KR20080050724A - Oil sealing structure - Google Patents

Oil sealing structure Download PDF

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KR20080050724A
KR20080050724A KR1020060121326A KR20060121326A KR20080050724A KR 20080050724 A KR20080050724 A KR 20080050724A KR 1020060121326 A KR1020060121326 A KR 1020060121326A KR 20060121326 A KR20060121326 A KR 20060121326A KR 20080050724 A KR20080050724 A KR 20080050724A
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South Korea
Prior art keywords
oil seal
reducer
case
output shaft
oil
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KR1020060121326A
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Korean (ko)
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KR101262276B1 (en
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이재영
정성현
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현대중공업 주식회사
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Priority to KR1020060121326A priority Critical patent/KR101262276B1/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/005—Manipulators for mechanical processing tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/27—Arm part

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • General Details Of Gearings (AREA)
  • Sealing Of Bearings (AREA)

Abstract

An oil sealing structure of an output spindle of a deceleration device of an industrial robot is provided to couple an oil seal case to a lower end of a deceleration case by using a bolt while surrounding the output spindle and to form another oil seal between a receiving part and an attachment formed at the lower end of the oil seal case. A second oil seal(32) is provided at the lower end portion of a case(21) of a deceleration device equipped with a first oil seal(22) so that lubricant leaked due to the abrasion of the first oil seal is shielded by the second oil seal. An oil seal case(31) is coupled to a lower end of the case by using a bolt(36). The second oil seal is additionally provided between the lower end of the oil seal case and an attachment(30). The oil seal case is provided at the lower end thereof with a receiving part(34) to receive the second oil seal.

Description

산업용 로봇의 감속기 출력축의 이중 누유방지구조{Oil sealing structure}Oil leakage structure of reducer output shaft of industrial robot

도 1 은 종래의 감속기 출력축 누유방지구조를 보인 단면도.1 is a cross-sectional view showing a conventional speed reducer output shaft leakage prevention structure.

도 2 는 본 발명의 산업용 로봇의 감속기 출력축의 이중 누유방지구조를 보인 단면도.Figure 2 is a cross-sectional view showing a double leak prevention structure of the reducer output shaft of the industrial robot of the present invention.

도 3 은 본 발명의 요부구성을 확대도시한 단면도.Figure 3 is an enlarged cross-sectional view showing the main portion of the present invention.

도 4 는 본 발명의 다른 실시예를 보인 도면.4 is a view showing another embodiment of the present invention.

*도면의 주요부분에 대한 부호의 설명** Description of the symbols for the main parts of the drawings *

10: 로봇 프레임, 20: 감속기 출력축,10: robot frame, 20: reducer output shaft,

21: 감속기 케이스, 22: 감속기 오일씰,21: reducer case, 22: reducer oil seal,

30: 어테치먼트, 31: 오일씰 케이스,30: attachment, 31: oil seal case,

32: 오일씰, 33: 립,32: oil seal, 33: lip,

34: 수용부, 35: 단차면,34: receiving portion, 35: stepped surface,

36: 볼트, 40: 로봇암,36: bolt, 40: robot arm,

G: 윤활유,G: lubricant,

본 발명은 산업용 로봇의 감속기 출력축의 이중 누유방지구조에 관한 것으로서, 특히 감속기에 기본적으로 설치된 오일 씰에서 누유된 윤활유가 외부로 유출되는 것을 방지하여 누유에 따른 작업 대상물의 오염을 방지하고, 지속적인 누유로 인해 감속기의 윤활기능 저하로 발생하는 감속기 손상문제를 예방할 수 있으며, 착탈식으로 분해, 조립이 가능하여 세척 혹은 교환이 가능한 산업용 로봇의 감속기 출력축의 이중 누유방지구조에 관한 것이다.The present invention relates to a double leakage prevention structure of the reducer output shaft of the industrial robot, in particular, to prevent the leakage of lubricant oil leaked from the oil seal basically installed in the reducer to the outside to prevent contamination of the work object due to leakage, continuous leakage Due to this, it is possible to prevent the damage of the reducer caused by the deterioration of the reducer's lubrication function, and it is related to the double leakage prevention structure of the reducer output shaft of the industrial robot that can be cleaned or replaced by being removable and assembled.

