WO2023188350A1

WO2023188350A1 - Robot

Info

Publication number: WO2023188350A1
Application number: PCT/JP2022/016754
Authority: WO
Inventors: 俊文馬目
Original assignee: ヤマハ発動機株式会社
Priority date: 2022-03-31
Filing date: 2022-03-31
Publication date: 2023-10-05
Also published as: JPWO2023188350A1

Abstract

This robot is provided with a base 20, a first arm 30 supported by the base 20 so as to be able to swing in a first direction, a second arm 40 which has a stay 42 and is supported by a swinging end part of the first arm 30 so as to be able to swing in a second direction, a first cover 60 attached to the second arm 40 from above and covering the inside of the second arm 40, and an outside connection part 43 which is attached to the stay 42 and is for connecting to the second arm 40 from the outside, a seal structure of the outside connection part 43 comprising a second seal 82, a second seal support part 42A which is provided to the stay 42 and supports the second seal 82, a third seal 83, a third seal support part 60A which is provided to the first cover 60 and supports the third seal 83, a second cover 64 having a first seal pressing part 64A, and a first fastening member for fastening the first seal pressing part 64A, the second seal support part 42A, and the third seal support part 60A, the second seal 82 being sandwiched between the second seal support part 42A and the first seal pressing part 64A, the third seal 83 being sandwiched between the third seal support part 60A and the first seal pressing part 64A, a third through-hole 83A being provided in the third seal 83 in a position corresponding to the first fastening member, and a first spacer being accommodated in the third through-hole 83A.

Description

robot

The present disclosure relates to robots.

For example, a robot described in Japanese Patent Application Laid-Open No. 11-254377 is known as an articulated robot. This robot is a robot in which the driving force of a motor is transmitted to an arm via a reducer provided at a joint. An opening for inspection, etc. is provided in the outer wall of the arm. This opening is openably and closably closed by a cover with a waterproof packing interposed therebetween. The packing is composed of a metal frame portion and a rubber seal portion that is fixed to the side of the frame portion and has a thickness greater than the thickness of the frame portion.

According to this packing, since the shape of the packing is maintained by the metal frame part, the packing installation work is facilitated, and the amount of tightening and thus the amount of compression of the seal part can be kept constant by the frame part. Over-tightening or under-tightening can be prevented.

Japanese Patent Application Publication No. 11-254377

However, the above packing requires a large frame that follows the shape of the opening, which increases weight, increases arm inertia, reduces performance, and increases the cost required for the seal. Put it away.

The robot of the present disclosure includes a base, a first arm supported by the base so as to be able to swing in a first direction, and a stay, and a stay that swings in a second direction at a swing end of the first arm. a second arm that is movably supported; a first cover that is attached to the second arm and covers the inside of the second arm; and an exterior that is attached to the stay and connects to the second arm from the outside. A robot comprising a connecting part, wherein the seal structure of the external connecting part includes a second seal, a second seal support part provided on the stay and supporting the second seal, and a third seal. a third seal support part provided on the first cover and supporting the third seal; a second cover having a first seal press part; the first seal press part, the second seal support part, and the third seal support part; a first fastening member that fastens to the seal support part, a second seal is sandwiched between the second seal support part and the first seal press part, and a second seal is held between the third seal support part and the first seal support part; A third seal is sandwiched between the first seal pressing parts, a third through hole is provided in the third seal at a position corresponding to the first fastening member, and a third through hole is provided in the third through hole. This is a robot that houses one spacer.

According to the present disclosure, sealing can be achieved by simply adding sealing parts to standard specifications, eliminating the need for design changes and avoiding cost increases. In addition, excessive pressure on the seal can be prevented with a simple structure such as a spacer.

FIG. 1 is a front view of the SCARA robot. FIG. 2 is a perspective view of the first seal. FIG. 3 is a partially cutaway sectional view showing an enlarged portion of the dashed-dotted line in FIG. FIG. 4 is a plan view of the SCARA robot. FIG. 5 is a sectional view taken along line AA in FIG. FIG. 6 is an enlarged cross-sectional view of a part of FIG. 5. FIG. 7 is a sectional view taken along line BB in FIG. FIG. 8 is a perspective view of the second seal. FIG. 9 is a perspective view of the third seal. FIG. 10 is a perspective view showing how the third seal is adhered to the second cover, and the first washer is inserted into the third through hole of the third seal and adhered to the second cover. FIG. 11 is a perspective view showing how the second seal is adhered to the second seal support portion of the stay. FIG. 12 is a perspective view showing how the first cover is attached to the stay of the second arm from above in the state shown in FIG. 11. FIG. 13 is a perspective view showing how the second cover is attached to the first cover from above. FIG. 14 is a perspective view of FIG. 13 in which the attached state of the second seal and the third seal is added with broken lines. FIG. 15 is a plan view of the SCARA robot. FIG. 16 is a sectional view showing the second cover, third seal, and second seal separated from the stay in the CC sectional view of FIG. 15. FIG. 17 is a sectional view taken along line DD in FIG. 15. FIG. 18 is an enlarged cross-sectional view of a part of FIG. 17. FIG. 19 is a sectional view taken along line EE in FIG. FIG. 20 is a perspective view showing a state in which a fourth seal, a fifth seal, and a third cover are passed through the flexible tube in advance, and one end of the flexible tube is connected to the tube connection portion. FIG. 21 is a perspective view showing how the fourth seal is adhered to the fourth seal support portion of the stay. FIG. 22 is a perspective view showing how the first cover is attached to the stay of the second arm from above in the state shown in FIG. 21. FIG. 23 is a perspective view showing how the sixth seal is adhered to the recess. FIG. 24 is a perspective view showing how the first seal is attached from the state shown in FIG. 23. FIG. 25 is a perspective view showing how the fifth seal is bonded to the third cover, and the fifth spacer is inserted into the fifth through hole of the fifth seal and bonded to the third cover. FIG. 26 is a perspective view showing how the third cover is attached to the first cover from above. FIG. 27 is a perspective view of FIG. 26 with broken lines added to show how the fourth seal, fifth seal, and sixth seal are attached.

[Description of embodiments of the present disclosure]
First, embodiments of the present disclosure will be listed and described.
(1) The robot of the present disclosure includes a base, a first arm supported by the base so as to be swingable in a first direction, and a stay, and a second arm at a swing end of the first arm. a second arm supported so as to be swingable in a direction; a first cover attached to the second arm to cover the inside of the second arm; and a first cover attached to the stay and connected to the second arm from the outside. an external connection part for the robot, and the seal structure of the external connection part includes a second seal, a second seal support part provided on the stay and supporting the second seal, and a third seal support part provided on the stay and supporting the second seal. a seal, a third seal support part provided on the first cover and supporting the third seal, a second cover having a first seal pressing part, the first seal pressing part and the second seal support part; a first fastening member that fastens to the third seal support part, a second seal is sandwiched between the second seal support part and the first seal pressing part, and the third seal support part A third seal is sandwiched between the first seal pressing portion and the third seal, and a third through hole is provided at a position corresponding to the first fastening member in the third seal, and a third through hole is provided in the third seal at a position corresponding to the first fastening member. is a robot in which a first spacer is housed.

