Robot

Abstract

The invention relates to a robot, which is provided with an annular lubricant storage part that is arranged between a first seal member and a second seal member in the rotation axis direction of a rotating part and stores lubricant in a manner that the lubricant leaked from a rotation transmission mechanism reaches the second seal member in a delayed manner.

Description

Technical Field

[0001] The present disclosure relates to robots. Background Art

[0002] Conventionally, robots equipped with rotation transmission mechanisms disposed at the joints of robot arms are known. For example, Japanese Patent Application Laid-Open No. 2001-254787 discloses a robot comprising: a rotation transmission mechanism disposed at the joints of the robot arm and including an annular first sealing member that seals lubricant therein; and an annular second sealing member disposed outside the rotation transmission mechanism and radially outward of the first sealing member in the direction of the rotating portion of the rotation transmission mechanism. In the robot described in Japanese Patent Application Laid-Open No. 2001-254787, when the rotation axis of the rotating portion extends horizontally, lubricant that has passed through the first sealing member readily reaches the second sealing member via spaces adjacent to the first sealing member at one end and the second end, respectively.

[0003] However, in the robot described in Japanese Patent Application Laid-Open No. 2001-254787, lubricant that has passed through the first sealing member readily reaches the second sealing member via the spaces adjacent to the first and second sealing members at one and other ends, respectively. Therefore, lubricant leaking from the rotation transmission mechanism readily leaks further from the second sealing member to the outside. Therefore, a robot that can suppress further leakage of lubricant leaking from the rotation transmission mechanism to the outside is desired. Summary of the Invention

[0004] The present disclosure has been made to solve the above-mentioned problems, and one object of the present disclosure is to provide a robot capable of suppressing lubricant leaking from a rotation transmission mechanism from further leaking to the outside.

[0005] In order to achieve the above-mentioned purpose, the robot involved in one aspect of the present disclosure comprises: a robot arm, including multiple arm parts and a joint part connecting the arm parts to each other; a rotation transmission mechanism, which is arranged at the joint part and includes a fixed part, a rotating part rotating relative to the fixed part, and an annular first sealing part arranged between the fixed part and the rotating part and sealing the lubricant inside; an annular second sealing part, which is arranged at the outside of the rotation transmission mechanism and at one side of the first sealing part in the direction of the rotation axis of the rotating part; and an annular lubricant storage part, which is arranged between the first sealing part and the second sealing part in the direction of the rotation axis of the rotating part and stores the lubricant in such a manner that the lubricant leaked from the rotation transmission mechanism is delayed from reaching the second sealing part.

[0006] As described above, a robot according to one aspect of the present disclosure includes an annular lubricant reservoir disposed between a first sealing component and a second sealing component in the direction of the rotational axis of the rotating unit. The lubricant reservoir is configured to store lubricant leaking from the rotation transmission mechanism so as to delay its arrival at the second sealing component. Thus, the lubricant reservoir can store lubricant leaking from the rotation transmission mechanism and delay its arrival at the second sealing component. Consequently, further leakage of lubricant from the rotation transmission mechanism to the outside can be suppressed.

[0007] According to the present disclosure, as described above, it is possible to provide a robot capable of suppressing the lubricant leaking from the rotation transmission mechanism from leaking further to the outside. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1 This is a perspective view showing a robot according to one embodiment of the present disclosure.

[0009] Figure 2 This is a cross-sectional view showing a joint portion of a robot according to one embodiment of the present disclosure.

[0010] Figure 3 yes Figure 2 Magnified view of part III. DETAILED DESCRIPTION

[0011] Hereinafter, embodiments embodying the present disclosure will be described based on the drawings.

[0012] Reference Figures 1 to 3 , the structure of the robot 100 involved in one embodiment of the present disclosure is described.

[0013] (Overall structure of the robot)

[0014] like Figure 1 As shown, the robot 100 is a vertical multi-joint robot. The robot 100 includes a robot arm 10 and a base 20 that supports the robot arm 10. The robot arm 10 includes a plurality of arms 11 and joints 12 that connect the arms 11. An end effector is mounted at the end of the robot arm 10.

[0015] like Figure 2 As shown, the robot 100 includes a motor 30 and a rotation transmission mechanism 40 connected to an output shaft 31 of the motor 30. The rotation transmission mechanism 40 is arranged at the joint portion 12. In addition, A, A1, A2, R, R1, and R2 in the figure respectively represent the direction of the rotation axis CL of the rotating portion 42 described later, one side in the direction of the rotation axis CL, the other side in the direction of the rotation axis CL, the radial direction of the rotating portion 42, the radial inner side of the rotating portion 42, and the radial outer side of the rotating portion 42. In addition, in Figure 2, a state in which the robot arm 10 is arranged so that the direction of the rotation axis CL of the rotation portion 42 is horizontal is shown.

[0016] (Structure of Motor and Rotation Transmission Mechanism)

[0017] like Figure 2 As shown, the motor 30 and the rotation transmission mechanism 40 are provided to rotate the second arm 11B, located on the distal end of the robot arm 10, of the two arms 11 adjacent to each other via the joint 12. Specifically, the rotation transmission mechanism 40 includes a shaft 41, a gear portion (not shown), a rotating portion 42, and a fixed portion 43. The end of the shaft 41 on one side, in the direction of the rotation axis CL of the rotating portion 42, is fixed to the output shaft 31 of the motor 30. The end of the shaft 41 on the other side, in the direction of the rotation axis CL of the rotating portion 42, is connected to the gear portion. The gear portion is connected to the rotating portion 42. The rotational driving force of the motor 30 is transmitted to the rotating portion 42 via the output shaft 31 of the motor 30, the shaft 41, and the gear portion. The rotating portion 42 rotates relative to the fixed portion 43. The rotating portion 42 is fixed to the second arm 11B and the rotating member 62 (described later) by a fastening member 51. The fixing portion 43 is fixed to the first arm portion 11A and a case member 61 described later by a fastening member 52. The rotation transmission mechanism 40 is a speed reducer.

