Low-friction long-life oil seal for humanoid robot
By designing low-friction, long-life oil seals and using special structures and materials, the wear and leakage problems of humanoid robot seals under complex working conditions have been solved, achieving efficient and stable operation and long service life.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- ZHEJIANG HOOLEN SEALING SOLUTIONS CO LTD
- Filing Date
- 2025-08-15
- Publication Date
- 2026-07-10
AI Technical Summary
Existing technologies cannot meet the requirements of low friction, harsh environment, and bidirectional rotation for dynamic sealing systems of humanoid robots, resulting in rapid wear of seals and component surfaces, shortened service life, increased maintenance costs and downtime, and inability to effectively prevent oil leakage.
A low-friction, long-life oil seal for humanoid robots was designed, employing internal rubber grooves, a flexible protective lip, a sinusoidal oil groove, a buffer spring, and a cleaning strip, combined with fluororubber material, to achieve low friction, resistance to metal impurities, and high sealing performance.
It effectively resists corrosion from metal impurities, keeps oil seals clean, reduces wear, extends service life, improves operational stability and production efficiency, prevents oil leaks, and reduces downtime.
Smart Images
Figure CN224479290U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of oil seal technology for humanoid robots, specifically a low-friction, long-life oil seal for humanoid robots. Background Technology
[0002] Oil seals (rotary shaft lip seals) are key sealing elements for rotating components of humanoid robots, such as joints and reducers. They are mechanical components used to seal grease (oil is the most common liquid substance in transmission systems, and also refers to any liquid substance in general). They isolate the lubricated parts from the output parts in the transmission system, preventing lubricant leakage. Power machinery requires sealing with rubber components such as oil seals when transmitting power. The outer ring of the oil seal is interference-fitted to the machine body, and the seal between the machine body and the oil seal is achieved through the elastic deformation of the rubber. The inner ring tightly surrounds the transmission shaft through the elastic deformation of the rubber, isolating the internal and external substances. This prevents oil leakage from the machine body or the entry of external water, air, mud, and other substances into the machine body, thus preventing damage. Generally, the internal structure of oil seals used in humanoid robots is complex, and their operating conditions are characterized by the easy generation of metal fragments after gear wear. Rotary oil seals specifically designed for low friction, long life, and metal fragment conditions are prone to main lip damage in actual operation. This presents a challenge in selecting rotary shaft oil seals for metal fragment conditions.
[0003] To overcome the above-mentioned defects, the prior art (Chinese patent application number 202322355757.X, application date 2023-08-31) provides an oil seal product. An oil seal structure is provided between the edge of the hole and the rotating shaft. The oil seal structure includes a sealing ring and a bushing. The bushing is fitted onto the outer wall of the rotating shaft. The sealing ring is fixedly connected to the side of the hole edge facing the rotating shaft. An oil seal skeleton is provided between the sealing ring and the bushing. The side of the oil seal skeleton facing the bushing has a lip. This device enables the contact surface of the bushing to contact the lip on the oil seal skeleton when the rotating shaft rotates. This not only achieves a sealing function but also reduces the frictional torque generated by the oil seal skeleton during the rotation of the rotating shaft, resulting in less wear and tear on the oil seal skeleton and helping to extend its service life.
[0004] As robot performance continues to improve, their operating speed, load capacity, and working hours have all increased significantly. In some industrial manufacturing robots, they need to perform high-intensity repetitive actions continuously for long periods of time, such as high-speed robotic arms frequently grasping and moving heavy objects. This puts oil seals under tremendous pressure and friction. During use, the aforementioned devices cannot meet the three key performance indicators required for their dynamic sealing systems: low friction, harsh environment, and bidirectional rotation. This leads to rapid wear on the surfaces of the seals and the parts in contact with them, shortening the service life of the parts, increasing equipment maintenance costs and downtime, and degrading their performance, making it impossible to effectively prevent oil leakage. Utility Model Content
[0005] The purpose of this invention is to provide a low-friction, long-life oil seal for humanoid robots, in order to solve the problem that the three key performance indicators of the dynamic sealing system mentioned in the background art cannot be met: low friction, harsh environment, and bidirectional rotation, which leads to rapid wear of the seal and the surface of the parts in contact with it, shortens the service life of the parts, increases equipment maintenance costs and downtime, and at the same time degrades its performance and fails to effectively prevent oil leakage.
