Wrist cover, robot, and wrist cover set

Abstract

A wrist cover (1) covers a wrist (60) of a robot, the wrist (60) of the robot has a first wrist unit (70), a second wrist unit (80), and a third wrist unit (90) connected in series in a relatively rotatable manner, and the wrist cover (1) has: a first rotation sealing member that seals a circular annular gap between the second wrist unit (80) and the third wrist unit (90) while allowing relative rotation of the second wrist unit (80) and the third wrist unit (90) by being fixed to the second wrist unit (80); and a soft bag-shaped cover body (4) having a first opening and a second opening, the first opening is arranged in a state of penetrating the first wrist unit (70), the second opening is arranged in a state of penetrating the third wrist unit (90), and the cover body (4) is installed with the first rotation sealing member in a state of sealing a periphery of the second opening and the first rotation sealing member in a whole range.

Description

Technical Field

[0001] This invention relates to a wrist cover, a robot, and a wrist cover assembly. Background Technology

[0002] A cover for the wrist of a robot is known (e.g., see Patent Document 1).

[0003] The cover has a single cylindrical shape that covers a first wrist unit, a second wrist unit that rotates relative to the first wrist unit, and a third wrist unit that rotates relative to the second wrist unit. One end of the cover is attached to the first wrist unit, and the other end of the cover is attached to the third wrist unit.

[0004] Patent Document 1 has a cover that covers three wrist units and has a corrugated portion to allow for displacement of the second wrist unit relative to the first wrist unit and displacement of the third wrist unit relative to the second wrist unit, thereby enabling greater deformation.

[0005] Existing technical documents

[0006] Patent documents

[0007] Patent Document 1: Japanese Patent Application Publication No. 2017-56501 Summary of the Invention

[0008] The problem the invention aims to solve

[0009] To ensure a large range of motion for the robot, the displacement of the second wrist unit relative to the first wrist unit and the displacement of the third wrist unit relative to the second wrist unit are usually set to be large. For the corrugated section designed to allow for large displacements in both axes, the length and outer diameter need to be increased to increase the amount of extension and retraction, which increases the possibility of interference between the surrounding components, such as workpieces, and the cover.

[0010] Therefore, it is desirable to have a wrist cover and a robot that can reduce the possibility of interference around the robot's wrist through a compact structure.

[0011] Solution for solving the problem

[0012] One aspect of the present invention is a wrist cover for a robot wrist, the robot wrist having a first wrist unit, a second wrist unit, and a third wrist unit connected in series in a rotatable manner. The wrist cover includes: a first rotational sealing member, which, by being fixed to the second wrist unit, allows relative rotation between the second wrist unit and the third wrist unit and seals an annular gap between the second wrist unit and the third wrist unit; and a soft, bag-like cover body having a first opening configured to allow the first wrist unit to pass through and a second opening configured to allow the third wrist unit to pass through. The cover body is mounted to the first rotational sealing member in such a state that it seals the periphery of the second opening between the second opening and the first rotational sealing member over the entire circumference. Attached Figure Description

[0013] Figure 1 This is a perspective view showing the overall structure of a robot with a wrist cover according to one embodiment of the present invention.

[0014] Figure 2 It means Figure 1 A longitudinal sectional view of the robot's wrist.

[0015] Figure 3 It means Figure 1 Enlarged longitudinal sectional view of the robot's second arm and the first wrist unit of the wrist.

[0016] Figure 4 It means Figure 2 Enlarged longitudinal sectional view of the second and third wrist units of the wrist.

[0017] Figure 5 This is a perspective view of the main body of a wrist cover according to one embodiment of the present invention.

[0018] Figure 6 It means Figure 1 Enlarged longitudinal sectional view of the second arm and the first wrist unit of the first variant of the robot.

[0019] Figure 7 It means Figure 1 Enlarged longitudinal sectional view of the second wrist unit and the third wrist unit of the second variant of the robot.

[0020] Figure 8 It means Figure 1 Enlarged longitudinal sectional view of the first wrist unit of the third variant of the robot. Detailed Implementation

[0021] Hereinafter, a wrist cover 1 and a robot 10 according to one embodiment of the present invention will be described with reference to the accompanying drawings.

