Sealing assembly and robot

Abstract

A sealing assembly comprises a housing (101) adapted to be arranged on and cover an end of a first component (201) of a robot (200) and comprising a circumferential coupling section (1011), a flange (102) adapted to be arranged on and cover an end of a second component (202) of the robot (200), the second component (202) being coaxially rotatable relative to the first component (201), and an elastic sealing ring (103) comprising a coupling portion (1031) coupled to the circumferential coupling section (1011) and a sealing portion (1032) arranged between the housing (101) and the flange (102) by an interference fit. The shape of the sealing portion (1032) matches the shape of the housing (101) and the shape of the flange (102) to achieve a seamless transition from the housing (101) to the flange (102). A robot comprises at least one joint sealed by the sealing assembly. By means of the sealing assembly, the joints of the robot are easier to clean and have a higher corrosion resistance. In this way, the robot can be used in the food and pharmaceutical sector, where high sealing and hygienic performance are required.

Description

Technical Field

[0001] The embodiments of this disclosure generally relate to robots, and more specifically to sealing assemblies for robots. Background Technology

[0002] A sealing arrangement or seal is a component or measure used to prevent the leakage of fluids or solid particles between adjacent mating surfaces and to prevent external impurities such as dust and moisture from entering equipment. Seals can be classified as static seals and dynamic seals. Static seals function for mating surfaces that do not move relative to each other. Depending on the direction of compression, static seals can be axial or radial. Dynamic seals exist when there is movement between the surfaces. Typical movements include reciprocating, oscillating, and rotating motions.

[0003] For example, in robot joints, where there is relative rotation between the components, traditional radial sealing structures between the components can provide a stable sealing solution for normal industrial processes. With industrial development, more and more robots are being applied in new fields such as food, pharmaceuticals, and healthcare services. These industries require robots to meet stringent standards to ensure food and drug safety. When applied in the food and pharmaceutical fields, robot seals, especially those for robot joints, are typically specially designed to meet the requirements of various standards.

[0004] WO2014087615A1 relates to a joint sealing structure for a robot, which is applied to the joint of the robot, wherein a second member is inserted into the cylindrical end of a first member and includes a sealing member disposed in the gap between the members.

[0005] CN10228083A relates to a rotary sealing structure disposed between a self-sealing harmonic reducer and a robotic arm for rotary sealing of the robotic arm.

[0006] CN202480101U provides a sealing structure for a robot wrist. The inner cavity of the wrist end cap is provided with a rotary sealing ring fitted onto the front flange; the bearing gasket is a convex gasket.

[0007] However, the aforementioned sealing structure has various problems, such as not being able to provide a smooth or seamless transition between components, and thus failing to meet the various requirements of the food and pharmaceutical industries. Summary of the Invention

[0008] Embodiments of this disclosure provide a sealing assembly and a robot to at least partially address the above and other potential problems.

[0009] In a first aspect, a sealing assembly is provided. The sealing assembly includes: a housing adapted to be disposed on and cover an end of a first component of a robot and including a circumferentially coupled section; a flange adapted to be disposed on and cover an end of a second component of the robot, the second component being coaxially rotatable relative to the first component such that at least the circumferentially coupled section of the housing coaxially abuts and surrounds the flange; and a resilient sealing ring including: a coupling portion coupled to the circumferentially coupled section; and a sealing portion disposed between the housing and the flange by an interference fit, the shape of the sealing portion matching the shape of the housing and the shape of the flange to achieve a seamless transition from the housing to the flange.

[0010] This sealing assembly makes the robot's joints easier to clean and provides greater corrosion resistance. In this way, the robot can be used in the food and pharmaceutical industries where high sealing and hygiene standards are required.

[0011] In some embodiments, the circumferential coupling section includes a circumferential step having a first end and a second end, the first end being closer to the first component than the second end, and the inner diameter of the first end being larger than the inner diameter of the second end. In this way, the resilient sealing ring can be more securely mounted on the housing.

