Sealing components and robots

Abstract

The present invention provides a sealing component and a robot, which can prevent the intrusion of cleaning liquid into the sealed space during high-pressure cleaning in a long-term and stable manner. The sealing component is located between a first component (15) and a second component (16), the first component is a rotating body, and the second component has an inner peripheral surface opposite to the outer peripheral surface of the first component. The sealing component comprises: a sealing body (30) installed on one of the first component and the second component; a protective cover (40) installed on the sealing body, the sealing body having a sealing lip (32) arranged to contact or approach the other of the first component and the second component, a rivet portion (31d) formed at one axial end of a metal ring (31) of the sealing body abuts against the outer peripheral portion (42) of the protective cover along the axial direction of the sealing body, and the sealing body abuts against a portion (43) of the protective cover that is different from the outer peripheral portion in the radial direction along the axial direction.

Description

Technical Field

[0001] The present invention relates to a sealing component and a robot. Background Art

[0002] In the past, the sealing component used for high-pressure cleaning has a case or a protective cover mounted on the shaft. In addition, it is known that in order to mount the protective cover on the oil seal itself, the end of the metal ring of the oil seal is bent radially outward and then bent radially inward, and the protective cover is fixed to the oil seal using the bent portion. Such an oil seal is shown in Patent Document 1, for example.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Publication No. 2012-122534 Summary of the invention

[0006] Problem that the invention aims to solve

[0007] For example, there are cases where machines such as robots are cleaned by high-pressure cleaning. There are also cases where robots that handle food, medicine, etc. are frequently cleaned by high-pressure cleaning. During high-pressure cleaning, cleaning liquids such as water and water with detergent added are ejected from a nozzle at high pressure. The ejected cleaning liquid contacts various parts of the robot and also contacts the sealing components of the robot. Therefore, there are cases where the sealing components are required to have waterproof performance that meets, for example, IP69K specified in the German industrial standard DIN 40050PART9.

[0008] The water discharge pressure specified in IP69K is 80 to 100 bar. On the other hand, the thickness of metal rings and protective covers used for sealing components is mostly less than 0.8 mm, and in some cases less than 0.5 mm. Therefore, there is a possibility that the protective cover will be deformed or dislocated due to the water discharge pressure, causing the cleaning fluid to invade the sealed space.

[0009] In view of the above circumstances, a sealing component and a robot are desired that can stably prevent the intrusion of a cleaning fluid into a sealed space during high-pressure cleaning for a long period of time.

[0010] Solutions for solving problems

[0011] One embodiment of the present invention is a sealing component, which is located between a first component and a second component, the first component being a rotating body, the second component having an inner peripheral surface opposite to the outer peripheral surface of the first component, the sealing component comprising: a sealing body, which is mounted on one of the first component and the second component; and a protective cover, which is mounted on the sealing body, the sealing body having a sealing lip, the sealing lip being arranged in contact with or close to the other of the first component and the second component, a rivet portion formed at one axial end of a metal ring of the sealing body abuts against the outer peripheral portion of the protective cover along the axial direction of the sealing body, and the sealing body abuts against a portion of the protective cover that is at a different radial position from the outer peripheral portion along the axial direction. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 This is a schematic front view of a robot system using the robot of the first embodiment.

[0013] Figure 2 It is a schematic diagram of the fifth arm member and the sixth arm member of the robot according to the present embodiment.

[0014] Figure 3 This is a cross-sectional view of a sealing member used in the robot according to the present embodiment.

[0015] Figure 4 It is a cross-sectional view of the sealing member of this embodiment before the caulking portion is formed.

[0016] Figure 5 It is a cross-sectional view of a sealing member according to a second embodiment.

[0017] Figure 6 It is a cross-sectional view of a sealing member according to a first modified example of the present embodiment.

[0018] Figure 7 It is a cross-sectional view of a sealing member according to a second modified example of the present embodiment.

[0019] Figure 8 It is a cross-sectional view of a sealing member according to a third modified example of the present embodiment.