[0022] like Figure 1 As shown, the robot 10 in this embodiment is, for example, a six-axis multi-joint robot.

[0023] The robot 10 includes: a base 20 disposed on a horizontal ground; and a rotating body 30 supported for rotation about a vertical axis J1 A relative to the base 20. Additionally, the robot 10 includes: a first arm 40 supported for rotation about a horizontal axis J2 B relative to the rotating body 30; and a second arm 50 supported for rotation about a horizontal axis J3 relative to the tip of the first arm 40. Furthermore, the robot 10 includes: a three-axis wrist 60 supported at the tip of the second arm 50; and a wrist cover 1 mounted on the wrist 60.

[0024] like Figure 1 as well as Figure 2 As shown, the wrist 60 includes a first wrist unit 70, which is supported to be rotatable relative to the second arm 50 about a J4 axis (first axis) D extending along a plane orthogonal to the J3 axis C. The wrist 60 includes: a second wrist unit 80, which is supported to be rotatable relative to the first wrist unit 70 about a J5 axis E orthogonal to the J4 axis D; and a third wrist unit 90, which is supported to be rotatable relative to the second wrist unit 80 about a J6 axis (third axis) F orthogonal to the J5 axis E.

[0025] like Figure 3 As shown, the second arm 50 and the first wrist unit 70 have a hollow hole 51 and a hollow hole (first hollow hole) 71 extending along the J4 axis D. The annular gap between the second arm 50 and the first wrist unit 70 is sealed by an oil seal (not shown).

[0026] A cylindrical conduit (cylindrical component) 52, fixed to the second arm 50, is disposed within the hollow holes 51 and 71 along the J4 axis D. Furthermore, the annular gap between the front end of the conduit 52 and the first wrist unit 70 is sealed by an oil seal 72.

[0027] The second wrist unit 80 has a hollow hole (second hollow hole) 81 centered on the J6 axis F. Additionally, the third wrist unit 90 has a hollow hole (third hollow hole) 91 centered on the J6 axis F. The third wrist unit 90 is disposed within the hollow hole 81 of the second wrist unit 80, and the annular gap between the third wrist unit 90 and the second wrist unit 80 is sealed by an oil seal (not shown). Furthermore, the third wrist unit 90 includes: a flange surface 90a, which can mount a tool (not shown); and a cylindrical outer peripheral surface 92 disposed around the flange surface 90a, centered on the J6 axis F.

[0028] like Figures 2 to 4 As shown, the wrist cover 1 of this embodiment includes an oil seal (first rotational sealing member) 2 that allows relative rotation of the second wrist unit 80 and the third wrist unit 90 and seals the annular gap between them. In addition, the wrist cover 1 includes: a bag-shaped cover body 4 that covers the first wrist unit 70 and the second wrist unit 80; and a mounting member 3 that mounts the cover body 4 to the wrist 60.

[0029] The cover body 4 is formed, for example, of a flexible resin, preferably a stretchable resin. For example, Figure 2 As shown, the cover body 4 has the following shape: it covers the wrist 60 with a small gap between it and the outer surface of the wrist 60, with the J4 axis D and the J6 axis F arranged in a straight line.

[0030] In addition, such as Figure 5 As shown, the cover body 4 has a first opening 4a through which the first wrist unit 70 passes and a second opening 4b through which the third wrist unit 90 passes. Furthermore, the cover body 4 has a third opening 4c, which is positioned to coincide with the opening at the front end of the hollow hole 71 of the first wrist unit 70; and a fourth opening 4d, which is positioned to coincide with the opening at the base end of the hollow hole 81 of the second wrist unit 80.

[0031] like Figure 3 as well as Figure 4 As shown, the mounting component 3 includes a strap 31, an annular component (first annular component) 32, and a pressure plate 33. The strap 31 fixes the periphery of the first opening 4a of the cover body 4 to the first wrist unit 70, and the annular component 32 and the pressure plate 33 fix the periphery of the second opening 4b to the second wrist unit 80. In addition, the mounting component 3 includes an annular component 34 and an annular component 35. The annular component 34 fixes the periphery of the third opening 4c to the periphery of the opening at the front end of the hollow hole 71 of the first wrist unit 70, and the annular component 35 fixes the periphery of the fourth opening 4d to the periphery of the opening at the base end of the hollow hole 81 of the second wrist unit 80.