[0012] In some embodiments, the sealing assembly further includes an auxiliary sealing ring disposed between the coupling portion of the first component and the resilient sealing ring, the auxiliary sealing ring being elastically deformable to apply an elastic force to press the coupling portion toward the circumferential coupling section. In this way, a high degree of sealing between the housing and the resilient sealing ring can be achieved even if the manufacturing precision of the resilient sealing ring is not high, thereby reducing the manufacturing cost of the resilient sealing ring.

[0013] In some embodiments, the end face of the sealing portion away from the first component is inclined or bent outward in a radially inward direction. This arrangement can facilitate a smooth transition from the housing to the flange.

[0014] In some embodiments, the inner edge of the resilient sealing ring near the second component is rounded. This arrangement reduces the contact area between the sealing portion and the flange, thereby reducing power loss when the drive joint rotates.

[0015] In some embodiments, the housing further includes an auxiliary circumferential step formed at the axial end of the circumferential coupling section away from the first component, and wherein the resilient sealing ring further includes an auxiliary coupling portion engaging with the auxiliary circumferential step. As a result, the coupling between the resilient sealing ring 103 and the housing can be further enhanced.

[0016] In some embodiments, the resilient sealing ring is integrally formed using a self-lubricating and / or corrosion-resistant material. In this way, the corrosion resistance of the sealing assembly can be further improved while reducing power loss.

[0017] In some embodiments, the flange is integrated into the second component. This arrangement can improve both the integration of the robot and its sealing and sanitary performance.

[0018] In some embodiments, at least one of the housing and the flange is shaped to fit a corresponding one of the first and second components. This promotes a smoother outer surface for the joint with the sealing assembly.

[0019] In a second aspect, a robot is provided. The robot includes at least one joint sealed by the sealing assembly mentioned in the first aspect.

[0020] It should be understood that this "Summary of the Invention" is not intended to identify key or essential features of the embodiments of this disclosure, nor is it intended to limit the scope of this disclosure. Other features of this disclosure will become readily apparent from the following description. Attached Figure Description

[0021] The above and other objects, features and advantages of this disclosure will become more apparent from the more detailed description of exemplary embodiments of this disclosure taken in conjunction with the accompanying drawings, in which the same reference numerals generally denote the same parts.

[0022] Figure 1 An exploded view of the joints of a robot according to an embodiment of the present disclosure is shown;

[0023] Figure 2 A side cross-sectional view of a joint of a robot according to an embodiment of the present disclosure is shown;

[0024] Figure 3 It shows Figure 2 An enlarged view of the left side of the robot's joint shown; and

[0025] Figure 4 A partial cross-sectional view of a joint of a robot according to another embodiment of the present disclosure is shown.

[0026] Throughout the accompanying drawings, the same or similar reference numerals are used to indicate the same or similar elements. Detailed Implementation

[0027] This disclosure will now be discussed with reference to several exemplary embodiments. It should be understood that these embodiments are discussed merely to enable those skilled in the art to better understand and thus implement this disclosure, and not to imply any limitation on the scope of the subject matter.

[0028] As used herein, the term "comprising" and its variations shall be understood as open terms meaning "including but not limited to". The term "based on" shall be understood as "at least partially based on". The terms "one embodiment" and "embodiment" shall be understood as "at least one embodiment". The term "another embodiment" shall be understood as "at least one other embodiment". The terms "first", "second", etc., may refer to different or the same objects. Other definitions (explicit and implicit) may be included below. Unless the context clearly indicates otherwise, the definitions of terms shall be consistent throughout the description.

[0029] To ensure food and drug safety, numerous standards are used to regulate equipment, such as robots used in the food and pharmaceutical industries. For example, the European Hygiene Engineering and Design Group (EHEDG) has published a standard called Hygiene Design Principles (Doc. 8). One section of these principles requires that the sealing surfaces of hygienic equipment, such as robots used in the food and pharmaceutical industries, must be smooth or seamless and easy to clean to prevent bacteria or viruses from remaining on them. Many similar standards exist in various countries and regions to ensure food and drug safety. For instance, standard EN 1672-2 requires that fluids such as grease sealed in cavities must not leak to contaminate the food or drugs being processed. NSF 51 specifies corrosion resistance requirements for seals.

