Robot joint sealing structure

Abstract

The present invention discloses a robot joint sealing structure, comprising: a first arm, a second arm, a harmonic reducer, a bearing, a first rubber ring, a second rubber ring, a first and a second variable-seal. A first and a second auxiliary arm are disposed opposite each other at the top of the first arm. A wave generator is sleeved in the middle of a rotating shaft and located between a first support flange and a second support flange. The flexspline is hollow and tubular. The first rubber ring can statically seal the connection between the second support flange and the second arm. The wire flange is hollow and tubular. The second end of the wire flange is connected to the second arm. The rotating shaft, the first and second support flanges, the rigid wheel, the second end of the flexspline, the first and second sealing flanges, the bearing, and the wire flange are coaxial. The wave generator can drive the flexspline to rotate, which in turn drives the second support flange and the second sealing flange to rotate and drive the second arm to swing. The present invention has a simple structure and good support and sealing performance.

Description

Technical Field

[0001] The present invention relates to a sealing structure, in particular to a robot joint sealing structure. Background Art

[0002] Currently, in the field of industrial robots, the demand for high-protection robots is becoming more and more widespread. Traditional unprotected robots are gradually unable to adapt to the increasingly demanding market environment. Among the various parameters of industrial robots, in addition to basic indicators such as load, arm span, and repeatability, the protection level of the robot must also be considered. Especially in some application scenarios with relatively harsh environments, robots without protection levels are easily damaged, thus affecting production. Existing robots rarely achieve high protection effects or use a double-support structure that is more complex and costly, which is not conducive to production and assembly. Summary of the Invention

[0003] In order to overcome the above-mentioned defects, the present invention provides a robot joint sealing structure, which has the advantages of simple structure, good supporting effect and good sealing performance.

[0004] The technical solution adopted by the present invention to solve its technical problems is: a robot joint sealing structure, including: a first arm, a second arm, a harmonic reducer, a bearing, a first rubber ring, a second rubber ring, a first universal joint and a second universal joint, the top of the first arm is provided with a first auxiliary arm and a second auxiliary arm in opposite directions, the second arm is arranged between the first auxiliary arm and the second auxiliary arm, the harmonic reducer is arranged in the first auxiliary arm, the harmonic reducer includes a wave generator, a rigid wheel and a flexible wheel, the wave generator is the input end of the harmonic reducer, the two ends of the rotating shaft are respectively the first end and the second end, the first support flange and the second support flange are annular, and the inner holes of the first support flange and the second support flange are respectively sleeved on the first end and the second end of the rotating shaft The wave generator is sleeved on the middle part of the rotating shaft and is located between the first supporting flange and the second supporting flange. The first supporting flange is fixed to the first auxiliary arm, and the second supporting flange is fixed to the second arm. The flexible wheel is a hollow tube, and the two ends of the flexible wheel are respectively the first end and the second end. The first end of the flexible wheel is rotatably sleeved on the wave generator, and the second end of the flexible wheel is the output end of the harmonic reducer. The first rubber ring is arranged between the second supporting flange and the second arm. The first rubber ring can statically seal the connection between the second supporting flange and the second arm. The second end of the flexible wheel is fixed to the side of the second supporting flange away from the second arm. The first sealing flange and the second sealing flange are annular. The second sealing flange is fixed to the second end of the flexible wheel away from the second supporting flange. On one side, the rigid wheel is annular, fixed to the first supporting flange and sleeved on the flexible wheel, the first sealing flange is fixed to the rigid wheel, the inner hole of the second sealing flange is rotatably sleeved on the first sealing flange, the first universal plug is arranged between the second sealing flange and the first auxiliary arm, the first universal plug can dynamically seal the gap between the second sealing flange and the first auxiliary arm and isolate the internal space of the first arm from the external space, the two ends of the wire flange are respectively the first end and the second end, the outer ring of the bearing is connected to the second auxiliary arm, the inner ring of the bearing is fixedly sleeved on the first end of the wire flange, the second end of the wire flange is connected to the second arm, the second rubber ring is arranged between the second end of the wire flange and the second arm, and the second rubber ring can statically seal the second end of the wire flange The second universal seal is arranged at the connection between the end and the second arm, and the second universal seal is arranged between the middle part of the passing flange and the second auxiliary arm. The second universal seal can dynamically seal the gap between the middle part of the passing flange and the second auxiliary arm and isolate the internal space of the second auxiliary arm from the external space. The rotating shaft, the first supporting flange, the second supporting flange, the rigid wheel, the second end of the flexible wheel, the first sealing flange, the second sealing flange, the bearing and the passing flange are coaxial. The rotating shaft is connected to the output shaft of the power source. Under the drive of the power source, the rotating shaft can rotate in the inner holes of the first supporting flange and the second supporting flange and drive the wave generator to rotate. The wave generator can drive the flexible wheel to rotate. The flexible wheel can drive the second supporting flange and the second sealing flange to rotate and drive the second arm to swing.

