Sealing device and apparatus and robot having the same

Abstract

This application discloses a sealing device and a device and robot having the same. The sealing device is used between a first component and a second component made of metal and includes: a first sealing assembly configured to be sealably connected to the first component; and a second sealing assembly configured to be sealably connected to the second component. The first and second sealing assemblies are configured to form at least one dynamic seal with each other along the circumference of the first and second components. The contact portions of the first and second sealing assemblies are both made of plastic. The device includes the aforementioned sealing device. The robot includes a robotic arm that includes at least a first link and the aforementioned sealing device. The first component is the first link, and the second component is a second link connected to the first link, a base, or an end effector.

Description

Technical Field

[0001] This application relates to the field of mechanical seal technology, and more specifically to seals between links in mechanical devices such as robots. Background Technology

[0002] Industrial robots are widely used in various industries, such as welding, assembly, grinding, polishing, spraying, medical surgery, agricultural operations, entertainment, and education. In practical applications, robots are used not only in indoor environments but also in outdoor environments. In harsh working environments, the requirements for robot protection and sealing performance are high; otherwise, dust, metal particles, or water can enter the robot, causing corrosion and damage to the robot's joints, thus affecting its functionality. Furthermore, in special occasions with high cleanliness requirements, such as medical, food production, and precision electronic component manufacturing, the robot itself must not generate pollution; otherwise, the produced products will be contaminated. Therefore, the links of the robot's robotic arm need to be sealed to prevent water, dust, etc., from entering the robot body and damaging it, or to prevent internal contaminants from leaking into the external environment, thus meeting the cleanliness requirements of the application scenario. Summary of the Invention

[0003] According to a first aspect of this application, a sealing device is provided, configured for use between a first component and a second component made of metal, the sealing device comprising: a first sealing assembly configured to be sealably connected to the first component; and a second sealing assembly configured to be sealably connected to the second component, wherein the first sealing assembly and the second sealing assembly are configured to form at least one dynamic seal with respect to each other along the circumference of the first component and the second component, wherein the portions of the first sealing assembly and the second sealing assembly in contact with each other are both made of plastic.

[0004] In at least one embodiment according to this disclosure, the first sealing assembly may be fixedly and sealingly connected to the first member, and / or the second sealing assembly may be fixedly and sealingly connected to the second member.

[0005] In at least one embodiment according to the present disclosure, the first sealing assembly may have a first sealing portion and a second sealing portion, wherein the first sealing portion may be disposed between the first member and the second sealing portion and may be configured to seal between the first member and the second sealing portion radially along the first member and the second member, wherein the second sealing portion may be made of plastic.

[0006] In at least one embodiment according to this disclosure, the stiffness of the material of the second sealing portion may be greater than the stiffness of the material of the first sealing portion.

[0007] In at least one embodiment according to this disclosure, the second sealing assembly may have a third sealing portion and a fourth sealing portion, wherein the third sealing portion may be disposed between the second member and the fourth sealing portion and may be configured to seal between the second member and the fourth sealing portion along the radial and axial directions of the first member and the second member, wherein the fourth sealing portion may be made of plastic and may be configured to form at least one dynamic seal with the second sealing portion along the circumference of the first member and the second member.

[0008] In at least one embodiment according to this disclosure, the stiffness of the fourth sealing portion may be greater than the stiffness of the third sealing portion.

[0009] In at least one embodiment according to this disclosure, one of the second sealing portion and the fourth sealing portion may be formed with a recess, and the other of the second sealing portion and the fourth sealing portion may be formed with a protrusion, wherein the protrusion may be inserted into the recess and contact the recess to form the at least one dynamic seal along the circumference of the first member and the second member.

[0010] In at least one embodiment according to this disclosure, the contact between the recess and the protrusion may be substantially a line contact.

[0011] In at least one embodiment according to this disclosure, the side surface of the recess or a portion thereof may be a flat surface and the protrusion may have a smooth surface in contact with the flat surface; or the side surface of the recess or a portion thereof may be a smooth surface and the protrusion may have a flat surface in contact with the smooth surface; or the side surface of the recess or a portion thereof may be a smooth surface and the protrusion may have a smooth surface in contact with the smooth surface.

