TWI725206B - Sealing components, reducers and cleaning robots - Google Patents

Abstract

The present invention discloses a sealing member which prevents the flow of fluid between the external space on the outside of the device and the internal space on the inside of the aforementioned device. The sealing member includes an outer surface facing the side opposite to the inner space, and a contact member that is in close contact with the outer surface. The aforementioned adhesive member has at least one of chemical resistance and heat resistance.

Description

Sealing components, reducers and cleaning robots

The invention relates to a sealing member, a reducer and a cleaning robot.

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

Japanese Unexamined Publication No. 4-49267 discloses an oil seal that can be suitably used in muddy water as a sealing member. Japanese Publication No. 4-49267 Proposal to use a vapor-permeable film to isolate the dust-proof lip from the external environment.

As the vapor-permeable membrane disclosed in Japanese Unexamined Publication No. 4-49267 Gazette slips on the movable part of the device with the oil seal, it is necessary for the designer to apply sufficient mechanical strength to the membrane. This will increase the cost of the oil seal.

According to Bulletin No. 4-49267 of the Japanese Open, a vapor-permeable membrane can block sand and dust floating in muddy water. However, water can flow into the gap between the dust-proof lip and the vapor-permeable membrane. For example, if the oil seal is used in an environment that deteriorates the oil seal (such as a high-temperature environment or an environment full of chemicals), the chemicals or high-temperature fluid passing through the membrane will accumulate in the gap between the dust lip and the membrane, and the dust lip will deteriorate.

The purpose of the present invention is to provide an inexpensive sealing technology that is resistant to high temperature environments or environments where chemicals are used.

The sealing member of one aspect of the present invention can prevent the flow of fluid between the external space on the outside of the device and the internal space on the inside of the aforementioned device. The sealing member includes an outer surface facing the side opposite to the inner space, and a contact member that is in close contact with the outer surface. The aforementioned adhesive member has at least one of chemical resistance and heat resistance.

100: oil seal

101: oil seal

102: oil seal

110: Sealing ring

111: Outer surface

112: inner surface

113: The first connecting surface

114: 2nd connection surface

120: Closed connection member

130: Ring

131: Ring Part 1

132: Part 2 of the Ring

140: Lips

141: Main Lip

142: Dust Lip

150: spring

200: cleaning robot

201: Input shaft gear

202: movable arm

203: Fixed component

300: reducer

310: Outer cylinder

311: Shell

312: Internal gear pin

313: The first cylinder

314: The second cylinder

315: 3rd cylinder

316: inner peripheral surface

320: carrier

321: base

322: End plate

323: Board Department

324: Shaft

325: The first disc part

326: The second disc part

327: inner surface

328: Outer Surface

330: crankshaft assembly

331: Transmission Gear

332: crankshaft

333: Journal bearing

334: Journal bearing

335: crank bearing

336: crank bearing

340: Gear part

341: Swing Gear

342: Swing Gear

343: external tooth

344: central through hole

345: central through hole

346: round through hole

347: Trapezoidal through hole

348: Trapezoidal through hole

351: main bearing

352: main bearing

360: Outer Wall

361: connection wall

362: Support Wall

371: Central through hole

372: Keep through holes

373: Central through hole

374: Keep through holes

381: inner surface

382: Outer Surface

391: 1st journal

392: 2nd journal

393: first eccentric part

394: 2nd eccentric part

FMB: The first member

MAP: device

RAX: Rotation axis

SMB: The second component

TAX: transfer axis

Fig. 1 is a schematic cross-sectional view of an oil seal exemplified as a sealing member.

Fig. 2A is a schematic cross-sectional view of a part of the cleaning robot.

Fig. 2B is a schematic cross-sectional view taken along the line A-A shown in Fig. 2A.

<First Embodiment>

The inventors of the present invention have developed a sealing member with high chemical resistance and/or heat resistance by making a member or layer having chemical resistance and/or heat resistance in close contact with the surface of the sealing member. In the first embodiment, an exemplary sealing member has been described.

Fig. 1 is a schematic cross-sectional view of an oil seal 100 as an example of a sealing member. The oil seal 100 will be described with reference to FIG. 1.

Figure 1 shows a device MAP with an oil seal 100 installed. The device MAP includes a first member FMB and a second member SMB. The first member FMB has a cylindrical shape as a whole. The second member SMB has a cylindrical shape as a whole. The second member SMB partially surrounds the first member FMB. The first member FMB and the second member SMB are relatively rotatable about the rotation axis RAX. The device MAP can be a reducer, a motor, or other mechanical equipment. The principle of this embodiment is not limited to a specific machine used as the device MAP.

