CN-121973276-A - Mechanical arm joint special-shaped sealing device and cooking robot

CN121973276ACN 121973276 ACN121973276 ACN 121973276ACN-121973276-A

Abstract

The application discloses a special-shaped sealing device for a mechanical arm joint and a cooking robot, and relates to the technical field of robots, comprising a sealing ring, a sealing body, a sealing plate and a sealing plate, wherein the sealing ring comprises a sealing body, a static sealing end face is formed towards one side of a first mechanical structural member, a dynamic sealing end face is formed towards one side of a second mechanical structural member, and the static sealing end face and the end face of the first mechanical structural member form a static seal; the dynamic seal end face and the end face of the second mechanical structural member form dynamic seal, the peripheral diameter of the seal body is not smaller than that of the first mechanical structural member after the seal ring is installed in place, and the seal lip extends from one side of the seal body, which is away from the static seal end face, and is abutted with the flange end face of the second mechanical structural member, and can be kept in dynamic fit with the flange end face of the second mechanical structural member all the time when the second mechanical structural member rotates. The problem of in the cooking scene, the joint gap easily deposit greasy dirt, clean inconvenient and wear piece drop and arouse food safety of arm among the related art is solved.

Inventors

SUN ZHIZHAO
XU QIANYAO
XING XINGGUO
LI HUAN
CHEN ZHEN

Assignees

清华珠三角研究院
享刻智能技术(北京)有限公司

Dates

Publication Date: 20260505
Application Date: 20260408

Claims (10)

1. The mechanical arm joint special-shaped sealing device comprises a first mechanical structural member and a second mechanical structural member which are oppositely arranged, wherein the second mechanical structural member can rotate around an axis relative to the first mechanical structural member, and is characterized in that the sealing device comprises a sealing ring made of elastic materials, the sealing ring can deform under the action of external force stretching, has the deformation capability of at least partially recovering deformation after the tensile force is eliminated, and is embedded in an annular gap between the first mechanical structural member and the second mechanical structural member; The sealing ring comprises: The sealing body forms a static sealing end face towards one side of the first mechanical structural member and forms a dynamic sealing end face towards one side of the second mechanical structural member, the static sealing end face is tightly attached to the flange end face of the first mechanical structural member to form a static seal, and the first mechanical structural member and the sealing ring are relatively fixed; a gap exists between the dynamic sealing end face and the flange end face of the second mechanical structural member, and the second mechanical structural member and the sealing ring rotate relatively; The sealing lip extends from one side of the sealing body, which is away from the static sealing end face, to the flange end face of the second mechanical structural member and is abutted to the flange end face of the second mechanical structural member, and the sealing lip can be always kept in dynamic fit with the flange end face of the second mechanical structural member when the second mechanical structural member rotates so as to form dynamic sealing.
2. The mechanical arm joint special-shaped sealing device according to claim 1, wherein the sealing body is provided with an annular groove on one side facing the second mechanical structural member, the annular groove surrounds the periphery of the sealing lip, and at least part of the circumferential inner wall of the sealing lip is attached to the outer wall of the second mechanical structural member close to the first mechanical structural member; at least one opening is formed in the circumferential outer wall of the sealing body, and the opening is communicated with the annular groove.
3. The mechanical arm joint special-shaped sealing device according to claim 1, wherein the length of the sealing lip is larger than the distance from the second mechanical structural member to one end of the sealing lip away from the second mechanical structural member, so that the sealing lip is compressed and maintains a pre-clinging force to the flange end surface of the second mechanical structural member in an installation state, and one end of the sealing lip, which is attached to the second mechanical structural member, is turned outwards in a direction away from the rotation axis.
4. The mechanical arm joint special-shaped sealing device according to claim 1, wherein at least a part of the outer periphery of the sealing body is provided as a positioning sealing ring which is circumferentially fitted to the circumferential outer side wall of the first mechanical structure; The positioning sealing ring is made of elastic materials, the inner diameter of the positioning sealing ring is smaller than the outer diameter of the first mechanical structural member in a free state, and continuous radial holding force is applied to the circumferential outer side wall of the first mechanical structural member through elastic deformation after the positioning sealing ring is installed, so that the sealing ring is limited to axially move and circumferentially rotate relative to the first mechanical structural member.
5. The special-shaped sealing device for the mechanical arm joint according to claim 4, wherein an annular transition groove is formed in a connecting part of the positioning sealing ring and the sealing body, and the annular transition groove is located on the periphery of the sealing body, which is close to the static sealing end face.
6. The mechanical arm joint profile sealing device of any one of claims 1-5, wherein the sealing ring is an integrally formed structure made of a single elastomeric material.
7. The mechanical arm joint special-shaped sealing device according to claim 6, wherein the hardness of the elastomer material constituting the sealing ring is not less than 50 shore a, and the stretchable maximum length is not less than 125% of the initial length.
8. The mechanical arm joint special-shaped sealing device according to claim 7, wherein the elastic material forming the sealing ring is stretched to the maximum limit, the external force is removed, the sealing ring is kept stand for recovering deformation, and the change rate of the length of the sealing ring after recovering deformation compared with the initial length is not more than 0.5%.
9. A cooking robot comprising the mechanical arm joint special-shaped sealing device and the mechanical arm according to any one of claims 1 to 8.
10. The cooking robot of claim 9, wherein the robotic arm joint profile seal is adaptable in the robotic arm for at least a first joint between a base and a large arm, a second joint between a large arm and a small arm, and a third joint between a small arm and an end effector.