[0012] In at least one embodiment according to the present disclosure, the first sealing portion may include an O-ring, annular gasket, or lip seal ring installed between the second sealing portion and the first member, the second sealing portion may include a pressure ring, and the first sealing portion may be made of rubber.

[0013] In at least one embodiment according to the present disclosure, an annular groove may be formed on the second sealing portion and / or the first member, the first sealing portion may be disposed in the annular groove to seal the first member, a first shoulder may be formed on the first member, and the second sealing portion may be mounted on the first shoulder.

[0014] In at least one embodiment according to this disclosure, the third sealing portion may include a lip sealing ring mounted between the fourth sealing portion and the second member, the fourth sealing portion may include a pressure ring, wherein the third sealing portion may be made of rubber.

[0015] In at least one embodiment according to the present disclosure, an annular groove may be formed on the fourth sealing portion and / or the second member, the third sealing portion may be disposed in the annular groove to seal the second member, a second shoulder may be formed on the second member, and the third sealing portion may be mounted on the second shoulder.

[0016] In at least one embodiment according to the present disclosure, the first sealing portion may include an O-ring and may be disposed between the first member and the second sealing portion, the third sealing portion may include a lip sealing ring, and the fourth sealing portion may be disposed between the third sealing portion and the second sealing portion.

[0017] In at least one embodiment according to this disclosure, the plastic may include at least one of the following materials: polyvinyl chloride, polyvinyl chloride, polypropylene, polyethylene, polybutene, acrylonitrile-butadiene-styrene copolymer, or polytetrafluoroethylene.

[0018] According to a second aspect of this application, an apparatus is provided comprising a first component and a second component made of metal, and a sealing device as described above disposed between the first component and the second component.

[0019] According to a third aspect of this application, a robot is provided that may include a robotic arm, the robotic arm may include at least a first component and a second component made of metal and a sealing device as described above disposed between the first component and the second component, wherein the first component may be a first robotic arm link, the second component may be a second robotic arm link, a base or an end effector, wherein the second component is rotatably connected to the first component.

[0020] In at least one embodiment according to the present disclosure, the first sealing assembly may have a first sealing portion and a second sealing portion, wherein the first sealing portion may be disposed between the first member and the second sealing portion and may be configured to seal between the first member and the second sealing portion radially along the first member and the second member, wherein the second sealing portion may be made of plastic and may be fixedly connected to the first member.

[0021] In at least one embodiment according to this disclosure, the second sealing assembly may have a third sealing portion and a fourth sealing portion, wherein the third sealing portion may be disposed between the second member and the fourth sealing portion and may be configured to seal between the second member and the fourth sealing portion along the radial and axial directions of the first member and the second member, wherein the fourth sealing portion may be made of plastic and may be configured to form at least one dynamic seal with the second sealing portion along the circumference of the first member and the second member.

[0022] In at least one embodiment according to this disclosure, the fourth sealing portion may be fixedly connected to the second component. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of this application or the conventional technology, the drawings used in the description of the embodiments or the conventional technology will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the disclosed drawings without creative effort.

[0024] Figure 1 A perspective view of a robot with a robotic arm according to one embodiment of this application is shown.

[0025] Figure 2 A front view of a sealing device according to an embodiment of this application is shown;

[0026] Figure 3 To show along Figure 2 A cross-sectional view of the sealing device obtained by cutting along line AA in the diagram;

[0027] Figure 4 for Figure 3 A partially enlarged cross-sectional view of part B of the sealing device shown;

[0028] Figure 5 for Figure 2 An exploded view of the sealing device shown. Detailed Implementation

[0029] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application. In addition, for clarity, the drawings are not necessarily drawn to scale, and unnecessary details may be omitted to prevent obscuring the claimed subject matter.

[0030] The following will refer to the appendix. Figures 1 to 5 This application describes in detail a sealing device 300 applied between two links of a robotic arm 100, such as a robot 1000. Although embodiments of the sealing device according to this application will be described below using two links of the robotic arm 100 of the robot 1000 as an example, those skilled in the art will understand that the sealing device of this application can be applied between any two components that need to be sealed together, particularly between a first and a second component that are rotatably connected to each other, and is not limited to between two adjacent links of the robotic arm 100, nor is it limited to the robotic arm of a robot, but can be applied to any device with similar sealing requirements.

