Mechanical arm joint labyrinth sealing structure, mechanical arm joint and robot

Abstract

The mechanical arm joint labyrinth sealing structure comprises a first joint arm and a second joint arm, an annular assembly is arranged between the first joint arm and the second joint arm, and the annular assembly comprises a static ring and a movable ring which are arranged on the first joint arm and the second joint arm correspondingly; an axial gap, a radial gap and an annular groove for containing the flexible ring are formed between the static ring and the moving ring, the axial gap, the radial gap and the annular groove are communicated, the flexible ring is clamped in the annular groove, and a negative pressure channel communicated with the axial gap and the radial gap is arranged between the first joint arm and the second joint arm. The invention further discloses a mechanical arm joint which comprises the mechanical arm joint labyrinth sealing structure, the first joint arm and the second joint arm are rotationally connected through the rotating shaft, and the annular assembly and the rotating shaft are coaxial. The invention further discloses the robot. The mechanical arm joint labyrinth sealing structure, the mechanical arm joint and the robot have the advantages that friction products are prevented from being generated to affect the external clean environment, and the amount of particles or pollutants released to the external clean environment is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of food and drug packaging machinery and equipment, and particularly relates to a labyrinth seal structure for a robotic arm joint, a robotic arm joint, and a robot. Background Art

[0002] The existing Chinese patent document with the application number CN201710756534.0 discloses a joint structure and a robot, which can exhibit higher sealing performance against external pressure, thereby more effectively preventing the destruction of the sealing state of the inner sealing member, and thus maintaining the tightness of the inner mechanical components. The joint structure includes: two joint members; a driving mechanism that drives the two joint members to rotate relative to each other around a specified axis; two sealing members that respectively seal the two joint members at positions outside the lubricant holding portion in the driving mechanism in a double-enclosing manner; and a pressurizing unit that makes the air pressure in the space between the two sealing members higher than the air pressure outside. The joint structure and the robot have the following deficiencies: 1) The outer sealing member either has a flange-shaped lip that protrudes obliquely toward the radial inside and contacts the first arm, which is prone to friction and generates debris, damaging the clean environment or entering the driving mechanism area and affecting transmission, or is formed as an annular sealing member held by a snap ring. However, it is necessary to eject the air in the space from the minute gap of the sealing member to the outside to prevent droplets and foreign matters from invading the inside of the joint part. In this way, the substances inside the joint will be blown to the outside, damaging the external clean environment; 2) The sealing member fixed to one joint member abuts against the other joint member, causing the sealing member to deform to a certain extent, so that the gap between the two joint members can be sealed by the sealing member. However, since the force providing the deformation comes from the sealing member itself, the sealing member requires a certain degree of flexibility, and a flexible sealing member has poor wear resistance and a short service life; and the pressure generated by the deformation of the sealing member abutting usually weakens over time, posing a risk of seal failure. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to overcome the deficiencies of the prior art and provide a labyrinth seal structure for a robotic arm joint, a robotic arm joint, and a robot that can avoid generating friction products and affecting the external clean environment, and reduce the release of particles or pollutants to the external clean environment.

[0004] To solve the above technical problems, the present invention adopts the following technical solutions: A mechanical arm joint labyrinth seal structure includes a first joint arm and a second joint arm. There is an annular component between the first joint arm and the second joint arm. The annular component includes a stationary ring and a moving ring respectively arranged on the first joint arm and the second joint arm. An axially connected and a radially connected gap are formed between the stationary ring and the moving ring, and an annular groove for accommodating a flexible ring is provided. The flexible ring is clamped in the annular groove. A negative pressure channel communicating with the axial gap and the radial gap is provided between the first joint arm and the second joint arm.