[0006] To achieve the above objectives, this utility model provides the following technical solution: a low-friction, long-life oil seal for humanoid robots, comprising an oil seal, wherein rubber grooves are formed inside the oil seal and are evenly distributed on the outer side of the oil seal, and a flexible protective lip is fixedly connected to the upper end of the inner wall of the oil seal, and the surface of the flexible protective lip is inclined; a secondary lip seat is fixedly connected to the lower end of the inner wall of the oil seal, and the surface of the secondary lip seat is inclined; a sinusoidal oil groove is provided inside the oil seal through a bidirectional rotary seal, and the sinusoidal oil groove has a low-friction structure; a buffer spring is fixedly connected to the upper end of the outer side of the sinusoidal oil groove, and the buffer spring is disposed inside the oil seal; a main lip is provided at the upper end of the inner wall of the sinusoidal oil groove through a low-friction structure, and the upper end of the main lip is inclined; and a metal skeleton is fixedly connected to the inner wall of the oil seal.
[0007] Preferably, the oil seal has a positioning groove inside, and a fixing rod is slidably connected to the inner wall of the oil seal, and a limit strip is fixedly connected to the upper end of the fixing rod.
[0008] Preferably, the limiting strip is slidably disposed inside the oil seal, and a sliding column is fixedly connected to the lower outer end of the limiting strip, and the sliding column is slidably disposed inside the oil seal.
[0009] Preferably, a cleaning strip is fixedly connected to the outside of the sliding column, and the cleaning strip is distributed at equal angles on the outside of the sliding column. The cleaning strip is in contact with the inner wall of the oil seal. The fixed rod is connected to a sliding block through a snap-fit structure. The snap-fit structure includes a connecting spring disposed on the surface of the sliding block.
[0010] Preferably, the fixing rod has a sliding groove inside, and one end of the connecting spring is fixedly connected to the surface of the sliding groove.
[0011] Preferably, the other end of the connecting spring is fixedly connected to the sliding block, and the sliding block is slidably disposed inside the fixed rod.
[0012] Preferably, a metal pull rope is fixedly connected to the surface of the sliding block, and the metal pull rope is slidably disposed inside the fixed rod. The fixed rod is slidably disposed on the surface of the positioning groove, and a buffer plate is fixedly connected to the upper end of the metal pull rope.
[0013] Compared with the prior art, the beneficial effects of this utility model are: the humanoid robot uses a low-friction, long-life oil seal with a novel structural design, which not only demonstrates excellent resistance to metal impurities, effectively resisting the erosion and wear of the oil seal by metal impurities, but also ensures stable operation under complex working conditions. The specific details are as follows:
[0014] (1) The humanoid robot uses a low-friction, long-life oil seal. The flexible sealing lip with a special structural design is bonded to the rubber body to form a component with good sealing performance. At the same time, the sealing lip of another oil seal adopts a low-friction design and is firmly bonded to the rubber body through a vulcanization molding process. Then, the two oil seals are combined into one, which not only shows excellent resistance to metal impurities, but also effectively resists the corrosion and wear of metal impurities on the oil seal, ensuring stable operation under complex working conditions.
[0015] Furthermore, it can prevent metal impurities from embedding in the sealing lip or scratching the shaft surface, protecting the integrity of the oil seal and shaft, while reducing downtime caused by oil seal failure and improving production efficiency.