[0031] like Figure 1 As shown, the robot 1000 includes a robotic arm 100 and an end effector 200 mounted on the end of the robotic arm 100. The robotic arm 100 includes a base 60 and a plurality of links interconnected by joints. Specifically, in this embodiment, the plurality of links includes a first link 10, a second link 20, a third link 30, a fourth link 40, and a fifth link 50. The robotic arm 100, driven by a device such as a motor and a reducer, rotates each link about its respective axis of rotation to control the end effector 200 mounted on the end of the robotic arm 100 to reach a desired position and perform a corresponding operation.

[0032] The motor and reducer can be configured as joints (not shown), which can be mounted between adjacent links to adjust the rotation of the links by controlling the rotational speed of the motor and reducer. Multiple joints can be arranged in the robotic arm 100 depending on the number of links. For example, in... Figure 1 The robotic arm 100 shown may include six joints. More specifically, a first joint is disposed between a base 60 and a first link 10, a second joint is disposed between the first link 10 and a second link 20, a third joint is disposed between the second link 20 and a third link 30, a fourth joint is disposed between the third link 30 and a fourth link 40, a fifth joint is disposed between the fourth link 40 and a fifth link 50, and a sixth joint is disposed between the fifth link 50 and the end effector 200. By controlling the rotation of the motors and reducers within each joint, the positions of the robotic arm 100 and the end effector 200 can be changed as needed to achieve the desired operation of the end effector 200.

[0033] To prevent contaminants from the working environment from entering the robot body, and / or to prevent contaminants inside the robot from leaking into the external environment, it is necessary to install appropriate sealing devices between the links, between the links and the base, and between the links and the end effector.

[0034] The following will refer to the appendix. Figures 2 to 5 This paper describes in detail a sealing device 300 according to an embodiment of the present application, applied between the links of the robotic arm 100, between the links and the base 60, and between the links and the end effector 200. In the following description, for ease of understanding, an example of a sealing device 300 disposed between two adjacent links is used, with one link considered as a first component 1 and the other as a second component 2. Furthermore, to highlight the specific structure of the sealing device 300 disposed between the two links, the structure of the links is simplified and only schematically depicted.

[0035] like Figures 2 to 4 As shown, the sealing device 300 includes a first sealing assembly 310 and a second sealing assembly 320 disposed between a first component 1 and a second component 2. The first sealing assembly 310 is connected to the first component 1, and the second sealing assembly 320 is connected to the second component 2, forming at least one circumferential dynamic seal between the first sealing assembly 310 and the second sealing assembly 320. In an embodiment according to this application, the first sealing assembly 310 is fixedly connected to the first component 1 via a frictional seal, and the second sealing assembly 320 is also fixedly connected to the second component 2 via a frictional seal.

[0036] More specifically, the first sealing assembly 310 includes a first sealing portion 3 and a second sealing portion 4, and the second sealing assembly 320 includes a third sealing portion 6 and a fourth sealing portion 5. For example... Figure 4As shown, the first sealing part 3 is an O-ring, and the second sealing part 4 is a pressure ring with an annular groove 401 formed on its outer side. The first sealing part 3 is installed in the annular groove 401 and is located between the inner sidewall of the first component 1 and the second sealing part 4. Furthermore, a first shoulder 101 is formed on the inner side of the first component 1, and one end of the second sealing part 4 adjacent to the sealing groove 401 is mounted against the first shoulder 101. When the first sealing assembly 310 is installed onto the first component 1, at least the first sealing part 3 undergoes a certain deformation, allowing a sealed and fixed connection to be formed between the first sealing assembly 310 and the first component 1 by friction. Therefore, when the first component 1 rotates, the first sealing assembly 310 can rotate accordingly. Although the first sealing part 3 and the second sealing part 4 are formed separately in the embodiment described above, they can also be formed as an integral structure. In one embodiment, the first sealing part 3 and the second sealing part 4 can also be formed from different materials; for example, the first sealing part 3 is formed of rubber, and the second sealing part 4 is formed of PVC. PVCTE is an elastomer formed from a mixture of polyvinyl chloride and rubber. However, the first sealing part 3 and the second sealing part 4 can also be formed from the same material, for example, both of them can be formed from PVCTE. In some embodiments, the material of the second sealing part 4 has a greater stiffness than the material of the first sealing part 3, resulting in a better sealing effect. Figures 3 to 5 As shown, the third sealing part 6 can be formed as a lip-shaped sealing ring. For example... Figure 4 and 5 As shown, the third sealing part 6 is a lip-shaped sealing ring with a U-shaped cross-section, its opening 601 facing the inner wall of the second member 2, while the fourth sealing part 5 is a pressure ring. A second shoulder 201 is formed on the inner side of the second member 2, and the third sealing part 6 is mounted against the second shoulder 201. The fourth sealing part 5 is located between the second sealing part 3 and the third sealing part 6, so that when the fourth sealing part 5 applies pressure to the third sealing part 6, at least the third sealing part 6 can undergo a certain deformation, thereby forming a fixed sealing connection between it and the second member 2. Thus, when the second member 2 rotates relative to the first member 1, the second sealing assembly 320 can rotate together with the second member 2 under the action of friction.

