A robotic arm joint labyrinth sealing structure, robotic arm joint, and robot

Abstract

This invention discloses a robotic arm joint labyrinth sealing structure, including a first joint arm and a second joint arm. An annular assembly is provided between the first and second joint arms. The annular assembly includes a stationary ring and a moving ring respectively disposed on the first and second joint arms. An axial clearance, a radial clearance, and an annular groove for accommodating a flexible ring are formed between the stationary and moving rings. The flexible ring is held in the annular groove. A negative pressure channel communicating with the axial and radial clearances is provided between the first and second joint arms. A robotic arm joint, including the robotic arm joint labyrinth sealing structure, is also disclosed. The first and second joint arms are rotatably connected by a rotating shaft, and the annular assembly is coaxial with the rotating shaft. A robot is also disclosed. This robotic arm joint labyrinth sealing structure, robotic arm joint, and robot have advantages such as avoiding the generation of friction products that affect the external clean environment and reducing the release of particles or contaminants into the external clean environment.

Description

Technical Field

[0001] This invention relates to the field of food and pharmaceutical packaging machinery and equipment technology, specifically to a robotic arm joint labyrinth sealing structure, a robotic arm joint, and a robot. Background Technology

[0002] Chinese patent document CN201710756534.0 discloses a joint structure and robot capable of achieving higher sealing performance against external pressure, thereby more effectively preventing the destruction of the seal based on the inner sealing member and maintaining the tightness of the inner mechanism components. The joint structure includes: two joint members; a drive mechanism that drives the two joint members to rotate relative to each other about a predetermined axis; two sealing members that seal the two joint members respectively at positions outside a lubricant holding portion doubly surrounding the drive mechanism; and a pressurization unit that makes the air pressure in the space between the two sealing members higher than the external air pressure. This joint structure and robot have the following shortcomings:

[0003] 1) The outer sealing member either has a flange-shaped lip that protrudes radially inward and contacts the first arm, which is prone to friction and generates debris, damaging the clean environment or entering the drive mechanism area and affecting transmission, or is formed as a ring-shaped sealing member held by a stop ring. However, it is necessary to prevent droplets and foreign objects from invading the inner side of the joint by spraying the air in the space outward from the tiny gap of the sealing member. In this way, the material inside the joint will be blown to the outside, damaging the external clean environment.

[0004] 2) By using a sealing member fixed to one side of the joint component, the sealing member deforms upon contact with the other joint component, thus sealing the gap between the two joint components. However, since the deformation force comes from the sealing member itself, the sealing member needs a certain degree of flexibility. Flexible sealing members have poor wear resistance and a short service life. Furthermore, the pressure generated by the deformation of the sealing member usually weakens over time, posing a risk of seal failure. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide a robotic arm joint labyrinth sealing structure, robotic arm joint and robot that avoids the generation of friction products that affect the external clean environment and reduces the release of particles or pollutants into the external clean environment.

[0006] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0007] A robotic arm joint labyrinth sealing structure includes a first joint arm and a second joint arm. An annular assembly is provided between the first joint arm and the second joint arm. The annular assembly includes a stationary ring and a moving ring respectively disposed on the first joint arm and the second joint arm. An axial gap and a radial gap are formed between the stationary ring and the moving ring, and an annular groove is provided to accommodate a flexible ring. The flexible ring is engaged 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.

[0008] As a further improvement to the above technical solution:

[0009] The axial gaps are provided in at least two, with the outer axial gap being shorter than the inner axial gap. The annular groove is provided on the side wall of the inner axial gap and is radially open. The annular groove is provided on the stationary ring and / or the moving ring. The first joint arm is provided with a transmission mechanism connected to the second joint arm. A negative pressure space is formed between the annular component and the transmission mechanism. The negative pressure channel is connected to the axial gap and the radial gap through the negative pressure space.

[0010] An annular component and a communication space connecting the annular component are provided on the inner side of the annular component between the first joint arm and the second joint arm.

[0011] The first joint arm has a protrusion on one side relative to the second joint arm that protrudes towards the second joint arm. The stationary ring of the annular assembly is located outside the protrusion, and the annular assembly is located inside the protrusion. A sealing ring is provided between the stationary ring and the protrusion. The stationary ring is interference-fitted with the first joint arm, and the moving ring is interference-fitted with the second joint arm.