The oil seal 100 is fitted in an annular gap formed between the first member FMB and the second member SMB. The annular space communicates with the internal space of the device MAP. Oil seal embedded in the gap of the ring 100 isolates the internal space inside the device MAP from the external space outside the device MAP. The internal space of the device MAP is filled with lubricating oil. The oil seal 100 prevents the leakage of lubricating oil from the internal space. The external space can be a high temperature environment. Alternatively, or, additionally, medicines called detergents may be present in the external space. The oil seal 100 prevents high-temperature fluid and/or chemicals from flowing into the internal space.

The oil seal 100 includes a seal ring 110 that is the main body of the oil seal 100 and a contact member 120. The seal ring 110 may have the same structure as a commercially available oil seal. The principle of this embodiment is not limited to the specific structure of the seal ring 110.

The seal ring 110 includes an outer surface 111, an inner surface 112, a first connection surface 113, and a second connection surface 114. The inner surface 112 faces the inner space side and is in contact with the lubricating oil filled in the inner space. The outer surface 111 is formed on the side opposite to the inner surface 112 and faces the side opposite to the inner space.

The first connecting surface 113 connects the radially outer end of the outer surface 111 and the radially outer end of the inner surface 112. The first connecting surface 113 is ring-shaped and forms the radially outer surface of the seal ring 110. At least a part of the rotation axis RAX direction of the first connection surface 113 is in contact with the second member SMB over the entire circumference. Therefore, high-temperature fluid and/or chemicals can be prevented from passing between the first connection surface 113 and the second member SMB.

The second connecting surface 114 connects the radially inner end of the outer surface 111 and the radially inner end of the inner surface 112. The second connection surface 114 is ring-shaped and is located on the radially inner side of the first connection surface 113. At least a part of the rotation axis RAX direction of the second connection surface 114 is in contact with the first member FMB over the entire circumference. Therefore, high-temperature fluid and/or chemicals can be prevented from passing between the second connection surface 114 and the first member FMB.

The close contact member 120 is in close contact with the outer surface 111. In the present embodiment, the term "close contact" means that two members are in contact with each other without a gap.

The contact member 120 is in at least one of chemical resistance (alkali resistance or acid resistance) and heat resistance It is better than the seal ring 110. If an alkaline (pH>11) medicine floats in the external space, the contact member 120 is formed of a material that does not deteriorate when exposed to the alkaline medicine. If a weakly alkaline (11≧pH>8) medicine floats in the external space, the contact member 120 is formed of a material that does not deteriorate when exposed to the weakly alkaline medicine. If an acidic (pH<3) medicine floats in the external space, the contact member 120 is formed of a material that does not deteriorate when exposed to the acidic medicine. If a weakly acidic (3≦pH<6) medicine floats in the external space, the contact member 120 is formed of a material that does not deteriorate when exposed to the weakly acidic medicine. If the external space is a high temperature environment of 90°C, the contact member 120 is formed of a material that does not deteriorate and/or deform under a high temperature environment of 90°C or higher.

The contact member 120 may be composed of fluororesin. If the fluororesin layer is formed as the contact member 120, the oil seal 100 can have high chemical resistance and high heat resistance. It is feasible that the manufacturer who manufactures the oil seal 100 uses a usual coating technique (such as painting) to coat the fluororesin on the outer surface 111. In this case, the adhesion member containing fluororesin is formed as a film in close contact with the outer surface 111.

The contact member 120 may be made of silicone rubber. If silicone rubber is used as the contact member 120, the oil seal 100 can have high chemical resistance and high heat resistance. Silicone rubber can be adhered to the outer surface 111 using heat-resistant and/or chemical-resistant adhesives.

The contact member 120 may be a metal foil including gold, aluminum, or the like. If metal foil is used as the contact member 120, the oil seal 100 can have high chemical resistance and high heat resistance. The metal foil can be adhered to the outer surface 111 by using a heat-resistant and/or chemical-resistant adhesive. Alternatively, a gold plating technique (for example, electrolytic gold plating or electroless gold plating) may be used to form a metal thin film on the outer surface 111. More alternatively, an evaporation technique (for example, thermal evaporation, sputtering evaporation, or ion plating) can be used to form a metal thin film on the outer surface 111. In this case, the metal foil and the metal thin film are formed as a film that is in close contact with the outer surface 111.