[0030] Robots used in conventional industrial applications often fail to meet these requirements. Specifically, while some joints employ radial seals 203 to achieve a high level of sealing, gaps or grooves exist on the outer surfaces of the joints that are difficult to clean. For example, joint sealing structures disclosed in WO2014087615A1 provide a sealing arrangement with gaps between components. Dust or debris entering these gaps is difficult to clean, rendering the robot unusable in the food and pharmaceutical industries due to cleaning difficulties. Some sealing structures also pose a risk of leakage of hazardous media sealed within them.

[0031] To at least partially address the aforementioned and other potential problems, embodiments of this disclosure provide a sealing assembly 100 and a robot 200. The sealing assembly 100 facilitates the cleaning of the robot 200, particularly the joints of the robot using the sealing assembly 100, without the risk of contaminating products such as food or pharmaceuticals to be processed. Furthermore, the sealing assembly 100 is corrosion-resistant, thereby meeting various requirements mandated by standards such as EHEDG Doc 8, EN1672-2, and NSF 51.

[0032] Figure 1 An exploded view of an example joint of a robot 200 using a sealing assembly is shown. Figure 1As shown, the joint comprises two parts that are coaxially rotatable relative to each other: a first part 201 and a second part. This type of joint is commonly used in robots. Actuators or arms can be arranged outside the joint, and these actuators or arms can perform various actions through the joint.

[0033] It should be understood that, such as Figure 1 The joints shown are merely examples intended to illustrate the arrangement of the sealing assembly 100 relative to the joints and do not imply any limitation on the scope of this disclosure. In practice, the structure or shape of the first component 201 or the second component 202 can be any suitable structure or shape. For example, in some embodiments, the first component 201 or the second component 202 may have a shape that matches the shape of other parts of the robot or the integrated portion of the arm or actuator.

[0034] Figure 2 A cross-sectional view of a joint with sealing assembly 100 is shown, and Figure 3 It shows Figure 2 The figure shows a partially enlarged cross-sectional view of the left side of the joint. As shown, the sealing assembly 100 according to an embodiment of the present disclosure generally includes a housing 101, a flange 102, and a resilient sealing ring 103. The housing 101 may be disposed on an end of the first component 201 to cover that end. Similarly, the flange 102 may be disposed on the same end of the second component 202 as the aforementioned end of the first component 201 to cover the end of the second component 202.

[0035] like Figure 1 As shown, the housing 101 is typically annular to cover the first component 201 arranged radially outward of the second component 202. The housing 101 includes a circumferential coupling section 1011 for coupling a resilient sealing ring 103 thereto. Accordingly, the resilient sealing ring 103 includes a coupling portion 1031 that can be coupled to the circumferential coupling section 1011. Through the coupling portion 1031 and the circumferential coupling section 1011 coupled to each other, the resilient sealing ring 103 can be more stably mounted on the housing 101.

[0036] Furthermore, the circumferential coupling section 1011 can facilitate the positioning of the resilient sealing ring 103 relative to the housing 101, thereby reducing the difficulty of assembling the sealing assembly 101. For example, when assembling the sealing assembly 101, the resilient sealing ring 103 can be easily installed on the housing 101 without special alignment. In some embodiments, means such as adhesives can be used to facilitate the coupling of the coupling portion 1031 and the circumferential coupling section 1011.

[0037] To achieve the coupling structure between the coupling portion 1031 and the circumferential coupling segment 1011 described above, in some embodiments, the circumferential coupling segment 1011 may include, for example: Figure 2 and Figure 3The circumferential step is shown. The circumferential step has two ends, namely, a first end and a second end. The first end is closer to the first component 201 than the second end. The inner diameter of the first end is larger than the inner diameter of the second end, thus forming the circumferential step. That is, a portion of the circumferential step closer to the second end protrudes radially inward relative to the portion closer to the first end.