[0012] The second joint arm is provided with a mounting sleeve, and the annular component is located between the mounting sleeve and the protrusion.

[0013] The annular assembly includes a static ring and a dynamic ring respectively disposed on the first joint arm and the mounting sleeve. The static ring and the dynamic ring form a connected axial interval and a radial interval, and a flexible ring is provided. The corresponding positions of the static ring and / or the dynamic ring and the flexible ring are provided with grooves, and the flexible ring is embedded in the grooves.

[0014] The annular assembly includes a first annular component and a second annular component respectively disposed on the first joint arm and the mounting sleeve. The first annular component and the second annular component are respectively provided with a first contact surface and a second contact surface on opposite sides. The first contact surface and the second contact surface abut against each other under the action of magnetic force. An annular elastic element is provided between the first annular component and the second annular component. The first annular component and / or the second annular component are provided with grooves for accommodating the annular elastic element at corresponding positions with the annular elastic element.

[0015] The first or second annular component is provided with a magnetic attraction component, which is used to magnetically attract the first and second annular components so that the first contact surface and the second contact surface abut against each other; the first or second annular component is provided with a wear-resistant component, and the first or second contact surface is provided on the wear-resistant component.

[0016] The first annular component includes a mounting base and a fixing ring. The mounting base is disposed on the first joint arm, and the fixing ring is disposed on the mounting base. The first contact surface is disposed on the fixing ring. The groove on the first annular component is disposed on the mounting base. The second annular component is provided with a mounting sleeve. The second annular component is sleeved on the mounting sleeve and a circumferential sealing ring is provided between the second annular component and the mounting sleeve.

[0017] A clean joint for a robotic arm includes the aforementioned robotic arm joint labyrinth sealing structure, wherein the first joint arm and the second joint arm are rotatably connected via a rotating shaft, and both the stationary ring and the moving ring are coaxial with the rotating shaft.

[0018] Compared with the prior art, the advantages of the present invention are as follows:

[0019] The labyrinth sealing 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, is slowed down by the labyrinth formed by the axial and radial gaps and filtered by the annular groove and the flexible ring, thereby preventing the leakage of particles or contaminants between the joints to the outside of the joint and blocking particles or contaminants from entering the transmission mechanism, so as to achieve joint sealing. Firstly, the stationary and moving rings are connected by axial and radial clearances to form a clearance fit, preventing the generation of friction products that could affect the external clean environment of the joint. Furthermore, the axial and radial clearances increase the length of the gas flow path within the joint. When particles or contaminants move within the joint, they are blocked and slowed down by the labyrinth effect created by the axial and radial clearances between the stationary and moving rings. When the airflow passes through the annular groove, turbulence is formed under the action of the flexible rings, further reducing the flow velocity. The carried particles or contaminants are filtered out through deposition, effectively preventing internal particles or contaminants from flowing into the external clean environment. Secondly, the negative pressure channel ensures that the internal pressure of the axial and radial clearances is lower than the external clean environment pressure, thus directing the airflow from the outside inwards. This directs all airflow inwards, drawing any potentially generated particles or contaminants into the negative pressure channel, further reducing the amount of particles or contaminants released into the external clean environment and preventing damage to the external clean environment.

[0020] The robotic arm joint of the present invention includes a robotic arm joint labyrinth sealing structure, which has all the advantages of a robotic arm joint labyrinth sealing structure.

[0021] The robot of the present invention includes a robotic arm joint and has all the advantages of a robotic arm joint. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of an embodiment of the robotic arm joint labyrinth sealing structure of the present invention.

[0023] Figure 2 yes Figure 1 A magnified structural diagram of point A in the middle.

[0024] Figure 3 This is a schematic diagram of a second embodiment of the robotic arm joint labyrinth sealing structure of the present invention.

[0025] Figure 4 yes Figure 3 A magnified structural diagram at point B in the middle.