[0016] (2) The humanoid robot uses a low-friction, long-life oil seal. Through the sliding column and cleaning strip, it can accurately clean the impurities, dust, oil stains, etc. attached to the oil seal, keep the oil seal surface clean, ensure that the oil seal is always in good working condition, reduce the degree of wear, and thus extend the service life of the oil seal.
[0017] Furthermore, it effectively avoids oil leakage caused by impurities damaging the sealing structure, thus improving the stability and reliability of robot operation.
[0018] (3) The humanoid robot uses a low-friction, long-life oil seal. The metal frame and sinusoidal oil groove can increase the rigidity and sealing performance of the oil seal, and can also make the oil seal fit correctly in the oil tank. At the same time, the sinusoidal oil groove can significantly reduce the temperature rise caused by friction, thus achieving efficient and stable operation. Attached Figure Description
[0019] Figure 1This is a schematic diagram of the connection structure between the oil seal and the metal skeleton of this utility model.
[0020] Figure 2 This is a schematic diagram of the connection structure between the oil seal and the flexible protective lip of this utility model.
[0021] Figure 3 This is a schematic diagram of the connection structure between the limiting strip and the cleaning strip of this utility model.
[0022] Figure 4 This is a schematic diagram of the connection structure between the sliding column and the limiting strip of this utility model.
[0023] Figure 5 This utility model Figure 4 Enlarged structural diagram at point A in the middle.
[0024] Figure 6 This utility model Figure 4 Enlarged structural diagram at point B.
[0025] In the diagram: 1. Oil seal; 2. Rubber groove; 3. Metal frame; 4. Buffer spring; 5. Flexible protective lip; 6. Main lip; 7. Sine wave oil groove; 8. Secondary lip seat; 9. Positioning groove; 10. Fixing rod; 11. Limiting strip; 12. Sliding column; 13. Cleaning strip; 14. Sliding groove; 15. Connecting spring; 16. Sliding block; 17. Metal pull rope; 18. Buffer plate. Detailed Implementation
[0026] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.
[0027] Example 1: The rubber groove 2, buffer spring 4, and sinusoidal oil groove 7 not only exhibit excellent resistance to metallic impurities, effectively preventing the corrosion and wear of the oil seal 1 by metallic impurities, but also... Figures 1-2As shown: It includes an oil seal 1, with rubber grooves 2 inside the oil seal 1, and the rubber grooves 2 are evenly distributed on the outside of the oil seal 1. A flexible protective lip 5 is fixedly connected to the upper end of the inner wall of the oil seal 1, and the surface of the flexible protective lip 5 is inclined. A secondary lip seat 8 is fixedly connected to the lower end of the inner wall of the oil seal 1, and the surface of the secondary lip seat 8 is inclined. A sinusoidal oil groove 7 is provided inside the oil seal 1 through a bidirectional rotary seal, and the sinusoidal oil groove 7 has a low friction structure. A buffer spring 4 is fixedly connected to the upper end of the outer side of the sinusoidal oil groove 7, and the buffer spring 4 is located inside the oil seal 1. A main lip 6 is provided at the upper end of the inner wall of the sinusoidal oil groove 7 through a low friction structure, and the upper end of the main lip 6 is inclined. A metal skeleton 3 is fixedly connected to the inner wall of the oil seal 1.