[0005] Optionally, a third Varistor is further included, and the third Varistor is disposed between the first sealing flange and the second sealing flange, so that dynamic sealing is achieved between the first sealing flange and the second sealing flange through the third Varistor.

[0006] Optionally, a first groove capable of accommodating a first rubber ring is provided on a side of the second arm close to the first auxiliary arm, and a second groove capable of accommodating a second rubber ring is provided on a side of the second arm close to the second auxiliary arm.

[0007] Optionally, four connecting flanges are also included, and the four connecting flanges are annular, wherein the inner holes of two connecting flanges are rotatably sleeved on the rotating shaft at the first end of the rotating shaft, and the inner holes of the other two connecting flanges are rotatably sleeved on the rotating shaft at the second end of the rotating shaft, the inner hole of the first supporting flange is fixedly sleeved on the two connecting flanges at the first end of the rotating shaft, and the inner hole of the second supporting flange is fixedly sleeved on the two connecting flanges at the second end of the rotating shaft, and the four connecting flanges and the line flange are coaxial.

[0008] Optionally, the rotating shaft is in a hollow tubular shape, and a first through hole is provided on the second arm near the rotating shaft, and the inner hole of the rotating shaft and the first through hole can allow the wire to pass through.

[0009] Optionally, the wire passing flange is in a hollow tubular shape, and a second through hole is provided on the second arm near the wire passing flange. The inner hole of the wire passing flange and the second through hole can allow the wire to pass through.

[0010] Optionally, the bearing is a ball bearing.

[0011] Optionally, the outer shells at the sides of the first auxiliary arm and the second auxiliary arm that are away from each other are the first side cover and the second side cover, and the first side cover and the second side cover are detachably fixed to the first auxiliary arm and the second auxiliary arm respectively by bolts.

[0012] Optionally, a first soft rubber strip is provided on a surface of the first side cover that contacts the first auxiliary arm, and a second soft rubber strip is provided on a surface of the second side cover that contacts the second auxiliary arm.

[0013] Optionally, the power source is a motor, and the rotating shaft is connected to the output shaft of the motor.