Description

Mechanical arm joint special-shaped sealing device and cooking robot Technical Field The application relates to the technical field of robots, in particular to a special-shaped sealing device for a mechanical arm joint and a cooking robot. Background In complex environments with heavy oil stains and high humidity and heat such as automatic cooking, the cooking robot is widely used due to the advantages of high efficiency, sanitation and standardization. The mechanical arm is used as a core execution component of the cooking robot, and the sealing performance of the joint part of the mechanical arm is directly related to the reliability and the service life of the whole cooking robot. However, in heavy oil environment, the mechanical arm is used for a long time and is stained with a large amount of greasy dirt, and when the mechanical arm is cleaned manually, gaps at joints of the mechanical arm are easy to store the greasy dirt. After a period of operation, the greasy dirt solidification can increase arm motion resistance, and the greasy dirt can flow along the gap, mostly black, influences arm outward appearance and whole equipment cleanliness. Moreover, kitchen scenes have extremely high requirements for food hygiene safety. The mechanical arm joint is not tightly sealed, and metal scraps generated by joint abrasion or lubricating grease in the joint can fall into food, so that a great safety risk exists. The joint sealing mode of the existing mechanical arm mainly comprises the following steps that firstly, the joint is sealed in a waterproof mode according to the rotation position of the joint, and glue is applied to the mechanical arm structural part and the flange of the inner ring and the outer ring of the joint, so that the waterproof effect is achieved. Secondly, the joint does not have waterproof requirements, and a framework oil seal or an O-shaped ring is used in the mechanical arm assembly process to seal mechanical arm structural members. Thirdly, joint self does not do waterproof requirement, uses polymer ring (such as nylon) to add the soft gum material ring in the arm equipment in-process, and the seal between the arm structure is done, and in this scheme, the soft gum plays the spring effect, pushes away polymer ring to one side, contacts with arm moving part, carries out dynamic seal. By adopting the two modes, oil stains are extremely easy to infiltrate and accumulate in joint gaps after the mechanical arm runs for a period of time, so that the mechanical arm is difficult to clean, the joint movement resistance can be obviously increased after solidification, and the movement precision and response speed of the mechanical arm are affected. If the third scheme is adopted, the sealing device comprises a hard ring formed by a polymer ring (such as nylon) and a soft ring formed by a soft rubber material ring, and the sealing is formed by extruding the hard ring and the soft ring. After long-term use, if the sealing device needs to be maintained and replaced due to abrasion or aging, the sealing device can only be replaced by disassembling the whole mechanical arm due to poor elasticity of the hard ring, and the defect of inconvenient maintenance and replacement exists. It should be noted that the information disclosed in the above background section is only for enhancing understanding of the background of the application and thus may include information that does not form the prior art that is already known to those of ordinary skill in the art. Disclosure of Invention The application mainly aims to provide a special-shaped sealing device for a mechanical arm joint and a cooking robot, which are used for solving the problems that in a medium heavy oil environment, a joint gap is easy to store oil stains, cleaning is inconvenient and maintenance is inconvenient in the mechanical arm in the related art. Additional aspects and advantages of the application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the application. According to a first aspect of the present application, there is provided a mechanical arm joint special-shaped sealing device, the mechanical arm joint comprising a first mechanical structural member and a second mechanical structural member which are arranged in opposition, the second mechanical structural member being rotatable about an axis relative to the first mechanical structural member, the sealing device comprising a sealing ring made of an elastic material, the sealing ring being deformable under external tension and having a deformability of at least partially recovering the deformation after the tension is removed, the sealing ring being embedded in an annular gap between the first mechanical structural member and the second mechanical structural member; The sealing ring comprises: The sealing device comprises a sealing body, a sealing ring, a sealing body and a sealing b