[0005] As a further improvement of the above technical solution: There are at least two axial gaps. The outer axial gap is shorter than the inner axial length. The annular groove is arranged on the side wall of the inner axial gap and opens radially; The annular groove is arranged on the stationary ring and / or the moving ring; A transmission mechanism for connecting with the second joint arm is arranged in the first joint arm. A negative pressure pumping space is formed between the annular component and the transmission mechanism. The negative pressure channel communicates with the axial gap and the radial gap through the negative pressure pumping space.

[0006] An annular component and a communication space connecting the annular component and the annular component are arranged between the first joint arm and the second joint arm on the inner side of the annular component.

[0007] On one side of the first joint arm relative to the second joint arm, a protruding part protruding towards the second joint arm is provided. The stationary ring of the annular component is located outside the protruding part, and the annular component is located inside the protruding part. Sealing rings are respectively arranged between the stationary ring and the protruding part. The stationary ring is in interference fit with the first joint arm, and the moving ring is in interference fit with the second joint arm.

[0008] An installation sleeve is arranged on the second joint arm. The annular component is arranged between the installation sleeve and the protruding part.

[0009] The annular component includes a static ring and a dynamic ring respectively arranged on the first joint arm and the installation sleeve. An axially connected and a radially connected interval are formed between the static ring and the dynamic ring, and a flexible ring is provided. Embedding grooves are arranged at the corresponding positions of the static ring and / or the dynamic ring and the flexible ring. The flexible ring is embedded in the embedding grooves.

[0010] The annular component includes a first annular part and a second annular part respectively arranged on the first joint arm and the installation sleeve. First contact surfaces and second contact surfaces are respectively arranged on the opposite sides of the first annular part and the second annular part. The first contact surfaces and the second contact surfaces are abutted against each other under the action of magnetic force; An annular elastic member is arranged between the first annular part and the second annular part. Grooves for accommodating the annular elastic member are arranged at the corresponding positions of the first annular part and / or the second annular part and the annular elastic member.

[0011] A magnetic component is provided on the first annular component or the second annular component. The magnetic component is used to magnetically attract the first annular component and the second annular component so that the first contact surface and the second contact surface are in contact with each other. A wear-resistant member is provided on the first annular component or the second annular component, and the first contact surface or the second contact surface is provided on the wear-resistant member.

[0012] The first annular component includes a mounting seat and a fixing ring. The mounting seat is provided on the first joint arm, the fixing ring is provided on the mounting seat, the first contact surface is provided on the fixing ring, the groove on the first annular component is provided on the mounting seat, an installation sleeve is provided on the second annular component, and the second annular component is sleeved on the installation sleeve and a circumferential sealing ring is provided between the second annular component and the installation sleeve.

[0013] A clean joint of a robotic arm includes the above-mentioned labyrinth seal structure of the robotic arm joint. The first joint arm and the second joint arm are rotatably connected through a rotating shaft, and both the stationary ring and the moving ring are coaxial with the rotating shaft.

[0014] Compared with the prior art, the advantages of the present invention are as follows: In the labyrinth seal structure of the robotic arm joint of the present invention, when the gas entering the joint under negative pressure passes between the stationary ring and the moving ring, it is subjected to the speed reduction effect of the labyrinth formed by the axial clearance and the radial clearance and the filtering effect of the annular groove and the flexible ring, thereby preventing particles or contaminants between the joints from leaking to the outside of the joint and blocking particles or contaminants from entering the transmission mechanism to achieve joint sealing. First, a clearance fit is formed between the stationary ring and the moving ring through the axially connected and radially connected clearances, avoiding the generation of friction products that affect the clean environment outside the joint, and the formed axial clearance and radial clearance increase the length of the gas flow path inside the joint. When the particles or contaminants inside the joint move, they are blocked and decelerated by the labyrinth effect generated by the axial clearance and the radial clearance formed between the stationary ring and the moving ring. When the air flow passes through the annular groove, a turbulent flow is formed under the action of the flexible ring, reducing the flow velocity, and the carried particles or contaminants are deposited and filtered, achieving a good effect of preventing internal particles or contaminants from flowing to the external clean environment. Second, the negative pressure channel makes the internal pressure of the axial clearance and the radial clearance less than the pressure of the external clean environment, so that the air flow direction is from the outside to the inside, making all the air flow directions face the inside, and the possible particles or contaminants are flowed into the negative pressure channel along with the air flow, further reducing the amount of particles or contaminants released to the external clean environment and preventing the destruction of the external clean environment.