According to the robot described above, the external connection portion can be sealed by adding the second seal, the third seal, the first spacer, and the second cover. Double sealing is achieved by sealing between the second seal support part and the first seal pressing part with the second seal, and sealing between the third seal support part and the first seal pressing part with the third seal. It is possible to obtain sufficient sealing area and exhibit high sealing performance. The first spacer can stop the pressurization of the second seal and the third seal at an appropriate position. By uniformly pressurizing the second cover over a wide area, the stress applied to the second cover can be reduced.

(2) A lower opposing surface is provided at the upper end of the second arm that is continuous with the outer circumferential side surface, an upper opposing surface is provided at the lower end of the first cover that is continuous with the outer circumferential side surface of the second arm, and the first cover is connected to the second arm. When attached to the arm, the lower facing surface and the upper facing surface are arranged to face each other in the vertical direction, and in the second arm, the lower outer circumferential surface that is continuous with the lower facing surface It is preferable that an annular first seal is attached to an upper outer peripheral side surface of the first cover that is continuous with the upper opposing surface.

By adding the first seal, it is possible to seal between the second arm and the first cover. By using a material with high tackiness and adsorption properties as the material for the first seal, the first seal can exhibit high sealing performance without shifting relative to the second arm and first cover, even though no fixing member is required. . Since no fixing member is required, the first seal can be easily attached and removed. Since there is no need for parts such as pressure covers and spacers to prevent fatigue, the robot becomes lighter. Since the first cover is uniformly pressurized over a wide area, the stress applied to the first cover can be reduced.
can.

(3) A flexible tube spanned between the end of the second arm and the base, and a tube connection section attached to the stay to connect the flexible tube, the tube The seal structure of the connection part includes a fourth seal, a fourth seal support part that is formed in an L shape and includes a horizontal part and a vertical part in the stay and supports the fourth seal, a fifth seal, and the fourth seal support part that supports the fourth seal. In the first cover, a fifth seal support part is formed in an L shape and includes a horizontal part and a vertical part and supports the fifth seal, and a fifth seal support part is formed in an L shape and includes a horizontal part and a vertical part. a third cover having two seal pressing parts; a second fastening member that fastens a horizontal part of the second seal pressing part, a horizontal part of the fifth seal support part, and a horizontal part of the fourth seal support part; a third fastening member that fastens the vertical part of the second seal pressing part, the vertical part of the fifth seal supporting part, and the vertical part of the fourth seal supporting part; A fourth seal is held between the second seal pressing parts, a fifth seal is held between the fifth seal support part and the second seal pressing part, and in the fourth seal, A fourth through hole is provided at a position corresponding to the third fastening member, a third spacer is accommodated in the fourth through hole, and a third spacer is provided at a position corresponding to the second fastening member in the fifth seal. Preferably, a fifth through hole is provided, and a second spacer is accommodated in the fifth through hole.

The tube connection portion can be sealed by adding a fourth seal, a fifth seal, a second spacer, a third spacer, and a third cover. Double sealing is achieved by sealing between the fourth seal support part and the second seal pressing part with the fourth seal, and sealing between the fifth seal support part and the second seal pressing part with the fifth seal. It is possible to obtain sufficient sealing area and exhibit high sealing performance. The third spacer allows the fourth seal to be pressurized at an appropriate position, and the second spacer allows the fifth seal to be pressurized at an appropriate position. By uniformly pressurizing the third cover over a wide area, the stress applied to the third cover can be reduced.

(4) A recess is formed by the lower end of the vertical part of the fourth seal, the upper end of the casing that covers the main body of the second arm, and the vertical part of the fourth seal support, and the sixth seal is disposed in the recess. The first seal is attached so as to be in close contact with the outer surface of the sixth seal from the outer surface of the casing, the fifth seal is disposed on the outer surface of the first seal, and the second seal is attached to the outer surface of the sixth seal. It is preferable that the vertical portion of the fifth seal be pressed by the vertical portion of the seal pressing portion, so that the vertical portion of the fifth seal is brought into close contact with the outer surface of the first seal, and the inner surface of the first seal is brought into close contact with the outer surface of the casing.

When adding the fourth seal and the fifth seal, for example, if the first seal is arranged to straddle the vertical part of the fourth seal, there is a concern that the sealing performance will be degraded due to the difference in level. In such a case, it is conceivable to move the lower end of the vertical portion of the fourth seal upward so that the vertical portions of the first seal and the fourth seal do not intersect. However, when the lower end of the vertical portion of the fourth seal is moved upward, a recess is generated, so that the first seal may become floating in the recess, and the sealing performance of the first seal may deteriorate. Therefore, according to the above configuration, since the sixth seal is disposed in the recessed portion, floating of the first seal can be eliminated. In addition, the vertical part of the fifth seal is pressed by the vertical part of the second seal pressing part, so that the vertical part of the fifth seal is brought into close contact with the outer surface of the first seal, and the inner surface of the first seal is brought into close contact with the outer surface of the casing. Sealing performance by the seal and sealing performance by the fifth seal can be ensured.

[Details of embodiments of the present disclosure]
A specific example of the robot of the present disclosure will be described below with reference to the drawings. Note that the present disclosure is not limited to these examples, but is indicated by the scope of the claims, and is intended to include all changes within the meaning and range equivalent to the scope of the claims.

In the present disclosure, even if there is not enough seal area and there is no space for a structure that prevents overpressurization of the seal, the seal area can be secured with only additional parts to the standard specifications and prevent overpressurization of the seal. , discloses a technique that can reduce the stress applied to the cover.

[Example 1: Seal structure of first cover and second arm]
<Overall configuration of robot>
In this embodiment, a SCARA robot 10 is illustrated as a specific example of the robot. As shown in FIG. 1, the SCARA robot 10 includes a base 20, a first arm 30 supported by the base 20 so as to be swingable in the horizontal direction (an example of a first direction), and A second arm 40 is supported at the swinging end of the second arm 40 so as to be swingable in the horizontal direction (an example of the second direction), and a second arm 40 is supported at the swinging end of the second arm 40 so as to be swingable in the horizontal direction (an example of the second direction). A supported actuation shaft 50 is provided. Although not shown, the second arm 40 includes a rotation drive device that rotates the operating shaft 50, a lifting device that moves the operating shaft 50 in the vertical direction, and a head for attaching a tool (not shown). ing. This SCARA robot 10 can also be used in a clean room, and includes a first cover 60 on the second arm 40 that covers the operating shaft 50 and parts around it.

The base 20 is box-shaped and includes a first arm drive device (not shown) for supporting and driving the first arm 30. This first arm drive device is composed of a motor and a speed reducer. The motor and the speed reducer are provided so that their axes are oriented in the vertical direction. This speed reducer reduces the rotation of the rotating shaft of the motor and transmits it to the first arm 30. The casing of the motor is supported by the base 20, the output shaft of the motor and the input member of the reducer are connected, and the output side member of the reducer, that is, the casing, is supported by the first arm 30.