[0026] The labels in the diagram represent:

[0027] 1. First joint arm; 11. Protrusion; 2. Second joint arm; 21. Mounting sleeve; 3. Annular assembly; 31. Static ring; 32. Dynamic ring; 33. Axial clearance; 331. Radial clearance; 34. Flexible ring; 35. Annular groove; 4. Rotating shaft; 5. Negative pressure space; 51. Negative pressure channel; 6. Connecting space; 7. Transmission mechanism; 8. Sealing ring; 9. Annular assembly; 901. Magnetic suction component; 902. Circumferential sealing ring; 903. Circumferential sealing element; 91. Static ring; 92. Dynamic ring; 93. Axial spacing; 931. Radial spacing; 94. Flexible ring; 95. Groove; 96. First annular component; 961. First contact surface; 962. Mounting base; 963. Fixing ring; 97. Second annular component; 971. Second contact surface; 972. Wear-resistant part; 98. Groove; 99. Annular elastic element. Detailed Implementation

[0028] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0029] In the description of this invention, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0030] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0031] In this invention, unless otherwise explicitly specified and limited, the terms "assembly," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0032] Example 1:

[0033] Figure 1 and Figure 2 An embodiment of the robotic arm joint labyrinth sealing structure of the present invention is shown. The robotic arm joint labyrinth sealing structure of this embodiment includes a first joint arm 1 and a second joint arm 2. An annular component 3 is provided between the first joint arm 1 and the second joint arm 2. The annular 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 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 is provided to accommodate a flexible ring 34. The flexible ring 34 is engaged 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.

[0034] The labyrinth sealing structure of this robotic arm joint, when the gas entering the joint under negative pressure passes between the stationary ring 31 and the moving ring 32, is slowed down 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. This prevents particles or contaminants between the joints from leaking out of the joint and blocks external particles or contaminants from entering the transmission mechanism, thereby achieving joint sealing. Specifically, firstly, the stationary ring 31 and the moving ring 32 form a clearance fit through the interconnected axial gap 33 and radial gap 331, avoiding the generation of friction products that could affect the clean environment outside the joint. Furthermore, the axial gap 33 and radial gap 331 increase the length of the gas flow path within the joint. When particles or contaminants move inside the joint, the airflow is blocked and slowed down due to the frictional effect generated by the axial gap 33 and radial gap 331 between the stationary ring 31 and the moving ring 32. When the airflow passes through the annular groove 35, turbulence is formed under the action of the flexible ring 34, further reducing the flow velocity. The carried particles or contaminants are filtered out through deposition, effectively preventing internal particles or contaminants from flowing into the external clean environment. Secondly, the negative pressure channel 51 ensures that the internal pressure of the axial gap 33 and radial gap 331 is lower than the external clean environment pressure, thus directing the airflow from the outside inwards. This directs all airflow inwards, carrying any potentially generated particles or contaminants into the negative pressure channel 51, further reducing the amount of particles or contaminants released into the external clean environment and preventing damage to the external clean environment.

[0035] It is understood that the axial clearance 33, radial clearance 331, and annular groove 35 form a labyrinth seal. Compared to existing labyrinth seals, this labyrinth seal adds an annular groove 35, and a flexible ring 34 is fitted inside the annular groove 35. The combination of the annular groove 35 and the flexible ring 34 has a turbulent flow reduction effect on the passing airflow, causing passing particles or contaminants to be deposited and filtered out. This effectively prevents particles or contaminants between joints from leaking out of the joint and blocks external particles or contaminants from entering the transmission mechanism, thereby improving the bidirectional sealing effect of the labyrinth seal. Furthermore, particles or contaminants deposited in the annular groove 35 are less likely to flow out and damage the external clean environment. In addition, a negative pressure channel 51 is provided inside the labyrinth seal. Through the negative pressure effect of the negative pressure channel 51, the airflow is directed from the outside to the inside, causing particles or contaminants that may be generated between the first joint arm 1 and the second joint arm 2 to flow into the negative pressure channel 51, preventing particles or contaminants from flowing out and damaging the external clean environment, thereby further improving the unidirectional sealing effect from the inside to the outside. Therefore, compared with existing labyrinth sealing structures, the joint labyrinth sealing structure of this robotic arm has a better bidirectional sealing effect and a unidirectional sealing effect from the inside to the outside.

[0036] Furthermore, in this embodiment, at least two axial gaps 33 are provided, with the outer axial gap 33 being shorter than the inner one, which facilitates manufacturing. In addition, the shorter axial gap 33 results in higher structural strength, preventing deformation due to impact and ensuring a better sealing effect.

[0037] Furthermore, in this embodiment, the annular groove 35 is disposed on the side wall of the inner axial gap 33 and has a radial opening. That is, 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 greater than that of the axial gap 33, so when the airflow enters the annular groove 35, it can increase the blocking and deceleration effect on the flowing material (gas, particles and / or pollutants). On the other hand, the annular groove 35 cooperates with the flexible ring 34 to change the gas flow direction in the annular groove 35, and even generate turbulence to reduce the kinetic energy of the gas, so as to achieve a better blocking and deceleration effect and filter out particles and / or pollutants in the airflow.