[0015] The robotic arm joint of the present invention includes a labyrinth seal structure of the robotic arm joint and has all the advantages of the labyrinth seal structure of the robotic arm joint.

[0016] The robot of the present invention includes a robotic arm joint and has all the advantages of the robotic arm joint. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic structural diagram of the first embodiment of the labyrinth seal structure of the robotic arm joint of the present invention.

[0018] Figure 2 It is Figure 1 an enlarged structural diagram of the position A in

[0019] Figure 3 It is a schematic structural diagram of the second embodiment of the labyrinth seal structure of the robotic arm joint of the present invention.

[0020] Figure 4 It is Figure 3 an enlarged structural diagram of the position B in

[0021] Each label in the figure represents: 1. First joint arm; 11. Protruding part; 2. Second joint arm; 21. Mounting sleeve; 3. Ring-shaped component; 31. Stationary ring; 32. Rotating ring; 33. Axial clearance; 331. Radial clearance; 34. Flexible ring; 35. Annular groove; 4. Rotating shaft; 5. Negative pressure extraction space; 51. Negative pressure channel; 6. Communication space; 7. Transmission mechanism; 8. Sealing ring; 9. Ring-shaped component; 901. Magnetic attraction component; 902. Circumferential sealing ring; 903. Circumferential sealing element; 91. Static ring; 92. Dynamic ring; 93. Axial interval; 931. Radial interval; 94. Flexible ring; 95. Embedded groove; 96. First ring-shaped component; 961. First contact surface; 962. Mounting seat; 963. Fixed ring; 97. Second ring-shaped component; 971. Second contact surface; 972. Wear-resistant part; 98. Groove; 99. Ring-shaped elastic part. Detailed implementation manners

[0022] The present invention will be further described in detail below with reference to the accompanying drawings of the specification and specific embodiments.

[0023] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.

[0024] In addition, the terms "first" and "second" are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, "a plurality of" means two or more unless otherwise specifically defined.

[0025] In the present invention, unless otherwise clearly defined and limited, the terms "assembled", "connected", "joined", "fixed", etc. shall be construed in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0026] Embodiment 1: Figure 1 and Figure 2 shows an embodiment of the labyrinth seal structure of the robotic arm joint of the present invention. The labyrinth seal structure of the robotic arm joint in this embodiment includes a first joint arm 1 and a second joint arm 2. A ring-shaped component 3 is provided between the first joint arm 1 and the second joint arm 2. The ring-shaped component 3 includes a stationary ring 31 and a moving ring 32 respectively provided on the first joint arm 1 and the second joint arm 2. An axially communicating axial gap 33 and a radial gap 331 are formed between the stationary ring 31 and the moving ring 32, and an annular groove 35 for accommodating a flexible ring 34 is provided. The flexible ring 34 is clamped in the annular groove 35. A negative pressure channel 51 communicating with the axial gap 33 and the radial gap 331 is provided between the first joint arm 1 and the second joint arm 2.