[0037] In one embodiment, the third sealing portion 6 and the fourth sealing portion 5 may also be formed of different materials; for example, the third sealing portion 6 may be formed of rubber, and the fourth sealing portion 5 may be formed of PVCTE. However, the third sealing portion 6 and the fourth sealing portion 5 may also be formed of the same material, for example, both may be formed of PVCTE. In some embodiments, the material of the fourth sealing portion 5 has a greater stiffness than the material of the third sealing portion 6, resulting in a better sealing effect.

[0038] Furthermore, a circumferential dynamic seal is formed between the first sealing assembly 310 and the second sealing assembly 320, such as a linear seal, a surface seal, and / or a combination of a linear seal and a surface seal.

[0039] In some embodiments, such as Figure 4 As shown, a recess 402 is formed at the lower end of the first sealing assembly 310 (e.g., at the lower end of the second sealing portion 4), and the cross-section of the recess 402 can be formed as one of a rectangle, trapezoid, V-shape, U-shape, W-shape, or semicircle. Correspondingly, a protrusion 502 is formed at the upper end of the second sealing assembly 320 (e.g., at the upper end of the fourth sealing portion 5), and the cross-section of the protrusion 502 is formed as one of a rectangle, trapezoid, V-shape, U-shape, W-shape, or semicircle. When the protrusion 502 is inserted into the recess 402, at least one circumferential dynamic seal can be formed between the first sealing assembly 310 and the second sealing assembly 320. For example, as Figure 4 As shown, the recess 402 has a V-shaped cross-section, and the protrusion 502 has a semi-circular cross-section. Thus, the two side surfaces of the recess 402 can be sealed by the protrusion 502, thereby forming two linear seals. Depending on the shapes of the protrusion 502 and the recess 402 and the nature of their contact (line contact or surface contact), various forms of sealing devices can be formed between the first sealing assembly 310 and the second sealing assembly 320, such as surface seals, line seals, or combinations thereof. Here, line contact includes not only ideal line contact but also contact with a very narrow contact surface, approximately linear (i.e., the width of the contact surface is negligible). Therefore, the line contact discussed herein can also be referred to as approximately line contact or essentially line contact.

[0040] When the recessed portion and the raised portion correspond in a not-quite-matched shape, a linear seal is easily formed between them. This linear seal results in a small contact area, low friction, and minimal wear between the first sealing assembly 310 and the second sealing assembly 320, which helps extend the service life of the sealing assemblies 310 and 320 and facilitates disassembly, thus making the replacement of the sealing device easier. Compared to linear seals, surface seals or a combination of linear and surface seals are also feasible. Whether it is a linear seal, a surface seal, or a combination of both, it is permissible as long as the friction generated is suitable for forming a dynamic seal between the first sealing assembly 310 and the second sealing assembly 320.

[0041] Furthermore, the shapes of the recess 402 and the protrusion 502 are not limited to those listed above. In general, the side surface of the recess 402 or a portion thereof may be a flat surface and the protrusion 502 may have a smooth surface in contact with the flat surface; or the side surface of the recess 402 or a portion thereof may be a flat surface and the protrusion 502 may have a flat surface in contact with the flat surface; or the side surface of the recess 402 or a portion thereof may be a smooth surface and the protrusion 502 may have a flat surface in contact with the smooth surface; or the side surface of the recess 402 or a portion thereof may be a smooth surface and the protrusion 502 may have a smooth surface in contact with the smooth surface. Thus, various forms of seals can be formed between the first sealing assembly 310 and the second sealing assembly 320 according to sealing requirements.