[0020] Description of reference numerals:

[0021] R: Robot

[0022] 1: Base

[0023] 2: Arm

[0024] 11: First arm part

[0025] 12: Second arm part

[0026] 13: The third arm part

[0027] 14: Fourth arm part

[0028] 15: Fifth arm member (second member)

[0029] 15a: Inner circumference

[0030] 16: Sixth arm component

[0031] 16a: shaft (first component)

[0032] 20: Sealing parts

[0033] 30: Sealing body

[0034] 31: Metal ring

[0035] 31a: Part I

[0036] 31b: Part 2

[0037] 31c: Part 3

[0038] 31d: Riveting part

[0039] 32: Sealing lip

[0040] 32a: Main lip

[0041] 32b: Dust lip

[0042] 32c: Ring spring

[0043] 40: Protective cover

[0044] 41: Through hole

[0045] 42: Peripheral part

[0046] 43: Part

[0047] 50: Protective cover

[0048] 51: First flat part

[0049] 52: Extension

[0050] 53: Second flat part

[0051] 54: Through hole

[0052] 55: Peripheral part

[0053] 56: Part

[0054] 60: Ring parts

[0055] 61: Cylinder

[0056] 62: Radial extension setting part

[0057] 70: Additional protective cover

[0058] 71: Cylinder

[0059] 72: Radial extension setting part

[0060] B: Bearing DETAILED DESCRIPTION

[0061] Hereinafter, a sealing member 20 according to a first embodiment and a robot R including the sealing member 20 will be described with reference to the drawings.

[0062] The sealing member 20 of this embodiment is used, for example, Figure 1 The vertical articulated robot R shown. The sealing member 20 of this embodiment can also be used for other types of robots such as a horizontal articulated robot and a parallel link robot.

[0063] like Figure 1 As shown, the robot R of this embodiment includes a base portion 1 and an arm portion 2, and an arbitrary tool T is mounted on the front end portion of the arm portion 2. In this embodiment, an object O such as food or medicine is grasped by the tool T, and the grasped object O is transported to a predetermined position by the robot R. In addition, in order to maintain the robot R in an appropriate state in a hygienic manner, the robot R is subjected to high-pressure cleaning.

[0064] Therefore, there is a case where the robot R is required to have waterproof and dustproof performance that complies with IP69K or the like specified in the German industrial standard DIN 40050 Part 9. The waterproof performance required in IP69K is waterproof performance when hot water of 80°C is released at a water pressure of 80 to 100 bar at a distance of 10 to 15 cm from a flat jet nozzle of a specified shape.

[0065] like Figure 1 As shown, the arm 2 has a first arm member 11, which is supported on a base 1 fixed to a predetermined installation surface in a manner that allows rotation around a first axis J1 extending in the up-down direction. The arm 2 includes a second arm member 12 and a third arm member 13, the base end side of the second arm member 12 is supported on the first arm member 11 in a manner that allows swinging around a second axis J2 extending in the horizontal direction, and the base end side of the third arm member 13 is supported on the front end side of the second arm member 12 in a manner that allows swinging around a third axis J3 extending in the horizontal direction.

[0066] In addition, the arm portion 2 includes: a fourth arm member 14, which is supported on the third arm member 13 in a manner capable of rotating around a fourth axis J4 extending along the length direction of the third arm member 13; a fifth arm member 15, which is supported on the fourth arm member 14 in a manner capable of swinging around a fifth axis J5 extending in a direction orthogonal to the fourth axis J4; and a sixth arm member 16, which is supported on the fifth arm member 15 in a manner capable of rotating around a sixth axis J6.

[0067] In addition, the arm 2 has a plurality of servo motors for driving the first to sixth arm parts 11 to 16, respectively. As each servo motor, various servo motors such as a rotary motor and a linear motor can be used. In addition, the robot R of this embodiment is a six-axis multi-joint robot, but it can also be a multi-joint robot with more than six or less than six joints.

[0068] Figure 2 Schematic diagrams of the fifth arm member 15 and the sixth arm member 16 are shown in FIG. Figure 2 As shown, the shaft (first member) 16a of the sixth arm member 16 is a rotating body rotatably supported on the fifth arm member 15 by, for example, a pair of bearings B. The shaft 16a is rotated relative to the fifth arm member 15 by the servo motor. The outer peripheral surface of the shaft 16a of the sixth arm member 16 is opposed to the inner peripheral surface 15a of the fifth arm member 15.