도 1 은 종래의 산업용 로봇의 감속기 출력축의 누유방지구조를 도시한 것으로서, 1 is a view illustrating a leakage preventing structure of a reducer output shaft of a conventional industrial robot.

로봇암(40)의 일측에 형성된 어테치먼트(30)에 감속기 출력축(20)이 볼트로서 결합되고, 상기 감속기 출력축(20)의 외곽에는 로봇프레임(10)이 형성되며, 상기 로봇프레임(10)의 하단에 감속기 케이스(21)가 볼트로서 결합되고, 상기 감속기 케이스(21)의 하단과 감속기 출력축(20) 사이에 감속기 오일씰(22)이 형성되어 로봇프레임(10) 내부에 충진되어 있는 윤활유(G)의 누유를 차단하도록 구성된다.The reducer output shaft 20 is coupled to the attachment 30 formed on one side of the robot arm 40 as a bolt, the robot frame 10 is formed on the outside of the reducer output shaft 20, the robot frame 10 The reducer case 21 is coupled to the lower end of the bolt as a bolt, and the reducer oil seal 22 is formed between the lower end of the reducer case 21 and the reducer output shaft 20 to fill the inside of the robot frame 10. (G) is configured to block leakage.

그러나 종래기술은 감속기의 회전으로 발생하는 감속기 내부의 압력과 장시간 연속사용에 따른 오일 씰의 마모로 인해 누유현상이 발생하게되고, 이에의해 누유된 윤활유가 작업 대상물에 떨어져 해당 작업물을 오염시키는 문제점이 발생하고 있으며, 근래에는 산업용 로봇의 적용 영역이 넓어지면서 식품, 의료 및 정밀 전자 제품 생산에 활용되고 있어 이런 경우에 누유로 인한 작업물의 오염은 심각한 문제를 유발시키게되는 문젬이 있었고,However, in the related art, the oil leakage occurs due to the pressure inside the speed reducer caused by the rotation of the speed reducer and the wear of the oil seal due to continuous use for a long time, thereby causing the oil leaked to fall on the work object and contaminate the work. In recent years, as the application area of industrial robots is expanded, it is being used for food, medical, and precision electronic products production. In this case, there was a problem gem that contamination of the work due to leakage caused serious problems.

또한, 누유현상이 지속되면 감속기에 필요한 최소의 윤활유의 양보다 줄어들게되어 감속기의 손상이 발생하는 치명적인 문제를 초래하게되는 문제점이 발생하고 있었다.In addition, if the leakage phenomenon continues to reduce than the minimum amount of lubricating oil required for the reducer was a problem that causes a fatal problem that the damage of the reducer occurs.

따라서, 상기 문제점을 해결하기 위한 본 발명은 산업용 로봇의 감속기 출력축의 외곽을 감싸면서 그 사이에 감속기 오일씰이 장착된 감속기 케이스의 하단에 오일씰 케이스를 볼트로서 결합하고, 상기 오일씰 케이스의 하단부에 형성된 수용부와 어테치먼트의 사이에 누유방지용 오일씰을 형성하여 이중 오일씰을 구성하므로서, 감속기에 기본적으로 설치된 오일 씰에서 누유된 윤활유가 외부로 유출되는 것을 방지하여 누유에 따른 작업 대상물의 오염을 방지하고, 지속적인 누유로 인해 감속기의 윤활기능 저하로 발생하는 감속기 손상문제를 예방할 수 있으며, 착탈식으로 분해, 조립이 가능하여 세척 혹은 교환이 가능한 산업용 로봇의 감속기 출력축의 이중 누유방지구조를 제공함을 목적으로 한다.Accordingly, the present invention for solving the above problems is to combine the oil seal case as a bolt on the lower end of the reducer case equipped with a reducer oil seal while surrounding the outer side of the reducer output shaft of the industrial robot, the accommodation formed at the lower end of the oil seal case By forming a double oil seal by forming an oil seal for preventing leakage between the part and the attachment, it prevents the leakage of lubricating oil leaked from the oil seal basically installed in the reducer to the outside to prevent contamination of the work object due to leakage. It aims to prevent the damage of the reducer caused by the deterioration of the reducer's lubrication function due to continuous leakage, and to provide a double leakage prevention structure of the reducer output shaft of the industrial robot that can be cleaned or replaced by being removable and assembled.