[0042] In some of the embodiments described above, both the second sealing portion 3 and the fourth sealing portion 5 are formed of plastics such as PVCTE; however, this application is not limited thereto. In other embodiments, it is also feasible to make only the portions of the first sealing assembly and the second sealing assembly that come into contact with each other made of plastic. Furthermore, in addition to PVCTE mentioned above, plastics such as polyvinyl chloride (PVC), polypropylene (PP), polyethylene (PE), polybutene (PB), acrylonitrile butadiene styrene copolymer (ABS), and polytetrafluoroethylene (PTFE) or similar plastics are equally suitable for forming at least the portions of the protrusions 502 and the recesses 402 that come into contact with each other, forming all of the protrusions 502 and all of the recesses 402, or forming the entire second sealing portion 3 and the entire fourth sealing portion 5, or as a coating material for the portions of the protrusions 502 and the recesses 402 that come into contact with each other.

[0043] It is worth noting that this application is not limited to this; a recess may also be formed at the upper end of the second sealing assembly 320 (e.g., at the upper end of the fourth sealing portion 5), and a protrusion may be formed at the lower end of the first sealing assembly 310 (e.g., at the lower end of the second sealing portion 4). Furthermore, apart from the mutually mating recesses and protrusions, the first sealing assembly 310 and the second sealing assembly 320 may employ the same sealing structure. For example, both the first sealing assembly 310 and the second sealing assembly 320 may be in the form of a combination of an O-ring and a pressure ring, or both may be in the form of a combination of a lip sealing ring and a pressure ring, or both may be in the form of an annular sealing gasket and a pressure ring, wherein a pair of pressure rings (i.e., the second sealing portion 4 and the fourth sealing portion 5) are opposite each other and are formed by interlocking with each other through the recesses and protrusions described above.

[0044] In the above description, the protrusion 502 is provided at the upper end of the second sealing assembly 320, while the recess 402 is provided at the lower end of the first sealing assembly, and the two are opposite to each other. However, if necessary, the protrusion may also protrude radially outward or radially inward relative to the first and second members, and the recess is formed accordingly.

[0045] In other embodiments, the first sealing assembly 310 seals not the inner wall of the first member 1 but the outer wall or end surface of the first member 1. That is, the first sealing portion 3 can be configured to seal at least one of the inner, outer, or end surfaces of the first member 1 as needed. Similarly, the second sealing assembly 320 can seal not only the inner wall of the second member 2 but also the outer wall or end surface of the second member. That is, the third sealing portion 6 can be configured to seal at least one of the inner, outer, or end surfaces of the second member 2. Based on the foregoing description, those skilled in the art will understand how to achieve sealing of the outer wall or end surface of the first member 1 or the second member 2 using a combination of a pressure ring and an O-ring, a gasket, or a lip seal ring, which will not be elaborated further here.

[0046] Furthermore, although the third sealing part 6 is described using a lip sealing ring with a U-shaped cross-section as an example, this application is not limited to this. First, as described above, an annular sealing gasket or an O-ring (i.e., a sealing ring with a circular cross-section) can also be used instead of the lip sealing ring as the third sealing part 6. In addition, the shape of the opening 601 of the lip sealing ring is not limited to U-shape, but can also be rectangular, V-shaped, T-shaped, W-shaped, semi-circular, etc., thereby forming one or more annular grooves on the inner circumference, outer circumference, or one or even both end surfaces of the sealing ring. Due to the presence of the annular grooves, i.e., the opening 601, the third sealing part 6 is easily deformed under the pressure of the pressure ring, thereby easily forming a tight seal with the second member 2 under relatively small pressure.

[0047] According to the sealing device of this application described above, sealed connections are formed between the first sealing assembly and the first member, between the second sealing assembly and the second member, and between the first sealing assembly and the second sealing assembly, which effectively isolates the interior and exterior of the robotic arm 100. Furthermore, the sealing device can convert friction between the connecting rods into friction between the sealing members, and can also achieve linear friction between the sealing members, thereby significantly reducing motion friction resistance while ensuring sealing.