One end of a flexible tube 70 is rotatably attached to the upper end of the base 20 at a position adjacent to the reducer. The flexible tube 70 is made of a synthetic resin material that is easily elastically deformable, and is bent between the base 20 and the second arm 40 in an inverted U-shape. Although not shown, a plurality of air pipes and a cab tire cable containing various cables are inserted into the inside of the flexible tube 70.

Both ends of the flexible tube 70 are supported by the base 20 and the second arm 40 via

tube connection parts

21 and 41, respectively. These

tube connection parts

21 and 41 are supported and fixed to the base 20 and the second arm 40.

Flexible tube joints

21C and 41C are provided at the connection ends of the

tube connection parts

21 and 41, respectively, and the flexible tube 70 is rotatably supported by these

flexible tube joints

21C and 41C. That is, the flexible tube 70 is rotatably supported by the base 20 and the second arm 40.

<1st arm>
The first arm 30 is formed into a box shape with a space inside. Although not shown, the first arm 30 has one end connected to a reducer of the first arm drive device, and the other end connected to a reducer of the second arm drive device. The first arm 30 swingably supports the second arm 40 via a second arm drive device.

The second arm drive device supports and drives the second arm 40, and is composed of a motor and a speed reducer. These motors and speed reducers are provided so that their axes are oriented in the vertical direction. The casing of the motor is supported by the second arm 40, and the output shaft of the motor and the input member of the reducer are connected, and the output side member of the reducer, that is, the casing, is supported by the first arm 30.

<Second arm>
The second arm 40 is formed in an elongated box shape that extends horizontally from a swing base provided with a motor of a second arm drive device. A rotation drive device (not shown) for rotating the operating shaft 50 is provided at the swinging end of the second arm 40, and a rotation drive device (not shown) for rotating the operating shaft 50 is provided at the lower part of the intermediate portion of the second arm 40 for raising and lowering the operating shaft 50. A lifting device (not shown) is provided.

The first cover 60 provided on the second arm 40 has an outer circumferential side surface 61 that surrounds the operating shaft 50, the lifting device, the rotation drive device, etc. that protrudes upward from the second arm 40 from all sides, and and a surrounding upper surface 62. This first cover 60 is attached to the stay 42 provided on the second arm 40 from above.

An external connection part 43 for connecting (accessing) the second arm 40 from the outside is provided at the upper part of the intermediate portion of the second arm 40. As shown in FIG. 11, the external connection portion 43 includes a plurality of pipes 43A and a connector 43B. On the other hand, as shown in FIG. 1, a tube connection part 41 for connecting the flexible tube 70 is provided at the upper part of the swinging end of the second arm 40.

The second arm 40 has an outer peripheral side surface 44 that surrounds the operating shaft 50 and the like from all sides. A lower facing surface 45 is provided at the upper end of the outer peripheral side surface 44 of the second arm 40 . As shown in FIG. 3, the side surface of the outer circumferential side surface 44 of the second arm 40 that is continuous with the lower opposing surface 45 is a lower outer circumferential side surface 44L. On the other hand, an upper facing surface 63 is provided at the lower end of the outer peripheral side surface 61 of the first cover 60 . When the first cover 60 is attached to the second arm 40, the lower facing surface 45 and the upper facing surface 63 are arranged to face each other in the vertical direction. The side surface of the outer circumferential side surface 61 of the first cover 60 that is continuous with the upper opposing surface 63 is an upper outer circumferential side surface 61U.

<First seal>
A first seal 81 is attached to the lower outer circumferential side 61L and the upper outer circumferential side 44U. As shown in FIG. 2, the first seal 81 is an annular rubber component. The first seal 81 has a circumferential length smaller than the circumferential lengths of the lower outer circumferential side 61L and the upper outer circumferential side 44U. A suitable material for the first seal 81 is silicone rubber, which has a strong surface adsorption property and a very high elongation rate. The first seal 81 is attached by passing it through the flexible tube 70 in advance, and after the flexible tube 70 is attached to the tube connection part 41, the first seal 81 is stretched and tightly attached to the lower outer circumferential side 61L and the upper outer circumferential side 44U. It is done by letting

As shown in FIG. 3, when sealing between the second arm 40 and the first cover 60, it is also possible to sandwich a seal between the lower facing surface 45 and the upper facing surface 63. However, if the width of the upper facing surface 63 is narrow, it becomes difficult to insert a seal or a sag prevention component for preventing excessive pressure on the seal. Even in such a case, the first seal 81 having adsorption properties and extending in a band shape may be fixed so as to be in close contact with the lower outer circumferential side 61L and the upper outer circumferential side 44U. Therefore, there is no need for a pressurizing cover, a fixing member for fixing the seal, parts for preventing sagging, etc., which can contribute to reducing the weight of the SCARA robot 10. Further, since the lower outer peripheral side surface 61L of the first cover 60 is pressurized uniformly over a wide area, the stress applied to the first cover 60 is reduced.

[Example 2: Seal structure of external connection part]
Embodiment 2 discloses a seal structure that can seal the external connection part 43 even when the width of the contact surface between the first cover 60 and the stay 42 is narrow and it is difficult to insert a seal or anti-sag component. . In the external connection part 43, as shown in FIG. 14, a second seal 82, a third seal 83, and a second cover 64 prevent dust from flowing from inside. Both the second seal 82 and the third seal 83 are plate-shaped rubber parts, and the second seal 82 is set to be thicker than the third seal 83.

<Second seal>
As shown in FIG. 8, the second seal 82 has a plurality of round holes 82A through which the plurality of pipes 43A pass individually, and a square hole 82B through which the connector 43B passes. The second seal 82 is formed to seal the periphery of each pipe 43A and the periphery of the connector 43B.

<Second seal support part of stay>
The stay 42 is a metal support member, and has a second seal support portion 42A that supports the second seal 82, as shown in FIG. The second seal support portion 42A is formed in a planar shape on the outer peripheral side of the opening through which each pipe 43A and the connector 43B pass, and has a rectangular outer edge as a whole. A first fastening hole 42A1 into which a first bolt 91 is fastened is formed at a corner of the second seal support portion 42A. A total of four first fastening holes 42A1 are provided corresponding to the four corners of the second seal support portion 42A.

A square hole 42A2 is formed penetrating near one of the four corners of the second seal support portion 42A. The second seal 82 is formed so as to avoid the square hole 42A2 of the second seal support portion 42A and come into contact between the square hole 42A2, the pipe 43A, and the connector 43B.

