hole formed in the casing 103. The cylindrical portion 21 can be fitted in contact with the inner peripheral surface 103a of the opening of the casing 103, which is a through hole, via the elastic body portion 30. The cylindrical portion 21 may be shaped so as to form a pyramidal ring portion (not shown) in the intermediate portion of the cylindrical portion 21. Further, a part of the cylindrical portion 21 may be in direct contact with the inner peripheral surface 103a of the through hole so that it can be fitted. In the cylindrical portion 21, when the sealing device 10 is fitted to the inner peripheral surface 103a forming the opening 105 of the casing 103, the axis x of the sealing device 10 and the axis x of the rotating shaft 102 coincide with each other. It is fitted into the inner peripheral surface 103a of the through hole so as to be.

An elastic body portion 30 is attached to the reinforcing ring 20 so as to wrap the reinforcing ring 20 from the outside (direction of arrow a) and the outer peripheral side (direction of arrow c). That is, the reinforcing ring 20 reinforces the elastic body portion 30.

As described above, the elastic body portion 30 is attached to the reinforcing ring 20, and is integrally formed with the reinforcing ring 20 so as to cover the reinforcing ring 20. Examples of the elastic body of the elastic body portion 30 include various rubber materials. Examples of various rubber materials are synthetic rubbers such as nitrile rubber (NBR), hydrogenated nitrile rubber (H-NBR), acrylic rubber (ACM), and fluororubber (FKM). The elastic body portion 30 is molded by cross-linking (vulcanization) molding using a molding die. At the time of this cross-linking molding, the reinforcing ring 20 is arranged in the molding die, the elastic body portion 30 is adhered to the reinforcing ring 20 by cross-linking adhesion, and the elastic body portion 30 and the reinforcing ring 20 are integrally molded. Will be done.

The elastic body portion 30 is attached to the base portion 31 located near the end of the disc portion 24 on the inner peripheral side (arrow d direction) of the reinforcing ring 20 and the cylindrical portion 21 of the reinforcing ring 20 from the outer peripheral side (arrow c direction). The cover portion 33 and the base portion 31 which are the portions attached to the disk portion 24 of the reinforcing ring 20 from the outside (direction of arrow a) between the gasket portion 32 which is the portion to be formed and the base portion 31 and the gasket portion 32. Dustrip having a tip portion extending from the inner circumference side (arrow d direction) in the axis x direction and outward (arrow a direction) and reducing in diameter toward the inner circumference side d in the axis x direction. 34, a lip portion 35 having a lip tip portion 36 extending inward (in the direction of arrow b) from the base portion 31 along the axis x and protruding inward (direction of arrow d), and an elastic body portion 30. It has an inner peripheral surface 37 which is an annular surface facing the inner peripheral side.

The base portion 31 supports the lip tip portion 36 of the lip portion 35 so as to be slidably contacted with the outer peripheral surface 102 g of the rotating shaft 102 in a pressed state. The base portion 31 is located between the cover portion 33 and the dust strip 34 in the vicinity of the end portion on the inner peripheral d side of the disk portion 24. The disk portion 24 of the reinforcing ring 20 is inserted inside the base portion 31. The cover portion 33 is attached to the disk portion 24 from the outer side a as described above, and is provided so as to face the outer side a in an annular shape around the axis x.

The base portion 31 is formed in a disk shape having a smooth surface together with the cover portion 33. That is, the surfaces of the base portion 31 and the cover portion 33 facing the outside a are not provided with a concave shape (recess) such as an equal distribution groove formed when the elastic body portion 30 is formed. In the sealing device 10, the equidistant groove 331 is provided on the inner side b which is not exposed to the outer side a.

The gasket portion 32 is a portion of the elastic body portion 30 that covers the cylindrical portion 21 of the reinforcing ring 20 from the outer peripheral side c. The outer diameter of the gasket portion 32 is the same as or slightly larger than the inner diameter of the inner peripheral surface 103a. Therefore, when the sealing device 10 is fitted to the inner peripheral surface 103a of the opening of the casing 103, the gasket portion 32 is compressed in the radial direction between the cylindrical portion 21 of the reinforcing ring 20 and the casing 103, and the casing The inner peripheral surface 103a of the opening of 103 and the cylindrical portion 21 of the reinforcing ring 20 are sealed.

Since the gasket portion 32 seals between the inner peripheral surface 103a of the opening of the casing 103, the annular gap between the inner peripheral surface 103a of the opening of the casing 103 and the rotating shaft 102 is sealed by the sealing device 10. .. The gasket portion 32 is not limited to the one that covers the entire outer peripheral side c of the cylindrical portion 21 as shown in FIGS. 1 and 2. For example, the gasket portion 32 may cover a part of the outer peripheral side c of the cylindrical portion 21.