The sealing ring 110 includes a ring portion 130 and a lip portion 140. The ring 130 and the lip 140 are ring-shaped as a whole. The ring 130 is located between the lip 140 and the second member SMB, and surrounds the lip 140. That is, the ring portion 130 has: a first portion 131 that is in contact with the second member SMB and has a thickness in the axial direction of the rotation axis RAX; and a portion from the outer side of the first portion 131 (the portion on the outer surface 111 side) in the radial direction The second part 132 that extends inside. In the first portion 131 of the ring portion 130, the surface facing the radially outer side is constituted by the first connection surface 113. The first part 131 of the ring 130 is crimped on the inner peripheral surface of the second member SMB.

The lip portion 140 is connected to the inner peripheral end portion of the second portion 132. The lip 140 is press-contacted to the first member FMB. The lip 140 includes a main lip 141 and a dust-proof lip 142. The main lip 141 protrudes from the inner peripheral end portion of the second portion 132 of the ring portion 130 toward the inner space. Therefore, the outer surface of the main lip 141 and the outer surface of the ring 130 form a buckled inner surface 112 in a manner of recessing toward the outer space.

The oil seal 100 is provided with a ring-shaped spring 150. The spring 150 is disposed in the concave space surrounded by the inner surface 112. The main lip 141 is sandwiched between 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 leakage of the lubricating oil filled in the internal space. As the spring 150, a coil spring can be used. Alternatively, another elastic member that can press the main lip 141 against the first member FMB can also 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-proof lip 142 protrudes from the inner peripheral end portion of the second portion 132 of the ring portion 130 toward the outer space. Therefore, the dust lip 142 is in pressure contact with the outer peripheral surface of the first member FMB on the outer side of the main lip 141.

The outer surface 111 is formed by the outer surface of the dust lip 142 and the outer surface of the ring 130. The close contact member 120 is integrally in close contact with the area where the dust lip 142 and the ring portion 130 form the outer surface 111. In the contact member 120, the radially outer end is in contact with the inner peripheral surface of the second member SMB, and the radially inner The end of the side is in contact with the outer peripheral surface of the first member FMB. As a result, the sealing function of the dust lip 142 can be appropriately protected by the contact member 120 from a high temperature environment and/or a chemical environment.

<Second Embodiment>

The sealing member described in connection with the above-mentioned embodiment can be suitably incorporated into a cleaning robot having a speed reducer and washing parts of automobiles or other mechanical equipment. Since the sealing member has excellent resistance to high-temperature cleaning liquid, the sealing member can exhibit excellent sealing performance for a long period of time in the cleaning robot. In the second embodiment, an exemplary cleaning robot and a speed reducer have been described.

FIG. 2A is a schematic cross-sectional view of a part of the cleaning robot 200. Fig. 2B is a schematic cross-sectional view taken along the line A-A shown in Fig. 2A. 1 to 2B, the cleaning robot 200 and the speed reducer 300 will be described.

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 separate the internal space in the reducer 300 from the external space outside the reducer 300. The oil seals 101 and 102 prevent the flow of fluid between the external space and the internal space (that is, the lubricating oil in the reducer 300 and the cleaning liquid sprayed in the external space). The oil seals 101 and 102 are designed in accordance with the principles of the above-mentioned embodiment. Therefore, the description of the above-mentioned embodiment can be applied to the oil seals 101 and 102.

The rotation axis RAX is the common central axis of the oil seals 101 and 102. The input shaft gear 201 rotates around the rotation shaft RAX, and inputs the driving force to the reducer 300. The input shaft gear 201 may be a rotating shaft of a motor (not shown). The reducer 300 amplifies the driving force from the input shaft gear 201 at a specific reduction ratio. The amplified driving force is transmitted to the movable arm 202 as a rotation around the rotation axis RAX.

The movable arm 202 is installed on the reducer 300 and is located in the external space. The movable arm 202 is given an angular movement around the rotation axis RAX by the speed reducer 300. Nozzle for spraying high temperature detergent (not shown) can be installed Installed on 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-mentioned embodiment, the oil seals 101 and 102 can withstand high temperature cleaning liquid and maintain excellent sealing performance for a long period of time. It is feasible that, instead of the nozzle, other parts requiring angular movement around the rotation axis RAX are installed on the movable arm 202. The principle of this embodiment is not limited to the specific parts mounted on the movable arm 202.