[0027] The labyrinth sealing structure of the joint of the robotic arm, when the gas entering the joint under the action of negative pressure passes between the static ring 31 and the dynamic ring 32, is decelerated by the labyrinth formed by the axial gap 33 and the radial gap 331 and filtered by the annular groove 35 and the flexible ring 34, thereby preventing particles or contaminants between the joints from leaking out of the joints, and blocking external particles or contaminants from entering the transmission mechanism, so as to achieve joint sealing. Specifically, on the first hand, the static ring 31 and the dynamic ring 32 form a clearance fit through the connected axial gap 33 and radial gap 331 to avoid the generation of friction products that affect the clean environment outside the joint, and the formed axial gap 33 and radial gap 331 increase the length of the gas flow path in the joint. When the particles or pollutants inside the joint move, the airflow is blocked and slowed down due to the friction effect generated by the axial gap 33 and radial gap 331 formed between the static ring 31 and the dynamic ring 32. When the airflow passes through the annular groove 35, turbulence is formed under the action of the flexible ring 34, which reduces the flow rate. The carried particles or pollutants are filtered out due to deposition, thereby achieving a good effect of preventing internal particles or pollutants from flowing to the external clean environment; on the second hand, the negative pressure channel 51 makes the internal pressure of the axial gap 33 and the radial gap 331 lower than the external clean environment pressure, so that the direction of the airflow is from outside to inside, allowing the air flow to flow all toward the inside, and the particles or pollutants that may be generated will flow into the negative pressure channel 51 with the airflow, further reducing the amount of particles or pollutants released to the external clean environment, and preventing the external clean environment from being damaged.

[0028] It can be understood that the axial gap 33, the radial gap 331 and the annular groove 35 form a labyrinth seal. Compared with the existing labyrinth seal, the labyrinth seal has an additional annular groove 35, and a flexible ring 34 is clamped in the annular groove 35. The combination of the annular groove 35 and the flexible ring 34 has a turbulent deceleration effect on the passing airflow, so that the passing particles or pollutants are deposited and filtered, effectively preventing the particles or pollutants between the joints from leaking out of the joints and blocking the external particles or pollutants from entering the transmission mechanism, thereby improving the bidirectional sealing effect of the labyrinth seal. In addition, the particles or pollutants are deposited in the annular groove 35 and are not easy to flow out and destroy the external clean environment. In addition, a negative pressure channel 51 is set on the inner side of the labyrinth seal. Through the negative pressure effect of the negative pressure channel 51, the airflow is from the outside to the inside, so that the particles or pollutants that may be generated between the first joint arm 1 and the second joint arm 2 flow to the negative pressure channel 51, preventing the particles or pollutants from flowing out and destroying the external clean environment, thereby further improving the one-way sealing effect from the inside to the outside. Therefore, compared with the existing labyrinth sealing structure, the labyrinth sealing structure of the robot arm joint has a better bidirectional sealing effect and a unidirectional sealing effect from the inside to the outside.

[0029] Further, in this embodiment, there are at least two axial gaps 33, and the outer axial gap 33 is shorter in axial length than the inner one, which is convenient for processing and manufacturing. In addition, the shorter axial gap 33 has higher structural strength and can avoid deformation due to impact, thus affecting the sealing effect.

[0030] Further, in this embodiment, the annular groove 35 is provided on the side wall of the inner axial gap 33 and opens radially. That is to say, the annular groove 35 faces the rotation axis 4 of the second joint arm 2 or is away from the rotation axis 4 of the second joint arm 2. On the one hand, the width of the annular groove 35 is larger than that of the axial gap 33 where it is located. When air flows into the annular groove 35, it can increase the blocking and decelerating effect on the flowing substances (gases, particles, and / or pollutants). On the other hand, the annular groove 35 cooperates with the flexible ring 34, which can change the gas flow direction in the annular groove 35 and even generate turbulent flow to reduce the gas kinetic energy, achieving a better blocking and decelerating effect to filter out the particles and / or pollutants in the air flow.

[0031] The annular groove 35 is provided on the side wall of the inner axial gap 33. When external pollutants move from the outside to the inside, they first pass through the axial gap 33 and the radial gap 331 to decelerate the air flow, and then cooperate with the inner annular groove 35 and the flexible ring 34 in the annular groove 35 to achieve the blocking of particles or pollutants.