[0069] The shaft 16a has a cylindrical or columnar shape. In the axial direction of the shaft 16a, a sealing member 20 is installed on the inner circumferential surface 15a of the fifth arm member (second member) 15 at a position further outward than the bearing B on one side. In the axial direction of the shaft 16a, a sealing member 20 is also installed on the inner circumferential surface 15a of the fifth arm member 15 at a position further outward than the bearing B on the other side. The two sealing members 20 are different in size but have the same structure, so the same reference numerals are used for description below.

[0070] The space formed between the fifth arm member 15 and the outer peripheral surface of the shaft 16 a is sealed by the two sealing members 20 .

[0071] like Figure 3 As shown, the seal member 20 includes a seal body 30 attached to the inner peripheral surface 15 a of the fifth arm member 15 , and a protection cover 40 attached to the seal body 30 .

[0072] The seal body 30 includes a metal ring 31 made of a known metal such as iron, and a seal lip 32 provided on the metal ring 31 by vulcanization bonding.

[0073] like Figure 3As shown, the metal ring 31 has a first portion 31a having a cylindrical shape. On the outer peripheral surface of the first portion 31a, a fitting outer peripheral portion 33 is formed by vulcanization bonding. The sealing lip 32 and the fitting outer peripheral portion 33 are made of a material having rubber-like elasticity, and the material having rubber-like elasticity is a well-known rubber, silicon, etc. Depending on the application, it is preferred that the material having rubber-like elasticity has oil resistance, chemical resistance, etc. There is also a case where the fitting outer peripheral portion 33 is not provided according to the required specifications. In this case, the metal ring 31 is fitted with the inner peripheral surface 15a.

[0074] Before being fitted to the inner peripheral surface 15a of the fifth arm member 15, the outer diameter of the fitting outer peripheral portion 33 is slightly larger than the inner peripheral surface 15a. Therefore, the seal body 30 is attached to the inner peripheral surface 15a of the fifth arm member 15 by fitting the fitting outer peripheral portion 33 into the inner peripheral surface 15a.

[0075] like Figure 3 As shown, a caulking portion 31d is formed at one axial end portion of the metal ring 31. The caulking portion 31d is formed by bending one axial end portion of the first portion 31a of the metal ring 31 radially inward.

[0076] In this embodiment, the side of the metal ring 31 where the rivet portion 31d is provided is the base end portion, and the side of the metal ring 31 opposite to the rivet portion 31d is called the tip end portion. In addition, the axial direction of the metal ring 31 coincides with the axial direction of the seal body 30, and these axial directions are sometimes referred to as simply the axial direction. Figure 3 In the figure, the right side of the paper is one side in the axial direction, and the left side of the paper is the other side in the axial direction. That is, the first portion 31a of the metal ring 31 extends from the rivet portion 31d toward the other side in the axial direction.

[0077] The metal ring 31 has a second portion 31b extending from the other axial end of the first portion 31a toward one axial direction. The second portion 31b has a substantially cylindrical shape. In the present embodiment, the diameter of the second portion 31b gradually decreases from the other axial direction toward one axial direction. In addition, the other axial end of the first portion 31a is disposed closer to the front end side of the metal ring 31 than the rivet portion 31d.

[0078] The metal ring 31 has a third portion 31c extending radially inward from the front end side of the second portion 31b. In one example, the third portion 31c has a substantially disk shape.

[0079] The sealing lip 32 extends from the third portion 31c of the metal ring 31 toward the radial inner side and the other side in the axial direction. A main lip 32a and a dust lip 32b are provided on the inner peripheral surface of the sealing lip 32, and the dust lip 32b is provided at a position closer to one side in the axial direction than the main lip 32a. A plurality of main lips 32a and dust lips 32b may be provided.

[0080] An annular spring 32c is wound around the outer peripheral surface of the main lip 32a. Therefore, the main lip 32a is stably in contact with the shaft 16a by the annular spring 32c. The dust lip 32b is also in contact with the shaft 16a.

[0081] Furthermore, in the present embodiment, the seal lip 32 and the fitting outer peripheral portion 33 are integrally formed.

[0082] The protective cover 40 is made of metal such as iron or aluminum and has a disc shape in the present embodiment. The outer diameter of the protective cover 40 is the same as or slightly smaller than the inner diameter of the first portion 31a of the metal ring 31. A through hole 41 is formed in the center of the protective cover 40, and the inner diameter of the through hole 41 is slightly larger than the outer diameter of the shaft 16a.