상기 목적달성을 위한 본 발명은The present invention for achieving the above object

청구범위 제 1 항에 의하여,According to claim 1,

로봇암의 일측에 형성된 어테치먼트에 감속기 출력축이 볼트로서 결합되고, 상기 감속기 출력축의 외곽에는 로봇프레임이 형성되며, 상기 로봇프레임의 하단에 감속기 케이스가 볼트로서 결합되고, 상기 감속기 케이스의 하단과 감속기 출력축 사이에 감속기 오일씰이 형성되어 로봇프레임 내부에 충진되어 있는 윤활유(G)의 누유를 차단하도록 구성된 것에 있어서,The reducer output shaft is coupled to the attachment formed on one side of the robot arm as a bolt, the robot frame is formed on the outer side of the reducer output shaft, the reducer case is coupled to the bottom of the robot frame as a bolt, and the lower end of the reducer case In the reducer oil seal is formed between the reducer output shaft is configured to block the leakage of lubricating oil (G) is filled in the robot frame,

상기 감속기 케이스의 하단에 오일씰 케이스를 볼트로서 결합하고, 상기 오일씰 케이스의 하단부와 어테치먼트 사이에 누유방지용 오일씰을 더 형성한 것을 특징으로 한다.An oil seal case is coupled to the lower end of the reducer case as a bolt, and an oil seal for preventing leakage is further formed between the lower end of the oil seal case and the attachment.

청구범위 제 2 항에 의하여,According to claim 2,

상기 오일씰 케이스의 하단부를 내향 절곡 형성하여 오일씰의 수용을 위한 수용부를 형성한 것을 특징으로 한다.Forming a lower end of the oil seal case inwardly bent to form an accommodating part for accommodating the oil seal.

청구범위 제 3 항에 의하여,According to claim 3,

상기 어테치먼트의 하단에는 상기 오일씰의 립이 밀착될 수 있는 단차면이 형성된 것을 특징으로 한다.The lower end of the attachment is characterized in that the stepped surface is formed to be in close contact with the lip of the oil seal.

이하, 첨부된 도면 도 2 내지 도 4 를 참조하여 본 발명의 바람직한 실시예를 설명하면 다음과 같다.Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings, FIGS. 2 to 4.

본 발명의 설명에 있어서 종래와 동일한 구성요소에 대해서는 동일부호 표기하여 중복설명을 피하기로 한다.In the description of the present invention, the same components as in the prior art will be denoted by the same reference numerals to avoid redundant description.

상기 도면에 의하면, 본 발명의 가장 큰 특징은 감속기 오일씰(22)이 수용 장착되어 있는 감속기 케이스(21)의 하단에 별도의 오일씰(32)을 더 형성하여 감속기 오일씰(22)의 마모에 의해 누유된 윤활유가 오일씰(32)에 의해 차단되어 외부로 배출되지 않도록 한 것이다.According to the drawings, the biggest feature of the present invention is to form a separate oil seal 32 at the lower end of the reducer case 21 in which the reducer oil seal 22 is accommodated and leaked by wear of the reducer oil seal 22. The lubricating oil is blocked by the oil seal 32 so as not to discharge to the outside.

이를위하여, 상기 감속기 케이스(21)의 하단에 오일씰 케이스(31)를 볼트(36)로서 결합하고, 상기 오일씰 케이스(31)의 하단부와 어테치먼트(30) 사이에 누유방지용 오일씰(32)을 더 형성한다.To this end, the oil seal case 31 is coupled to the lower end of the reducer case 21 as a bolt 36, and the oil seal 32 for preventing leakage between the lower end of the oil seal case 31 and the attachment 30 is provided. To form more.