<3rd sticker>
As shown in FIG. 9, the third seal 83 is formed in the shape of a rectangular frame, and has an overall rectangular outer edge. A third through hole 83A is formed at a corner of the third seal 83 at a position corresponding to the first bolt 91. A total of four third through holes 83A are provided corresponding to the four corners of the third seal 83. A first washer 101 into which the first bolt 91 is inserted is accommodated in the third through hole 83A. As shown in FIG. 10, the third seal 83 is bonded to the second cover 64 in advance. The third seal 83 is formed in an annular shape along the periphery of the second cover 64 and seals the periphery of the second cover 64 .

<Second cover>
The second cover 64 is a plate-shaped metal component, and has a first seal pressing portion 64A that presses the second seal 82 and the third seal 83. The first seal pressing portion 64A is formed in a planar shape on the outer peripheral side of the opening 64A1 through which each pipe 43A and the connector 43B pass, and has a rectangular outer edge as a whole. As shown in FIGS. 12 and 13, the opening 64A1 has a shape corresponding to the second seal 82, and is formed smaller than the second seal 82 so that the outer peripheral edge of the second seal 82 can be pressed all around. has been done.

A second insertion hole 64A2 is formed at a corner of the second cover 64 at a position corresponding to the first bolt 91. A total of four second insertion holes 64A2 are provided corresponding to the four corners of the second cover 64. Each second through hole 64A2 is arranged corresponding to each third through hole 83A. The third through hole 83A is arranged coaxially with the first washer 101. The first bolt 91 can be inserted through the second insertion hole 64A2 and the first washer 101.

<Third seal support part of first cover>
The first cover 60 has a third seal support portion 60A that supports the third seal 83, as shown in FIG. The first cover 60 is a resin cover and has lower strength than the stay 42. Therefore, the third seal 83 is substantially supported by the stay 42 adjacent below the third seal support portion 60A. The third seal support portion 60A is formed in a planar shape on the outer peripheral side of the opening 60A1 through which each pipe 43A and the connector 43B pass, and has a rectangular outer edge as a whole. A first insertion hole 60A2 is formed at a corner of the third seal support portion 60A at a position corresponding to the first bolt 91. The opening 60A1 has a shape corresponding to the second seal 82, and is formed larger than the second seal 82 so that the second seal 82 can be inserted therethrough.

<Pressurization of the second and third seals>
A total of four first insertion holes 60A2 are provided corresponding to the four corners of the third seal support portion 60A. Each first insertion hole 60A2 is arranged corresponding to each first fastening hole 42A1. The first fastening hole 42A1 is arranged coaxially with the first insertion hole 60A2. When the second cover 64 is attached to the first cover 60, as shown in FIGS. 5 to 7, the first bolt 91 is inserted into the second insertion hole 64A2, the first washer 101, and the first insertion hole 60A2. and is fastened to the first fastening hole 42A1 of the stay 42. This fastening pressurizes the second seal 82 and the third seal 83.

The second seal 82 and the third seal 83 are pressurized until the first washer 101 is sandwiched between the third seal support part 60A and the first seal pressing part 64A, that is, the third seal support part 60A and the first seal Pressure is applied until the distance between the pressing parts 64A becomes equal to the height of the first washer 101, and no further pressure is applied. Therefore, the second seal 82 and the third seal 83 are appropriately pressurized, and excessive pressure is not applied.

When the second seal 82 and the third seal 83 are properly pressurized, the second seal 82 expands laterally, so that the side surface of the second seal 82 comes into close contact with the inner wall of the opening 60A1 of the first cover 60. , the third seal 83 is in close contact with the third seal support part 60A and the first seal pressing part 64A, and the upper and lower surfaces of the second seal 82 are in close contact with the second seal support part 42A and the first seal pressing part 64A, Foreign matter such as dust generated inside can be prevented from flowing outside.

As shown in FIG. 7, when sealing the external connection part 43, a method of sandwiching a seal between the stay 42 and the first cover 60 is also considered. However, if the width of the abutment surface between the stay 42 and the first cover 60 is narrow, it becomes difficult to insert a seal or a sag prevention component to prevent excessive pressure on the seal. Even in such a case, the external connection portion 43 can be sealed by adding the second seal 82, the third seal 83, the first washer 101, and the second cover 64.

By using the second seal 82 and the third seal 83 together, a sufficient sealing area can be ensured and double sealing can be performed, resulting in high sealing performance. Since the first washer 101 stops pressurizing the second seal 82 and the third seal 83 at an appropriate position, excessive pressurization can be prevented. Since the first cover 60 is pressurized uniformly over a wide area, the stress applied to the first cover 60 is small.

<Installation method>
Next, a method for attaching the seal structure of Example 2 will be explained. As shown in FIG. 11, a second seal 82 having an adhesive surface is adhered to the upper surface of the stay 42. At this time, the position of the second seal 82 is adjusted so that each piping 43A and connector 43B attached to the stay 42 in advance enters each round hole 82A and square hole 82B, so each piping 43A and connector 43B This serves as a guide for installing the seal 82.

As shown in FIG. 12, the first cover 60 is placed on the stay 42. At this time, since the position of the first cover 60 is adjusted so that the second seal 82 enters the opening 60A1 of the first cover 60, each first insertion hole 60A2 of the first cover 60 and each first The fastening hole 42A1 is arranged coaxially.

Next, as shown in FIG. 10, a third seal 83 having an adhesive surface is adhered to the lower surface of the second cover 64. At this time, since the position of the third seal 83 is adjusted so that the outer shape of the third seal 83 and the outer shape of the second cover 64 match, each of the third through holes 83A of the third seal 83 and the second cover 64 are arranged coaxially with each second insertion hole 64A2. Thereafter, the first washer 101 is slightly press-fitted into the third through hole 83A of the third seal 83, and is adhered to the second cover 64. Note that the second cover may be a component to which a boss in the shape of a first washer is attached in advance.

Next, as shown in FIG. 13, the second cover 64 to which the third seal 83 is adhered is placed on the first cover 60. At this time, the position of the second cover 64 is adjusted so that the outer peripheral edge of the second seal 82 is pressed by the opening edge of the opening 64A1 of the second cover 64. The insertion hole 64A2, the first washer 101, the first insertion hole 60A2 of the first cover 60, and the first fastening hole 42A1 of the stay 42 are arranged coaxially. Thereafter, the first bolt 91 is inserted from above the second cover 64 through the second insertion hole 64A2, the first washer 101, and the first insertion hole 60A2 in this order, and fastened to the first fastening hole 42A1. As they are fastened, the second seal 82 and the third seal 83 are pressurized, and this pressurization occurs when the first washer 101 is sandwiched between the first cover 60 and the second cover 64, as shown in FIG. It is carried out up to the position.

As a result, as shown in FIG. 5, FIG. 7, and FIG. The third seal 83 is sandwiched between the third seal support portion 60A of the first cover 60 and the first seal pressing portion 64A of the second cover 64. As described above, the installation of the seal structure of Example 2 is completed.

Note that an integral seal in which the second seal 82 and the third seal 83 are integrally configured may be adopted. In this case, instead of bonding the integrated seal to the stay 42, the integrated seal is bonded to the second cover 64, and after placing the first cover 60 on the stay 42, the second cover 64 is attached to the stay 42. It may be attached.

