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CN-115899265-B - Sealing device and equipment and robot with same

CN115899265BCN 115899265 BCN115899265 BCN 115899265BCN-115899265-B

Abstract

A sealing device for use between a first member and a second member made of metal and including a first sealing assembly configured to be sealably connected to the first member, and a second sealing assembly configured to be sealably connected to the second member, wherein the first sealing assembly and the second sealing assembly are configured to form at least one dynamic seal with each other in a circumferential direction of the first member and the second member, wherein portions of the first sealing assembly and the second sealing assembly that are in contact with each other are each made of plastic. The apparatus comprises the aforementioned sealing means. The robot comprises a mechanical arm, wherein the mechanical arm at least comprises a first connecting rod and the sealing device, the first component is the first connecting rod, and the second component is a second connecting rod, a base or an end actuating mechanism connected with the first connecting rod.

Inventors

  • HU SHAOBO
  • LI XUESEN
  • JIANG HAO
  • LIANG ZHIYANG

Assignees

  • 上海非夕机器人科技有限公司
  • 非夕科技有限公司

Dates

Publication Date
20260505
Application Date
20221221

Claims (19)

  1. 1. A sealing device configured for use between a first member and a second member made of metal, the sealing device comprising: A first seal assembly configured to be sealingly connected to the first member, and A second seal assembly configured to be sealingly connected to the second member, Wherein the portions of the first and second seal assemblies that contact each other are each made of plastic; the first seal assembly has a first seal portion and a second seal portion, wherein the first seal portion is disposed between the first member and the second seal portion and is configured to seal between the first member and the second seal portion in a radial direction of the first member and the second member; the second sealing part is provided with an annular groove, and the first sealing part is arranged in the annular groove to seal the first component; The second seal assembly has a third seal portion and a fourth seal portion, wherein, The third sealing portion is provided between the second member and the fourth sealing portion and is configured to seal between the second member and the fourth sealing portion in a radial direction and an axial direction of the first member and the second member, Wherein the fourth seal portion is configured to form a dynamic seal with the second seal portion in a circumferential direction of the first and second members; The third sealing part can generate certain deformation to form fixed sealing connection with the second component through friction force, one of the second sealing part and the fourth sealing part is formed with a concave part, the other of the second sealing part and the fourth sealing part is formed with a convex part, and the convex part is inserted into the concave part and is contacted with the concave part to form dynamic sealing of the at least one part along the circumferential direction of the first component and the second component.
  2. 2. The sealing device of claim 1, wherein the first sealing assembly is fixedly and sealingly connected with the first member and/or the second sealing assembly is fixedly and sealingly connected with the second member.
  3. 3. The sealing device of claim 1, wherein the second seal portion is made of plastic.
  4. 4. A sealing device as claimed in claim 3, wherein the stiffness of the material of the second sealing portion is greater than the stiffness of the material of the first sealing portion.
  5. 5. The sealing device of claim 1, wherein the first sealing portion is deformable to form a fixed sealing connection with the first member by friction.
  6. 6. The sealing device of claim 1, wherein the fourth seal has a stiffness greater than a stiffness of the third seal.
  7. 7. The sealing device of claim 1, wherein the contact between the concave portion and the convex portion is substantially a line contact.
  8. 8. The sealing device of claim 1, wherein, The side surface of the concave portion or a part thereof is a flat surface and the convex portion has a rounded surface in contact with the flat surface, or The side surface or a part thereof of the concave portion is a rounded surface and the convex portion has a flat surface in contact with the rounded surface, or The side surface of the concave portion or a part thereof is a rounded surface and the convex portion has a rounded surface in contact with the rounded surface.
  9. 9. A sealing device as claimed in claim 3, wherein the first sealing portion comprises an O-ring, annular gasket or lip seal mounted between the second sealing portion and the first member, the second sealing portion comprising a compression ring, wherein the first sealing portion is made of rubber.
  10. 10. The sealing device of claim 9, wherein the first member has a first shoulder formed thereon, the second seal being mounted on the first shoulder.
  11. 11. The sealing device of claim 1, wherein the third seal comprises a lip seal ring mounted between the fourth seal and the second member, the fourth seal comprising a compression ring, wherein the third seal is made of rubber.
  12. 12. A sealing arrangement as claimed in claim 11, wherein the fourth sealing portion and/or the second member has an annular groove formed thereon, the third sealing portion being disposed in the annular groove to seal the second member, the second member having a second shoulder formed thereon, the third sealing portion being mounted on the second shoulder.
  13. 13. The sealing device of claim 1, wherein the first seal comprises an O-ring and is disposed between the first member and the second seal, the third seal comprises a lip seal, and the fourth seal is disposed between the third seal and the second seal.
  14. 14. The seal of claim 1, wherein the plastic comprises at least one of PVCTE, polyvinyl chloride, polypropylene, polyethylene, polybutylene, acrylonitrile-butadiene-styrene copolymer, or polytetrafluoroethylene.
  15. 15. An apparatus comprising first and second members made of metal and the sealing device of claim 1 disposed between the first and second members.
  16. 16. A robot comprising a robot arm comprising at least a first and a second member made of metal and the sealing device of claim 1 arranged between the first and the second member, wherein the first member is a first robot arm link and the second member is a second robot arm link, a base or an end effector, wherein the second member is rotatably connected with the first member.
  17. 17. The robot of claim 16, wherein the first seal assembly has a first seal and a second seal, wherein the first seal is disposed between the first member and the second seal and is configured to seal between the first member and the second seal in a radial direction of the first member and the second member, Wherein the second sealing part is made of plastic and is fixedly connected with the first component.
  18. 18. The robot of claim 17, wherein the second seal assembly has a third seal and a fourth seal, wherein the third seal is disposed between the second member and the fourth seal and is configured to seal between the second member and the fourth seal in a radial direction and an axial direction of the first member and the second member, Wherein the fourth seal portion is made of plastic and is configured to form a dynamic seal with the second seal portion in a circumferential direction of the first and second members at the at least one location.
  19. 19. The robot of claim 17, wherein the fourth seal is fixedly connected to the second member.