[0014] The beneficial technical effect of the present invention is that the robot joint sealing structure includes: a first arm, a second arm, a harmonic reducer, a bearing, a first rubber ring, a second rubber ring, a first universal seal and a second universal seal. When in use, the rotating shaft is driven to rotate by a power source, and the rotating shaft drives the wave generator to rotate. The wave generator can drive the flexible wheel to rotate. The flexible wheel is connected to the second arm through the second support flange. When the flexible wheel rotates, the second arm swings under the drive of the flexible wheel. At the same time, the second end of the line flange is also fixedly connected to the second arm. The first end of the line flange is connected to the inner ring of the bearing. The line flange also rotates under the drive of the flexible wheel. The bearing can make the rotation of the line flange smoother and more stable. Since a first rubber ring is provided between the second support flange and the second arm, a static seal is achieved between the first auxiliary arm and the second arm to prevent external dust or water vapor from entering the connection between the first auxiliary arm and the second arm. Since a first universal seal is provided between the second sealing flange and the first auxiliary arm, the second sealing flange and the first auxiliary arm move relative to each other when the second arm swings. The universal seal is a kind of seal for This sealing device achieves a seal between moving objects. The first universal seal provides a dynamic seal between the second sealing flange and the first auxiliary arm, preventing dust and moisture from entering the first auxiliary arm. A second rubber ring is positioned between the second end of the thread flange and the second arm, creating a static seal between the second auxiliary arm and the second arm, preventing dust and moisture from entering the connection between the second auxiliary arm and the second arm. The second universal seal is positioned between the middle of the thread flange and the second auxiliary arm, allowing relative movement between the thread flange and the second auxiliary arm during swinging. This second universal seal provides a dynamic seal between the middle of the thread flange and the second auxiliary arm, preventing dust and moisture from entering the second auxiliary arm. The combined sealing of the first and second rubber rings, the first universal seal, and the second universal seal achieves a complete seal at the joint of the robotic arm. Furthermore, since a bearing is positioned within the second auxiliary arm, the forces acting on the second arm during swinging are borne simultaneously by the flexspline and the bearing. This dual-support structure reduces local forces on the robotic arm and improves its overall strength. This device offers the advantages of a simple structure, effective support, and excellent sealing performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a three-dimensional view of the whole machine of the present invention;

[0016] Figure 2 It is a side view of the whole machine of the present invention;

[0017] Figure 3 for Figure 2 Middle AA section view;

[0018] Figure 4 for Figure 3 Enlarged view of point B in the middle;

[0019] Figure 5 for Figure 3 Enlarged view of point C in the middle;

[0020] in:

[0021] 1. First arm; 101. First auxiliary arm; 102. Second auxiliary arm; 2. Second arm; 3. Bearing;

[0022] 4. First rubber ring; 5. Second rubber ring; 6. First universal plug; 7. Second universal plug; 8. Wave generator; 9. Rigid pulley; 10. Flexspline; 11. First supporting flange; 12. Second supporting flange; 13. Rotating shaft; 14. First sealing flange; 15. Second sealing flange; 16. Wire flange; 17. Third universal plug; 18. Connecting flange. DETAILED DESCRIPTION

[0023] In order to more clearly understand the technical means of the present invention and implement it according to the contents of the specification, the specific implementation methods of the present invention are further described in detail below in conjunction with the drawings and examples. The following examples are used to illustrate the present invention but are not used to limit the scope of the present invention.