The dust strip 34 extends obliquely from the base 31 toward the outer peripheral surface 102 g of the rotating shaft 102 located on the inner peripheral side d. Specifically, the dust strip 34 is reduced in diameter from both sides of the outer a (outer peripheral surface 344) and the inner b (inner peripheral surface 343) toward the inner peripheral side d and the outer a in the axis x direction. It has a tapered cross section that extends to. The outer peripheral surface 344 of the dust strip 34 extends from a position flush with the cover portion 33 on the outer side a toward the inner peripheral side d and the outer side a in the axis x direction. Further, the inner peripheral surface 343 of the dust strip 34 extends from the position of the inner peripheral surface 37 on the inner side b toward the inner peripheral side d and the outer side a in the axis x direction. The dust strip 34 faces the outer side a in the axis x direction and has an annular tip surface 341 around the axis x.

As shown in FIG. 2, the dust strip 34 is 90 degrees with respect to the outer peripheral surface 102g of the rotating shaft 102 in a used state in which the tip surface 341 is in contact with the outer peripheral surface 102g of the rotating shaft 102 and the tip portion 342 and the inner peripheral surface 343. It is formed so as to have the above angle and face the outside a. As shown in FIG. 1, the tip surface 341 may have an angle of 90 degrees or more with respect to the axis x even when it is not fitted in the rotating shaft 102.

The lip portion 35 of the elastic body portion 30 has a lip tip portion 36 in which an outer peripheral surface 102 g of the rotating shaft 102 is slidably formed at a tip extending from the base portion 31 along the axis x. The lip portion 35 has a conical tubular shape whose diameter is reduced toward the inner peripheral side d toward the inside (direction of arrow b) in the axis x direction. That is, the lip portion 35 is the lip of the lip tip portion 36 on the inner side (arrow b direction) and the inner peripheral side (arrow d direction) from the base portion 31 in the cross section along the axis x (hereinafter, also simply referred to as “cross section”). It extends diagonally with respect to the axis x toward the contact end 361. The lip portion 35 is provided with a recess on the outer peripheral side (direction of arrow c) facing the lip tip portion 36, and a garter spring 38, which is an annular elastic member as a tension applying member, is attached to the recess. There is.

The lip tip portion 36 is an annular portion having a wedge shape with a convex cross section toward the inner peripheral side (direction of arrow d). The lip tip portion 36 has a lip contact end 361 that slidably contacts the outer peripheral surface 102 g of the rotating shaft 102.

The garter spring 38 is, for example, a metal spring member, and has a predetermined shape in which the lip tip portion 36 is urged toward the inner peripheral side (arrow d direction) in the radial direction and the lip tip portion 36 is pressed against the outer peripheral surface 102 g of the rotation shaft 102. It gives a tense force of the size of. The garter spring 38 is not limited to metal as long as it imparts a tense force, and may be made of various other materials such as resin.

Next, the operation of the sealing device 10 having the above-described configuration will be described. FIG. 3 is a partially enlarged cross-sectional view for showing the dust strip 34 in the sealing device 10 according to the first embodiment of the present invention.

As shown in FIG. 2, the sealing device 10 is attached to a rotating shaft 102 of a robot driving unit, for example, a housing (casing 103) of a joint driving device for rotating an arm in a used state.

In the used state, the lip portion 35 and the dust strip 34 of the elastic body portion 30 come into contact with the outer peripheral surface 102 g of the rotating shaft 102 at the lip contact end 361 and the inner peripheral surface 343 near the tip portion 342, respectively. doing. In the used state, the lip portion 35 of the elastic body portion 30 and the dust strip 34 form a closed space between the inner peripheral surface 37 and the outer peripheral surface 102 g of the rotating shaft 102. The lip portion 35 and the dust strip 34 are deformed by the contact with the outer peripheral surface 102 g of the rotating shaft 102. In the used state, all of the lip portion 35 and the dust strip 34 may not be deformed, or any of them may not be deformed.

As shown in FIGS. 2 and 3, the dust strip 34 has an inner circumference extending from the inner peripheral surface 37 of the elastic body portion 30 toward the inner peripheral side d and the outer peripheral a in the axis x direction in the used state. The tip portion 342 on the outer side a of the surface 343 and the inner peripheral surface 343 in the vicinity thereof are formed so as to come into contact with the outer peripheral surface 102g of the rotating shaft 102. In such a state, the tip surface 341 of the dust strip 34 faces the outside a with an angle θ1 of 90 degrees or more with respect to the outer peripheral surface 102 g of the rotating shaft 102.