[0032] With the first wrist unit 70 passing through the first opening 4a, the strap 31 is radially and outwardly fastened to the periphery of the first opening 4a of the cover body 4. Thus, the strap 31 secures the cover body 4 to the first wrist unit 70 in a manner that seals the periphery of the first opening 4a of the cover body 4 with the outer peripheral surface of the first wrist unit 70 throughout the entire circumference.

[0033] The annular component 32 has a circular hole (first hole) 32a with an inner diameter larger than the outer diameter of the outer peripheral surface 92 of the third wrist unit 90. The annular component 32 can be installed on the front end of the second wrist unit 80 with the oil seal 2 fitted into the hole 32a and the outer peripheral surface 92 of the third wrist unit 90 inserted into the lip 2a of the oil seal 2.

[0034] That is, the inner circumferential surface (inner surface) 32b of the hole 32a of the annular component 32 is arranged radially outward with a gap relative to the outer circumferential surface 92 of the third wrist unit 90, with the J6 axis F as the central axis. Thus, the oil seal 2 allows the third wrist unit 90 to rotate relative to the second wrist unit 80 about the J6 axis F, and seals the annular gap between the inner circumferential surface 32b of the annular component 32 and the outer circumferential surface 92 of the third wrist unit 90.

[0035] The annular component 32 is provided with an annular contact surface 32c. When the annular component 32 is installed on the second wrist unit 80, the annular contact surface 32c is formed by a plane orthogonal to the J6 axis F. By making the periphery of the second opening 4b of the cover body 4 fit tightly against the contact surface 32c, and by clamping the cover body 4 between the annular pressure plate 33 and the contact surface 32c, and by fastening them together with bolts 6, the second opening 4b of the cover body 4 can be fixed to the front end of the second wrist unit 80.

[0036] Thus, the cover body 4 and the oil seal 2 are installed in such a state that the annular component 32 is positioned therebetween and seals the periphery of the second opening 4b and the oil seal 2 over the entire circumference.

[0037] The ring component 34 is formed as a ring plate with a through hole 34a having an inner diameter that is approximately the same as the inner diameter of the hollow hole 71.

[0038] With the through hole 34a aligned with the opening on the front end side of the hollow hole 71, the ring component 34 is installed using multiple bolts 7, thereby sealing the periphery of the third opening 4c of the cover body 4 sandwiched between the two relative to the first wrist unit 70.

[0039] Similarly, the ring member 35 is formed as a ring plate with a through hole 35a having an inner diameter approximately the same as the inner diameter of the hollow hole 81. The ring member 35 is installed by means of bolts 8 with the through hole 35a aligned with the opening on the base side of the hollow hole 81, thereby sealing the periphery of the fourth opening 4d of the cover body 4 sandwiched between the two relative to the second wrist unit 80.

[0040] The function of the wrist cover 1 and the robot 10 configured in this embodiment will be explained below.

[0041] In order to install the wrist cover 1 onto the wrist 60 of the robot 10, firstly, as... Figure 4 As shown, the annular component 32, after the oil seal 2 is fitted with the inner circumferential surface 32b, is installed at the front end of the second wrist unit 80. Thus, the lip 2a of the oil seal 2 is in close contact with the outer circumferential surface 92 of the third wrist unit 90 throughout the entire circumference, and the oil seal 2 seals the annular gap between the inner circumferential surface 32b of the annular component 32 and the outer circumferential surface 92 of the third wrist unit 90.

[0042] Next, the front end of the third wrist unit 90 is inserted into the first opening 4a of the cover body 4, and as follows: Figure 2 As shown, the cover body 4 covers the entire wrist 60. Moreover, the first wrist unit 70 passes through the first opening 4a, and the third wrist unit 90 passes through the second opening 4b. The third opening 4c is aligned with the opening on the front end side of the hollow hole 71 of the first wrist unit 70, and the fourth opening 4d is aligned with the opening on the base end side of the hollow hole 81 of the second wrist unit 80.