[0024] This specific embodiment describes in detail the robot joint sealing structure described in this application, such as Figure 1-Figure 5As shown, the robot joint sealing structure includes: a first arm 1, a second arm 2, a harmonic reducer, a bearing 3, a first rubber ring 4, a second rubber ring 5, a first Varistor 6 and a second Varistor 7. The top of the first arm 1 is provided with a first auxiliary arm 101 and a second auxiliary arm 102 opposite to each other. The second arm 2 is provided between the first auxiliary arm 101 and the second auxiliary arm 102. The harmonic reducer is provided in the first auxiliary arm 101. The harmonic reducer includes a wave generator 8, a rigid wheel 9 and a flexible wheel 10. The wave generator 8 is the input end of the harmonic reducer. The two ends of the rotating shaft 13 are respectively the first end and the second end. The first support flange 11 and the second support flange 12 are annular. The inner holes of the first support flange 11 and the second support flange 12 are respectively sleeved on the first end of the rotating shaft 13. The first support flange 11 and the second support flange 12 are provided in the middle of the rotating shaft 13, and the first support flange 11 is fixed to the first auxiliary arm 101, and the second support flange 12 is fixed to the second arm 2. The flexible wheel 10 is a hollow tube, and the two ends of the flexible wheel 10 are respectively the first end and the second end. The first end of the flexible wheel 10 is rotatably sleeved on the wave generator 8, and the second end of the flexible wheel 10 is the output end of the harmonic reducer. The first rubber ring 4 is provided between the second support flange 12 and the second arm 2. The first rubber ring 4 can statically seal the connection between the second support flange 12 and the second arm 2. The second end of the flexible wheel 10 is fixed to the side of the second support flange 12 away from the second arm 2. The first sealing flange 14 and the second sealing method The flange 15 is annular, and the second sealing flange 15 is fixed to the side of the second end of the flexible wheel 10 away from the second support flange 12. The rigid wheel 9 is annular, and the rigid wheel 9 is fixed to the first support flange 11 and sleeved on the flexible wheel 10. The first sealing flange 14 is fixed to the rigid wheel 9. The inner hole of the second sealing flange 15 is rotatably sleeved on the first sealing flange 14. The first variable seal 6 is arranged between the second sealing flange 15 and the first auxiliary arm 101. The first variable seal 6 can dynamically seal the gap between the second sealing flange 15 and the first auxiliary arm 101 and isolate the internal space of the first arm 1 from the external space. The two ends of the wire flange 16 are the first end and the second end respectively. The outer ring of the bearing 3 is connected to the second auxiliary arm 102, and the inner ring of the bearing 3 is fixedly sleeved on the first end of the wire flange 16. The second end of the wire flange 16 is connected to the second arm 2. The second rubber ring 5 is arranged between the second end of the wire flange 16 and the second arm 2. The second rubber ring 5 can statically seal the connection between the second end of the wire flange 16 and the second arm 2. The second universal seal 7 is arranged between the middle part of the wire flange 16 and the second auxiliary arm 102. The second universal seal 7 can dynamically seal the gap between the middle part of the wire flange 16 and the second auxiliary arm 102 and isolate the internal space of the second auxiliary arm 102 from the external space. The rotating shaft 13, the first supporting flange 11, the second supporting flange 12, the rigid wheel 9, the second end of the flexible wheel 10, the first sealing flange 14, the second sealing flange 15, the bearing 3 and the wire flange 16 are coaxial. The rotating shaft 13 is connected to the output shaft of the power source.Driven by a power source, the rotating shaft 13 can rotate in the inner holes of the first support flange 11 and the second support flange 12 and drive the wave generator 8 to rotate. The wave generator 8 can drive the flexible wheel 10 to rotate. The flexible wheel 10 can drive the second support flange 12 and the second sealing flange 15 to rotate and drive the second arm 2 to swing. When in use, the rotating shaft 13 is driven to rotate by the power source, and the rotating shaft 13 drives the wave generator 8 to rotate. The wave generator 8 can drive the flexible wheel 10 to rotate. The flexible wheel 10 is connected to the second arm 2 through the second support flange 12. When the flexible wheel 10 rotates, the second arm 2 swings under the drive of the flexible wheel 10. At the same time, the second end of the wire flange 16 is also fixedly connected to the second arm 2. The first end of the wire flange 16 is connected to the inner ring of the bearing 3. The wire flange 16 also rotates under the drive of the flexible wheel 10. The bearing 3 can make the rotation of the wire flange 16 smoother and more stable. A first rubber ring 4 is provided between the second supporting flange 12 and the second arm 2 to achieve a static seal between the first auxiliary arm 101 and the second arm 2, preventing external dust or moisture from entering the connection between the first auxiliary arm 101 and the second arm 2. Since a first Variseal 6 is provided between the second sealing flange 15 and the first auxiliary arm 101, the second sealing flange 15 and the first auxiliary arm 101 move relative to each other when the second arm 2 swings. The Variseal is a sealing device used to achieve sealing between moving objects. The first Variseal 6 can achieve the second sealing flange 15. The dynamic seal between the first auxiliary arm 101 and the first auxiliary arm 101 prevents external dust or water vapor from entering the first auxiliary arm 101. Since a second rubber ring 5 is provided between the second end of the wire flange 16 and the second arm 2, a static seal is achieved between the second auxiliary arm 102 and the second arm 2 to prevent external dust or water vapor from entering the connection between the second auxiliary arm 102 and the second arm 2. Since a second fan seal 7 is provided between the middle part of the wire flange 16 and the second auxiliary arm 102, the wire flange 16 and the second auxiliary arm 102 move relative to each other when the second arm 2 swings. The second plug 7 can achieve dynamic sealing between the middle part of the over-line flange 16 and the second auxiliary arm 102, preventing external dust or water vapor from entering the interior of the second auxiliary arm 102. The first rubber ring 4, the second rubber ring 5, the first plug 6 and the second plug 7 are sealed at the same time to achieve the overall sealing of the joint of the robotic arm. In addition, since a bearing 3 is provided inside the second auxiliary arm 102, the force of the second arm 2 when swinging is borne by the flexible wheel 10 and the bearing 3 at the same time. The use of a double support structure can reduce the local force of the robotic arm and improve the overall strength of the robotic arm. In this embodiment, the first auxiliary arm 101 provides the power for the second arm 2 to swing, and the second auxiliary arm 102 mainly provides support for the second arm 2. It has the advantages of simple structure, good support effect and good sealing performance. The harmonic reducer in this embodiment is a prior art, which relies on the flexible bearing on the wave generator 8 to make the flexible wheel 10 produce controllable elastic deformation,And it meshes with the rigid wheel 9 to transmit motion and power to the gear reduction transmission mechanism. The static seal in this embodiment refers to the seal between two relatively stationary objects. The dynamic seal in this embodiment refers to the seal between two relatively moving objects. The Variseal in this embodiment is a prior art, also known as the Variseal seal ring. The Variseal seal ring is a high-performance seal with a U-shaped cross-section and a special spring inside Teflon. The appropriate spring force pushes the sealing lip (surface) out and gently presses the sealed surface to produce a very excellent sealing effect. The actuation effect of the spring can overcome the slight eccentricity of the mating surface of the sealed object and the wear of the sealing lip, and continue to maintain the expected sealing performance. The Variseal seal ring can be used for both static and dynamic sealing, so when the robot arm in this embodiment is stopped, the seal at the joint of the robot arm is still effective.