[0032] The annular groove 35 is provided on the stationary ring 31 and / or the moving ring 32; a transmission mechanism 7 for connecting with the second joint arm 2 is provided in the first joint arm 1, and a negative pressure extraction space 5 is formed between the annular component 3 and the transmission mechanism 7. The negative pressure channel 51 communicates with the axial gap 33 and the radial gap 331 through the negative pressure extraction space 5.

[0033] Further, in this embodiment, an annular component 9 and a communication space 6 for connecting the annular component 3 and the annular component 9 are provided inside the annular component 3 between the first joint arm 1 and the second joint arm 2. The communication space 6 can form an enlarged space with a width much larger than that of the axial gap 33. When the air flow enters this area, it can expand violently and lose kinetic energy, thereby greatly reducing its ability to flow inward. The communication space 6 can further buffer particles or pollutants and improve the overall sealing and blocking effect inside and outside the joint.

[0034] A transmission mechanism 7 for connecting with the second joint arm 2 is provided in the first joint arm 1, a negative pressure extraction space 5 is formed between the annular component 9 and the transmission mechanism 7, and the negative pressure channel 51 communicates with the axial gap 33 and the radial gap 331 through the negative pressure extraction space 5.

[0035] Further, the stationary ring 31 is in interference fit with the first joint arm 1 and is thus stationary relative to the transmission mechanism 7 on the first joint arm 1. The moving ring 32 is in interference fit with the second joint arm 2 and can thus move relative to the transmission mechanism 7 on the first joint arm 1.

[0036] The axial clearance 33, the radial clearance 331 and the flexible ring 34 form a speed-reducing blocking seal, and the annular assembly 9 forms another blocking seal, so as to achieve a good blocking and sealing effect on the movement of particulate matter and / or pollutants generated by the relative movement in the internal area of the joint to the outside of the joint. Moreover, a negative pressure extraction space 5 is formed between the annular assembly 9 and the transmission mechanism 7. On the one hand, it can increase the negative pressure effect to control the flow direction of the air flow; on the other hand, it has an evacuation effect on the particles and / or pollutants entering the joint, which is beneficial to avoid blockage.

[0037] Further, in this embodiment, a convex portion 11 protruding towards the second joint arm 2 is provided on one side of the first joint arm 1 relative to the second joint arm 2. The stationary ring 31 of the annular assembly 3 is located outside the convex portion 11, and the annular assembly 9 is located inside the convex portion 11. Sealing rings 8 are respectively provided between the stationary ring 31 and the convex portion 11. The stationary ring 31 is in interference fit with the first joint arm 1, and the moving ring 32 is in interference fit with the second joint arm 2. The convex portion 11 separates the first seal formed by the stationary ring 31, the moving ring 32 and the flexible ring 34 and the second seal formed by the annular assembly 9 inside and outside. On the one hand, it is convenient for the two seals to be installed separately, and on the other hand, it can improve the overall sealing effect.

[0038] Further, in this embodiment, a mounting sleeve 21 is provided on the second joint arm 2, and the annular assembly 9 is arranged between the mounting sleeve 21 and the convex portion 11. Preferably, the mounting sleeve 21 is made of wear-resistant material to improve the service life.

[0039] Further, in this embodiment, the annular assembly 9 includes a static ring 91 and a dynamic ring 92 respectively arranged on the first joint arm 1 and the mounting sleeve 21. An axially connected interval 93 and a radially connected interval 931 are formed between the static ring 91 and the dynamic ring 92, and a flexible ring 94 is provided. Embedding grooves 95 are provided at the corresponding positions of the static ring 91 and / or the dynamic ring 92 and the flexible ring 94, and the flexible ring 94 is embedded in the embedding grooves 95. When the gas passes between the static ring 91 and the dynamic ring 92, under the speed-reducing action of the axially connected interval 93 and together with the flexible ring 94, the blocking of particles or pollutants is realized.