FIG. 4 is a cross-sectional view taken along the axis x showing the configuration of the sealing device 100 according to the comparative example. Further, FIG. 5 is a partially enlarged cross-sectional view for showing the dust strip 340 in the sealing device 100 according to the comparative example. As shown in FIGS. 4 and 5, in the sealing device 100 according to the comparative example, the tip surface 341a of the dust strip 340 rotates with a predetermined angle θ2 of 90 degrees or less with respect to the axis x in the used state. It faces the outer peripheral surface 102g of the shaft 102.

In the sealing device 100 according to the comparative example, the surfaces of the base portion 310 and the cover portion 330 facing the outside a are not formed in a smooth disk shape. Specifically, the sealing device 100 according to the comparative example is provided with a concave equidistant groove 331a formed when the elastic body portion 30 is formed on the surface of the cover portion 330 facing the outside a. Further, in the sealing device 100 according to the comparative example, the surface of the outer side a of the base portion 310 is formed in a concave shape from the surface of the outer side a of the cover portion 330 toward the inner side b. The dust strip 340 extends obliquely from the base 310 thus formed toward the outer peripheral surface 102 g of the rotating shaft 102 located on the inner peripheral side d. In other words, the tip surface 341a of the dust strip 340 does not project outward a from the surface of the cover portion 330 in the axis x direction.

In the sealing device 100 according to the comparative example configured as described above, dust is deposited on the inner peripheral side d of the tip surface 341a of the dust strip 340, the equidistant groove 331a of the cover portion 330 formed in a concave shape, and the like. It's easy to do. Further, in the sealing device 100 according to the comparative example, when the dust Du adheres to the outer peripheral surface 102g of the rotating shaft 102 in the used state as shown in FIG. 5, the dust Du adheres to the tip surface 341a of the dust strip 340. It may get into the inner peripheral side d. In this case, it is difficult to easily remove the dust Du that has entered the inner peripheral side d of the tip surface 341a of the dust strip 340 by a simple operation such as high-pressure cleaning.

On the other hand, in the dust strip 34 of the sealing device 10 according to the present embodiment, the tip surface 341 has an angle θ1 of 90 degrees or more with respect to the outer peripheral surface 102 g of the rotating shaft 102 in the used state as described above. It faces the outside a. Therefore, according to the sealing device 10, the dust Du is easily exposed on the outer peripheral side c of the tip surface 341 of the dust strip or the outer peripheral surface 102g of the rotating shaft 102, and is less likely to enter the inner peripheral side d. Therefore, according to the sealing device 10, the dust Du can be easily removed by a simple operation.

Further, in the sealing device 10, the base portion 31 is formed in a disk shape having a smooth surface together with the cover portion 33, and the equidistant groove 331 is provided on the inner side b, so that the base portion 31 has a concave shape on the portion exposed to the outer side a. Is not provided. Therefore, according to the sealing device 10, the dust Du can be easily removed by a simple operation.

As described above, according to the sealing device 10, deposits such as dust Du can be easily removed by a simple operation such as high-pressure washing.

<Second embodiment>
Hereinafter, a second embodiment of the present invention will be described with reference to the drawings. Hereinafter, the configurations having the same or similar functions as those of the sealing device 10 according to the first embodiment described above will be designated by the same reference numerals, the description thereof will be omitted, and only different configurations will be described.

FIG. 6 is a cross-sectional view taken along the axis x showing the configuration of the sealing device 10B according to the second embodiment of the present invention. Further, FIG. 7 is a cross-sectional view taken along the axis x showing the usage state of the sealing device 10B according to the second embodiment of the present invention.

As shown in FIG. 6, the sealing device 10B according to the second embodiment is different from the sealing device 10 described above in the shapes of the reinforcing ring 20 and the lip portion 35b. Specifically, the reinforcing ring 20 is a pyramidal ring that extends diagonally inward from the end on the inner peripheral side of the disk portion 24 to the tip portion of the inner peripheral side d of the disk portion 24. The portion 22 is formed. Further, the lip portion 35b of the sealing device 10B extends from the base portion 31 inward (in the direction of arrow b) along the axis x, and the lip tip portion 36b protruding inward (in the direction of arrow d) is outward (in the direction of arrow a). ), And the diameter is reduced toward the lip contact end 361b on the inner peripheral side d in the x direction of the axis. Further, unlike the lip portion 35 of the sealing device 10, the lip portion 35b of the sealing device 10B is not provided with a recess on the outer peripheral side (direction of arrow c) facing the lip tip portion 36b, so that a garter spring is also attached. Not.

