JP-7856482-B2 - Sealing devices, rotating devices, and industrial robots

JP7856482B2JP 7856482 B2JP7856482 B2JP 7856482B2JP-7856482-B2

Inventors

中井悠人
杉山敦士

Assignees

ナブテスコ株式会社

Dates

Publication Date: 20260511
Application Date: 20220512

Claims (12)

A cylindrical first member having an opening, A second member fitted to the inner circumferential surface of the first member, A main sealing portion that seals the space between the first member and the second member, A sub-seal portion is provided on the opening side of the main seal portion and is formed by at least the first member and the second member, Equipped with , The sub-seal portion comprises a cover portion provided on the opening side of the second member, The lid portion faces the axial end of the first member in the axial direction, and a gap is formed between the lid portion and the axial end of the first member. Sealing device.
The sealing device according to claim 1, wherein the width between the inner circumferential surface of the first member and the outer circumferential surface of the second member is greater than the width of the gap between the lid and the axial end of the first member.
The sealing device according to claim 1 or claim 2, wherein the sub-seal portion has a recess formed on at least one of the inner circumferential surface of the first member or the outer circumferential surface of the second member.
The sealing device according to claim 1 or claim 2, wherein the sub-seal portion has a protrusion formed on at least one of the inner circumferential surface of the first member or the outer circumferential surface of the second member.
The sub-seal portion has two sides that are radially opposed to each other with a gap in between and are positioned adjacent to the main seal portion. The sealing device according to claim 1 or claim 2, wherein the two aforementioned sides are positioned in a range that avoids the radially outer end and the radially inner end of the main seal portion when viewed from the axial direction.
When the width between the two sides is defined as Wg1, and the width between the inner circumferential surface of the first member and the outer circumferential surface of the second member at the location where the main seal portion is provided is defined as Wg2, then widths Wg1 and Wg2 are, Wg2/3≦Wg1≦Wg2/2 A sealing device according to claim 5 that satisfies the requirements.
When the width between the inner circumferential surface of the first member and the outer circumferential surface of the second member of the sub-seal portion is defined as Wg1, and the width between the inner circumferential surface of the first member and the outer circumferential surface of the second member at the location where the main seal portion is provided is defined as Wg2, then widths Wg1 and Wg2 are, Wg2/3≦Wg1≦Wg2/2 A sealing device according to claim 1 that satisfies the requirements.
The sealing device according to claim 1, wherein the first member is made of stainless steel.
A cylindrical first member having an opening formed of stainless steel, A second member fitted to the inner circumferential surface of the first member, A main sealing portion that seals the space between the first member and the second member, A sub-seal portion is provided on the opening side of the main seal portion and is formed by at least the first member and the second member, Equipped with, The sub-seal portion comprises a cover portion provided on the opening side of the second member, The lid portion is positioned so as to cover the opening, and is axially opposite to the axial end of the first member. A sealing device in which the width between the lid and the axial end of the first member is smaller than the width between the inner circumferential surface of the first member and the outer circumferential surface of the second member.
A cylindrical first member having an opening formed of stainless steel, A second member fitted to the inner circumferential surface of the first member, A main sealing portion that seals the space between the first member and the second member, A sub-seal portion is provided on the opening side of the main seal portion and is formed by at least the first member and the second member, Equipped with, The sub-seal portion has a side surface that is radially opposed to the main seal portion with a gap in between, and is positioned adjacent to the main seal portion. The aforementioned side surface is a sealing device positioned in a range that avoids the radially outer end and the radially inner end of the main seal portion when viewed from the axial direction.
A cylindrical cover having an opening, A reduction gear fitted to the inner circumferential surface of the cover, An output plate is attached to the aforementioned reduction gear and fitted to the inner circumferential surface of the cover, The system includes a sealing device that seals the space between the cover and the output plate, The aforementioned reduction gear is An internal gear having internal teeth is fitted to the inner circumferential surface of the cover, A rocking gear having external teeth that mesh with the internal teeth and which is rotated by rocking motion, The crankshaft has an eccentric portion that receives the rotational force of the power generation unit and rotatably supports the oscillating gear, and transmits the rotational force of the power generation unit to the oscillating gear, The output plate is attached to which the rotational force of the oscillating gear is transmitted, and a carrier is provided that outputs the rotational force of the oscillating gear to the output plate, Equipped with, The sealing device is, A main sealing portion that seals the space between the cover and the output plate, A sub-seal portion is provided on the opening side of the main seal portion and is formed by at least the cover and the output plate, Equipped with , The sub-seal portion comprises a cover portion provided on the opening side of the output plate, The lid portion faces the axial end of the cover in the axial direction, and a gap is formed between the lid portion and the axial end of the cover. Rotating device.
A cylindrical cover having an opening, A reduction gear fitted to the inner circumferential surface of the cover, An output plate is attached to the aforementioned reduction gear and fitted to the inner circumferential surface of the cover, A mating member mounted on the output plate opposite the reduction gear in the axial direction, A sealing device for sealing the space between the cover and the output plate, A power generation unit that generates rotational force, Equipped with, The aforementioned reduction gear is An internal gear having internal teeth is fitted to the inner circumferential surface of the cover, A rocking gear having external teeth that mesh with the internal teeth and which is rotated by rocking motion, The crankshaft has an eccentric portion to which the rotational force of the power generation unit is input and which rotatably supports the oscillating gear, and transmits the rotational force of the power generation unit to the oscillating gear, The output plate is attached to which the rotational force of the oscillating gear is transmitted, and a carrier is provided that outputs the rotational force of the oscillating gear to the output plate, Equipped with, The sealing device is, A main sealing portion that seals the space between the cover and the output plate, A sub-seal portion is provided on the opening side of the main seal portion and is formed by at least the cover and the output plate, Equipped with , The sub-seal portion comprises a cover portion provided on the opening side of the output plate, The lid portion faces the axial end of the cover in the axial direction, and a gap is formed between the lid portion and the axial end of the cover. Industrial robots.

