WO2014087615A1 - ロボットの関節シール構造 - Google Patents
ロボットの関節シール構造 Download PDFInfo
- Publication number
- WO2014087615A1 WO2014087615A1 PCT/JP2013/006992 JP2013006992W WO2014087615A1 WO 2014087615 A1 WO2014087615 A1 WO 2014087615A1 JP 2013006992 W JP2013006992 W JP 2013006992W WO 2014087615 A1 WO2014087615 A1 WO 2014087615A1
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- WO
- WIPO (PCT)
- Prior art keywords
- robot
- gap
- outer peripheral
- opening
- end portion
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0058—Means for cleaning manipulators, e.g. dust removing means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0075—Means for protecting the manipulator from its environment or vice versa
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J21/00—Chambers provided with manipulation devices
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16J—PISTONS; CYLINDERS; SEALINGS
- F16J15/00—Sealings
- F16J15/16—Sealings between relatively-moving surfaces
- F16J15/32—Sealings between relatively-moving surfaces with elastic sealings, e.g. O-rings
- F16J15/3268—Mounting of sealing rings
Definitions
- the present invention relates to a joint seal structure for a robot that is applied to a joint of a robot in which a second member is inserted into a cylindrical end portion of a first member and includes a seal member provided in a gap between these members.
- the joint of the robot has a built-in drive mechanism for relatively rotating two connected members that are connected to each other via the joint.
- a gap formed between the two connected members to prevent the lubricant from the drive mechanism from leaking into the external environment of the robot and to prevent foreign substances from the external environment from entering the inside of the joint.
- a seal member see, for example, Patent Document 1.
- Patent Document 1 two seal members are separately provided in one joint.
- the two connected members are connected to each other such that the peripheral walls thereof are aligned in the rotation axis direction with a slight member gap, and the outer second seal member has the member gap formed on the peripheral wall in this way.
- the second seal member constitutes a peripheral wall as a whole joint together with the two connected members, and is exposed to the external environment.
- an object of the present invention is to protect the seal even when the robot is washed with high-pressure washing water.
- a joint seal structure for a robot is a joint seal structure for a robot formed by inserting a second member into a cylindrical end of a first member.
- a fitting end provided at the end of the second member and inserted into the cylindrical end, and formed to extend over the entire circumference of the inner peripheral surface of the cylindrical end.
- a circumferential groove, and an annular seal member that is accommodated in the circumferential groove and is in close contact with the outer peripheral surface of the fitting end portion, the fitting end portion having a smaller diameter than the main body portion of the second member.
- the step surface between the body portion and the fitting end portion is close to and opposed to the end surface of the cylindrical end portion in the axial direction, and the step surface and the end surface of the cylindrical end portion are In between, it extends over the entire circumference, is open to the outside of the first member and the second member, and expands toward the outer peripheral side There has been formed.
- the sealing member since the sealing member is accommodated in the circumferential groove formed in the internal peripheral surface of a cylindrical edge part, a sealing member can be protected from an external environment, high pressure washing water is injected. Even when the robot is cleaned, the high-pressure cleaning water can be prevented from directly hitting the seal member. For this reason, the seal is not easily broken by the cleaning water, and the cleaning water can be prevented from entering the inside of the joint. Since the gap expands toward the outer peripheral side, the washing water can be applied to the gap while preventing the high-pressure washing water from directly hitting the seal member, and washing can be performed to the back of the gap. Further, the water that has entered the back of the gap is easily drained through the widened gap.
- An opening for communicating the circumferential groove with the gap may be opened on the end surface of the cylindrical end. According to the above configuration, it is possible to wash the periphery of the seal member by applying the wash water to the gap and the periphery of the seal member while suppressing the high-pressure wash water from directly hitting the seal member, and water that has entered the circumferential groove. Can be drained through the opening and the gap.
- the openings may be formed at intervals in the circumferential direction. The opening may be formed to extend over the entire circumference.
- a part of the sealing member may be exposed in the gap from the end surface of the cylindrical end portion, and may be disposed closer to the center in the radial direction than the outer peripheral surface of the cylindrical end portion and the outer peripheral surface of the main body portion. Good.
- the robot is a robot used for manufacturing pharmaceutical products.
- this invention can be implemented suitably in the work site where a cleanliness is strongly requested
- the seal can be protected even when the robot is washed with high-pressure washing water.