[Example 3: Seal structure of tube connection part]
Embodiment 3 discloses a seal structure that enables sealing in the tube connection portion 41 in which the seal structures of Embodiments 1 and 2 are mixed. As shown in FIG. 27, a shaft 41A is attached to the upper surface of the tube connecting portion 41 so as to protrude upward through which a plurality of air pipes, a cabtire cable containing various cables, etc. are inserted. Furthermore, a rectangular switch 41B is attached to the outer peripheral side surface of the tube connecting portion 41. Therefore, in order to seal the tube connection portion 41, it is necessary to consider the arrangement of the shaft 41A and the switch 41B. Further, since the first seal 81 described in the first embodiment passes below the tube connecting portion 41, the arrangement with the first seal 81 must also be considered.

Therefore, in the tube connecting portion 41, three types of seal parts, the fourth seal 84, the fifth seal 85, and the sixth seal 86, are used to prevent the flow of dust from inside. The fourth seal 84, the fifth seal 85, and the sixth seal 86 are all plate-shaped rubber parts, and the fourth seal 84 is made thicker than the fifth seal 85 and the sixth seal 86. The fifth seal 85 and the sixth seal 86 are set to have substantially the same thickness.

<4th seal support part of stay>
As shown in FIG. 21, the stay 42 includes a second seal support portion 42A, a connecting portion 42B extending obliquely downward from the end of the second seal supporting portion 42A, and a fourth portion connected to the end of the connecting portion 42B. It has a seal support part 42C. The fourth seal support portion 42C is formed in an L-shape extending from the upper surface of the stay 42 to the outer circumferential side surface. The fourth seal support portion 42C includes a horizontal portion 42C1 formed in a planar shape on the outer periphery of the opening through which the shaft 41A passes, and a vertical portion 42C2 formed in a planar shape on the outer periphery of the opening through which the switch 41B passes. Equipped with

The horizontal portion 42C1 has a rectangular outer edge as a whole. A second fastening hole 42F, into which a second bolt 92 is fastened, is formed at a corner of the horizontal portion 42C1. A total of four second fastening holes 42F are provided corresponding to the four corners of the horizontal portion 42C1. As shown in FIG. 20, a switch 41B and a pair of caulking nuts 103 are attached to the vertical portion 42C2. The caulking nut 103 is caulked and fixed to the vertical portion 42C2. A third bolt 93 is fastened to the caulking nut 103.

As shown in FIG. 21, a pair of attachment pieces 42D extending downward are provided at the end of the horizontal portion 42C1 on the connecting portion 42B side. The pair of attachment pieces 42D are bolted to the main body 40A of the second arm 40. As shown in FIG. 17, a mounting piece 42E extending horizontally inward is provided at the lower end of the vertical portion 42C2. The mounting piece 42E is bolted to the main body 40A of the second arm 40 at two locations. Therefore, the fourth seal support portion 42A of the stay 42 is fixed to the main body portion 40A of the second arm 40 by a pair of

attachment pieces

42D and 42E.

<4th sticker>
As shown in FIGS. 20 and 21, the fourth seal 84 has a generally rectangular plate shape as a whole. The fourth seal 84 has an adhesive surface, and is attached to the stay 42 in an L-shape by adhering this adhesive surface to the stay 42 . The fourth seal 84 attached to the stay 42 includes a horizontal portion 84A bonded to the horizontal portion 42C1 of the stay 42, and a vertical portion 84B bonded to the vertical portion 42C2 of the stay 42.

The horizontal portion 84A of the fourth seal 84 has a large diameter round hole 84A1 through which the shaft 41A of the tube connecting portion 41 passes. The vertical portion 84B of the fourth seal 84 has a small diameter round hole 84B1 through which the pair of caulking nuts 103 is passed, and a square hole 84B2 through which the switch 41B is passed. The horizontal portion 84A seals the periphery of the shaft 41A, and the vertical portion 84B seals the periphery of the switch 41B and the pair of caulking nuts 103.

<3rd cover>
As shown in FIG. 25, the third cover 65 is a plate-shaped metal component bent in an L-shape as a whole, and is a second seal that presses the fourth seal 84, the fifth seal 85, and the sixth seal 86. It has a pressing part 65A. The second seal pressing portion 65A includes a horizontal portion 65A2 formed in a planar shape on the outer periphery of the opening 65A1 through which the shaft 41A passes, and a vertical portion 65A4 formed in a planar shape on the outer periphery of the opening 65A3 through which the switch 41B passes. and. The second seal pressing portion 65A can press the fourth seal 84, the fifth seal 85, and the sixth seal 86 all at once.

The horizontal portion 65A2 of the second seal pressing portion 65A is fastened to the horizontal portion 42C1 of the fourth seal support portion 42C by a second bolt 92, and the vertical portion 65A4 of the second seal pressing portion 65A is fastened to the fourth portion by a third bolt 93. It is designed to be fastened to the vertical portion 42C2 of the seal support portion 42C.

The horizontal portion 65A2 of the second seal pressing portion 65A has a rectangular outer edge as a whole. A third insertion hole 65A5 is formed at a corner of the horizontal portion 65A2 at a position corresponding to the second bolt 92. A total of four third insertion holes 65A5 are provided corresponding to the four corners of the horizontal portion 65A2. Each third insertion hole 65A5 of the horizontal portion 65A2 is arranged corresponding to each second fastening hole 42F.

As shown in FIG. 25, a pair of third insertion holes 65A5 are also formed in the vertical portion 65A4 of the second seal pressing portion 65A. A pair of third insertion holes 65A5 are arranged on the sides and above the opening 65A3. Each third insertion hole 65A5 of the vertical portion 65A4 is arranged corresponding to each caulking nut 93.

<5th sticker>
The fifth seal 85 is formed in the shape of a quadrangular frame, and has a generally rectangular outer edge. As shown in FIG. 25, the fifth seal 85 includes a horizontal portion 85A bonded to the horizontal portion 65A2 of the third cover 65, and a vertical portion 85B bonded to the vertical portion 65A4 of the third cover 65. The fifth seal 85 is formed in an annular shape along the peripheral edge of the third cover 65 and seals the peripheral edge of the third cover 65.

The horizontal portion 85A of the fifth seal 85 has a rectangular outer edge as a whole. A fifth through hole 85A1 is formed at a corner of the horizontal portion 85A at a position corresponding to the second bolt 92. A total of four fifth through holes 85A1 are provided corresponding to the four corners of the horizontal portion 85A. A second washer 102 into which the second bolt 92 is inserted is accommodated in the fifth through hole 85A1. After the fifth seal 85 is adhered to the third cover 65, the second washer 102 is accommodated in the fifth through hole 85A1.

The fifth through hole 85A1 is arranged coaxially with the second washer 102. The second bolt 92 can be inserted through the third insertion hole 65A5 and the second washer 102. Each second washer 102 is arranged corresponding to each second fastening hole 42F.