Description

This invention relates to a sealing device, a rotating device, and an industrial robot. Industrial robots, such as machine tools, utilize various rotating devices for drive. For example, in machine tools like machining centers, a motor with a gearbox (motor drive unit) is used to drive the tool changer. A motor with a gearbox comprises a cylindrical casing, an electric motor housed within the casing, and a gearbox that receives the rotation of the electric motor. The output of the gearbox is fixed to the mating component (e.g., the tool changer). Under this configuration, the motor with a gearbox reduces the rotation of the electric motor and outputs it to the mating component. Incidentally, because a gearbox transmits rotational force to a mating component, its structure prevents it from being completely sealed by the casing. Therefore, a seal is provided between the casing and the gearbox's output section to seal the gap between them. This seal prevents water and dust from entering the motor drive unit through the gap between the casing and the output section. Japanese Patent Publication No. 2011-240772 This is a partial cross-sectional view of an industrial robot according to the first embodiment of the present invention.This is a diagram showing the configuration of a speed reducer in the first embodiment of the present invention.This is an enlarged view of section III in Figure 1.This is an explanatory diagram of the operation of the sealing device in the first embodiment of the present invention.This is a schematic diagram showing a modified example of the sealing device in the first embodiment of the present invention.This is a schematic diagram of the sealing device according to the second embodiment of the present invention. Next, embodiments of the present invention will be described based on the drawings. [First Embodiment] <Industrial Robots> Figure 1 is a partial cross-sectional view of the industrial robot 1. Industrial robot 1 is, for example, a machine tool such as a machining center. As shown in Figure 1, the industrial robot 1 comprises two mating members 2 and 3 (a first mating member 2 and a second mating member (an example of the mating members according to the claim)) and a motor with a reduction gear (an example of the rotating device according to the claim) 4 that rotatably connects the two mating members 2 and 3. For example, the first mating member 2 is a support column installed on a machine tool. For example, the second mating member 3 is a tool changer. The motor 4 with a reduction gear rotates the second mating member 3 around the rotation axis C1 relative to the first mating member 2. <Motor with reduction gear> The motor with a reduction gear 4 mainly consists of a cylindrical cover (an example of the first member of the claim) 5, a reduction gear 6 fitted into the cover 5, a motor flange 7 fitted into the cover 5 for fixing the reduction gear 6 to the first mating member 2, an electric motor 8 fixed to the motor flange 7 on the opposite side of the reduction gear 6, an output plate (an example of the second member of the claim) 9 provided on the opposite side of the reduction gear 6 from the motor flange 7 and fitted into the cover 5, and a sealing device 10 for sealing the space between the cover 5 and the output plate 9. In the following explanation, the direction parallel to the rotation axis C1 is referred to as the axial direction. The direction around the rotation axis C1 is referred to as the circumferential direction. The radial direction of the motor 4 with a reduction gear, which is perpendicular to the axial and circumferential directions, is simply referred to as the radial direction. The cover 5 is made of, for example, stainless steel. The first end 5a of the cover 5 on the side facing the first mating member 2 abuts against the first mating member 2. On the inner circumferential surface 5b of the cover 5, a flange fitting projection 11 is formed via a stepped portion 11a, extending from approximately the axial center to slightly before the first end 5a. The inner diameter of the flange fitting projection 11 is smaller than the inner diameter of the inner circumferential surface 5b of the cover 5. The flange fitting projection 11 is formed around the entire circumference. The motor flange 7 is fitted onto the inner circumferential surface 11b of the flange fitting projection 11. On the inner circumferential surface 5b of the cover 5, a gearbox fitting projection 12 is formed via a stepped portion 12a on the second mating member 3 side of the flange fitting projection 11. The inner diameter of the gearbox fitting projection 12 is smaller than the inner diameter of the flange fitting projection 11. The gearbox fitting projection 12 is formed around the entire circumference. The gearbox 6 is fitted onto the inner circumferential surface 11b of the gearbox fitting projection 12. The motor flange 7 is integrally molded from a disc-shaped flange body 14 and a cylindr