[0038] The annular groove 35 is located 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 reduce the airflow speed. Then, in conjunction with the inner annular groove 35 and the flexible ring 34 inside the annular groove 35, the particles or pollutants are blocked.

[0039] An annular groove 35 is provided on the stationary ring 31 and / or the moving ring 32; the first joint arm 1 is provided with a transmission mechanism 7 connected to the second joint arm 2, and a negative pressure space 5 is formed between the annular component 3 and the transmission mechanism 7. The negative pressure channel 51 is connected to the axial gap 33 and the radial gap 331 through the negative pressure space 5.

[0040] Furthermore, in this embodiment, an annular component 9 and a communicating space 6 connecting the annular component 3 and the annular component 9 are provided on the inner side of the annular component 3 between the first joint arm 1 and the second joint arm 2. The communicating space 6 can form an expanded space with a width much larger than the axial gap 33. When the airflow enters this area, it can expand violently and lose kinetic energy, thereby greatly reducing its ability to flow inward. This allows the communicating space 6 to further buffer particles or pollutants, improving the overall sealing and barrier effect inside and outside the joint.

[0041] The first articulated arm 1 is provided with a transmission mechanism 7 connected to the second articulated arm 2. A negative pressure space 5 is formed between the annular component 9 and the transmission mechanism 7. The negative pressure channel 51 is connected to the axial gap 33 and the radial gap 331 through the negative pressure space 5.

[0042] Furthermore, the stationary ring 31 is interference-fitted with the first joint arm 1, and thus remains stationary relative to the transmission mechanism 7 on the first joint arm 1, while the moving ring 32 is interference-fitted with the second joint arm 2, and thus can move relative to the transmission mechanism 7 on the first joint arm 1.

[0043] The axial clearance 33, radial clearance 331, and flexible ring 34 form a speed-reducing and sealing effect, while the annular assembly 9 forms another sealing effect. This effectively prevents particulate matter and / or contaminants generated by relative movement within the joint from moving outwards. Furthermore, a negative pressure space 5 is formed between the annular assembly 9 and the transmission mechanism 7. On the one hand, this increases the negative pressure to control the airflow direction; on the other hand, it helps to expel particles and / or contaminants entering the joint, thus preventing blockages.

[0044] Furthermore, in this embodiment, the first joint arm 1 has a protrusion 11 protruding towards the second joint arm 2 on one side opposite to the second joint arm 2. The stationary ring 31 of the annular component 3 is located outside the protrusion 11, and the annular component 9 is located inside the protrusion 11. A sealing ring 8 is provided between the stationary ring 31 and the protrusion 11. The stationary ring 31 is press-fitted with the first joint arm 1, and the moving ring 32 is press-fitted with the second joint arm 2. The protrusion 11 separates the first seal formed by the stationary ring 31, the moving ring 32, and the flexible ring 34 from the second seal formed by the annular component 9, which facilitates the separate installation of the two seals and improves the overall sealing effect.

[0045] Furthermore, in this embodiment, the second joint arm 2 is provided with a mounting sleeve 21, and the annular component 9 is disposed between the mounting sleeve 21 and the protrusion 11. Preferably, the mounting sleeve 21 is made of a wear-resistant material to improve its service life.

[0046] Furthermore, in this embodiment, the annular component 9 includes a static ring 91 and a dynamic ring 92 respectively disposed on the first joint arm 1 and the mounting sleeve 21. An axial gap 93 and a radial gap 931 are formed between the static ring 91 and the dynamic ring 92, and a flexible ring 94 is provided. A groove 95 is provided at the corresponding position 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 groove 95. When gas passes between the static ring 91 and the dynamic ring 92, it is decelerated by the axial gap 93, and with the addition of the flexible ring 94, it effectively blocks particles or contaminants.

[0047] Furthermore, in this embodiment, at least two axial intervals 93 are provided, with the outer axial interval 93 being longer than the inner one, facilitating manufacturing. A groove 95 is provided on the sidewall of the inner axial interval 93 and opens radially. That is, the groove 95 faces or is away from the rotation axis 4 of the second joint arm 2. On the one hand, the groove 95 can increase the blocking and deceleration effect on flowing substances (gas, particles, and / or pollutants); on the other hand, in conjunction with the flexible ring 94, it provides a better blocking and deceleration effect. The radial opening of the groove 95 can be understood as the opening of the groove 95 facing or away from the rotation axis 4 of the second joint arm 2.