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

The reducer 300 includes an outer cylinder 310, a carrier 320, a plurality of (3) crankshaft assemblies 330 (Figure 2A shows one of the three crankshaft assemblies 330), a gear part 340, and two main bearings 351, 352 , And outer wall 360. The movable arm 202 is fixed to the outer cylinder 310. The rotation axis RAX is the common center 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, and on the other hand, the carrier 320 corresponds to the first member FMB described with reference to FIG. 1. Therefore, the description of the second member SMB can be applied to the outer cylinder 310. The description about the first member FMB can be used for the carrier 320. The oil seal 101 is embedded in an annular gap 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 through 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, and on the other hand, the outer wall 360 corresponds to the second member SMB described with reference to FIG. 1. Therefore, the description of the first member FMB can be applied to the input shaft gear 201. The description about the second member SMB can be applied to the outer wall 360. The oil seal 102 is fitted in the annular gap between the outer peripheral surface of the input shaft gear 201 and the inner peripheral surface of the outer wall 360 forming the through hole.

If the input shaft gear 201 rotates around the rotation axis RAX, the outer cylinder 310 rotates around the rotation axis RAX. During this period, the carrier 320 is stationary. During the rotation of the outer cylinder 310, the movable arm 202 performs an angular movement around the rotation axis RAX.

The driving force is respectively input to the three crankshaft assemblies 330 through the input shaft gear 201 extending along the rotation axis RAX. The driving force inputted to the three crankshaft assemblies 330 is transmitted to the gear part 340 arranged in the internal space surrounded by the outer cylinder 310 and the carrier 320.

As shown in FIG. 2A, two main bearings 351 and 352 are embedded in the annular space formed between the outer tube 310 and the carrier 320 surrounded by the outer tube 310. The outer cylinder 310 rotates around the rotation axis RAX by the driving force transmitted to the gear part 340.

As shown in FIG. 2A, the outer cylinder 310 includes a substantially cylindrical housing 311 and a plurality of internal tooth pins 312. The housing 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 (outer cylinder 310) surrounds the gear portion 340. As shown in FIG. 2B, the first cylindrical portion 313 includes an inner peripheral surface 316 in which a plurality of groove portions are formed. A plurality of grooves are formed at substantially constant intervals so as to surround the rotation axis RAX. The plurality of grooves are respectively substantially parallel along the rotation axis RAX. The plurality of internal tooth pins 312 are respectively fitted into the plurality of grooves. Therefore, the plurality of internally toothed pins 312 are appropriately held by the first cylindrical portion 313, respectively.

The second cylindrical portion 314 is used for connection with the outer wall 360 and is connected to one end of the first cylindrical portion 313 in the RAX direction of the rotation axis. O-rings and other suitable sealing members are used for sealing between the second cylindrical portion 314 and the outer wall 360. An annular gap is formed between the second cylindrical portion 314 and the carrier 320. The main bearing 352 is embedded in the annular gap. The rotation of the third cylindrical portion 315 and the first cylindrical portion 313 The other end of the rotating shaft in the RAX direction is connected. Another annular gap is formed between the third cylindrical portion 315 and the carrier 320. The main bearing 351 is fitted in the gap between the third cylindrical portion 315 and the carrier 320. As a result, the outer cylinder 310 is relatively rotatable with respect to the carrier 320. Similar to the main bearing 351, the oil seal 101 is fitted in the gap between the third cylindrical portion 315 and the carrier 320. As a result, it is possible to prevent the leakage of lubricating oil and the inflow of the cleaning liquid passing through the boundary between the outer cylinder 310 and the carrier 320.

As shown in FIG. 2B, the plurality of internally toothed pins 312 are arranged in a ring shape around the rotation axis RAX at substantially constant intervals. The half-circumferential surface of each of the plurality of internal tooth pins 312 protrudes from the inner wall of the housing 311 toward the rotation axis RAX. Therefore, the plurality of internal tooth pins 312 function as a plurality of internal teeth meshing with the gear part 340.