- FIG. 2 is a cross-sectional view of the joint seal structure cut along the line II-II in FIG. 1.
- FIG. 3 is a cross-sectional view of the joint seal structure cut along line III-III in FIG. 2. It is sectional drawing which shows the peripheral part of the sealing member shown in FIG.
- FIG. 3 is a perspective cross-sectional view showing a peripheral portion of the seal member shown in FIG. 2. It is sectional drawing of the joint seal structure of the robot which concerns on 2nd Embodiment. It is sectional drawing of the joint seal structure of the robot shown in FIG. It is sectional drawing of the joint seal structure of the robot which concerns on 3rd Embodiment.
- FIG. 1 is a schematic diagram of the robot R according to the first embodiment.
- the robot R according to the present embodiment is used for manufacturing pharmaceuticals, but may be used for other purposes.
- the robot R according to the present embodiment is a vertical articulated 6-axis robot, but the number of axes is not limited to 6, and may be other than the vertical articulated type as long as it has joints.
- the robot R when the robot R is used for manufacturing a pharmaceutical product, the robot R is disposed in a sterile work space 90 and handles the raw material, intermediate product, or final product of the pharmaceutical product in the work space 90.
- a plurality of cleaning nozzles 91 are distributed in the work space 90.
- the cleaning nozzle 91 is used for periodic cleaning of the robot R, and can spray cleaning water at a high pressure.
- the washing water from the washing nozzle 91 is sprayed on the robot R, whereby the surface of the robot R can be sterilized and dust generated by the robot R can be washed away.
- the cleaning nozzle 91 may inject sterilization gas.
- the sterilizing gas is sprayed on the robot R to sterilize the surface of the robot R.
- the robot R includes a base 1, a turntable 2, a proximal arm 3, a distal arm 4, a proximal wrist 5, a distal wrist 6, and an attachment 7, and these members 1 to 7 are provided. They are sequentially connected in this order.
- the base 1 is installed on a wall surface 92 that defines a work space 90.
- the turntable 2 is connected to the base 1 via the first joint J1, and rotates around the first rotation axis A1 with respect to the base 1.
- the other members 3 to 7 are connected to the members 2 to 6 through the second to sixth joints J6, respectively, and the second to sixth rotation axes A2 to A6 are respectively connected to the connection partners 2 to 6. Rotate to.
- An end effector 9 (for example, a pipette or the like) used for manufacturing a medicine is detachably attached to the attachment 7.
- FIG. 2 is a cross-sectional view of the joint seal structure shown cut along the line II-II in FIG. 1
- FIG. 3 is a cross-section of the joint seal structure shown cut along the line III-III in FIG.
- FIG. 2 and 3 illustrate the first joint J1 among the six joints J1 to J6 shown in FIG.
- the first joint J1 will be described with reference to FIG. 2 and the like, but the rest of the first joint J1 has substantially the same structure, and thus detailed description thereof will be omitted.
- the base 1 (first member) has a cylindrical end 11, and the first joint J ⁇ b> 1 is connected to the cylindrical end 11 of the base 1 on the turntable 2 (second member). ) Is inserted.
- the member to be inserted (second member) rotates relative to the member having the cylindrical end (first member), but the member having the cylindrical end (first member) is inserted. You may rotate with respect to a member (2nd member).
- the cylindrical end portion 11 is formed in a cylindrical shape and has a circular insertion opening 12 at the tip thereof.
- the turntable 2 includes a main body portion 21 and a fitting end portion 22 provided integrally with an end portion of the main body portion 21. Both the main body 21 and the fitting end 22 are formed in a cylindrical shape.
- the insertion end 22 is inserted from the insertion opening 12 to the inner peripheral side of the cylindrical end 11 so as to be slidable.
- the first joint J1 has a built-in drive mechanism for rotating the turntable 2 with respect to the base 1, and FIG. 2 shows a rotation shaft 31 as an example of the component.
- the rotating shaft 31 extends from the inside of the cylindrical end portion 11 through the fitting end portion 22 to the inside of the main body portion 21 and is fixed to the turntable 2. Any means may be used for fixing.
- a bolt (not shown) inserted into the rotary shaft 31 may pass through the fitting end portion 22 and be screwed into the main body portion 21.