[0048] Specifically, the static ring 91 is engaged on the inner side of the protrusion 11, and the dynamic ring 92 is engaged on the outer side of the mounting sleeve 21.

[0049] Example 2:

[0050] Figure 3 and Figure 4 Another embodiment of the robotic arm joint labyrinth sealing structure of 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 component 9 includes a first annular component 96 and a second annular component 97 respectively disposed on the first joint arm 1 and the mounting sleeve 21. The opposite sides of the first annular component 96 and the second annular component 97 are respectively provided with a first contact surface 961 and a second contact surface 971, which abut against each other under magnetic force; an annular elastic element 99 is provided between the first annular component 96 and the second annular component 97, and a groove 98 for accommodating the annular elastic element 99 is provided at the corresponding position of the first annular component 96 and / or the second annular component 97 and the annular elastic element 99. The first contact surface 961 and the second contact surface 971 abut against each other under magnetic force to form a surface-to-surface contact seal, which is a self-deformation seal. On the one hand, it increases wear resistance and improves service life; on the other hand, the magnetic seal does not weaken over time, reducing the risk of seal failure.

[0051] Both the first contact surface 961 and the second contact surface 971 are made of wear-resistant surfaces. The two components are sealed by magnetic force in the form of wear-resistant surface contact, thereby solving the problem of easy wear and short service life of plastic sealing elements caused by relative motion between the two components during the rotation drive process.

[0052] The first annular component 96 and / or the second annular component 97 are provided with grooves 98 at corresponding positions to accommodate the annular elastic element 99, and the annular elastic element 99 is embedded in the grooves 98. The annular elastic element 99 ensures that at least one side of the first annular component 96 and the second annular component 97 is constrained to the same position, thereby solving the problem of insufficient magnetic attraction and sealing failure caused by the first annular component 96 and the second annular component 97 deviating or sliding during joint operation.

[0053] Furthermore, 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 abut against each other. A wear-resistant component 972 is provided on the first annular component 96 or the second annular component 972, and the first contact surface 961 or the second contact surface 971 is disposed on the wear-resistant component 972. Preferably, the magnetic attraction component 901 can be an electromagnet, which facilitates adjustment of the magnetic force to adapt to different sealing effect requirements. The first contact surface 961 or the second contact surface 971 is disposed on the wear-resistant component 972 to improve wear resistance.

[0054] Further, in this embodiment, the first annular component 96 includes a mounting base 962 and a fixing ring 963. The mounting base 962 is disposed on the first joint arm 1, the fixing ring 963 is disposed on the mounting base 962, the first contact surface 961 is disposed on the fixing ring 963, the groove 98 on the first annular component 96 is disposed on the mounting base 962, the second annular component 97 is provided with a mounting sleeve 21, 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 base 962 is engaged with the inner side of the protrusion 11, the fixing ring 963 is engaged with the mounting base 962, the second annular component 97 is engaged with the outer side of 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 element 903 is provided between the mounting base 962 and the protrusion 11.

[0055] Furthermore, 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.

[0056] Example 3:

[0057] A robotic arm joint includes a labyrinth sealing structure as described in Embodiment 1 or Embodiment 2. A first joint arm 1 and a second joint arm 2 are rotatably connected via a rotating shaft 4, and an annular component 3 is coaxial with the rotating shaft 4. This robotic arm joint, including the labyrinth sealing structure, possesses all the advantages of a labyrinth sealing structure for robotic arms.

[0058] Furthermore, 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 rotating shaft 4. The axial clearance 33 is the gap formed by the stationary ring 31 and the moving ring 32 in the axial direction of the rotating shaft 4, and the radial clearance 331 is the gap formed by the stationary ring 31 and the moving ring 32 in the radial direction of the rotating shaft 4. The axial interval 93 is the interval formed by the static ring 91 and the dynamic ring 92 in the axial direction of the rotating shaft 4, and the radial interval 931 is the interval formed by the static ring 91 and the dynamic ring 92 in the radial direction of the rotating shaft 4.