[0028] The staff installed oil seal 1 on the part of the humanoid robot that needed sealing, ensuring that the installation position was accurate and that oil seal 1 fit tightly with surrounding components (such as...). Figure 1 As shown), when the robot component starts operating, it drives the cooperating shaft to rotate. The main lip 6 makes close contact with the shaft surface, forming the main sealing barrier and preventing oil leakage from the gap between the oil seal 1 and the shaft. Since the upper end of the main lip 6 is inclined, it helps to better fit the shaft surface, enhancing the sealing effect and guiding the oil flow. The low-friction structure of the sinusoidal oil groove 7 reduces energy loss, lowers the heat generated by friction, and improves the operating efficiency of the oil seal 1. It also helps to extend the service life of the oil seal 1 and the shaft. At the same time, the buffer spring 4 enables the sinusoidal oil groove 7 and the main lip 6 to adapt to the small displacement and movement changes of the shaft, always maintaining a good sealing and low-friction state. The metal skeleton 3 increases the rigidity and sealing performance of the oil seal 1, and the rubber groove 2 can effectively intercept and accommodate some metal impurities, preventing them from getting closer to the inside of the oil seal 1. The flexible protective lip 5 and the secondary lip seat 8 further block oil leakage (such as...). Figure 1 and Figure 2 As shown), the special design of the three lips can prevent the intrusion of foreign objects from both inside and outside, effectively dealing with the frequent alternation of forward and reverse rotation during robot operation. In addition, the low torque design can extend the service life of oil seal 1. Furthermore, the material of the combined oil seal 1 is mainly fluororubber, which has excellent heat resistance, as well as excellent oil resistance and chemical resistance.
[0029] In Example 2, unlike Example 1, the fixed rod 10, cleaning strip 13, and sliding column 12 are used to precisely clean impurities, dust, oil stains, etc., adhering to the oil seal 1, keeping the surface of the oil seal 1 clean. Figures 3-4As shown: The oil seal 1 has a positioning groove 9 inside, and a fixed rod 10 is slidably connected to the inner wall of the oil seal 1. A limit strip 11 is fixedly connected to the upper end of the fixed rod 10. The limit strip 11 is slidably disposed inside the oil seal 1. A sliding column 12 is fixedly connected to the lower outer end of the limit strip 11. The sliding column 12 is slidably disposed inside the oil seal 1. A cleaning strip 13 is fixedly connected to the outer side of the sliding column 12. The cleaning strip 13 is evenly distributed on the outer side of the sliding column 12 and fits against the inner wall of the oil seal 1. A sliding block 16 is connected inside the fixed rod 10 through a snap-fit structure. The snap-fit structure includes a connecting spring 15 disposed on the surface of the sliding block 16. A sliding groove 14 is opened inside the fixed rod 10, and one end of the connecting spring 15 is fixedly connected to the surface of the sliding groove 14.
[0030] When the worker installs the cleaning strip 13, the fixed rod 10 is pushed to connect with the positioning groove 9 inside the oil seal 1. When the fixed rod 10 contacts the oil seal 1, the oil seal 1 pushes the sliding block 16 on the surface of the fixed rod 10 to slide on the surface of the sliding groove 14 (e.g., Figure 3 As shown), the connecting spring 15 on the surface of the sliding block 16 retracts towards the inner wall of the oil seal 1. When the lower end of the fixing rod 10 is in contact with the oil seal 1, the connecting spring 15 pushes the sliding block 16, causing the sliding block 16 to be in contact with the surface of the positioning groove 9. At this time, as the shaft continues to rotate, dust, sand, debris and other impurities attached to the shaft surface will meet the lip of the scraper ring (as shown). Figure 3 and Figure 4 As shown, the elasticity and sharp design of the lip allow it to cut into the interface between impurities and the shaft, scraping the impurities off the shaft surface. This ensures that oil seal 1 is always in good working condition, reduces wear, and thus extends the service life of oil seal 1.
[0031] In Example 3, unlike Example 2, the sliding block 16, fixing rod 10, and positioning groove 9 enable the cleaning strip 13 to be quickly installed, improving the stability and reliability of the robot's operation. Figures 5-6 As shown: A sliding block 16 is fixedly connected to the other end of the connecting spring 15, and the sliding block 16 is slidably disposed inside the fixed rod 10. A metal pull rope 17 is fixedly connected to the surface of the sliding block 16, and the metal pull rope 17 is slidably disposed inside the fixed rod 10. The fixed rod 10 is slidably disposed on the surface of the positioning groove 9, and a buffer plate 18 is fixedly connected to the upper end of the metal pull rope 17.