<Fifth seal support part of first cover>
The first cover 60 has a fifth seal support portion 60B that supports the fifth seal 85, as shown in FIGS. 22 and 26. The fifth seal 85 is substantially supported by the stay 42 adjacent below the fifth seal support portion 60B. The fifth seal support part 60B is arranged diagonally below the third seal support part 60A on the upper surface 62 of the first cover 60. The fifth seal support portion 60B is formed in an L shape extending from the upper surface 62 of the first cover 60 to the outer peripheral side surface 61. The fifth seal support portion 60B includes a horizontal portion 60B2 formed in a planar shape on the outer peripheral side of an opening 60B1 through which the horizontal portion 84A of the fourth seal 84 passes, and an opening 60B3 through which the vertical portion 84B of the fourth seal 84 passes. A vertical portion 60B4 formed in a planar shape on the outer circumferential side is provided. The opening 60B1 and the opening 60B2 communicate with each other and are integrally formed.

The horizontal portion 60B2 of the fifth seal support portion 60B is fastened to the horizontal portion 42C1 of the fourth seal support portion 42C by a second bolt 92, and the vertical portion 60B4 of the fifth seal support portion 60B is fastened to the fourth portion by a third bolt 93. It is designed to be fastened to the vertical portion 42C2 of the seal support portion 42C.

The horizontal portion 60B2 of the fifth seal support portion 60B has a rectangular outer edge as a whole. A first insertion hole 60B5 is formed at a corner of the horizontal portion 60B2 at a position corresponding to the second bolt 92. A total of four first insertion holes 60B5 are provided corresponding to the four corners of the horizontal portion 60B2. Each second through hole 64A2 is arranged corresponding to each third through hole 83A. Each first insertion hole 60B5 is arranged corresponding to each second fastening hole 42F.

<6th seal>
As shown in FIG. 27, the first seal 81 of the first embodiment crosses the vertical portion 65A4 of the second seal pressing portion 65A of the third cover 65. As shown in FIG. Therefore, the lower end of the vertical portion 84B of the fourth seal 84 is located at the upper end of the first seal 81 so as not to overlap with the first seal 81. As a result, as shown in FIG. 22, a recess 66 is formed below the vertical portion 84B of the fourth seal 84. As shown in FIG. 18, the lower end of the recess 66 is located above the lower end of the vertical portion 65A4 of the second seal pressing portion 65A of the third cover 65. The upper end of the recess 66 is formed by the lower end of the vertical portion 84B of the fourth seal 84, the lower end of the recess 66 is formed by the upper end of the casing 40B that covers the main body 40A of the second arm 40, and the inner surface of the recess 66 is formed by the lower end of the vertical portion 84B of the fourth seal 84. 42 of the vertical portions 42C2 of the fourth seal support portions 42C.

As shown in FIG. 22, the sixth seal 86 has a substantially rectangular plate shape. The sixth seal 86 has an adhesive surface, and is attached to the recess 66 by adhering this adhesive surface to the inner surface of the recess 66. As shown in FIG. 18, the thickness of the sixth seal 86 is set so that the outer surface of the sixth seal 86 attached to the recess 66 is substantially flush with the outer surface of the casing 40B of the second arm 40. . The first seal 81 is attached so as to be in close contact with the outer surface of the sixth seal 86 from the outer surface of the casing 40B. By being pressed by the vertical portion of the second seal pressing portion 65A, the lower end portion of the vertical portion 85B of the fifth seal 85 comes into close contact with the outer surface of the first seal 81, so that the inner surface of the first seal 81 is pressed against the sixth seal. 86 and the outer surface of the casing 40B. In this way, the first seal 81, the fifth seal 85, and the sixth seal 86 seal the periphery of the recess 66.

<Installation method>
Next, a method for attaching the seal structure of Example 3 will be explained. As shown in FIG. 20, one end of the flexible tube 70 is attached to the stay 42 by passing the fourth seal 84, fifth seal 85, and third cover 65 through the flexible tube 70 in advance. A fourth seal 84 having an adhesive surface is adhered to the outer surface of the fourth seal support portion 42C of the stay 42. At this time, the flexible tube 70, shaft 41A, switch 41B, and caulking nut 103 that have been attached to the stay 42 in advance serve as a guide for attachment. As shown in FIG. 21, the position of the fourth seal 84 is adjusted so that the shaft 41A, switch 41B, and caulking nut 103 enter the

respective round holes

84A, 84B and square hole 84C.

As shown in FIG. 22, the first cover 60 is placed on the stay 42. At this time, since the position of the first cover 60 is adjusted so that the horizontal portion 84A of the fourth seal 84 enters the opening 60B1 of the first cover 60, each first insertion hole 60B5 of the first cover 60 and the stay 42 are arranged coaxially with each second fastening hole 42F.

Next, as shown in FIG. 23, a sixth seal 86 having an adhesive surface is adhered to the inner surface of the recess 66 formed below the vertical portion 84B of the fourth seal 84. Thereafter, as shown in FIG. 24, the first seal 81 is attached so as to wrap around the boundary between the second arm 40 and the first cover 60.

Next, as shown in FIG. 25, a fifth seal 85 with an adhesive surface is adhered to the inner surface of the third cover 65. At this time, since the position of the fifth seal 85 is adjusted so that the outer shape of the fifth seal 85 and the outer shape of the third cover 65 match, each of the fifth through holes 85A1 of the fifth seal 85 and the third cover 65 are arranged coaxially with each third insertion hole 65A5. After that, the second washer 102 is slightly press-fitted into the fifth through hole 85A1 of the fifth seal 85, and is adhered to the third cover 65. Note that the third cover may be a component to which a second washer-shaped boss is attached in advance. Further, the work of attaching the fifth seal 85 to the third cover 65 may be performed after the first cover 60 is placed on the stay 42.

Next, as shown in FIG. 26, the third cover 65 to which the fifth seal 85 is adhered is placed on the first cover 60. At this time, the position of the third cover 65 is adjusted so that the outer peripheral edge of the fourth seal 84 is pressed by the opening edge of the opening 65A1 of the third cover 65 in the horizontal portion 65A2. The third insertion hole 65A5, the second washer 102, the first insertion hole 60B5 of the first cover 60, and the second fastening hole 42F of the stay 42 are coaxially arranged. Further, in the vertical portion 65A4, the position of the third cover 65 is adjusted so that the switch 41B is inserted into the opening 65A3 of the third cover 65, so that each third insertion hole 65A5 of the vertical portion 65A4 and each caulking nut 103 are aligned. arranged coaxially.