[0043] like Figure 3 As shown, in this state, the periphery of the first opening 4a, which is in a state where the first wrist unit 70 passes through, is secured radially outward using the strap 31. Thus, the cover body 4 can be fixed to the first wrist unit 70 while simultaneously sealing the periphery of the first opening 4a with the outer peripheral surface of the first wrist unit 70 throughout its entire circumference.

[0044] In addition, such as Figure 4 As shown, with the periphery of the second opening 4b of the cover body 4 sandwiched between the contact surface 32c of the annular member 32 and the pressure plate 33 throughout the entire circumference, the annular member 32 and the pressure plate 33 are fastened together to the second wrist unit 80 using bolts 6. Thus, the periphery of the second opening 4b and the annular member 32 can be sealed throughout the entire circumference, while the cover body 4 can be fixed to the second wrist unit 80.

[0045] Furthermore, with the periphery of the third opening 4c of the cover body 4 sandwiched between the periphery of the opening on the front side of the hollow hole 71 of the first wrist unit 70 and the ring member 34 throughout its entire circumference, the periphery of the opening on the front side of the hollow hole 71 of the first wrist unit 70 and the ring member 34 are assembled using bolts 7. Thus, the periphery of the third opening 4c is sealed and installed at the periphery of the opening on the front side of the hollow hole 71 of the first wrist unit 70. Similarly, with the periphery of the fourth opening 4d sandwiched between the periphery of the opening on the base side of the hollow hole 81 and the ring member 35 throughout its entire circumference, the periphery of the opening on the base side of the hollow hole 81 and the ring member 35 are assembled using bolts 8, thus sealing and installing the periphery of the fourth opening 4d at the periphery of the opening on the base side of the hollow hole 81. Thus, the installation of the wrist cover 1 is completed.

[0046] Since the cover body 4 surrounds the first wrist unit 70 and the second wrist unit 80, when the second wrist unit 80 is rotated relative to the first wrist unit 70 around the J5 axis E, the cover body 4 deforms and maintains the state of covering the first wrist unit 70 and the second wrist unit 80.

[0047] Furthermore, since the gap between the second wrist unit 80 and the third wrist unit 90 is sealed by the oil seal 2, even if the third wrist unit 90 is rotated relative to the second wrist unit 80 around the J6 axis F, the cover body 4 will not deform. That is, since the cover body 4 is only allowed to deform due to the rotation of the second wrist unit 80 relative to the first wrist unit 70, the excess for deformation of the cover body 4 can be suppressed to a small extent.

[0048] For example, when the elasticity of the cover body 4 provides leeway for deformation, the cover body 4 can be configured to match the size of the outer surface of the wrist 60. Alternatively, when corrugation or relaxation provides leeway for deformation, a smaller leeway that allows for deformation by one axial amount is sufficient, which has the advantage of not causing the wrist cover 1 to protrude excessively outward from the wrist 60.

[0049] Furthermore, with the hollow holes 71, 81, and 91 positioned on the outside of the cover body 4, the cover body 4 seals and surrounds the gap between the first wrist unit 70 and the second wrist unit 80. Therefore, even if external dust or the like enters the inside of the hollow holes 71, 81, and 91, it will not penetrate the inside of the cover body 4. Thus, even when the wrist 60 has a hollow hole structure, the gap between the first wrist unit 70 and the second wrist unit 80 can be protected more effectively.

[0050] Furthermore, in this embodiment, such as Figure 6As shown, the wrist cover 1 may also have a sealing component (fourth rotary sealing component) 25 that seals the annular gap between the second arm 50 and the first wrist unit 70.

[0051] exist Figure 6 In the example shown, the sealing member 25 is a strip-shaped component formed of a material capable of elastic deformation. The sealing member 25 includes: a main body portion 25a that is wrapped around the outer peripheral surface of an annular base member 26 over its entire circumference, the outer peripheral surface of which is fixed to the outer peripheral surface of the first wrist unit 70; and a lip portion 25b that extends axially from the main body portion 25a and is in close contact with the annular member 53 fixed to the second arm 50 over its entire circumference.