[0032] When the worker disassembles the cleaning strip 13, the operator pulls the buffer plate 18, causing the buffer plate 18 to drive the lower metal pull rope 17 to slide inside the fixed rod 10. The metal pull rope 17 then drives the sliding block 16 on its surface to slide towards the surface of the fixed rod 10, causing the connecting spring 15 on the surface of the sliding block 16 to retract towards the inner wall of the fixed rod 10. (e.g., Figure 5 and Figure 6As shown, once the sliding block 16 is fully inserted into the fixed rod 10, the operator can disassemble the cleaning strip 13, which can significantly improve work efficiency, reduce robot downtime, and ensure that the robot can quickly resume operation.
[0033] The above is the entire working process of the device, and all contents not described in detail in this specification are existing technologies known to those skilled in the art.
[0034] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.
Claims
1. A low-friction, long-life oil seal for humanoid robots, comprising an oil seal (1), wherein the oil seal (1) has rubber grooves (2) inside, and the rubber grooves (2) are evenly distributed on the outside of the oil seal (1), and a flexible protective lip (5) is fixedly connected to the upper end of the inner wall of the oil seal (1), and the surface of the flexible protective lip (5) is inclined. Its features are: The lower end of the inner wall of the oil seal (1) is fixedly connected to a secondary lip seat (8), and the surface of the secondary lip seat (8) is inclined. The oil seal (1) is provided with a sinusoidal oil groove (7) through bidirectional rotational sealing. At the same time, the sinusoidal oil groove (7) is a low-friction structure. A buffer spring (4) is fixedly connected to the upper outer side of the sinusoidal oil groove (7), and the buffer spring (4) is located inside the oil seal (1). The upper end of the inner wall of the sinusoidal oil groove (7) is provided with a main lip (6) through a low friction structure, and the upper end of the main lip (6) is inclined. The inner wall of the oil seal (1) is fixedly connected to a metal frame (3).
2. The low-friction, long-life oil seal for humanoid robots according to claim 1, characterized in that: The oil seal (1) has a positioning groove (9) inside, and a fixing rod (10) is slidably connected to the inner wall of the oil seal (1), and a limit strip (11) is fixedly connected to the upper end of the fixing rod (10).
3. The low-friction, long-life oil seal for humanoid robots according to claim 2, characterized in that: The limiting strip (11) is slidably disposed inside the oil seal (1), and a sliding column (12) is fixedly connected to the lower outer end of the limiting strip (11), and the sliding column (12) is slidably disposed inside the oil seal (1).
4. A low-friction, long-life oil seal for humanoid robots according to claim 3, characterized in that: A cleaning strip (13) is fixedly connected to the outside of the sliding column (12), and the cleaning strip (13) is distributed at equal angles on the outside of the sliding column (12). The cleaning strip (13) is in contact with the inner wall of the oil seal (1). A sliding block (16) is connected inside the fixed rod (10) through a snap-fit structure. The snap-fit structure includes a connecting spring (15) disposed on the surface of the sliding block (16).
5. A low-friction, long-life oil seal for humanoid robots according to claim 4, characterized in that: The fixed rod (10) has a sliding groove (14) inside, and one end of the connecting spring (15) is fixedly connected to the surface of the sliding groove (14).
6. A low-friction, long-life oil seal for humanoid robots according to claim 5, characterized in that: The other end of the connecting spring (15) is fixedly connected to the sliding block (16), and the sliding block (16) is slidably disposed inside the fixed rod (10).
7. A low-friction, long-life oil seal for a humanoid robot according to claim 6, characterized in that: A metal pull rope (17) is fixedly connected to the surface of the sliding block (16), and the metal pull rope (17) is slidably disposed inside the fixed rod (10). The fixed rod (10) is slidably disposed on the surface of the positioning groove (9), and a buffer plate (18) is fixedly connected to the upper end of the metal pull rope (17).