[0040] Further, in this embodiment, there are at least two axially connected intervals 93, and the outer axially connected interval 93 is longer in axial length than the inner one, which is convenient for processing and manufacturing. The embedding grooves 95 are provided on the side wall of the inner axially connected interval 93 and open radially. That is to say, the embedding grooves 95 face the rotation axis 4 of the second joint arm 2 or are away from the rotation axis 4 of the second joint arm 2. On the one hand, the embedding grooves 95 can increase the blocking and deceleration effect on the flowing substances (gas, particles and / or pollutants), and on the other hand, in cooperation with the flexible ring 94, a better blocking and deceleration effect is achieved. The embedding grooves 95 open radially, which can be understood as the openings of the embedding grooves 95 facing or deviating from the rotation axis 4 of the second joint arm 2.

[0041] Specifically, the static ring 91 is clamped inside the protruding portion 11, and the dynamic ring 92 is clamped outside the mounting sleeve 21.

[0042] Embodiment 2: Figure 3 and Figure 4 Another embodiment of the labyrinth seal structure of the robotic arm joint according to the present invention is shown. The structure of this embodiment is basically the same as that of Embodiment 1, except that: in this embodiment, the annular assembly 9 includes a first annular member 96 and a second annular member 97 respectively provided on the first joint arm 1 and the mounting sleeve 21. The opposite sides of the first annular member 96 and the second annular member 97 are respectively provided with a first contact surface 961 and a second contact surface 971, and the first contact surface 961 and the second contact surface 971 are abutted against each other under the action of magnetic force; a ring-shaped elastic member 99 is provided between the first annular member 96 and the second annular member 97, and grooves 98 for accommodating the ring-shaped elastic member 99 are provided at the corresponding positions of the first annular member 96 and / or the second annular member 97 and the ring-shaped elastic member 99. The first contact surface 961 and the second contact surface 971 are abutted against each other under the action of magnetic force to form a contact seal between surfaces, and seal by relative self-deformation. On the one hand, the wear resistance is increased and the service life is improved. On the other hand, the magnetic attraction seal will not weaken over time, reducing the risk of seal failure.

[0043] Both the first contact surface 961 and the second contact surface 971 are set as wear-resistant surfaces, and the two components are sealed in the form of contact between wear-resistant surfaces by means of magnetic force, so as to solve the problems of easy wear and short service life of the plastic seal element caused by the relative movement between the two components during the rotation drive process.

[0044] Grooves 98 for accommodating the ring-shaped elastic member 99 are provided at the corresponding positions of the first annular member 96 and / or the second annular member 97 and the ring-shaped elastic member 99, and the ring-shaped elastic member 99 is embedded in the grooves 98. By means of the ring-shaped elastic member 99, at least one side of the first annular member 96 and the second annular member 97 is constrained at the same position, so as to solve the problems of insufficient magnetic attraction and seal failure caused by the deviation or sliding of the first annular member 96 and the second annular member 97 during the operation of the joint.

[0045] Further, in this embodiment, a magnetic attraction component 901 is provided on the first annular component 96 or the second annular component 97. The magnetic attraction component 901 is used to magnetically attract the first annular component 96 and the second annular component 97 so that the first contact surface 961 and the second contact surface 971 are abutted; a wear-resistant component 972 is provided on the first annular component 96 or the second annular component 97, and the first contact surface 961 or the second contact surface 971 is provided on the wear-resistant component 972. Preferably, the magnetic attraction component 901 can be an electromagnet, which is convenient for adjusting the magnetic force magnitude to adapt to the sealing effects of different requirements. The first contact surface 961 or the second contact surface 971 is provided on the wear-resistant component 972 to improve wear resistance.