그리고, 상기 오일씰 케이스(31)의 하단부를 내향 절곡 형성하여 오일씰(32)의 수용을 위한 수용부(34)를 형성하면서 상기 어테치먼트(30)의 하단에는 상기 오일씰(32)의 립(33)이 밀착될 수 있는 단차면(35)을 형성하여 단차면(35)과 수용부(34) 사이에 장착된 오일씰(32)의 씰링 특성이 향상되도록 한다.The lower end of the oil seal case 31 is bent inward to form an accommodating part 34 for accommodating the oil seal 32, and the lip 33 of the oil seal 32 is disposed at the lower end of the attachment 30. ) Forms a stepped surface 35, which may be in close contact, so that the sealing property of the oil seal 32 mounted between the stepped surface 35 and the receiving part 34 may be improved.

이와같이 구성되는 본 발명의 작용 및 효과를 설명하면 다음과 같다.Referring to the operation and effects of the present invention configured as described above are as follows.

먼저, 조립과정을 설명하면, 감속기 오일씰(22)이 형성되어 있는 감속기 케이스(21)의 하측에 볼트(36)로서 오일씰 케이스(31)를 결합한다.First, assembling process, the oil seal case 31 is coupled as a bolt 36 to the lower side of the reducer case 21 in which the reducer oil seal 22 is formed.

즉, 상기 오일씰 케이스(31)와 감속기 케이스(21)를 볼트(36)로서 한번에 로봇 프레임(10)에 결합하는 것이다.That is, the oil seal case 31 and the reducer case 21 are coupled to the robot frame 10 at once as bolts 36.

그리고, 상기 오일씰 케이스(31)의 하단부에 형성된 수용부(34)와 어테치먼트(30)의 측면 하단에 형성된 단차면(35) 사이에 오일씰(32)을 장착하여 씰링이 이루어지도록 한다.The oil seal 32 is mounted between the receiving part 34 formed at the lower end of the oil seal case 31 and the step surface 35 formed at the lower side of the side surface of the attachment 30 to seal the oil seal 32.

상기 설명과 같이 감속기 오일씰(22)의 하단에 이중으로 또다른 오일씰(32)을 형성함에 따라 감속기 오일씰(22)의 마모에 의해 누유현상이 발생하더라도 오일씰(32)에 의해 누유된 오일이 차단되므로 오일이 외부로 배출되는 것을 차단할 수 있게된다.As another oil seal 32 is formed at the lower end of the reducer oil seal 22 as described above, even if leakage occurs due to wear of the reducer oil seal 22, the oil leaked by the oil seal 32 is blocked. The oil can be prevented from draining to the outside.

한편, 도 4 는 본 발명의 다른 실시예를 도시한 것으로서,On the other hand, Figure 4 shows another embodiment of the present invention,

감속기 케이스(21)의 하단에 'ㄱ'자 모양의 오일씰 케이스(31)를 볼트(36)로서 결합하고, 상기 오일씰 케이스(31)의 하단부와 어테치먼트(30) 사이에 오일 씰(42)을 장착한 것이다.The oil seal case 31 having a '-' shape at the bottom of the reducer case 21 is coupled as a bolt 36, and the oil seal 42 is disposed between the lower end of the oil seal case 31 and the attachment 30. Will be fitted.

이러한 본 발명의 다른 실시예는 정기적인 예방 정비를 위해서 오일씰을 교체해야만 하는 단점이 있지만 본 발명과 동일한 효과를 기대할 수 있게된다.This embodiment of the present invention has the disadvantage of having to replace the oil seal for regular preventive maintenance, but the same effect as the present invention can be expected.