[0059] Furthermore, the first annular component 96, the second annular component 97, the annular elastic element 99, the groove 98, and the slot 95 are all coaxial with the rotating shaft 4.

[0060] Example 4:

[0061] A robot, including the robotic arm joint of Embodiment 3, has all the advantages of a robotic arm joint.

[0062] While the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the invention. Any person skilled in the art can make many possible variations and modifications to the technical solutions of the present invention, or modify them into equivalent embodiments, without departing from the scope of the present invention. Therefore, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present invention, without departing from the scope of the present invention, should fall within the protection scope of the present invention.

Claims

1. A sealing structure for a robotic arm joint labyrinth, comprising a first joint arm (1) and a second joint arm (2), characterized in that: An annular assembly (3) is provided between the first joint arm (1) and the second joint arm (2). The annular assembly (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). The first joint arm (1) has a protrusion (11) protruding towards the second joint arm (2) on one side opposite to the second joint arm (2). A sealing ring (8) is provided between the stationary ring (31) and the protrusion (11). An 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) is provided to accommodate a flexible ring (34). The flexible ring (34) is engaged in the annular groove (35). A negative pressure channel (51) is provided between the articulated arm (1) and the second articulated arm (2) and communicates with the axial gap (33) and the radial gap (331); a transmission mechanism (7) connected to the second articulated arm (2) is provided in the first articulated arm (1); a negative pressure 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 space (5); the annular groove (35) and the flexible ring (34) are used to combine to have a turbulent deceleration effect on the passing airflow, so that the passing particles or pollutants are deposited and filtered out, and to make the internal pressure of the axial gap (33) and the radial gap (331) less than the external clean environment pressure.

2. The robotic arm joint labyrinth sealing structure according to claim 1, characterized in that: The axial gap (33) is provided with at least two, the outer axial gap (33) is shorter than the inner axial length, the annular groove (35) is provided on the side wall of the inner axial gap (33) and is radially open; the annular groove (35) is provided on the stationary ring (31) and / or the moving ring (32).

3. The robotic arm joint labyrinth sealing structure according to claim 1, characterized in that: An annular component (9) and a communication space (6) connecting the annular component (3) and the annular component (9) are provided on the inner side of the annular component (3) between the first joint arm (1) and the second joint arm (2).

4. The robotic arm joint labyrinth sealing structure according to claim 3, characterized in that: The stationary ring (31) of the annular component (3) is located outside the protrusion (11), and the annular component (9) is located inside the protrusion (11). The stationary ring (31) is press-fitted with the first joint arm (1), and the moving ring (32) is press-fitted with the second joint arm (2). The second joint arm (2) is provided with a mounting sleeve (21), and the annular component (9) is located between the mounting sleeve (21) and the protrusion (11).

5. The robotic arm joint labyrinth sealing structure according to claim 4, characterized in that: The ring assembly (9) includes a static ring (91) and a dynamic ring (92) respectively disposed on the first joint arm (1) and the mounting sleeve (21). The static ring (91) and the dynamic ring (92) form a connected axial interval (93) and a radial interval (931), and a flexible ring (94) is provided. The corresponding positions of the static ring (91) and / or the dynamic ring (92) and the flexible ring (94) are provided with grooves (95), and the flexible ring (94) is embedded in the grooves (95).

6. The robotic arm joint labyrinth sealing structure according to claim 4, characterized in that: The annular assembly (9) includes a first annular component (96) and a second annular component (97) respectively disposed on the first joint arm (1) and the mounting sleeve (21). The first annular component (96) and the second annular component (97) are respectively provided with a first contact surface (961) and a second contact surface (971) on opposite sides. The first contact surface (961) and the second contact surface (971) abut against each other under magnetic force. An annular elastic element (99) is provided between the first annular component (96) and the second annular component (97). The corresponding positions of the first annular component (96) and / or the second annular component (97) and the annular elastic element (99) are provided with grooves (98) for accommodating the annular elastic element (99).

7. The robotic arm joint labyrinth sealing structure according to claim 6, characterized in that: The first annular component (96) or the second annular component (97) is provided with a magnetic attraction component (901), which 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) abut against each other; the first annular component (96) or the second annular component (97) is provided with a wear-resistant component (972), and the first contact surface (961) or the second contact surface (971) is provided on the wear-resistant component (972).

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

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

10. A robot, characterized in that: Includes the robotic arm joint as described in claim 9.

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