- the rotating shaft 31 is driven by an actuator (not shown) provided on the base 1 and rotates around its central axis. When the rotating shaft 31 rotates, the base 1 does not move and the rotating table 2 rotates around the central axis of the rotating shaft 31.
- the central axis of the rotation shaft 31 forms the first rotation axis A1 of the first joint J1, and is arranged coaxially with the central axis of the cylindrical end portion 11, the central axis of the fitting end portion 22, and the central axis of the main body portion 21. Is done.
- the first joint J1 also incorporates other elements constituting the drive mechanism such as a bearing that rotatably supports the rotary shaft 31.
- the fitting end 22 is formed to have a smaller diameter than the main body 21, and the turntable 2 has a stepped surface 23 that connects the outer peripheral surface of the fitting end 22 to the outer peripheral surface of the main body 21.
- the step surface 23 extends radially outward from the fitting end 22 toward the outer peripheral surface of the main body 21, and has an annular shape when viewed in the direction orthogonal to the axis.
- the cylindrical end portion 11 has an annular end surface 13 that defines the insertion opening 12, and the step surface 23 faces the end surface 13 in a state of being close (slightly separated) in the axial direction.
- the main body 21 is exposed from the cylindrical end 11.
- the outer peripheral surface of the main body portion 21 is axially separated from the outer peripheral surface of the cylindrical end portion 11, and the axial end edge 21 a of the outer peripheral surface of the main body portion 21 and the axial direction of the outer peripheral surface of the cylindrical end portion 11.
- the edge 11a forms an opening 40 that allows the work space 90 to communicate with the inside of the first joint J1.
- a gap 41 is formed between the end surface 13 and the step surface 23 at the back of the opening 40 (in the radial direction center side).
- the gap 41 communicates with a clearance 42 formed between the inner peripheral surface of the cylindrical end portion 11 and the outer peripheral surface of the fitting end portion 22.
- the open port 40 extends over the entire circumference in the circumferential direction of the cylindrical end portion 11 or the circumferential direction of the main body portion 21 like the end edges 11a and 21a, and forms a circular shape when viewed in the direction orthogonal to the axis (see FIG. 3).
- the gap 41 extends over the entire circumference in the circumferential direction of the cylindrical end portion 11 or in the circumferential direction of the fitting end portion 22, and has an annular cross section when viewed in the direction orthogonal to the axis ( (See FIG. 3).
- the gap 41 is opened to the work space 90 that is outside the base 1 and the turntable 2 through an opening 40 that is circular when viewed in the direction orthogonal to the axis at the radially outer peripheral edge.
- the clearance 42 is defined by the inner peripheral surface of the cylindrical end portion and the outer peripheral surface of the fitting end portion, the clearance 42 extends over the entire circumference in the circumferential direction of the cylindrical end portion 11 or the circumferential direction of the fitting end portion 22. Although not shown in detail, it has an annular cross section when viewed in the direction perpendicular to the axis.
- the cylindrical end portion 11 has a circumferential groove 14 formed on its inner circumferential surface so as to extend over the entire circumference, and the first joint J1 has an annular seal member accommodated in the circumferential groove 14. 35 is provided.
- the seal member 35 is in close contact with the cylindrical end portion 11 at the outer peripheral edge portion thereof, and is in close contact with the outer peripheral surface of the fitting end portion 22 at the inner peripheral edge portion thereof.
- the clearance 42 is sealed by the seal member 35.
- a portion of the clearance 42 on the axial tip side that is, on the side spatially close to the gap 41 and the opening 40
- the portion on the axial base end side that is, the side far from the gap 41 and the opening 40
- an inner clearance 42b is referred to as an inner clearance 42b.
- the seal member 35 spatially isolates the inside of the joint J1 including the inner clearance 42b from the tip clearance 42a, the gap 41, the opening 40, and the work space 90.
- the first joint J ⁇ b> 1 does not include any other seal member on the space path going toward the work space 90 when viewed from the seal member 35.
- another seal member may be provided on a space path away from the work space 90 when viewed from the seal member 35.
- FIG. 4 is an enlarged view of FIG. 2 and a cross-sectional view of the peripheral portion of the seal member 35 shown in FIG. 2
- FIG. 5 is a perspective cross-sectional view of the peripheral portion of the seal member 35 shown in FIG.