이상에서 설명한 바와같이 본 발명은 산업용 로봇의 감속기 출력축의 외곽을 감싸면서 그 사이에 감속기 오일씰이 장착된 감속기 케이스의 하단에 오일씰 케이스를 볼트로서 결합하고, 상기 오일씰 케이스의 하단부에 형성된 수용부와 어테치먼트의 사이에 누유방지용 오일씰을 형성하여 이중 오일씰을 구성하므로서, 감속기에 기본적으로 설치된 오일 씰에서 누유된 윤활유가 외부로 유출되는 것을 방지하여 누유에 따른 작업 대상물의 오염을 방지하고, 지속적인 누유로 인해 감속기의 윤활기능 저하로 발생하는 감속기 손상문제를 예방할 수 있으며, 착탈식으로 분해, 조립이 가능하여 세척 혹은 교환이 가능한 산업용 로봇의 감속기 출력축의 이중 누유방지구조를 제공하는 효과를 기대할 수 있다.As described above, the present invention surrounds the outer side of the reducer output shaft of the industrial robot while coupling the oil seal case to the lower end of the reducer case equipped with the reducer oil seal therebetween, and the receiving portion formed at the lower end of the oil seal case. By forming a double oil seal by forming an oil seal for preventing leakage between the treatments, it prevents leakage of lubricant oil leaked from the oil seal installed basically in the reducer to the outside to prevent contamination of the work object due to leakage and Due to this, it is possible to prevent the damage of the reducer caused by the reduction of the lubrication function of the reducer, and it can be expected to provide a double leakage prevention structure of the reducer output shaft of the industrial robot that can be cleaned or replaced by being removable and assembled.

Claims (3)

로봇암의 일측에 형성된 어테치먼트에 감속기 출력축이 볼트로서 결합되고, 상기 감속기 출력축의 외곽에는 로봇프레임이 형성되며, 상기 로봇프레임의 하단에 감속기 케이스가 볼트로서 결합되고, 상기 감속기 케이스의 하단과 감속기 출력축 사이에 감속기 오일씰이 형성되어 로봇프레임 내부에 충진되어 있는 윤활유의 누유를 차단하도록 구성된 것에 있어서,The reducer output shaft is coupled to the attachment formed on one side of the robot arm as a bolt, the robot frame is formed on the outer side of the reducer output shaft, the reducer case is coupled to the bottom of the robot frame as a bolt, and the lower end of the reducer case In the reducer oil seal is formed between the reducer output shaft is configured to block the leakage of lubricant oil filled in the robot frame, 상기 감속기 케이스의 하단에 오일씰 케이스를 볼트로서 결합하고,Combine the oil seal case to the bottom of the reducer case as a bolt, 상기 오일씰 케이스의 하단부와 어테치먼트 사이에 누유방지용 오일씰을 더 형성한 것을 특징으로 하는 산업용 로봇의 감속기 출력축의 이중 누유방지구조.A double leakage prevention structure of the reducer output shaft of the industrial robot, characterized in that the oil seal further comprises an oil seal for preventing leakage between the lower end of the oil seal case and the attachment. 제 1 항에 있어서, The method of claim 1, 상기 오일씰 케이스의 하단부를 내향 절곡 형성하여 오일씰의 수용을 위한 수용부를 형성한 것을 특징으로 하는 산업용 로봇의 감속기 출력축의 이중 누유방지구조.Double oil leakage prevention structure of the reducer output shaft of the industrial robot, characterized in that the lower end of the oil seal case bent inwardly formed to form an accommodating portion for accommodating the oil seal. 제 1 항에 있어서, The method of claim 1, 상기 어테치먼트의 하단에는 상기 오일씰의 립이 밀착될 수 있는 단차면이 형성된 것을 특징으로 하는 산업용 로봇의 감속기 출력축의 이중 누유방지구조.The lower end of the attachment is a double leakage prevention structure of the reducer output shaft of the industrial robot, characterized in that the stepped surface is formed to be in close contact with the lip of the oil seal.
KR1020060121326A 2006-12-04 2006-12-04 Industrial robot having Double Oil sealing structure for output spindle of decelerator KR101262276B1 (en)

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