Description

Sealing device and equipment and robot with same Technical Field The present application relates to the field of mechanical sealing technology, and more particularly to sealing between links of a mechanical device such as a robot. Background Industrial robots have been widely used in various industries such as welding, assembly, sanding, polishing, spraying, medical surgery, agricultural work, entertainment or education, and the like. In practical applications, robots are applied not only in indoor environments but also in outdoor environments. In the scene that operational environment is abominable, the protection and sealing performance requirement to the robot is higher, otherwise dust, metal particle or water etc. can enter into the robot originally internally, and this can cause the corruption of robot joint, damage to influence the function of robot. In addition, in some special occasions with high cleanliness requirements, such as the fields of medical treatment, food production, precision electronic device manufacturing and the like, the robot is required to be incapable of generating pollution, otherwise, the produced products are polluted. Therefore, the links of the robot arm of the robot need to be sealed to prevent water, dust, etc. from entering the robot body to prevent damage to the robot, or to prevent contaminants inside the robot from leaking into the external environment to meet the cleanliness requirement of the application scene. Disclosure of Invention According to a first aspect of the present application there is provided a sealing arrangement configured for use between a first member and a second member made of metal, the sealing arrangement comprising a first sealing assembly configured to be sealingly connectable to the first member and a second sealing assembly configured to be sealingly connectable to the second member, wherein the first and second sealing assemblies are configured to form at least one dynamic seal with each other in a circumferential direction of the first and second members, wherein portions of the first and second sealing assemblies in contact with each other are each made of plastic. In at least one embodiment according to the present disclosure, the first seal assembly may be fixedly and sealingly connected with the first member, and/or the second seal assembly may be fixedly and sealingly connected with the second member. In at least one embodiment according to the present disclosure, the first sealing assembly may have a first sealing portion and a second sealing portion, wherein the first sealing portion may be disposed between the first member and the second sealing portion and may be configured to seal between the first member and the second sealing portion in a radial direction of the first member and the second member, wherein the second sealing portion may be made of plastic. In at least one embodiment according to the present disclosure, the material of the second sealing part may have a stiffness greater than that of the first sealing part. In at least one embodiment according to the present disclosure, the second sealing assembly may have a third sealing portion and a fourth sealing portion, wherein the third sealing portion may be disposed between the second member and the fourth sealing portion and may be configured to seal between the second member and the fourth sealing portion in a radial direction and an axial direction of the first member and the second member, wherein the fourth sealing portion may be made of plastic and may be configured to form a dynamic seal with the second sealing portion in a circumferential direction of the first member and the second member. In at least one embodiment according to the present disclosure, the fourth sealing portion may have a stiffness greater than a stiffness of the third sealing portion. In at least one embodiment according to the present disclosure, one of the second sealing part and the fourth sealing part may be formed with a concave part, and the other of the second sealing part and the fourth sealing part may be formed with a convex part, wherein the convex part may be inserted into the concave part and contact with the concave part to form the at least one dynamic seal along the circumferential direction of the first member and the second member. In at least one embodiment according to the present disclosure, the contact between the concave portion and the convex portion may be substantially line contact. In at least one embodiment according to the present disclosure, the side surface of the concave portion or a portion thereof may be a flat surface and the convex portion may have a rounded surface in contact with the flat surface, or the side surface of the concave portion or a portion thereof may be a rounded surface and the convex portion may have a flat surface in contact with the rounded surface, or the side surface of the concave portion or a portion thereof may be a rounded surface a