[0048] For devices such as robots with robotic arms, the first component 1 and the second component 2 are typically made of metal. By applying the sealing device according to this disclosure, a pair of pressure rings can be formed of PVCTE, which avoids relative friction between plastic parts such as PVCTE and metal parts, reducing wear on the connecting rod. In addition, frictional loss between plastic parts such as pressure rings formed of PVCTE is low, and even if wear occurs, it is less likely to generate debris, and replacement is inexpensive and convenient.

[0049] Furthermore, although the connection between the first and second sealing assemblies and their respective first and second components has been described using seals such as O-rings, lip seals, and annular gaskets as examples, those skilled in the art will understand that this application is not limited thereto. For example, the first sealing assembly may be further fixedly connected to the first component outside the first sealing portion via a key, screw, pin, threaded connection, or similar detachable connecting element, so that the first sealing assembly and the first component can rotate securely and synchronously without relative movement. Similarly, the second sealing assembly may also be further fixedly connected to the second component outside the third sealing portion via a key, screw, pin, threaded connection, or similar detachable connecting element, so that the second sealing assembly and the second component can rotate securely and synchronously without relative movement.

[0050] When the sealing device according to the embodiments of this application is applied between the links of a robot, between the links and the base, and / or between the links and the end effector, it can not only effectively prevent external water and dust from entering the robot, but also effectively prevent grease, dust and other contaminants inside the robot from entering the external environment, thereby achieving a dynamic seal with a high level of protection.

[0051] By selecting a wear-resistant material with a low coefficient of friction, such as PTV, to form a pair of relatively rotating pressure rings, the sealing device can achieve low friction and low wear while ensuring sealing performance, which is more conducive to the motion control of robots.

[0052] By utilizing the structural characteristics of a lip seal with an annular opening, the normal pressure on the sealing contact surface can be reduced with low deformation. This helps to reduce friction during relative movement of the links, thus facilitating robot motion control. In the embodiment described above with reference to the accompanying drawings, the O-ring on one side of the first sealing assembly ensures radial and / or axial sealing of the first member depending on its installation position, while the lip seal on the other side of the second sealing assembly ensures radial sealing of the second member while also being subjected to axial pressure, thereby ensuring axial sealing as well. Therefore, combining O-rings and lip seals in a sealing device is particularly suitable for use between two links of a robotic arm.

[0053] When an O-ring is used to seal the first component radially and a lip seal is used to seal the second component axially and radially, the sealing is achieved as long as the pressure between the first and second sealing components meets the axial pressure required for the lip seal. This sealing structure helps reduce the friction between the first and second sealing components and achieves dynamic sealing.

[0054] Given that PTV is a plastic material, the sealing device is less likely to generate dust particles even after long-term operation, making it more suitable for special occasions with high cleanliness requirements.

[0055] The foregoing describes some embodiments according to this application. It should be understood that the technical features of the embodiments can be combined arbitrarily. For the sake of brevity, not all possible combinations of the technical features in the above embodiments have been described. However, as long as the combination of these technical features does not contradict each other, it should be considered to be within the scope of this specification.

[0056] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A sealing device configured for use between a first component and a second component made of metal, the sealing device comprising: A first sealing assembly is configured to be sealably connected to the first member; and The second sealing assembly is configured to be sealably connected to the second member. The portions of the first sealing assembly and the second sealing assembly that come into contact with each other are both made of plastic; The first sealing assembly has a first sealing portion and a second sealing portion, wherein the first sealing portion is disposed between the first member and the second sealing portion and is configured to seal between the first member and the second sealing portion along the radial direction of the first member and the second member; The second sealing part has an annular groove formed therein, and the first sealing part is disposed in the annular groove to seal the first component; The second sealing assembly has a third sealing portion and a fourth sealing portion, wherein, The third sealing portion is disposed between the second member and the fourth sealing portion, and is configured to seal between the second member and the fourth sealing portion along the radial and axial directions of the first member and the second member. The fourth sealing portion is configured to form at least one dynamic seal with the second sealing portion along the circumference of the first member and the second member; The third sealing part can undergo a certain deformation to form a fixed sealing connection with the second component through friction. One of the second sealing part and the fourth sealing part has a recessed portion, and the other of the second sealing part and the fourth sealing part has a protruding portion. The protruding portion is inserted into the recessed portion and contacts the recessed portion to form the at least one dynamic seal along the circumference of the first component and the second component.