[0038] The elastic sealing ring 103 has a corresponding circumferential step, which can mate with the circumferential step of the housing 101, such as... Figure 3 As shown. By engaging the circumferential step of the housing 101 with the elastic sealing ring 103, the degree of freedom of the elastic sealing ring 103 in at least two directions can be restricted, making the elastic sealing ring 103 more securely mounted on the housing 101. Furthermore, this arrangement allows relative rotation between the elastic sealing ring 103 and the housing 101 without compromising the sealing performance.

[0039] It should be understood that the above-described embodiment of the circumferential coupling section 1011 including the circumferential step is for illustrative purposes only and does not imply any limitation on the scope of this disclosure. Any suitable coupling arrangement or structure of the coupling portion 1031 and the circumferential coupling section 1011 is possible.

[0040] For example, in some alternative embodiments, the circumferential coupling section 1011 may include a tapered structure. Specifically, the inner diameter of the tapered structure at a first end near the first component 201 is larger than the inner diameter at a second end away from the first component 201. That is, the inner diameter of the tapered structure gradually decreases from the first end to the second end. Similarly, the coupling portion 1031 of the resilient sealing ring 103 may also be a corresponding tapered structure opposite to the tapered structure of the circumferential coupling section 101. In this way, the resilient sealing ring 103 can be automatically centered on the housing 101.

[0041] In some embodiments, to further enhance the coupling between the elastic sealing ring 103 and the housing 101, an auxiliary circumferential step 1012 may be provided, such as... Figure 4 As shown, the auxiliary circumferential step 1012 is formed at the axial end of the circumferential coupling section 1011, i.e., at the second end as described above. The resilient sealing ring 103 also includes a corresponding auxiliary coupling portion 1034 adapted to engage with the auxiliary circumferential step 1012. In this way, the coupling between the resilient sealing ring 103 and the housing 101 can be further enhanced.

[0042] like Figure 2 and Figure 3As shown, after the sealing assembly 100 is assembled onto the joint, at least the circumferential coupling section 1011 of the housing abuts and surrounds the flange 102. This arrangement provides space for the resilient sealing ring 103 to be arranged between the housing 101 and the flange 102. Specifically, the resilient sealing ring 103 also includes a sealing portion 1032 arranged between the housing 101 and the flange 102 by an interference fit. That is, the sealing portion 1032 of the resilient sealing ring 103 is tightly fitted between the housing 101 and the flange 102. With the above arrangement, the joint can meet high sealing requirements, such as IP69K required by the food industry, regardless of whether there are additional sealing means inside the joint, such as radial seals 203.

[0043] Furthermore, the shape of the sealing portion 1032 matches the shape of the housing 101 and the flange 102 to achieve a seamless or smooth transition from the housing to the flange 102. A seamless or smooth transition means that there are no gaps between the components or that the gaps are small or shallow enough to prevent dust from entering and therefore do not affect cleaning. That is, it is conceivable that there is a line extending from the outer surface of the housing 101 through the resilient sealing ring 103 to the outer surface of the flange 102, and this imaginary line is smooth and uninterrupted. In this way, the joint using the sealing assembly 100 is easy to clean, thereby enabling the joint with the sealing assembly 100 to meet the requirements of relevant standards in the food and pharmaceutical industries.

[0044] Furthermore, the sealing assembly 100 can be used in existing robot joints to improve the sealing and hygiene levels of existing joints. As a result, after assembling the sealing assembly 100 onto an existing joint, the joint can be used in the food and pharmaceutical industries. In some embodiments, at least one of the housing 101 and the flange 102 can be shaped to fit the corresponding shape of the first component 201 and the second component 202 of the joint. This promotes a smoother outer surface for the joint with the sealing assembly 100.