[0083] In such Figure 4 After the protective cover 40 is disposed in the first portion 31a of the metal ring 31, as shown in Figure 3 As shown, the rivet portion 31 d is formed at one end portion of the first portion 31 a in the axial direction as described above. Thus, the protection cover 40 is fixed to the sealing body 30 .

[0084] In addition, if Figure 4 As shown, the plate thickness of one axial end portion of the first portion before forming the caulking portion 31d gradually decreases toward the end portion. In addition, the outer diameter of the one axial end portion gradually decreases toward the end portion. Therefore, the caulking portion 31d can be easily and reliably formed.

[0085] When the protective cover 40 is fixed to the sealing body 30 as described above, the caulking portion 31d is brought into contact with the outer peripheral portion 42 of the protective cover 40 from one axial direction. In addition, a portion 43 of the protective cover 40 located radially inward of the outer peripheral portion 42 is brought into contact with the second portion 31b or the third portion 31c of the metal ring 31 of the sealing body 30 from one axial direction.

[0086] In the present embodiment, the protective cover 40 is fixed to the sealing member 20. In addition, the rivet portion 31d provided on the metal ring 31 of the sealing body 30 abuts against the outer peripheral portion 42 of the protective cover 40 from one axial direction. In addition, the second portion 31b or the third portion 31c of the metal ring 31 of the sealing body 30 abuts against a portion 43 of the protective cover 40 which is radially inward of the outer peripheral portion 42 from the other axial direction. Therefore, the protective cover 40 is firmly fixed to the sealing body 30, and the intrusion of the cleaning liquid into the sealed space during high-pressure cleaning can be stably prevented for a long time.

[0087] For example, as required by IP69K, when the cleaning liquid from the flat jet nozzle is directly shot at the sealing member 20, a large force is applied to the protective cover 40. Although the protective cover 40 is typically made of a thin metal plate, since the outer peripheral portion 42 and a portion 43 thereof are supported by the sealing body 30, the cleaning liquid can be stably prevented from intruding into the sealed space during high-pressure cleaning for a long period of time.

[0088] In addition, in the present embodiment, the protective cover 40 is fixed to the sealing member 20. Therefore, compared with the case where a protective cover is provided as a separate body from the sealing member 30 in order to prevent the intrusion of the cleaning fluid during high-pressure cleaning, the sealing member 20 can be easily mounted on the fifth arm member 15. In addition, regardless of the user's proficiency in the mounting operation, the distance between the protective cover 40 and the sealing lip 32 of the sealing body 30 in the axial direction can be made constant. This is conducive to ensuring the function of the sealing member 20.

[0089] In addition, a film, layer, protrusion, etc. made of a material having rubber elasticity may be provided on the surface of the third portion 31c of the metal ring 31 of the sealing body 30 on the protective cover 40 side. In this case, the same effect as above can be achieved.

[0090] In addition, in this embodiment, the rivet portion 31d is formed by bending the end of the first portion 31a of the metal ring 31 radially inward. Therefore, the outer diameter of the sealing member 20 does not increase due to the formation of the rivet portion 31d. This is conducive to miniaturization of the sealing member 20.

[0091] In addition, in the present embodiment, the metal ring 31 includes: a first portion 31a extending from the rivet portion 31d toward the other axial direction; and a second portion 31b, which is a portion of the metal ring 31 closer to the front end side than the first portion 31a and extends from the first portion 31a toward one axial direction. In addition, the second portion 31b or the third portion 31c of the metal ring 31 abuts against a portion 43 of the protective cover 40 in the axial direction.

[0092] That is, the first portion 31a for attaching the seal member 20 to the fifth arm member 15, and the second portion 31b and the third portion 31c abutting against the protection cover 40 are realized by the single metal ring 31. This structure contributes to a reduction in the number of parts and a reduction in production cost.

[0093] In addition, a sealing lip 32 is provided on the front end side of the metal ring 31. This structure is also advantageous in reducing the number of parts and reducing the production cost.

[0094] In addition, in the present embodiment, the sealing lip 32 contacts the outer peripheral surface of the shaft 16a, and an annular spring 32c for pressing the sealing lip 32 against the outer peripheral surface of the shaft 16a is provided on the sealing lip 32. Therefore, it is possible to more reliably prevent the cleaning liquid from intruding into the sealed space during high-pressure cleaning, and to appropriately prevent grease from leaking from the inside.