[0025] This embodiment optionally includes a third vane plug 17, which is disposed between the first sealing flange 14 and the second sealing flange 15. This provides a dynamic seal between the first and second sealing flanges 14, 15. Providing the third vane plug 17 between the first and second sealing flanges 14, 15 further enhances the sealing effect and prevents external dust or moisture from entering between the first and second sealing flanges 14, 15.

[0026] Optionally, in this embodiment, a first groove capable of accommodating the first rubber ring 4 is provided on a side of the second arm 2 close to the first auxiliary arm 101 , and a second groove capable of accommodating the second rubber ring 5 is provided on a side of the second arm 2 close to the second auxiliary arm 102 .

[0027] Optionally, this embodiment further includes four connecting flanges 18, which are annular in shape. The inner holes of two connecting flanges 18 are rotatably sleeved on the rotating shaft 13 at the first end of the rotating shaft 13, and the inner holes of the other two connecting flanges 18 are rotatably sleeved on the rotating shaft 13 at the second end of the rotating shaft 13. The inner hole of the first supporting flange 11 is fixedly sleeved on the two connecting flanges 18 at the first end of the rotating shaft 13, and the inner hole of the second supporting flange 12 is fixedly sleeved on the two connecting flanges 18 at the second end of the rotating shaft 13. The four connecting flanges 18 are coaxial with the wire flange 16. The four connecting flanges 18 serve as a connection. Since the rotating shaft 13 rotates in the inner holes of the four connecting flanges 18, the four connecting flanges 18 can be directly replaced when they are worn.

[0028] Optionally, in this embodiment, the rotating shaft 13 is in a hollow tubular shape, and a first through hole is provided at a position of the second arm 2 near the rotating shaft 13 . The inner hole of the rotating shaft 13 and the first through hole can allow the wire to pass through.

[0029] Optionally, in this embodiment, the wire flange 16 is in a hollow tubular shape, and a second through hole is provided on the second arm 2 near the wire flange 16 . The inner hole of the wire flange 16 and the second through hole can allow wires to pass through.

[0030] Optionally, in this embodiment, the bearing 3 is a ball bearing.