According to the sealing device 10B according to the present embodiment, which is configured as described above, the tip surface 341 of the dust strip 34 is in use as shown in FIG. 7, similarly to the sealing device 10 described above. It has an angle of 90 degrees or more with respect to the outer peripheral surface 102 g of the rotating shaft 102 and faces the outside a. Therefore, according to the sealing device 10B, the dust Du does not enter the inner peripheral side d of the tip surface 341 of the dust strip.

Further, in the sealing device 10B, the base portion 31 is formed in a disk shape having a smooth surface together with the cover portion 33, and the equidistant groove 331 is provided on the inner side b, so that the portion exposed to the outer side a has a concave shape. Not provided. Therefore, according to the sealing device 10B, the dust Du does not enter the recess which is difficult to remove by a simple operation.

As described above, according to the sealing device 10B, the dust Du can be easily removed by a simple operation such as high-pressure washing.

<Other embodiments>
Although the embodiments of the present invention have been described above, the present invention is not limited to the sealing devices 10 and 10B according to the above embodiments, and includes all aspects included in the concept and claims of the present invention. .. In addition, each configuration may be selectively combined as appropriate so as to achieve at least a part of the above-mentioned problems and effects. For example, the shape, material, arrangement, size, etc. of each component in the above embodiment can be appropriately changed depending on the specific usage mode of the present invention.

For example, in the above embodiment, the sealing devices 10 and 10B have been described as being attached to the rotating shaft 102 of the joint driving device of the robot, but the present invention is not limited thereto. That is, the sealing devices 10 and 10B may be used as a sealing device between a driving unit other than the joint driving device, for example, a swivel shaft of a swivel portion that swivels an arm in a robot and a casing. Further, the sealing devices 10 and 10B may be used as a sealing device between a driving unit other than the joint driving device, for example, a rotating shaft of a rotating portion that rotates a wrist portion in a robot and a casing. Further, the sealing devices 10 and 10B are other devices as long as they seal between the rotating shaft 102 and the outer peripheral side member arranged on the outer peripheral side c thereof, for example, the rotating shaft of the speed reducer and the outer peripheral side member (casing). ) Can also be used as a sealing device (oil seal).

10 ... Sealing device, 20 ... Reinforcing ring, 21 ... Cylindrical part, 22 ... Cylinder ring part, 24 ... Disc part, 30 ... Elastic body part, 31 ... Base part, 32 ... Gasket part, 33 ... Cover part, 34 ... Dustrip , 35 ... lip part, 36 ... lip tip part, 37 ... inner peripheral surface, 38 ... garter spring (tension force applying member), 102 ... rotating shaft (shaft), 102 g ... outer peripheral surface, 103 ... casing (outer peripheral side member) , 103a ... Inner peripheral surface, 105 ... Opening, 310 ... Base, 341 ... Tip surface, 342 ... Tip, 343 ... Inner peripheral surface, 344 ... Outer surface, 361 ... Lip contact end, x ... Axis.

Claims (4)

The rotating shaft is attached between a rotating shaft that rotates around the axis and an outer peripheral side member arranged around the axis on the outer peripheral side of the rotating shaft, and slidably contacts the outer peripheral surface of the rotating shaft. A sealing device that seals between the outer peripheral side member and the outer peripheral side member.
An annular reinforcing ring around the axis and
An elastic body portion attached to the reinforcing ring and formed of an annular elastic body around the axis is provided.
The elastic body portion comprises a base portion, a lip portion extending from the base portion along the axis, and at least one dust strip annular around the axis.
The lip portion has a lip tip portion in which an outer peripheral surface of the rotating shaft is slidably formed at a tip extending from the base portion along the axis.
The dust strip extends outward from the base in the axial direction and is outwardly surfaced in the axial direction at a tip portion whose diameter is reduced toward the inner peripheral side in the axial direction. It has an annular tip surface around the axis,
The tip surface is a sealing device having an angle of 90 degrees or more with respect to the outer peripheral surface of the rotating shaft in the used state. The reinforcing ring has a cylindrical cylindrical portion extending in the axial direction and a hollow disk-shaped disk portion extending from the outer end portion of the cylindrical portion toward the inner peripheral side.
The elastic body portion has a cover portion that is attached to the disk portion from the outside, faces the outside in an annular shape around the axis, and is formed in a smooth disk shape.
The sealing device according to claim 1. The base portion is located between the cover portion and the dust strip in the vicinity of the inner peripheral end portion of the disk portion.
The dust strip extends from a position flush with the cover portion to the inner peripheral side and the outer side in the axial direction.
The sealing device according to claim 2. The sealing device is used as a sealing device between the rotating shaft and the casing provided in the drive unit of the robot.
The sealing device according to any one of claims 1 to 3.

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