[0052] The periphery of the first opening 4a of the cover body 4 is sandwiched between the base member 26 and the main body 25a. Furthermore, it is secured radially outward from the main body 25a by a strap 31. Thus, the cover body 4 can be fixed in a state that seals the periphery of the first opening 4a and the first wrist unit 70 throughout the entire circumference, and the annular gap between the second arm 50 and the first wrist unit 70 can be sealed by the sealing member 25.

[0053] In this embodiment, with the periphery of the second opening 4b of the cover body 4 sandwiched between the contact surface 32c of the annular member 32 and the pressure plate 33 throughout its circumference, the annular member 32 and the pressure plate 33 are fastened together to the second wrist unit 80 using bolts 6. Furthermore, with the periphery of the third opening 4c of the cover body 4 sandwiched between the periphery of the opening of the hollow hole 71 and the ring member 34 throughout its circumference, assembly is performed using bolts 7. And, with the periphery of the fourth opening 4d of the cover body 4 sandwiched between the periphery of the opening of the hollow hole 81 and the ring member 35 throughout its circumference, the periphery of the opening of the hollow hole 81 and the ring member 35 are assembled using bolts 8. Alternatively, the pressure plate 33, ring members 34, and 35 can also be installed on the cover body 4 using adhesive or the like.

[0054] Furthermore, in this embodiment, an oil seal 2 is used to seal the annular gap between the second wrist unit 80 and the third wrist unit 90 on the front end side of the second wrist unit 80. Based on this, as... Figure 7 As shown, when the third wrist unit 90 passes through the hollow hole 81 of the second wrist unit 80 and protrudes towards the base end, the annular gap between the second wrist unit 80 and the third wrist unit 90 can also be sealed by an oil seal (second rotary sealing component) 5 at the base end of the second wrist unit 80.

[0055] Specifically, an annular component (second annular component) 11 is fixed to the second wrist unit 80 at the periphery of the opening on the base end side of the hollow hole 81, and a third wrist unit 90, protruding towards the base end side of the second wrist unit 80, is inserted into the hole (second hole) 11a of the annular component 11. An oil seal 5 is installed on the inner circumferential surface (inner surface) 11b of the hole 11a of the annular component 11. By contacting the lip 5a of the oil seal 5 with the outer circumferential surface 92 of the third wrist unit 90, the annular gap between the third wrist unit 90 and the annular component 11 is sealed by the oil seal 5.

[0056] In this configuration, the cover body 4 is sandwiched between the contact surface 11c provided on the annular member 11 and the pressure plate 12 across the entire circumference of the fourth opening 4d, thereby fixing it to the second wrist unit 80 in a sealed state, separated by the annular member 1. The annular gap between the second wrist unit 80 and the third wrist unit 90 is sealed by the oil seal 13 provided in the mechanism of the robot 10, but on its outer side, the gap between the third wrist unit 90 and the annular member 11 is double-sealed by the oil seal 5. This improves the sealing performance and protects the oil seal 13 of the mechanism from wear.

[0057] Furthermore, in the robot 10 of this embodiment, an oil seal 72 is used to seal the annular gap between the first wrist unit 70 and the conduit 52 at the front end of the hollow hole 71. Based on this, as... Figure 8 As shown, the wrist cover 1 may also have an oil seal (third rotary sealing component) 73 that seals the annular gap between the first wrist unit 70 and the conduit 52.

[0058] exist Figure 8 In the example shown, the wrist cover 1 includes: an annular member (third annular member) 14, which is fixed to the first wrist unit 70 at the periphery of the opening on the front end side of the hollow hole 71; and an oil seal 73, which is mounted on the inner peripheral surface (inner surface) 14b of the hole (third hole) 14a of the annular member 14. By contacting the lip 73a of the oil seal 73 with the outer peripheral surface of the conduit 52, the annular gap between the conduit 52 and the annular member 14 is sealed by the oil seal 73.

[0059] Furthermore, the cover body 4 is sandwiched between the contact surface 14c provided on the annular member 14 and the pressure plate 15 throughout the entire circumference of the third opening 4c, thereby fixing it to the first wrist unit 70 in a sealed state through the annular member 14. Thus, the oil seal 73 disposed between the conduit 52 and the annular member 14 protects the annular gap between the first wrist unit 70 and the conduit 52, which is a component of the robot 10.