[0095] Hereinafter, a sealing member 20 according to a second embodiment will be described with reference to the drawings.

[0096] The sealing member 20 of the second embodiment is also attached to the same position of the robot R as that of the first embodiment. The same reference numerals are given to the same structures as those of the first embodiment, and the description thereof will be omitted.

[0097] like Figure 5 As shown, the seal member 20 of the second embodiment is provided with a protective cover 50 having a different shape from the protective cover 40 of the first embodiment. In addition, only one dust lip 32b is provided in the first embodiment, but a plurality of dust lips 32b are provided on the seal lip 32 of the seal member 20 of the second embodiment.

[0098] The protective cover 50 is made of metal such as iron or aluminum and has a substantially disk shape. The protective cover 50 has: a first flat portion 51 extending radially inward from the outer periphery of the protective cover 50; and an extension portion 52 extending from the radial inner side of the first flat portion 51 toward one axial direction. The diameter of the extension portion 52 gradually decreases toward one axial direction. The protective cover 50 has a second flat portion 53 extending radially inward from the radial inner side of the extension portion 52. In addition, there is also a case where the second flat portion 53 is not provided.

[0099] The outer diameter of the first flat portion 51 of the protective cover 50 is the same as or slightly smaller than the inner diameter of the first portion 31a of the metal ring 31. A through hole 54 is formed in the center of the protective cover 50, and the inner diameter of the through hole 54 is slightly larger than the outer diameter of the shaft 16a.

[0100] As in the first embodiment, after the protective cover 50 is disposed in the first portion 31a of the metal ring 31, Figure 5 As shown, a rivet portion 31 d is formed at one axial end portion of the first portion 31 a , thereby fixing the protective cover 50 to the sealing body 30 .

[0101] When the protective cover 50 is fixed to the sealing body 30 as described above, the caulking portion 31d is brought into contact with the outer peripheral portion 55 of the protective cover 50 from one axial direction. In addition, the second portion 31b or the third portion 31c of the metal ring 31 of the sealing body 30 is brought into contact with a portion 56 of the protective cover 50 that is radially inward of the outer peripheral portion 55 from the other axial direction. In the second embodiment, the portion 56 is provided on the first flat portion 51, but the portion 56 may be provided on the extension portion 52 or the like.

[0102] In the second embodiment, the protective cover 50 is also fixed to the sealing member 20. In addition, the rivet portion 31d of the metal ring 31 provided on the sealing body 30 abuts against the outer peripheral portion 55 of the protective cover 50 from one axial direction. In addition, the second portion 31b or the third portion 31c of the metal ring 31 of the sealing body 30 abuts against a portion 56 of the protective cover 50 that is radially inward of the outer peripheral portion 55 from the other axial direction. Therefore, the protective cover 50 can be firmly fixed to the sealing body 30, and the intrusion of the cleaning liquid into the sealed space during high-pressure cleaning can be prevented stably for a long time as in the first embodiment.

[0103] In the second embodiment, the protective cover 50 is provided with: a first flat portion 51 extending radially inward from the outer peripheral portion 55 of the protective cover 50; and an extension portion 52 extending radially inward from the first flat portion 51 to one side in the axial direction. Therefore, the extension portion 52 increases the space for the seal lip 32 in the seal member 20. According to this structure, for example, a plurality of dust lips 32b can be provided on the seal lip 32.

[0104] In addition, in each of the above-mentioned embodiments, a metal ring member 60 that abuts against the portion 43, 56 of the protective cover 40, 50 in the axial direction may be separately provided. Figure 6 As shown, the ring member 60 is fixed to the inner peripheral surface of the first portion 31a of the metal ring 31 by fitting, welding, etc. When the protective cover 40 is fixed to the sealing body 30 as described above, the rivet portion 31d is brought into contact with the outer peripheral portion 42 of the protective cover 40 from one axial direction. In addition, the ring member 60 fixed to the sealing body 30 is brought into contact with a portion 43 of the protective cover 40 from the other axial direction.

[0105] In this modification, the second portion 31b and the third portion 31c are not provided on the metal ring 31, but a second portion 31e extending radially inward is provided instead. In addition, a seal lip 32 is provided radially inward of the second portion 31e.