As shown in FIG. 2A, the carrier 320 includes a base 321 and an end plate 322. The carrier 320 is cylindrical as a whole. The end plate 322 has a substantially circular plate 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 in the annular gap 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 (refer to FIG. 2A) and a plurality of (3) shaft portions 324 (refer to 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 circular plate 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 the annular gap between the inner peripheral surface of the third cylindrical portion 315 and the outer peripheral surface of the second circular plate 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 the annular gap between the inner peripheral surface of the third cylindrical portion 315 and the outer peripheral surface of the first disc portion 325.

The base portion 323 is separated from the end plate 322 in the extending direction of the rotation axis RAX. Substrate 323 and the end plate 322 are approximately coaxial. In other words, the rotation axis RAX corresponds to the central axis of the base plate 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 stationary member 203. Therefore, the substrate portion 323 is supported by the immovable member 203 in a cantilever state.

In addition, it is not limited to the configuration in which the carrier 320 is fixed to the stationary member 203 and the movable arm 202 is fixed to the outer tube 310. Alternatively, the outer cylinder 310 may be fixed to the stationary member 203 and the movable arm 202 may be fixed to the carrier 320. In this case, if the input shaft gear 201 rotates around the rotation axis RAX, the carrier 320 rotates around the rotation axis RAX. During this period, the outer cylinder 310 is stationary.

A central through hole 371 (refer to FIG. 2A) and a plurality of (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 along the rotation axis RAX between the inner surface 327 and the outer surface 328. 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 an imaginary circle (not shown) centered on the rotation axis RAX.

In addition to the rotation axis RAX, FIG. 2A also shows the transmission axis TAX. The transmission axis TAX is specified at a position away 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 axis TAX corresponds to the rotation center axis of the crankshaft assembly 330 and the center 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 is opposed to the gear part 340. The inner surface 381 and the outer surface 382 are along an imaginary plane (not shown) orthogonal to the rotation axis RAX.

A central through hole 373 (refer to FIG. 2A) and a plurality of (three) holding through holes 374 (FIG. 2A shows one of the three holding through holes 374) are formed on 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 an imaginary circle (not shown) centered on the rotation axis RAX. The three holding through holes 374 respectively extend 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 and the three holding through holes 372 formed in the substrate portion 323 are substantially coaxial with each other.

The three shaft portions 324 respectively extend from the inner surface 327 of the second circular plate 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 can be connected to the respective tip surfaces of the three shaft portions 324 by using close-fitting bolts, position determining pins or other suitable fixing techniques. The principle of this embodiment is not limited to a specific connection technique between the end plate 322 and the three shaft portions 324 with each other.

As shown in FIG. 2A, the gear portion 340 is disposed between the inner surface 327 of the second circular plate 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 part 340 includes a plurality of (2) swing gears 341 and 342. The swing gear 341 is disposed between the end plate 322 and the swing gear 342. The swing gear 342 is disposed between the base portion 323 and the swing gear 341. The swing gears 341 and 342 can be formed based on a common design drawing. The swing gears 341 and 342 may be trochoid gears or cycloidal gears, respectively. The principle of this embodiment is not limited to the specific types of gears used as the swing gears 341 and 342.

The swing gears 341 and 342 respectively include a plurality of external teeth protruding toward the inner wall of the housing 311 343 (refer to Figure 2B). When the crankshaft assembly 330 rotates around the transmission axis TAX, the swing gears 341 and 342 mesh with the plurality of external teeth 343 and the plurality of internal tooth pins 312 while moving around the inner circumference of the housing 311 (that is, swinging and rotating). During this period, the centers of the swing gears 341 and 342 revolve around the rotation axis RAX. The rotation of the outer cylinder 310 is caused by the oscillating rotation of the oscillating gears 341 and 342.

The center through hole 344 is formed as the center of the swing gear 341. The central through hole 345 is formed as the center of the swing 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 swing gear 342. The central through hole 345 communicates with the central through hole 371 of the base plate portion 323 and the central through hole 344 of the swing gear 341.

As shown in FIG. 2B, a plurality of (3) circular through holes 346 are formed in the swing gear 342. Similarly, a plurality of (3) circular through holes are formed in the swing gear 341. The circular through hole 346 of the swing gear 342 and the circular through hole of the swing gear 341 cooperate with the holding through holes 372 and 374 of the base plate 323 and the end plate 322 to form a storage space for accommodating the crankshaft assembly 330.