After this, the second bolt 92 is inserted from above the third cover 65 through the third insertion hole 65A5, the second washer 102, and the first insertion hole 60B5 in this order, and is fastened to the second fastening hole 42F, and the third bolt 93 is inserted into the second fastening hole 42F. It is inserted into the third insertion hole 65A5 from the side of the third cover 65 and fastened to the caulking nut 103. As the second bolt 92 is fastened, the fourth seal 84 and the fifth seal 85 are pressurized, and as shown in FIGS. 17 and 19, the second washer 102 is This is done until the position is held between the covers 65. As the third bolt 93 is tightened, the first seal 81, the fourth seal 84, the fifth seal 85, and the sixth seal 86 are pressurized, and this pressurization is applied to the caulking nut as shown in FIGS. 103 is held between the stay 42 and the third cover 65. As described above, the installation of the seal structure of Example 3 is completed.

Note that an integral seal in which the fourth seal 84 and the fifth seal 85 are integrally configured may be adopted. In this case, instead of bonding the integrated seal to the stay 42, the integrated seal is bonded to the third cover 65, and after placing the first cover 60 on the stay 42, the third cover 65 is attached to the stay 42. It may be attached.

[Operations and effects of Examples 1 to 3]
(1) The SCARA robot 10 of the present disclosure includes a base 20, a first arm 30 supported horizontally by the base 20 so as to be swingable, and a stay 42, and includes a swing end of the first arm 30. a second arm 40 that is supported horizontally by a second arm 40, a first cover 60 that is attached to the second arm 40 and covers the inside of the second arm 40, and a second cover 60 that is attached to the stay 42 that covers the inside of the second arm 40; The SCARA robot 10 includes an external connection part 43 for connecting to the arm 40, and the seal structure of the external connection part 43 includes a second seal 82 and a stay 42 provided with the second seal 82 to support the second seal 82. A second cover 64 having a second seal support portion 42A, a third seal 83, a third seal support portion 60A provided on the first cover 60 and supporting the third seal 83, and a first seal pressing portion 64A; A first bolt 91 is provided for fastening the first seal pressing part 64A, the second seal supporting part 42A, and the third seal supporting part 60A, and the space between the second seal supporting part 42A and the first seal pressing part 64A is provided. , a second seal 82 is sandwiched, and a third seal 83 is sandwiched between the third seal support part 60A and the first seal pressing part 64A, and a position corresponding to the first bolt 91 in the third seal 83 is The SCARA robot 10 is provided with a third through hole 83A, and a first washer 101 is accommodated in the third through hole 83A.

According to the SCARA robot 10 described above, the external connection portion 43 can be sealed by adding the second seal 82, the third seal 83, the first washer 101, and the second cover 64. The second seal 82 seals between the second seal support part 42A and the first seal press part 64A, and the third seal 83 seals between the third seal support part 60A and the first seal press part 64A. It is possible to perform heavy sealing, obtain sufficient sealing area, and exhibit high sealing performance. The first washer 101 can stop the pressurization of the second seal 82 and the third seal 83 at an appropriate position. By uniformly pressurizing the second cover 64 over a wide area, the stress applied to the second cover 64 can be reduced.

(2) A lower opposing surface 45 is provided at the upper end of the second arm 40 that is connected to the outer peripheral side surface 44 , and an upper opposing surface 63 is provided at the lower end that is connected to the outer peripheral side surface 61 of the first cover 60 . When attached to the second arm 40, the lower opposing surface 45 and the upper opposing surface 63 are arranged to face each other in the vertical direction, and are connected to the lower opposing surface 45 in the second arm 40. It is preferable that a first seal 81 having an annular shape is attached to the lower outer circumferential side 44L and the upper outer circumferential side 61U of the first cover 60 which is connected to the upper opposing surface 63.

By adding the first seal 81, it is possible to seal between the second arm 40 and the first cover 60. By using a material with high tackiness and adsorption properties as the material of the first seal 81, the first seal 81 can be secured without shifting relative to the second arm 40 and the first cover 60, even though no fixing member is required. You can demonstrate your sexuality. Since no fixing member is required, attachment and detachment of the first seal 81 becomes easy. Since there is no need for parts such as pressure covers and spacers to prevent fatigue, the robot becomes lighter. Since the first cover 60 is uniformly pressurized over a wide area, the stress applied to the first cover 60 can be reduced.

(3) A flexible tube 70 spanned between the end of the second arm 40 and the base 20, and a tube connection part 41 attached to the stay 42 to connect the flexible tube 70, The seal structure of the tube connection portion 41 includes a fourth seal 84, a fourth seal support portion 42C that is formed in an L shape in the stay 42 and includes a horizontal portion 42C1 and a vertical portion 42C2, and supports the fourth seal 84. A fifth seal 85, a fifth seal support part 60B that is formed in an L shape and includes a horizontal part 60B2 and a vertical part 60B4 in the first cover 60 and supports the fifth seal 85, a horizontal part 65A2 and a vertical part 65A4. a third cover 65 having a second seal pressing part 65A formed in an L-shape, a horizontal part 65A2 of the second seal pressing part 65A, a horizontal part 60B2 of the fifth seal support part 60B, and a fourth seal. The second bolt 92 fastens the horizontal part 42C1 of the support part 42C, the vertical part 65A4 of the second seal pressing part 65A, the vertical part 60B4 of the fifth seal support part 60B, and the vertical part 42C2 of the fourth seal support part 42C. A fourth seal 84 is sandwiched between the fourth seal support part 42C and the second seal press part 65A, and the fifth seal support part 60B and the second seal press part 65A are provided. A fifth seal 85 is sandwiched between 65A, and a round hole 84B1 is provided in the fourth seal 84 at a position corresponding to the third bolt 93, and a caulking nut 103 is accommodated in the round hole 84B1. It is preferable that a fifth through hole 85A1 is provided in the fifth seal 85 at a position corresponding to the second bolt 92, and a second washer 102 is accommodated in the fifth through hole 85A1.

The tube connection portion 41 can be sealed by adding the fourth seal 84, the fifth seal 85, the second washer 102, the caulking nut 103, and the third cover 65. The fourth seal 84 seals between the fourth seal support part 42C and the second seal press part 65A, and the fifth seal 85 seals between the fifth seal support part 60B and the second seal press part 65A. It is possible to perform heavy sealing, obtain sufficient sealing area, and exhibit high sealing performance. The caulking nut 103 can stop the pressurization of the fourth seal 84 at an appropriate position, and the second washer 102 can stop the pressurization of the fifth seal 85 at an appropriate position. By uniformly pressurizing the third cover 65 over a wide area, the stress applied to the third cover 65 can be reduced.

(4) A recess 66 is formed by the lower end of the vertical part 84B of the fourth seal 84, the upper end of the casing 40B that covers the main body 40A of the second arm 40, and the vertical part 42C2 of the fourth seal support part 42C. A sixth seal 86 is disposed, and the first seal 81 is attached so as to be in close contact from the outer surface of the casing 40B to the outer surface of the sixth seal 86, and the fifth seal 85 is disposed on the outer surface of the first seal 81. By being pressed by the vertical portion 65A4 of the second seal pressing portion 65A, the vertical portion 85B of the fifth seal 85 comes into close contact with the outer surface of the first seal 81, and the inner surface of the first seal 81 contacts the outer surface of the casing 40B. It is preferable that they come into close contact.