[0031] Optionally, in this embodiment, the outer shells on the sides of the first auxiliary arm 101 and the second auxiliary arm 102 that are away from each other are formed as a first side cover and a second side cover, and the first side cover and the second side cover are detachably fixed to the first auxiliary arm 101 and the second auxiliary arm 102, respectively, by bolts. Detachably fixing the first side cover and the second side cover to the first auxiliary arm 101 and the second auxiliary arm 102, respectively, by bolts facilitates maintenance. When maintenance is required inside the first auxiliary arm 101 or the second auxiliary arm 102, maintenance can be performed by simply removing the first side cover or the second side cover.

[0032] In this embodiment, optionally, a first soft rubber strip is provided on the side of the first side cover that contacts the first auxiliary arm 101, and a second soft rubber strip is provided on the side of the second side cover that contacts the second auxiliary arm 102. The first soft rubber strip can seal the connection between the first side cover and the first auxiliary arm 101, preventing external dust or moisture from entering the interior of the first auxiliary arm 101. The second soft rubber strip can seal the connection between the second side cover and the second auxiliary arm 102, preventing external dust or moisture from entering the interior of the second auxiliary arm 102.

[0033] Optionally, in this embodiment, the power source is a motor, and the rotating shaft 13 is connected to the output shaft of the motor.

[0034] The robot joint sealing structure in this embodiment has the advantages of simple structure, good supporting effect and good sealing performance.

Claims

1. A robot joint sealing structure, characterized in that: include: A first arm (1), a second arm (2), a harmonic reducer, a bearing (3), a first rubber ring (4), a second rubber ring (5), a first universal plug (6) and a second universal plug (7); a first auxiliary arm (101) and a second auxiliary arm (102) are arranged opposite to each other at the top of the first arm (1); the second arm (2) is arranged between the first auxiliary arm (101) and the second auxiliary arm (102); the harmonic reducer is arranged in the first auxiliary arm (101); the harmonic reducer includes a wave generator (8), a rigid wheel (9) and a flexible wheel (10); the wave generator (8) is the input end of the harmonic reducer; the two ends of the rotating shaft (13) are respectively the first end and the second end; the first support flange (11) and the second support flange (12) are annular; the first support flange (11) ) and the inner holes of the second supporting flange (12) are respectively sleeved on the first end and the second end of the rotating shaft (13); the wave generator (8) is sleeved on the middle part of the rotating shaft (13) and is located between the first supporting flange (11) and the second supporting flange (12); the first supporting flange (11) is fixed to the first auxiliary arm (101); the second supporting flange (12) is fixed to the second arm (2); the flexible wheel (10) is hollow and tubular; the two ends of the flexible wheel (10) are respectively the first end and the second end; the first end of the flexible wheel (10) is rotatably sleeved on the wave generator (8); the second end of the flexible wheel (10) is the output end of the harmonic reducer; the first rubber ring (4) is arranged between the second supporting flange (12) and the second arm (2); the first rubber ring (4) can statically seal the second At the connection between the support flange (12) and the second arm (2), the second end of the flexible wheel (10) is fixed to the side of the second support flange (12) away from the second arm (2), the first sealing flange (14) and the second sealing flange (15) are annular, the second sealing flange (15) is fixed to the side of the second end of the flexible wheel (10) away from the second support flange (12), the rigid wheel (9) is annular, the rigid wheel (9) is fixed to the first support flange (11) and is sleeved on the flexible wheel (10), the first sealing flange (14) is fixed to the rigid wheel (9), the inner hole of the second sealing flange (15) is rotatably sleeved on the first sealing flange (14), the first universal plug (6) is arranged between the second sealing flange (15) and the first auxiliary arm (101), the first universal plug (6) is arranged between the second sealing flange (15) and the first auxiliary arm (101), and the first universal plug (6) is arranged between the second sealing flange (15) and the first auxiliary arm (101). ) can dynamically seal the gap between the second sealing flange (15) and the first auxiliary arm (101) and isolate the internal space of the first arm (1) from the external space, the two ends of the wire flange (16) are respectively the first end and the second end, the outer ring of the bearing (3) is connected to the second auxiliary arm (102), the inner ring of the bearing (3) is fixedly sleeved on the first end of the wire flange (16), the second end of the wire flange (16) is connected to the second arm (2), the second rubber ring (5) is arranged between the second end of the wire flange (16) and the second arm (2), the second rubber ring (5) can statically seal the connection between the second end of the wire flange (16) and the second arm (2), the second universal plug (7) is arranged between the middle of the wire flange (16) and the second auxiliary arm (102),The second universal seal (7) can dynamically seal the gap between the middle of the line flange (16) and the second auxiliary arm (102) and isolate the internal space of the second auxiliary arm (102) from the external space. The rotating shaft (13), the first supporting flange (11), the second supporting flange (12), the rigid wheel (9), the second end of the flexible wheel (10), the first sealing flange (14), the second sealing flange (15), the bearing (3) and the line flange (16) are coaxial. The rotating shaft (13) is connected to the output shaft of the power source. The rotating shaft (13) can rotate in the inner holes of the first supporting flange (11) and the second supporting flange (12) under the drive of the power source and drive the wave generator (8) to rotate. The wave generator (8) can drive the flexible wheel (10) to rotate. The flexible wheel (10) can drive the second supporting flange (12) and the second sealing flange (15) to rotate and drive the second arm (2) to swing.