A plurality of (3) trapezoidal through holes 347 (one of the three trapezoidal through holes 347 is shown in FIG. 2A) is formed in the swing gear 341. Plural (3) trapezoidal through holes 348 (refer to FIG. 2B) are formed in the swing gear 342. The shaft portion 324 of the carrier 320 penetrates through the trapezoidal through holes 347 and 348. The size of the trapezoidal through holes 347 and 348 is determined so as not to interfere with the shaft portion 324.

The three crank shaft assemblies 330 respectively include a transmission gear 331, a crank shaft 332, two journal bearings 333, 334, and two crank bearings 335, 336. The transmission gear 331 meshes with the input shaft gear 201. The transmission gear 331 rotates around the transmission axis TAX corresponding to the rotation of the input shaft gear 201.

The crankshaft 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 opposite side of the first journal 391 and is inserted The holding through hole 372 of the substrate portion 323. The journal bearing 333 is inserted 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 where the holding through hole 372 is formed. As a result, the second journal 392 is connected to the substrate 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 swing gear 341 forming a circular through hole. As a result, the swing 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 swing gear 342 forming the circular through hole 346. As a result, the swing gear 342 is attached to the second eccentric portion 394.

The first journal 391 and the second journal 392 are approximately coaxial and rotate around the transmission axis TAX. The first eccentric portion 393 and the second eccentric portion 394 are each formed in a cylindrical shape and are eccentric from the transmission axis TAX. The first eccentric portion 393 and the second eccentric portion 394 each eccentrically rotate with respect to the transmission shaft TAX, and give swing rotation to the swing gears 341 and 342. The carrier 320 is fixed to the stationary member 203, and since the swing gears 341, 342 mesh with the plurality of internal tooth pins 312 of the outer cylinder 310, the swing rotation of the swing gears 341, 342 is converted to the rotation of the outer cylinder 310 around the rotation axis RAX movement.

The input shaft gear 201 extends along the rotation axis RAX. The input shaft gear 201 meshes with the transmission gear 331. If the input shaft gear 201 rotates around the rotation axis RAX, the transmission gear 331 rotates around the transmission axis TAX. As a result, the crank shaft 332 to which the transmission gear 331 is fixed rotates, causing the swing gears 341 and 342 to swing and rotate.

The outer wall 360 includes a connecting wall 361 and a supporting wall 362. The connecting wall 361 surrounds the cylindrical body of the input shaft gear 201. The connecting wall 361 is fitted to the second cylindrical portion 314. As a result, the connecting wall 361 is connected 结在外管310。 The knot in the outer tube 310.

The supporting wall 362 cooperates with the connecting wall 361 and the end plate 322 to form an internal space for lubricant filling. The lubricating oil in the internal space reduces the wear speed of the input shaft gear 201 and the transmission gear 331.

The connecting wall 361 extends along the rotation axis RAX. On the other hand, the supporting wall 362 is substantially orthogonal to the rotation axis RAX and faces the outer surface 382 of the end plate 322. The supporting wall 362 closes the circular opening formed by the connecting wall 361. The end plate 322 and the supporting wall 362 are opposite sides and partially close the circular opening formed by the connecting wall 361.

The connecting wall 361 is formed with 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 embedded in the oil seal 102. As a result, the support wall 362 can support the input shaft gear 201 appropriately.

The design principles explained in connection with the various embodiments described above can be applied to various sealing members. One of the various features described in connection with one of the various embodiments described above can also be applied to the sealing member described in connection with the other embodiment.

The following is a general description of the foregoing embodiment.

(1) The sealing member of the aforementioned embodiment can prevent the flow of fluid between the external space outside the device and the internal space inside the aforementioned device. The sealing member includes an outer surface facing the side opposite to the inner space, and a contact member that is in close contact with the outer surface. The aforementioned adhesive 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 contact member toward the outer surface, the outer surface does not directly contact the chemical or high-temperature fluid. In addition, since the adhesion member has at least one of chemical resistance and heat resistance, the sealing member can maintain excellent sealing performance for a long period of time even in a high-temperature environment and an environment where chemicals are used. Since the sealing member is in close contact with the outer surface, the design of the sealing member The designer can design the strength of the contact member and the member forming the outer surface as an integral member. Therefore, the designer does not need to give a large mechanical strength to the close contact member. As a result, the sealing member can be manufactured at a low cost.

(2) Regarding the above configuration, the adhesion member may be a film covering the outer surface.

According to the above configuration, since the adhesion member is a film covering the outer surface, the manufacturer who manufactures the sealing member can easily form the adhesion member using techniques such as coating or vapor deposition.