- the gap 41 is formed between the step surface 23 and the end surface 13, extends over the entire circumference in the circumferential direction of the step surface 23 and the circumferential direction of the end surface 13, and the opening 40 is formed at the outer peripheral edge portion thereof.
- the gap 41 has an annular cross section when viewed in the direction orthogonal to the axis, and is formed so as to expand in the axial direction toward the outer peripheral side in the radial direction.
- the stepped surface 23 is partly or entirely inclined or curved away from the end surface 13 toward the outer circumferential side in the radial direction. Yes.
- the stepped surface 23 is located on the radially outer peripheral side in substantially all of the inner peripheral edge connected to the outer peripheral surface of the fitting end portion 22 to the outer peripheral edge (that is, the end edge 21a) connected to the outer peripheral surface of the main body portion 21.
- the plane is inclined with respect to the axis orthogonal plane P so as to be away from the cylindrical end 11 as it goes.
- the end surface 13 of the cylindrical end portion 11 is also inclined or curved so that a part or all of the end surface 13 is separated from the step surface 23 toward the radially outer peripheral side.
- the end surface 13 has an inclined surface 13 a that is parallel to the axis orthogonal plane P at the inner peripheral edge that defines the opening 12 and continues from this parallel portion.
- the inclined surface 13a is inclined with respect to the axis-orthogonal plane P so as to be separated from the main body portion 21 toward the outer peripheral side in the radial direction, and is connected to the outer peripheral surface of the cylindrical end portion 11 at the outer peripheral edge.
- the end surface 13 is parallel to the axis orthogonal plane P, while the step surface 23 is inclined away from the cylindrical end portion 21.
- the end surface 13 and the stepped surface 23 are relatively distant from each other toward the radially outer peripheral side, and the gap 41 expands in the axial direction toward the radially outer peripheral side.
- the end face 13 (inclined surface 13a) and the stepped surface 23 are inclined so as to move away from each other, so that the gap 41 is greatly expanded in the axial direction toward the radially outer peripheral side.
- the gap 41 according to the present embodiment forms a V shape when an axial passage section is taken.
- the shape of the stepped surface 23 and the end surface 13 is merely an example, and as a result, the stepped surface 23 and the end surface 13 are axially extended toward the radially outer peripheral side as long as the gap 41 can be widened.
- Step surface 23 and end surface 13 may be formed in different shapes.
- the stepped surface 23 may be partially or entirely curved, and the end surface 14 may be entirely curved or inclined.
- the step surface 23 may have a curved surface portion and a flat surface portion, or a portion that is partially parallel to the axis orthogonal direction plane P, or inclined or curved on the opposite side to the axis orthogonal direction plane P. You may have a part to do.
- the step surface 23 may be connected to the outer peripheral surface of the main body portion 21 and / or the outer peripheral surface of the fitting end portion 22 via round corners. The same applies to the end face 13.
- the cylindrical end portion 11 has an end wall portion 16 on the axial direction front end side with respect to the circumferential groove 14, and the end wall portion 16 is an end surface 13 and an opposite surface that surrounds the circumferential groove 14. 14a.
- the inner peripheral surface 16 a of the end wall portion 16 defines the insertion opening 12 and forms a tip clearance 42 a with the outer peripheral surface of the fitting end portion 22.
- the opening 15 is provided in the end wall 16, and allows the circumferential groove 14 defined by the one side surface 14 a to communicate with the gap 41 defined by the end surface 13.
- the opening 15 is formed by cutting the end wall 16 from the inner peripheral surface 16a to the outer peripheral side in the radial direction.
- the cylindrical end portion 11 has a plurality of openings 15, and these openings 15 are arranged at intervals in the circumferential direction.
- the four openings 15 are arranged at equal intervals in the circumferential direction (that is, every 90 degrees).
- FIG. 3 illustrates the case where each opening 15 is rectangular when viewed in the direction perpendicular to the axis, but the opening may be circular or other non-circular. Further, the number of openings 15 is not limited to four, and can be changed as appropriate.
- the tip clearance 42a expands in the radial direction at the cutout portion.
- the opening 15 serves to expand a part of the tip clearance 42a extending in the circumferential direction over the entire circumference in the radial direction, thereby partially communicating with the gap 41 of the circumferential groove 14. It has been revealed.