[0046] Further, in this embodiment, the first annular component 96 includes a mounting seat 962 and a fixing ring 963. The mounting seat 962 is provided on the first joint arm 1, the fixing ring 963 is provided on the mounting seat 962, the first contact surface 961 is provided on the fixing ring 963, the groove 98 on the first annular component 96 is provided on the mounting seat 962, the second annular component 97 is provided on the mounting sleeve 21, and the second annular component 97 is sleeved on the mounting sleeve 21 and a circumferential sealing ring 902 is provided between the second annular component 97 and the mounting sleeve 21. Preferably, the mounting seat 962 is clamped inside the protruding portion 11, the fixing ring 963 is clamped on the mounting seat 962, the second annular component 97 is clamped outside the mounting sleeve 21, a circumferential sealing ring 902 is provided between the second annular component 97 and the mounting sleeve 21, and a circumferential sealing member 903 is provided between the mounting seat 962 and the protruding portion 11.

[0047] Further, in this embodiment, the central axes of the first contact surface 961 and the second contact surface 971 are both coaxial with the rotation axis 4 of the second joint arm 2.

[0048] Embodiment Three: A robotic arm joint includes the robotic arm joint labyrinth seal structure of Embodiment One or Embodiment Two. The first joint arm 1 and the second joint arm 2 are rotatably connected through a rotation axis 4, and the annular component 3 is coaxial with the rotation axis 4. This robotic arm joint includes a robotic arm joint labyrinth seal structure and has all the advantages of the robotic arm joint labyrinth seal structure.

[0049] Further, the stationary ring 31, the moving ring 32, the flexible ring 34, the annular groove 35, the axial clearance 33, and the axial interval 93 are all coaxial with the rotation axis 4. The axial clearance 33 is the clearance formed between the stationary ring 31 and the moving ring 32 in the axial direction of the rotation axis 4, and the radial clearance 331 is the clearance formed between the stationary ring 31 and the moving ring 32 in the radial direction of the rotation axis 4. The axial interval 93 is the interval formed between the static ring 91 and the dynamic ring 92 in the axial direction of the rotation axis 4, and the radial interval 931 is the interval formed between the static ring 91 and the dynamic ring 92 in the radial direction of the rotation axis 4.

[0050] Further, the first annular member 96, the second annular member 97, the annular elastic member 99, the groove 98 and the embedding groove 95 are all coaxial with the rotating shaft 4.

[0051] Embodiment 4: A robot includes the robotic arm joint of Embodiment 3 and has all the advantages of the robotic arm joint.

[0052] Although the present invention has been disclosed above with preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make many possible changes and modifications to the technical solution of the present invention by using the technical content disclosed above without departing from the scope of the technical solution of the present invention, or modify it into an equivalent embodiment with equivalent changes. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solution of the present invention shall fall within the scope of protection of the technical solution of the present invention.

Claims

1. A labyrinth seal structure for a robotic arm joint, comprising a first joint arm (1) and a second joint arm (2), characterized in that: A ring-shaped component (3) is provided between the first joint arm (1) and the second joint arm (2). The ring-shaped component (3) includes a stationary ring (31) and a moving ring (32) respectively provided on the first joint arm (1) and the second joint arm (2). An axially communicating gap (33) and a radially communicating gap (331) are formed between the stationary ring (31) and the moving ring (32), and an annular groove (35) for accommodating a flexible ring (34) is provided. The flexible ring (34) is clamped in the annular groove (35). A negative pressure channel (51) communicating with the axially communicating gap (33) and the radially communicating gap (331) is provided between the first joint arm (1) and the second joint arm (2).

2. The labyrinth seal structure of the robotic arm joint according to claim 1, characterized in that: At least two axially communicating gaps (33) are provided. The axially communicating gap (33) on the outer side is shorter in axial length than that on the inner side. The annular groove (35) is provided on the side wall of the axially communicating gap (33) on the inner side and opens radially. The annular groove (35) is provided on the stationary ring (31) and / or the moving ring (32). A transmission mechanism (7) for connecting with the second joint arm (2) is provided in the first joint arm (1). A negative pressure pumping space (5) is formed between the ring-shaped component (3) and the transmission mechanism (7). The negative pressure channel (51) communicates with the axially communicating gap (33) and the radially communicating gap (331) through the negative pressure pumping space (5).