(3) Regarding the above configuration, the sealing member may further include a lip that is crimped to the aforementioned device. The said contact|adherence member may be integrally contact|adhered to the said outer surface formed by the said lip part.

According to the above configuration, since the sealing member is integrally in contact with the outer surface formed by the lip that is crimped to the device, the sealing member can maintain excellent sealing performance for a long period of time even in a high-temperature environment and an environment where chemicals are used.

(4) Regarding the above configuration, the sealing member may further include a spring for pressing the lip against the device. The lip may include a main lip sandwiched by the spring and the device, and a dust-proof lip that is crimped to the device on the outer side of the main lip. The contact member may be integrally contacted with the outer surface formed by the dust lip.

According to the above configuration, since the main lip is sandwiched between the spring and the device, the sealing member can exhibit excellent sealing performance. Since the dustproof lip is crimped to the device on the outer side of the main lip, the risk of damage to the main lip by tiny objects floating in the outer space is reduced. In addition, since the sealing member is integrally in contact with the outer surface formed by the dust lip, the sealing member can maintain excellent sealing performance for a long period of time even in a high-temperature environment and an environment where chemicals are used.

(5) The reducer of the foregoing embodiment amplifies the input driving force with a specific reduction ratio. The reducer includes a carrier, an outer tube arranged to form an internal space with the carrier, and the above-mentioned sealing member. The sealing member prevents the space outside the outer cylinder, that is, the external space and The flow of fluid between the internal spaces of the aforementioned reducer.

According to the above configuration, since the reducer includes the above-mentioned sealing member, the flow of fluid between the external space and the internal space of the reducer can be appropriately prevented for a long period of time.

(6) The cleaning robot of the foregoing embodiment sprays the cleaning liquid toward the external space. The cleaning robot is equipped with a reducer that reduces the input driving force at a specific reduction ratio, and the above-mentioned sealing member. The sealing member prevents the flow of fluid between the external space and the internal space inside the reducer.

According to the above configuration, since the cleaning robot includes the above-mentioned sealing member, the flow of fluid between the external space and the internal space inside the reducer can be suitably prevented for a long period of time.

The above-mentioned sealing technology can be constructed at a low cost, and can be resistant to high temperature environments and environments where chemicals are used.

[Industrial availability]

The present invention can be suitably used for sealing members used in high-temperature environments and/or pharmaceutical environments.

100‧‧‧Oil Seal

110‧‧‧Seal ring

111‧‧‧Outer surface

112‧‧‧Inner surface

113‧‧‧First connection surface

114‧‧‧Second connecting surface

120‧‧‧Sealing component

130‧‧‧Circle

131‧‧‧Part 1 of the Ring

132‧‧‧Part 2 of the Ring

140‧‧‧Lip

141‧‧‧Main Lip

142‧‧‧Dust Lip

150‧‧‧Spring

FMB‧‧‧The first member

MAP‧‧‧device

RAX‧‧‧Rotation axis

SMB‧‧‧The second component

Claims (5)

A sealing member that prevents the flow of fluid between the external space on the outer side of the device and the internal space inside the device, and is provided with a sealing ring that includes an outer surface facing the opposite side of the internal space, and is in close contact with The abutment member on the outer surface of the seal ring, the abutment member is a silicon rubber having chemical resistance and heat resistance, the seal ring includes a lip that is crimped to the device, the abutment member and the lip formed by the lip The aforementioned outer surface is in close contact as a whole. The sealing member of claim 1, wherein the abutting member is a film covering the outer surface. The sealing member of claim 1 or 2, which further includes a spring for pressing the lip against the device, the lip including a main lip sandwiched by the spring and the device, and a main lip that is crimped on the outer side of the main lip In the dust lip of the device, the contact member is integrally in contact with the outer surface formed by the dust lip. A reducer, which amplifies the input driving force at a specific reduction ratio, and is provided with: a carrier; an outer cylinder, which is arranged in a way to form an internal space with the aforementioned carrier; and The sealing member according to any one of claims 1 to 3; and the sealing member prevents the flow of fluid between the space outside the outer cylinder, that is, the external space and the internal space of the reducer. A cleaning robot that sprays washing liquid toward the external space and is equipped with: a speed reducer that amplifies the input driving force with a specific reduction ratio; and the sealing member according to any one of claims 1 to 3; and The sealing member prevents the flow of fluid between the external space and the internal space inside the reducer.

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