- the opening 15 may be formed by penetrating the end wall 16 in the axial direction on the radially outer side of the inner peripheral surface 16a of the end wall 16. In this way, the tip clearance 42a is not enlarged, but the communication of the circumferential groove 14 with the gap 41 can be partially manifested.
- the opening 15 has one side surface 15 a on the outer peripheral side in the radial direction.
- the one side surface 15 a does not stand up in the axial direction, and the axial direction It is inclined so as to be directed toward the outer peripheral side in the radial direction as it goes toward the tip side (that is, as it approaches the end surface 13).
- the one side surface (hereinafter also referred to as “inclined surface”) 15 a is inclined with respect to the axis orthogonal plane so as to approach the main body portion 21 toward the radially outer peripheral side.
- the base end edge 15b in the axial direction of the inclined surface 15a of the opening 15 is the inner peripheral edge of the inclined surface 15a, and is also the inner peripheral edge of one side surface 14a of the circumferential groove 14.
- the seal member 35 is disposed on the outer peripheral side in the radial direction with respect to the conical surface C in contact with the end edge 15b and the end edge 21a of the main body 21.
- the said conical surface C is represented with a straight line, if an axial passage cross section is taken, as shown in FIG.
- the seal member 35 is accommodated in the circumferential groove 14 formed on the inner peripheral surface of the cylindrical end portion 11, so that the seal member 35 is provided in the opening 40. Compared to the case, the seal member 35 can be disposed at a deeper location in the first joint J1. The seal member 35 is covered with the end wall portion 16. Thereby, even if abrasion powder is generated from the seal member 35 during the operation of the robot R, it is possible to suppress the abrasion powder from being scattered in the work space 90. For this reason, the robot R can be suitably used for applications that require high cleanliness.
- high-pressure cleaning water is sprayed from the work space 90 to the robot R during periodic cleaning of the robot R.
- the high-pressure washing water from the work space 90 enters the gap 41 through the opening 40.
- the cleaning water that has entered the gap 41 passes straight through the gap 41 after being sprayed on the stepped surface 23 or the end face 13, and enters the tip clearance 42 a through the insertion opening 12. Further, the cleaning water that has entered the gap 41 enters the opening 15.
- the cleaning water enters the circumferential groove 14 from the opening 15 or the tip clearance 42a.
- the gap 41 is formed so as to expand in the axial direction as it goes radially outward, so that the opening 40 is greatly opened in the axial direction. For this reason, a large amount of high-pressure washing water from the work space 90 is taken into the gap 41 and flows smoothly in the gap 41. Therefore, the cleaning efficiency of the step surface 23 and the end surface 13 that define the gap 41 is improved.
- the opening 15 that allows the circumferential groove 14 to communicate with the gap 41 since the opening 15 that allows the circumferential groove 14 to communicate with the gap 41 is provided, water that has entered the gap 41 can be smoothly guided into the circumferential groove 14. For this reason, even if the circumferential groove 14 is arranged at a position deeper to protect the seal member 35, the cleaning efficiency inside the circumferential groove 14 is improved.
- the openings 15 are arranged at intervals in the circumferential direction, and therefore, the communication location and the degree of communication between the circumferential groove 14 and the gap 41 via the openings 15 are limited. Thereby, the protection of the sealing member 35 can be improved.
- the cleaning water that has entered the gap 41 can enter the tip clearance 42a through the insertion opening 12, but such intrusion cannot be expected greatly, and once it has entered, it becomes difficult to drain.
- the opening 15 is formed by notching the end wall 16 from the inner peripheral surface 16a, and serves to partially widen the tip clearance 42a in the radial direction. For this reason, the cleaning water that has entered the opening 15 instead of the insertion opening 12 from the gap 41 can rotate in the circumferential direction and enter the tip clearance 42a, and the cleaning efficiency of the tip clearance 42a is improved.
- the cleaning water that has entered the tip clearance 42a is likely to be drained through the opening 15, and an improvement in drainage efficiency of the tip clearance 42a can be expected.
- the rotating shaft 31 may be rotated during the drainage, and the rotating table 2 may be rotated with respect to the base 1. Then, the fitting end portion 22 rotates and slides with respect to the seal member 35 and the cylindrical end portion 11. This makes it easier to guide the cleaning water that has entered the tip clearance 42a to the opening 15 and improves the drainage efficiency. Further, the cleaning water that has entered the circumferential groove 14 is easily guided to the gap 41 through the opening 15, and drainage efficiency is improved. Moreover, the washing water droplet adhering to the level
- step difference surface 23 can be blown to a radial direction outer peripheral side with a centrifugal force, and the drainage efficiency of the washing water in the clearance gap 41 is also improved.