2. The robot joint sealing structure according to claim 1, characterized in that: The invention also includes a third varnish (17), which is arranged between the first sealing flange (14) and the second sealing flange (15). Dynamic sealing is achieved between the first sealing flange (14) and the second sealing flange (15) through the third varnish (17).

3. The robot joint sealing structure according to claim 2, characterized in that: A first groove capable of accommodating a first rubber ring (4) is provided on a side of the second arm (2) close to the first auxiliary arm (101), and a second groove capable of accommodating a second rubber ring (5) is provided on a side of the second arm (2) close to the second auxiliary arm (102).

4. The robot joint sealing structure according to claim 3, characterized in that: The invention also includes four connecting flanges (18), the four connecting flanges (18) are annular, the inner holes of two connecting flanges (18) are rotatably sleeved on the rotating shaft (13) and located at the first end of the rotating shaft (13), the inner holes of the other two connecting flanges (18) are rotatably sleeved on the rotating shaft (13) and located at the second end of the rotating shaft (13), the inner hole of the first supporting flange (11) is fixedly sleeved on the two connecting flanges (18) located at the first end of the rotating shaft (13), the inner hole of the second supporting flange (12) is fixedly sleeved on the two connecting flanges (18) located at the second end of the rotating shaft (13), and the four connecting flanges (18) and the line flange (16) are coaxial.

5. The robot joint sealing structure according to claim 4, characterized in that: The rotating shaft (13) is in the shape of a hollow tube. A first through hole is provided on the second arm (2) near the rotating shaft (13). The inner hole of the rotating shaft (13) and the first through hole can allow wires to pass through.

6. The robot joint sealing structure according to claim 1, characterized in that: The wire passing flange (16) is in a hollow tubular shape, and a second through hole is provided on the second arm (2) near the wire passing flange (16). The inner hole of the wire passing flange (16) and the second through hole can allow wires to pass through.

7. The robot joint sealing structure according to claim 1, characterized in that: The bearing (3) is a ball bearing.

8. The robot joint sealing structure according to claim 1, characterized in that: The outer shells at the sides of the first auxiliary arm (101) and the second auxiliary arm (102) that are away from each other are the first side cover and the second side cover, and the first side cover and the second side cover are detachably fixed to the first auxiliary arm (101) and the second auxiliary arm (102) respectively by bolts.

9. The robot joint sealing structure according to claim 8, characterized in that: A first soft rubber strip is provided on the side of the first side cover that contacts the first auxiliary arm (101), and a second soft rubber strip is provided on the side of the second side cover that contacts the second auxiliary arm (102).

10. The robot joint sealing structure according to claim 1, characterized in that: The power source is a motor, and the rotating shaft (13) is connected to the output shaft of the motor.

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