[0045] To further improve the sealing level at the joint with the sealing assembly 100, in some embodiments, the sealing assembly 100 further includes an auxiliary sealing ring 104, such as... Figures 2-4 As shown, an auxiliary sealing ring 104 is disposed between the first component 201 and the coupling portion 1031 of the elastic sealing ring 103. The auxiliary sealing ring 104 is elastically deformable to apply elastic force to press the coupling portion 1031 toward the circumferential coupling section 1011. In this way, even if the manufacturing precision of the elastic sealing ring 103 is not high, a high level of seal can be achieved between the housing 101 and the elastic sealing ring 103, thereby reducing the manufacturing cost of the elastic sealing ring 103.

[0046] Furthermore, to further facilitate a smooth transition from housing 101 to flange 102, in some embodiments, the transition angles between components, such as between flange 102 and resilient sealing ring 103, and between resilient sealing ring 103 and housing 101, are greater than 90°. For example, the end face of sealing portion 1032 away from the first component 201 is inclined or bent outward in a radially inward direction, such as... Figure 3 and Figure 4 As shown. This further facilitates a smooth transition from the outer surface of the housing 101 to the outer surface of the resilient sealing ring 103. In this way, the outer surface of the joint will be easier to clean, thereby further improving the level of hygiene protection.

[0047] Regarding the transition from the elastic sealing ring 103 to the housing 101, such as Figure 3 As shown, in some embodiments, the outer surface of the resilient sealing ring 103 may be flush with the outer surface of the housing 101. In some alternative embodiments, such as Figure 4 As shown, when there is a height difference between the outer surface of the housing 101 and the outer surface of the elastic sealing ring 103, the portion of the elastic sealing ring 103 that protrudes axially from the housing 101 can be chamfered to achieve a smooth transition from the elastic sealing ring 103 to the housing 101, and vice versa.

[0048] The inclined or curved end face of the sealing portion 1032 can be formed by molding. In some alternative embodiments, the inclined or curved end face of the sealing portion 1032 can be formed by assembling an elastic sealing ring 103 onto the flange 102. For example, when assembling the elastic sealing ring 103 surrounding the flange 102, the elastic sealing ring 103 can be pressed downward together with a radially inward force applied by the housing 101 to form the inclined or curved end face as described above.

[0049] It should be understood that the above embodiments regarding a seamless or smooth transition from housing 101 to flange 102 are for illustrative purposes only and do not imply any limitation on the scope of this disclosure. Depending on the joint where the sealing assembly 100 is arranged, any suitable arrangement or structure is possible. For example, in some embodiments, the outer surface of the resilient sealing ring 103 may be flush with both the outer surfaces of housing 101 and flange 102.

[0050] In assembling the sealing assembly 100, in some embodiments, the flange 102 may first be mounted on the second component 202 via a suitable fastening method, such as using fasteners or bolts. The resilient sealing ring 103 can then be mounted on the housing 101 by coupling the coupling portion 1031 to the circumferential coupling section 1011. This process of forming the combination of the housing 101 and the resilient sealing ring 103 prevents damage to the resilient sealing ring 103. The combination of the housing 101 and the resilient sealing ring 103 can then be mounted to the first component 201 via an interference fit of the sealing portion 1032 between the housing 101 and the flange 102. Furthermore, if an auxiliary sealing ring 104 is used in some embodiments, the auxiliary sealing ring 104 can be positioned before the combination of the housing 101 and the resilient sealing ring 103 is mounted on the first component 201.

[0051] Furthermore, to reduce power loss caused by the relative movement between the flange 102 and the elastic sealing ring 103, the contact area between the sealing portion 1032 and the flange 102 can be reduced by rounding the inner edge 1033 of the elastic sealing ring 103, such as... Figure 3 and Figure 4 As shown. By using the rounded inner edge 1033 and the inclined or bent end face of the elastic sealing ring 103, the contact area between the sealing part 1032 and the flange 102 can be significantly reduced, thereby reducing the power loss caused by friction between the flange 102 and the elastic sealing ring 103.