- the step surface 23 and the inclined surface 15a that define the gap 41 are inclined so as to move away from each other. The cleaning water in the gap 41 can be guided to the opening 40 along the step surface 23 and the inclined surface 15a, and drainage efficiency is improved.
- the seal member 35 is accommodated in the circumferential groove 14 disposed at a position deeper than the tip clearance 42a when viewed from the opening 40. For this reason, even if the opening 15 is provided, the high-pressure cleaning water is difficult to directly hit the seal member 35. Therefore, the seal at the clearance 42 by the seal member 35 is not easily broken by the high-pressure cleaning water, and the high-pressure cleaning water can be prevented from passing through the circumferential groove 14 and entering the internal clearance 42a and the joint J1 communicating therewith. . For this reason, the cleaning water does not accumulate undesirably inside the joint J1, and the drive mechanism including the rotating shaft 31 can be protected.
- the seal member 35 is accommodated in the circumferential groove 14 and is more radially outer than the conical surface C that contacts the edge 15b of the opening 15 and the edge 21a of the main body 21. Placed on the side.
- the high-pressure washing water from the work space 90 goes toward the joint J1 along the conical surface C
- the high-pressure washing water can enter the deepest part of the joint J1 through the opening portion 40. Since the sealing member 35 is arranged on the outer peripheral side in the radial direction from the conical surface C, even the high-pressure washing water W0 that is directed along the conical surface C does not directly hit the sealing member 35. Therefore, it is possible to more reliably suppress the seal of the clearance 42 from being broken by the high-pressure washing water.
- Increasing the slope of the stepped surface 23 or widening the opening 15 in the radial direction increases the size of the opening 40, the gap 41, and the opening 15 and improves the cleaning efficiency of the gap 41, the tip clearance 42a, and the circumferential groove 14. Also, drainage efficiency from these spaces is improved. On the other hand, since the conical surface C reaches deeper in the circumferential groove 14, the high-pressure cleaning water is likely to directly hit the seal member 35.
- the seal member 35 is formed so as to move away from the outer peripheral surface of the fitting end portion 22 in the radial direction at the tip end portion in the axial direction of the inner edge portion in the radial direction as it approaches the main body portion 21.
- the seal member 35 can be actively released from the conical surface C. For this reason, it is possible to prevent the seal of the clearance 42 from being broken by the high-pressure cleaning water while improving the cleaning efficiency and the drainage efficiency by increasing the inclination of the step surface 23.
- the inclined surface 15a is employ
- the opening 15 can be expanded as far as possible toward the outer periphery in the radial direction at the back of the opening 15 (outer periphery in the radial direction), proximal to the gap 41. Accordingly, the cleaning water that has entered the gap 41 through the opening 40 is easily guided to the tip clearance 42a and the circumferential groove 14 through the opening 15, and the cleaning efficiency of the tip clearance 42a and the circumferential groove 14 is improved. On the contrary, it becomes easy to drain the invading washing water.
- the end wall portion 16 can be left as close as possible to the circumferential groove 14 in the back portion (radially outer peripheral portion) of the opening portion 15.
- the seal member 35 can be prevented from being largely exposed to the gap 41 through the opening 15, and the seal member 35 accommodated in the circumferential groove 14 can be suitably protected by the end wall portion 16. In this way, it is possible to achieve both improvement in cleaning efficiency and drainage efficiency and protection of the seal member 35.
- FIG. 6 and 7 are sectional views of the joint seal structure of the robot RA according to the second embodiment.
- the joint seal structure according to the second embodiment has the same configuration as that of the first embodiment except for the opening 115 and the surrounding structure.
- the opening 115 is formed so as to extend over the entire circumference in the end wall portion 116 of the cylindrical end 111 of the base 101.
- the opening 115 is formed by setting back the inner peripheral surface of the end wall portion 116 uniformly on the outer peripheral side in the radial direction.
- the opening 115 becomes the insertion opening 112 and
- the tip clearance 142a is expanded radially outward along the entire circumference.
- the circumferential groove 114 communicates with the gap 141 in the axial direction at any portion in the circumferential direction through the opening 115.