3. The labyrinth seal structure of the robotic arm joint according to claim 1, characterized in that: An annular component (9) and a communicating space (6) for communicating the ring-shaped component (3) with the annular component (9) are provided between the first joint arm (1) and the second joint arm (2) on the inner side of the ring-shaped component (3).

4. The labyrinth seal structure of the robotic arm joint according to claim 3, characterized in that: A convex portion (11) protruding towards the second joint arm (2) is provided on one side of the first joint arm (1) relative to the second joint arm (2). The stationary ring (31) of the ring-shaped component (3) is located outside the convex portion (11), and the annular component (9) is located inside the convex portion (11). Sealing rings (8) are respectively provided between the stationary ring (31) and the convex portion (11). The stationary ring (31) is in interference fit with the first joint arm (1), and the moving ring (32) is in interference fit with the second joint arm (2). An installation sleeve (21) is provided on the second joint arm (2). The annular component (9) is provided between the installation sleeve (21) and the convex portion (11).

5. The labyrinth seal structure of the robotic arm joint according to claim 4, characterized in that: The annular component (9) includes a static ring (91) and a dynamic ring (92) respectively provided on the first joint arm (1) and the installation sleeve (21). An axially communicating interval (93) and a radially communicating interval (931) are formed between the static ring (91) and the dynamic ring (92), and a flexible ring (94) is provided. A slot (95) is provided at the corresponding position of the static ring (91) and / or the dynamic ring (92) and the flexible ring (94). The flexible ring (94) is embedded in the slot (95).

6. The labyrinth seal structure of the robotic arm joint according to claim 4, wherein: The annular component (9) includes a first annular member (96) and a second annular member (97) respectively disposed on the first joint arm (1) and the mounting sleeve (21). Opposite sides of the first annular member (96) and the second annular member (97) are respectively provided with a first contact surface (961) and a second contact surface (971), and the first contact surface (961) and the second contact surface (971) are abutted under the action of magnetic force; a ring-shaped elastic member (99) is provided between the first annular member (96) and the second annular member (97), and grooves (98) for accommodating the ring-shaped elastic member (99) are provided at corresponding positions of the first annular member (96) and / or the second annular member (97) and the ring-shaped elastic member (99).

7. The labyrinth seal structure of the robotic arm joint according to claim 6, characterized in that: A magnetic attraction component (901) is provided on the first annular member (96) or the second annular member (97), and the magnetic attraction component (901) is used to magnetically attract the first annular member (96) and the second annular member (97) so that the first contact surface (961) and the second contact surface (971) are abutted; a wear-resistant member (972) is provided on the first annular member (96) or the second annular member (97), and the first contact surface (961) or the second contact surface (971) is disposed on the wear-resistant member (972).

8. The labyrinth seal structure of the robotic arm joint according to claim 6, characterized in that: The first annular member (96) includes a mounting seat (962) and a fixing ring (963). The mounting seat (962) is disposed on the first joint arm (1), the fixing ring (963) is disposed on the mounting seat (962), the first contact surface (961) is disposed on the fixing ring (963), the groove (98) on the first annular member (96) is disposed on the mounting seat (962), the second annular member (97) is provided on the mounting sleeve (21), and the second annular member (97) is sleeved on the mounting sleeve (21) and a circumferential sealing ring (902) is provided between the second annular member (97) and the mounting sleeve (21).

9. A robotic arm joint, characterized in that: It includes the mechanical arm joint labyrinth seal structure according to any one of claims 1 to 8, wherein the first joint arm (1) and the second joint arm (2) are rotatably connected through a rotating shaft (4), and the stationary ring (31) and the rotating ring (32) are both coaxial with the rotating shaft (4).

10. A robot, characterized in that: It includes the mechanical arm joint according to claim 9.

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