[0052] In some embodiments, the resilient sealing ring 103 may be integrally formed using a self-lubricating and / or corrosion-resistant material. The use of a self-lubricating material can reduce power loss while extending the life of the sealing assembly 100. For example, in some embodiments, polytetrafluoroethylene (PTFE) material may be used to form the resilient sealing ring 103. In some alternative embodiments, silicone and rubber materials are also possible, provided that these materials are durable, non-toxic, and / or have self-lubricating and / or corrosion-resistant properties.

[0053] In some embodiments, the housing 101 and flange 102 may be made of a rigid material, such as stainless steel or hard plastic. Furthermore, the housing 101 and flange 102 may be arranged on the first component 201 and the second component 202 respectively in any suitable manner, such as by threaded connection, adhesive, welding, etc. In some alternative embodiments, the flange 102 may be integrated into the second component 202. That is, the flange 102 may be an integrated part of the second component 202.

[0054] According to another aspect of this disclosure, a robot 200 is provided. The robot 200 includes at least one joint sealed by the aforementioned sealing assembly 100. The sealing assembly 100 makes the joint easier to clean and provides higher corrosion resistance. In this way, the robot 200 can be used in the food and pharmaceutical industries where high sealing and hygiene protection are required. Furthermore, the joint with the sealing assembly 100 can be cleaned using any suitable cleaning method, such as high-pressure water cleaning.

[0055] It should be understood that the detailed embodiments described above are for illustrative purposes only and are not intended to limit the scope of this disclosure. Therefore, any modifications, equivalent substitutions, and improvements made within the spirit and scope of this disclosure should be included within its protection scope. Furthermore, the appended claims are intended to cover all variations and modifications falling within the scope and boundaries of the claims or their equivalents.

Claims

1. A seal assembly, comprising: a housing (101) adapted to be disposed on and cover an end of a first component (201) of a robot (200), and the housing (101) comprises a circumferential coupling section (1011); a flange (102) adapted to be disposed on and cover an end of a second component (202) of the robot (200), the second component (202) being coaxially rotatable relative to the first component (201) such that at least the circumferential coupling section (1011) of the housing (101) coaxially abuts and surrounds the flange (102); and a resilient seal ring (103) comprising: a coupling portion (1031) coupled to the circumferential coupling section (1011); and a sealing portion (1032) disposed between the housing (101) and the flange (102) by an interference fit, a shape of the sealing portion (1032) matching a shape of the housing (101) and a shape of the flange (102) and an end face of the sealing portion (1032) distal to the first component (201) being outwardly inclined or curved in a radially inward direction to achieve a seamless transition from the housing (101) to the flange (102), an outer surface of the resilient seal ring (103) being flush with an outer surface of the housing (101).

2. The seal assembly of claim 1, wherein the circumferential coupling section (1011) comprises a circumferential step having a first end and a second end, the first end being closer to the first component (201) than the second end, an inner diameter of the first end being larger than an inner diameter of the second end.

3. The seal assembly of claim 1, further comprising: a secondary seal ring (104) disposed between the first component (201) and the coupling portion (1031) of the resilient seal ring (103), the secondary seal ring (104) being elastically deformable to exert an elastic force to press the coupling portion (1031) toward the circumferential coupling section (1011).

4. The seal assembly of claim 1, wherein an inner edge (1033) of the resilient seal ring (103) proximal to the second component (202) is circular.

5. The seal assembly of claim 2, wherein the housing (101) further comprises a secondary circumferential step (1012) formed at an axial end of the circumferential coupling section (1011) distal to the first component (201), and wherein the resilient seal ring (103) further comprises a secondary coupling portion (1034) engaged with the secondary circumferential step (1012).

6. The seal assembly of claim 1, wherein the resilient seal ring (103) is integrally formed with a self-lubricating and / or corrosion-resistant material.

7. The seal assembly of claim 1, wherein the flange (102) is integrated on the second component (202). ​ ​ 8. The sealed assembly of claim 1, wherein at least one of the housing (101) and the flange (102) is shaped to fit the shape of a respective one of the first component (201) and the second component (202).

9. A robot comprising at least one joint sealed by the sealed assembly of any one of claims 1 to 8.

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