- the cleaning efficiency of the circumferential groove 114 and the tip clearance 142a is improved, and the drainage efficiency of the cleaning water from the circumferential groove 114 is improved.
- the axial base end edge 115b of the inclined surface 115a of the opening 115 is positioned on the radial center side with respect to the outer peripheral surface of the seal member 135, whereby the seal member 135 is formed at the end wall portion 116. Can be protected.
- the end surface 113 of the cylindrical end 111 extends from the front end edge in the axial direction of the inclined surface 115a to the radially outer peripheral side, and is inclined so as to move away from the step surface 23 toward the radially outer peripheral side.
- FIG. 8 is a cross-sectional view of the joint seal structure of the robot RB according to the third embodiment.
- the cylindrical end portion 211 of the base 201 has a circular insertion opening 212 at the tip thereof and an annular end surface 213 that defines the insertion opening 212.
- the end surface 213 is close to and faces the step surface 23 of the turntable 2 in the axial direction.
- An open port 240 is formed between the outer peripheral surface of the main body 21 and the outer peripheral surface of the cylindrical end portion 211, and a gap 241 is formed between the end surface 213 and the step surface 23 at the back of the open port 240.
- the gap 241 is expanded toward the outer peripheral side.
- the cylindrical end portion 211 has a circumferential groove 214 formed on the inner circumferential surface thereof so as to extend over the entire circumference, and an end wall portion 216 positioned on the distal end side in the axial direction with respect to the circumferential groove 214.
- the end wall portion 216 includes an end surface 213, a side surface 214 a that is the opposite surface and surrounds the circumferential groove 214, and an inner peripheral surface 216 a that faces the outer peripheral surface of the fitting end portion 22.
- the annular seal member 235 has a groove 235a extending over the entire circumference in the axially intermediate portion, and the end wall portion 216 includes a radial inner edge portion of the end surface 213, a radial inner edge portion and an inner peripheral surface of the one side surface 214a. 216a is fitted into the groove 235a in a state of being in close contact with the surface defining the groove 235a.
- the seal member 235 has an accommodating portion 235b accommodated in the circumferential groove 214 on the proximal side in the axial direction from the groove 235a.
- the seal member 235 has a distal end portion 235c that protrudes from the end surface 213 and is exposed in the gap 241 on the distal end side in the axial direction from the groove 235a.
- the seal member 235 is disposed on the radial center side with respect to the outer peripheral surface of the cylindrical end portion 211 and the outer peripheral surface of the main body portion 21 (that is, the open port 240).
- a part of the seal member 235 is exposed in the gap 241 and is arranged on the radial center side with respect to the outer peripheral surface of the cylindrical end portion 211 and the outer peripheral surface of the main body portion 21.
- the distal end portion 235c forms an inclined surface 235d that inclines toward the distal end side in the axial direction from the radially outer peripheral edge in contact with the end surface 213 toward the radially inner peripheral edge in contact with the outer peripheral surface of the fitting end portion 22.
- the seal member 235 blocks the tip clearance 42a or 142a in the above-described embodiment and prevents the circumferential groove 214 from communicating with the gap 241. Therefore, only the gap 241 defined by the radial outer edge portion of the end surface 213, the step surface 23 and the inclined surface 235 d is opened to the work space 90 through the opening port 240. Therefore, there is no narrow space into which cleaning water and sterilization gas enter, and the surface of the robot R can be easily sterilized. Since the gap 241 expands toward the outer peripheral side, the cleaning water and the sterilization gas can easily enter the gap 241 and be discharged from the gap 241. Moreover, the cleaning water adhering to the surface of the gap 241 can be easily wiped off.
- the portion of the seal member 235 that forms a part of the surface of the gap 241 is the inclined surface 235d, the cleaning water that has entered the back of the gap 241 can be easily drained. Since the seal member 235 is disposed in the deep part of the gap 241, the seal member 235 can be protected.
- the present invention has a remarkable effect that the seal can be protected even when the robot is washed with high-pressure washing water, and can be widely applied to robots having joints. It is beneficial to apply to a robot to be used, for example, a robot used for manufacturing a pharmaceutical product.