[0106] In one example, the ring member 60 includes a cylindrical portion 61 fixed to the inner peripheral surface of the first portion 31 a of the metal ring 31 , and a radially extending portion 62 extending radially inward from one end of the cylindrical portion 61 .

[0107] In the above embodiment, an additional protective cover 70 may be fixed to the shaft 16a. Figure 7 As shown, the additional protective cover 70 includes: a cylindrical portion 71 fixed to the outer peripheral surface of the shaft 16a by fitting, welding, etc.; and a radially extending portion 72 extending radially outward from one end of the cylindrical portion 71. The radially extending portion 72 is axially opposed to the protective cover 40, and a small gap is formed between the radially extending portion 72 and the protective cover 40.

[0108] In addition, in the above-mentioned embodiments, the sealing lip 32 may also have other structures. Figure 8 As shown, a plurality of lips 32d may be provided on the radially inner side of the sealing lip 32 instead of the main lip 32a and the dust lip 32b, and the plurality of lips 32d are respectively arranged in a plurality of grooves 16b formed on the outer peripheral surface of the shaft 16a. In this case, the plurality of lips 32d and the plurality of grooves 16b together form a labyrinth seal as a non-contact seal.

[0109] In the above-described embodiments, the seal member 20 is provided between the fifth arm member 15 and the sixth arm member 16 , but the seal member 20 may be provided at other parts of the robot R. For example, the seal member 20 may be provided between the first arm member 11 and the second arm member 12 .

[0110] In addition, in each of the above-mentioned embodiments, the sealing body 30 may also be mounted on the shaft 16a. In this case, the first portion 31a of the metal ring 31 is configured to fit with the shaft 16a. In addition, the second portion 31b extends obliquely from the other end of the first portion 31a toward the radially outer side, and the third portion 31c extends from the second portion 31b toward the radially outer side. In addition, the rivet portion 31d abuts against the inner circumference of the protective cover 40, 50 in the axial direction. The second portion 31b or the third portion 31c abuts against a portion 43, 56 of the protective cover 40, 50 in the axial direction, and the portion 43, 56 is arranged at a position of the protective cover 40, 50 that is closer to the radial outer side than the inner circumference.

Claims

1. A sealing component, the sealing component being located between a first component and a second component, the first component being a rotating body, the second component having an inner peripheral surface facing the outer peripheral surface of the first component, characterized in that: The sealing component comprises: a sealing body mounted on one of the first component and the second component; and a protective cover mounted on the sealing body, The sealing body has a sealing lip, and the sealing lip is arranged in contact with or close to the other of the first component and the second component. A caulking portion formed at one axial end of the metal ring of the sealing body abuts against the outer peripheral portion of the protective cover along the axial direction of the sealing body. The sealing body abuts against a portion of the protective cover in the axial direction and in a radial direction different from the outer peripheral portion; The caulking portion of the sealing body abuts against the outer peripheral portion of the protective cover from one side in the axial direction. The sealing body abuts against the portion of the protective cover from the other side of the axial direction; When the rivet portion side of the metal ring is taken as the base end portion and the side of the metal ring opposite to the rivet portion is taken as the front end portion, the metal ring has: a first portion extending from the rivet portion toward the other side of the axial direction; and a second portion, which is a portion of the metal ring closer to the front end portion side than the first portion and extends from the first portion toward one side of the axial direction, The second portion of the metal ring or a portion of the metal ring located closer to the front end portion than the second portion is in contact with the portion of the protective cover.

2. The sealing component according to claim 1, characterized in that: The caulking portion is formed by bending the metal ring of the sealing body radially inward.

3. The sealing component according to claim 1 or 2, characterized in that: The metal ring of the sealing body abuts against the portion of the protective cover in the axial direction.

4. The sealing component according to claim 1 or 2, characterized in that: The sealing member includes a metal ring member fitted with the inner peripheral surface of the metal ring. The ring member of the sealing member abuts against the portion of the protection cover in the axial direction.

5. The sealing component according to claim 1 or 2, characterized in that: The sealing lip is in contact with the outer peripheral surface of the first component, The seal lip is provided with an annular spring for pressing the seal lip toward the outer peripheral surface of the first member.

6. A robot, characterized in that: The robot includes the sealing member according to any one of claims 1 to 5.

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