2. The sealing device as claimed in claim 1, wherein, The first sealing assembly is fixedly and sealingly connected to the first component, and / or the second sealing assembly is fixedly and sealingly connected to the second component.

3. The sealing device as claimed in claim 1, wherein, The second sealing part is made of plastic.

4. The sealing device as claimed in claim 3, wherein, The material of the second sealing part has a greater stiffness than the material of the first sealing part.

5. The sealing device as claimed in claim 1, wherein, The first sealing part can undergo a certain deformation so that it forms a fixed sealing connection with the first component through friction.

6. The sealing device as claimed in claim 1, wherein, The stiffness of the fourth sealing part is greater than that of the third sealing part.

7. The sealing device as claimed in claim 1, wherein, The contact between the recessed portion and the protruding portion is essentially a line contact.

8. The sealing device as claimed in claim 1, wherein, The side surface of the recess or a portion thereof is a flat surface, while the protrusion has a smooth surface that contacts the flat surface; or The side surface of the recess or a portion thereof is a smooth surface, while the protrusion has a flat surface that contacts the smooth surface; or The side surface of the recess or a portion thereof is a smooth surface, while the protrusion has a smooth surface in contact with the smooth surface.

9. The sealing device as claimed in claim 3, wherein, The first sealing portion includes an O-ring, annular gasket, or lip seal ring installed between the second sealing portion and the first component, the second sealing portion includes a pressure ring, and the first sealing portion is made of rubber.

10. The sealing device as claimed in claim 9, wherein, The first component has a first shoulder, and the second sealing part is mounted on the first shoulder.

11. The sealing device as claimed in claim 1, wherein, The third sealing portion includes a lip-shaped sealing ring installed between the fourth sealing portion and the second component, the fourth sealing portion including a pressure ring, wherein the third sealing portion is made of rubber.

12. The sealing device as claimed in claim 11, wherein, An annular groove is formed on the fourth sealing part and / or the second component, and the third sealing part is disposed in the annular groove to seal the second component. A second shoulder is formed on the second component, and the third sealing part is mounted on the second shoulder.

13. The sealing device as claimed in claim 1, wherein, The first sealing part includes an O-ring and is disposed between the first component and the second sealing part, the third sealing part includes a lip sealing ring, and the fourth sealing part is disposed between the third sealing part and the second sealing part.

14. The sealing device as claimed in claim 1, wherein, The plastic includes at least one of the following materials: PVCTE, polyvinyl chloride, polypropylene, polyethylene, polybutene, acrylonitrile-butadiene-styrene copolymer, or polytetrafluoroethylene.

15. An apparatus comprising a first component and a second component made of metal, and a sealing device as claimed in claim 1 disposed between the first component and the second component.

16. A robot comprising a robotic arm, said robotic arm including at least a first component and a second component made of metal, and a sealing device as claimed in claim 1 disposed between the first component and the second component, wherein, The first component is a first robotic arm link, and the second component is a second robotic arm link, a base, or an end effector, wherein the second component is rotatably connected to the first component.

17. The robot of claim 16, wherein, The first sealing assembly has a first sealing portion and a second sealing portion, wherein the first sealing portion is disposed between the first member and the second sealing portion and is configured to seal between the first member and the second sealing portion radially along the first member and the second member. The second sealing part is made of plastic and is fixedly connected to the first component.

18. The robot of claim 17, wherein, The second sealing assembly has a third sealing portion and a fourth sealing portion, wherein the third sealing portion is disposed between the second member and the fourth sealing portion and is configured to seal between the second member and the fourth sealing portion along the radial and axial directions of the first member and the second member. The fourth sealing portion is made of plastic and is configured to form a dynamic seal with the second sealing portion at least once along the circumference of the first member and the second member.

19. The robot of claim 17, wherein, The fourth sealing part is fixedly connected to the second component.

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