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- General Engineering & Computer Science (AREA)
- Manipulator (AREA)
- Sealing Devices (AREA)
- Dental Tools And Instruments Or Auxiliary Dental Instruments (AREA)
- Joints Allowing Movement (AREA)
Abstract
Description
J1~J6,J1A,J1B 関節
1 基台
2 回転台
3 基端アーム
4 先端アーム
5 基端手首
6 先端手首
7 アタッチメント
11 筒状端部
12,112,212 挿入開口
13,113,213 端面
14,114,214 周溝
15,115 開口部
21 本体部
22 嵌込み端部
23 段差面
35,135,235 シール部材
40,240 開放口
41,141,241 間隙
Claims (6)
- 第1部材の筒状端部に第2部材を嵌挿したロボットの関節シール構造であって、
前記第2部材の端部に設けられて前記筒状端部に嵌挿された嵌込み端部と、
前記筒状端部の内周面に全周に渡って延びるように形成された周溝と、
前記周溝内に収容され、前記嵌込み端部の外周面に密着する環状のシール部材と、を備え、
前記嵌込み端部が、前記第2部材の本体部よりも小径に形成され、前記本体部と前記嵌め込み端部との間の段差面は、前記筒状端部の端面と軸線方向に近接対向し、
前記段差面と前記筒状端部の前記端面との間に、全周に渡って延び、前記第1部材及び前記第2部材の外に開放され、且つ、外周側に向かうほど拡がる間隙が形成されている、ロボットの関節シール構造。 - 前記筒状端部の前記端面に、前記周溝を前記間隙に連通させる開口部が開口している、請求項1に記載のロボットの関節シール構造。
- 前記開口部が周方向に間隔をおいて形成されている、請求項2に記載のロボットの関節シール構造。
- 前記開口部が全周に渡って延びるように形成されている、請求項2に記載のロボットの関節シール構造。
- 前記シール部材の一部が、前記筒状端部の前記端面から前記間隙内に露出し且つ前記筒状端部の外周面及び前記本体部の外周面よりも径方向中心側に配置される、請求項1に記載のロボットの関節シール構造。
- 前記ロボットが医薬品の製造に用いられるロボットである、請求項1乃至5のいずれか1項に記載のロボットの関節シール構造。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US14/650,235 US9399301B2 (en) | 2012-12-05 | 2013-11-28 | Joint seal structure of robot |
CN201380062879.6A CN104812536B (zh) | 2012-12-05 | 2013-11-28 | 机械手的关节密封结构 |
EP13860197.6A EP2929989B1 (en) | 2012-12-05 | 2013-11-28 | Joint seal structure of robot |
KR1020157016396A KR101751375B1 (ko) | 2012-12-05 | 2013-11-28 | 로봇 관절 실링 구조 |
JP2014550909A JP5982011B2 (ja) | 2012-12-05 | 2013-11-28 | ロボットの関節シール構造 |
Applications Claiming Priority (2)
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JP2012266207 | 2012-12-05 | ||
JP2012-266207 | 2012-12-05 |
Publications (1)
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WO2014087615A1 true WO2014087615A1 (ja) | 2014-06-12 |
Family
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2013/006992 WO2014087615A1 (ja) | 2012-12-05 | 2013-11-28 | ロボットの関節シール構造 |
Country Status (6)
Country | Link |
---|---|
US (1) | US9399301B2 (ja) |
EP (1) | EP2929989B1 (ja) |
JP (1) | JP5982011B2 (ja) |
KR (1) | KR101751375B1 (ja) |
CN (2) | CN104812536B (ja) |
WO (1) | WO2014087615A1 (ja) |
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WO2023136368A1 (ko) * | 2022-01-11 | 2023-07-20 | 엘지전자 주식회사 | 로봇 |
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US20150321362A1 (en) | 2015-11-12 |
EP2929989A1 (en) | 2015-10-14 |
KR20150088832A (ko) | 2015-08-03 |
CN106182086B (zh) | 2019-01-11 |
JPWO2014087615A1 (ja) | 2017-01-05 |
JP5982011B2 (ja) | 2016-08-31 |
EP2929989A4 (en) | 2016-08-10 |
CN104812536B (zh) | 2016-09-28 |
KR101751375B1 (ko) | 2017-06-27 |
EP2929989B1 (en) | 2018-03-14 |
US9399301B2 (en) | 2016-07-26 |
CN104812536A (zh) | 2015-07-29 |
CN106182086A (zh) | 2016-12-07 |
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