[0060] In this embodiment, the oil seal 2 is fitted into the inner peripheral surface 32b of the annular component 32. Alternatively, a wrist cover assembly may be used, which includes a cover body 4 and an oil seal 2, wherein the periphery of the second opening 4b of the cover body 4 is fixed to the outer peripheral surface of the second wrist unit 80 in a sealed state.

[0061] That is, an oil seal 2 can be provided to seal the annular gap between the second wrist unit 80 and the third wrist unit 90, in a manner that is separate from the cover body 4 covering the first wrist unit 70 and the second wrist unit 80. In addition, an oil seal 5 may also be provided.

[0062] In this case, the lips 2a and 5a of the oil seals 2 and 5 can be in close contact with the outer peripheral surface 92 of the third wrist unit 90, or with the inner peripheral surface 81 of the second wrist unit 80 or the inner peripheral surfaces 32b and 11b of the annular components 32 and 11 fixed to the second wrist unit 80.

[0063] Alternatively, in this embodiment, a wrist cover assembly may be used, which includes an oil seal 73 that seals the annular gap between the first wrist unit 70 and the conduit 52 in a manner separate from the cover body 4 covering the first wrist unit 70 and the second wrist unit 80.

[0064] In this case, the lip 73a of the oil seal 73 can be in close contact with the outer peripheral surface of the conduit 52, or with the inner peripheral surface of the first wrist unit 70 or the inner peripheral surface 14b of the annular component 14 fixed to the first wrist unit 70.

[0065] Furthermore, the third opening 4c and the fourth opening 4d of the cover body 4 can also be omitted. Thus, the cover body 4 can be installed on the wrist 60 using only the first opening 4a and the second opening 4b, thereby simplifying the installation process.

[0066] Explanation of reference numerals in the attached figures:

[0067] 1: Wrist cover

[0068] 2: Oil seal (first rotary sealing component)

[0069] 4: Main body of the cover

[0070] 4a: First opening

[0071] 4b: Second opening

[0072] 4c: Third opening

[0073] 4d: Fourth opening

[0074] 5: Oil seal (second rotary seal component)

[0075] 10: Robot

[0076] 11: Annular component (second annular component)

[0077] 11a: Hole (Second Hole)

[0078] 11b: Inner circumferential surface (inner surface)

[0079] 14: Annular component (third annular component)

[0080] 14a: Hole (Third Hole)

[0081] 14b: Inner circumferential surface (inner surface)

[0082] 25: Sealing component (fourth rotary sealing component)

[0083] 32: Annular component (first annular component)

[0084] 32a: Hole (First Hole)

[0085] 32b: Inner circumferential surface (inner surface)

[0086] 50: Second arm (arm)

[0087] 52: Conduit (cylindrical component)

[0088] 60: Wrist

[0089] 70: First wrist unit

[0090] 71: Hollow Hole (First Hollow Hole)

[0091] 73: Oil seal (third rotary seal component)

[0092] 80: Second wrist unit

[0093] 81: Hollow hole (second hollow hole)

[0094] 90: Third wrist unit

[0095] 91: Hollow hole (third hollow hole)

[0096] 92: Outer peripheral surface (outer surface)

[0097] D: J4 axis (first axis)

[0098] F: J6 axis (third axis)

Claims

1. A wrist cover for a robot, the robot's wrist comprising a first wrist unit, a second wrist unit, and a third wrist unit connected in series in a rotatable manner, characterized in that, The wrist cover has the following features: A first rotary sealing component, which is fixed to the second wrist unit, thereby allowing relative rotation between the second wrist unit and the third wrist unit, and sealing the annular gap between the second wrist unit and the third wrist unit; as well as The soft, bag-shaped cover body has a first opening configured to allow the first wrist unit to pass through, and a second opening configured to allow the third wrist unit to pass through. The cover body is installed with the first rotary sealing component in such a state that it seals the periphery of the second opening and the first rotary sealing component over the entire circumference. The first wrist unit has a first hollow hole extending through the first axis at a position including the first axis that serves as the axis of rotation of the first wrist unit. The second wrist unit has a second hollow hole extending through the third axis at a position that includes the third axis of rotation of the third wrist unit. The third wrist unit is disposed within the second hollow hole, and has a third hollow hole extending along the direction of the third axis at a position including the third axis. The main body of the cover has: The third opening is positioned at the same location as the opening on the front end side of the first hollow hole; and The fourth opening is positioned at the same location as the opening on the base end side of the second hollow hole. The periphery of the third opening is sealed to the periphery of the opening at the front end of the first hollow hole. The periphery of the fourth opening is sealed to the periphery of the opening on the base end side of the second hollow hole.