When adding the fourth seal 84 and the fifth seal 85, for example, if the first seal 81 is arranged to straddle the vertical portion 84B of the fourth seal 84, there is a concern that the sealing performance will deteriorate due to the step. In such a case, it is conceivable to move the lower end of the vertical portion 84B of the fourth seal 84 upward so that the first seal 81 and the vertical portion 84B of the fourth seal 84 do not intersect. However, when the lower end of the vertical portion 84B of the fourth seal 84 is moved upward, a recess 66 is generated, so that the first seal 81 becomes floating in the recess 66, which may reduce the sealing performance of the first seal 81. . Therefore, according to the above configuration, since the sixth seal 86 is disposed in the recess 66, it is possible to eliminate floating of the first seal 81. Then, by being pressed by the vertical part 65A4 of the second seal pressing part 65A, the vertical part 85B of the fifth seal 85 comes into close contact with the outer surface of the first seal 81, and the inner surface of the first seal 81 is brought into contact with the outer surface of the casing 40B. Since the first seal 81 and the fifth seal 85 are in close contact with each other, the sealing performance of the first seal 81 and the sealing performance of the fifth seal 85 can be ensured.

<Other embodiments>
(1) Although the first washer 101 is illustrated as the first spacer in the above embodiment, a caulking nut may be used as the first spacer. Similarly, a caulking nut may be used as the second spacer.

(2) Although the caulking nut 103 is exemplified as the third spacer in the above embodiment, a washer may be used as the third spacer.

(3) In the above embodiment, the case where the present invention is applied to the SCARA robot 10 is exemplified, but the present invention is not limited to the SCARA robot 10, and may be applied to a vertically articulated robot. Further, the swinging direction (first direction) of the first arm and the swinging direction (second direction) of the second arm may be different.

10: SCARA robot (robot)
20: Base 21: Tube connection part 30: First arm 40: Second arm 40A: Main body part 40B: Casing 41: Tube connection part 41A: Shaft 41B: Switch 41C: Flexible tube joint 42: Stay 42A: Second seal Support part 42A1: First fastening hole 42A2: Square hole 42B: Connecting part 42C: Fourth seal support part 42C1: Horizontal part 42C2: Vertical part 42D: Mounting piece 42E: Mounting piece 42F: Second fastening hole 43: External connection part 43A: Piping 43B: Connector 44: Outer circumferential side 44L: Lower outer circumferential side 45: Lower opposing surface 50: Operating shaft 60: First cover 60A: Third seal support portion 60A1: Opening 60A2: First insertion hole 60B: Fifth seal support portion 60B1: Opening 60B2: Horizontal portion 60B3: Opening 60B4: Vertical portion 60B5: First insertion hole 61: Outer peripheral side 61U: Upper outer peripheral side 62: Upper surface 63: Upper opposing surface 64: Second cover 64A : First seal pressing part 64A1: Opening part 64A2: Second insertion hole 65: Third cover 65A: Second seal pressing part 65A1: Opening part 65A2: Horizontal part 65A3: Opening part 65A4: Vertical part 65A5: Third insertion hole 66: Recess 70: Flexible tube 81: First seal 82: Second seal 82A: Round hole 82B: Square hole 83: Third seal 83A: Third through hole 84: Fourth seal 84A: Horizontal part 84A1: Round hole 84B : Vertical part 84B1: Round hole (fourth through hole) 84B2: Square hole 85: Fifth seal 85A: Horizontal part 85A1: Fifth through hole 85B: Vertical part 86: Sixth seal 91: First bolt (first fastening 92: Second bolt (second fastening member) 93: Third bolt (third fastening member)
101: First washer (first spacer) 102: Second washer (second spacer) 103: Caulking nut (third spacer)

Claims

The base and
a first arm supported by the base so as to be swingable in a first direction;
a second arm having a stay and supported by a swinging end of the first arm so as to be swingable in a second direction;
a first cover attached to the second arm and covering the inside of the second arm;
An external connection part attached to the stay and connected to the second arm from the outside, the robot comprising:
The seal structure of the external connection part includes a second seal, a second seal support part provided on the stay and supporting the second seal, a third seal, and a third seal provided on the first cover and supporting the third seal. a second cover having a supporting third seal supporting part; a second cover having a first seal pressing part; a first fastening member that fastens the first seal pressing part, the second seal supporting part, and the third seal supporting part; , comprising;
A second seal is held between the second seal support part and the first seal press part, and a third seal is held between the third seal support part and the first seal press part. Ori,
A third through hole is provided in the third seal at a position corresponding to the first fastening member, and a first spacer is accommodated in the third through hole.
A lower opposing surface is provided at an upper end continuous with the outer peripheral side surface of the second arm,
An upper facing surface is provided at a lower end continuous with the outer peripheral side surface of the first cover,
When the first cover is attached to the second arm, the lower facing surface and the upper facing surface are arranged to face each other in the vertical direction,
Claim 1: A first seal having an annular shape is attached to a lower outer peripheral side surface of the second arm connected to the lower opposing surface and an upper outer peripheral side surface of the first cover connected to the upper opposing surface. The robot described in.
a flexible tube spanned between an end of the second arm and the base;
a tube connection part attached to the stay for connecting the flexible tube,
The seal structure of the tube connection part is
The fourth seal and
a fourth seal support part that is formed in an L shape and includes a horizontal part and a vertical part in the stay and supports the fourth seal;
The fifth seal and
a fifth seal support part that is formed in an L-shape and includes a horizontal part and a vertical part in the first cover and supports the fifth seal;
a third cover having a second seal pressing portion formed in an L shape with a horizontal portion and a vertical portion;
a second fastening member that fastens a horizontal part of the second seal pressing part, a horizontal part of the fifth seal support part, and a horizontal part of the fourth seal support part;
a third fastening member that fastens the vertical part of the second seal pressing part, the vertical part of the fifth seal supporting part, and the vertical part of the fourth seal supporting part;
A fourth seal is held between the fourth seal support part and the second seal press part, and a fifth seal is held between the fifth seal support part and the second seal press part. Ori,
A fourth through hole is provided in the fourth seal at a position corresponding to the third fastening member, and a third spacer is accommodated in the fourth through hole,
The robot according to claim 2, wherein a fifth through hole is provided in the fifth seal at a position corresponding to the second fastening member, and a second spacer is accommodated in the fifth through hole.
A recess is formed by the lower end of the vertical part of the fourth seal, the upper end of the casing covering the main body of the second arm, and the vertical part of the fourth seal support, and a sixth seal is disposed in the recess. ,
The first seal is attached so as to be in close contact with the outer surface of the sixth seal from the outer surface of the casing,
the fifth seal is arranged on the outer surface of the first seal,
The vertical portion of the fifth seal is pressed by the vertical portion of the second seal pressing portion, so that the vertical portion of the fifth seal is brought into close contact with the outer surface of the first seal, and the inner surface of the first seal is brought into close contact with the outer surface of the casing. The robot described in 3.