2. The wrist cover according to claim 1, characterized in that, The third wrist unit has a cylindrical outer surface. The wrist cover includes a first annular component, which has a first hole through which the third wrist unit passes and is fixed to the second wrist unit. The first rotary sealing component, while allowing relative rotation between the first annular component and the third wrist unit, seals the annular gap between the inner surface of the first hole and the outer surface of the third wrist unit. The first annular component is installed with the cover body in such a state that the first hole aligns with the second opening, and seals the periphery of the first hole and the periphery of the second opening over the entire circumference.

3. The wrist cover according to claim 1 or 2, characterized in that, The third wrist unit passes through the second hollow hole and protrudes towards the base end. The wrist cover has the following features: The second annular component has a second hole through which the third wrist unit, which protrudes from the base end side of the second wrist unit, passes, and is fixed to the second wrist unit. as well as The second rotary sealing component, while allowing relative rotation between the second annular component and the third wrist unit, seals the annular gap between the inner surface of the second hole and the outer surface of the third wrist unit. The second annular component is installed with the cover body in such a state that the second hole aligns with the fourth opening, and seals the periphery of the second hole and the periphery of the fourth opening over the entire circumference.

4. The wrist cover according to claim 1 or 2, characterized in that, The wrist cover has the following features: The third annular component has a third hole through which a cylindrical component extending along the first axis passes within the first hollow hole, and is fixed to the first wrist unit. as well as The third rotary sealing component, while allowing relative rotation between the third annular component and the cylindrical component, seals the annular gap between the inner surface of the third hole and the outer surface of the cylindrical component. The third annular component is installed with the cover body in the following state: the third hole is aligned with the third opening, and the periphery of the third hole and the periphery of the third opening are sealed throughout the entire circumference.

5. The wrist cover according to claim 1 or 2, characterized in that, The wrist cover includes a fourth rotary sealing member fixed to the first wrist unit, which seals the annular gap between the arm and the first wrist unit while allowing relative rotation between the arm and the first wrist unit, thus supporting the first wrist unit in a rotatable configuration. The cover body and the fourth rotary sealing component are installed in such a state that the periphery of the first opening is sealed between the fourth rotary sealing component and the entire circumference.

6. A robot, characterized in that, The robot is equipped with a wrist cover as described in any one of claims 1 to 5.

7. A wrist cover assembly for covering a robot's wrist, the robot's wrist comprising a first wrist unit, a second wrist unit, and a third wrist unit connected in series in a rotatable manner, characterized in that, The wrist cover assembly includes: A first rotary sealing component, which allows relative rotation of the second wrist unit and the third wrist unit while sealing the annular gap between the second wrist unit and the third wrist unit; and The soft, bag-shaped cover body has a first opening configured to allow the first wrist unit to pass through and a second opening configured to allow the third wrist unit to pass through. The cover body is fixed to the outer peripheral surface of the second wrist unit in a state that seals the periphery of the second opening over the entire circumference. The first wrist unit has a first hollow hole extending through the first axis at a position including the first axis that serves as the axis of rotation of the first wrist unit. The second wrist unit has a second hollow hole extending through the third axis at a position that includes the third axis of rotation of the third wrist unit. The third wrist unit is disposed within the second hollow hole, and has a third hollow hole extending along the direction of the third axis at a position including the third axis. The main body of the cover has: The third opening is positioned at the same location as the opening on the front end side of the first hollow hole; and The fourth opening is positioned at the same location as the opening on the base end side of the second hollow hole. The periphery of the third opening is sealed to the periphery of the opening at the front end of the first hollow hole. The periphery of the fourth opening is sealed to the periphery of the opening on the base end side of the second hollow hole.

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