[0018] The rotation transmission mechanism 40 is positioned on the other side of the rotation axis CL of the rotating portion 42 relative to the motor 30. The shaft 41 is coaxial with the output shaft 31 of the motor 30. The rotating portion 42 is positioned radially outward of the rotating portion 42 relative to the shaft 41. The fixed portion 43 is positioned radially outward of the rotating portion 42. An end 11Ba of the second arm portion 11B on the first arm portion 11A side is positioned between the rotation transmission mechanism 40 and the motor 30.

[0019] The robot 100 includes an annular rotating member 62, which is disposed between an end 11Ba of the second arm 11B on the first arm 11A side and the rotating portion 42 of the rotation transmission mechanism 40 in the direction of the rotation axis CL of the rotating portion 42, and is disposed so that its inner circumferential surface faces the outer circumferential surface of the shaft 41. As described above, the rotating member 62 is fixed to the second arm 11B and the rotating portion 42 of the rotation transmission mechanism 40. Therefore, the rotating member 62 rotates together with the first arm 11A and the second arm 11B relative to each other.

[0020] (Structure for sealing lubricant)

[0021] like Figure 2As shown, the rotation transmission mechanism 40 is filled with a lubricant for lubricating the meshing of the gears in the gear unit. The robot 100 includes an annular first sealing member 71, an annular first arm O-ring 72, and a rotating member sealing member 73 as a structure for sealing the lubricant.

[0022] The first sealing member 71 is disposed between the fixed portion 43 and the rotating portion 42. The first sealing member 71 prevents lubricant within the rotation transmission mechanism 40 from leaking from between the fixed portion 43 and the rotating portion 42 to the outside of the rotation transmission mechanism 40. The first sealing member 71 includes a lip portion formed on the radially inner side of the rotating portion 42.

[0023] The first arm O-ring 72 is disposed between the end of the first arm 11A on the second arm 11B side and the fixed portion 43 of the rotation transmission mechanism 40. The first arm O-ring 72 prevents lubricant within the rotation transmission mechanism 40 from leaking from between the end of the first arm 11A on the second arm 11B side and the fixed portion 43 of the rotation transmission mechanism 40 to the outside of the joint 12.

[0024] The rotating member seal 73 is disposed between the outer circumferential surface of the end portion of the shaft 41 on one side in the direction of the rotation axis CL of the rotating portion 42 and the inner circumferential surface of the opening formed at the end portion 11Ba of the second arm portion 11B on the first arm portion 11A side. The rotating member seal 73 prevents lubricant within the rotation transmission mechanism 40 from leaking from between the outer circumferential surface of the end portion of the shaft 41 on one side in the direction of the rotation axis CL of the rotating portion 42 and the inner circumferential surface of the opening formed at the end portion 11Ba of the second arm portion 11B on the first arm portion 11A side into the space in the joint portion 12 where the motor 30 is disposed. The rotating member seal 73 includes a lip portion disposed radially inward of the rotating portion 42.

[0025] like Figure 3 As shown, the robot 100 includes an annular housing member 61, the aforementioned annular rotating member 62, an annular second sealing member 74, and an annular housing member O-ring 75. These structures are used to prevent the lubricant that leaks from the rotation transmission mechanism 40 through the portion between the fixed portion 43 and the rotating portion 42 where the first sealing member 71 is disposed from leaking further to the outside, that is, to seal the lubricant from leaking outside the joint portion 12. The housing member 61, the rotating portion 62, the second sealing member 74, and the housing member O-ring 75 are disposed outside the rotation transmission mechanism 40. The housing member 61 is disposed outside the rotation transmission mechanism 40 to constitute the lubricant reservoir 80 described later. Furthermore, the first sealing member 71 includes a lip portion formed on the radially inner side of the first sealing member 71 relative to the rotating portion 42.

[0026] The portion of the housing member 61 on the other side of the rotating portion 42 in the direction of the rotation axis CL is positioned radially outward of the rotating portion 42 relative to the fixed portion 43 of the rotation transmission mechanism 40. The portion of the housing member 61 on one side of the rotating portion 42 in the direction of the rotation axis CL opposes the end portion of the rotating portion 42 of the rotation transmission mechanism 40 on one side of the rotating portion 42 in the direction of the rotation axis CL, as well as the rotating member 62, in the radial direction of the rotating portion 42. The second sealing member 74 is positioned on one side of the first sealing member 71 in the direction of the rotation axis CL of the rotating portion 42. The second sealing member 74 includes a lip portion formed radially inward of the second sealing member 74 in the direction of the rotation axis CL of the rotating portion 42. The second sealing member 74 is positioned radially between the end portion of the housing member 61 on one side of the rotating portion 42 in the direction of the rotation axis CL of the rotating portion 42 and the rotating member 62. The rotating member 62 has an outer peripheral surface 62a that contacts the inner peripheral surface 74a of the second sealing member 74. The end portion of the case member 61 on one side in the direction of the rotation axis CL of the rotating portion 42 has an inner peripheral surface that contacts the outer peripheral surface of the second sealing member 74 .

[0027] The lubricant reservoir 80 is formed by the end portion of the fixed portion 43 of the rotation transmission mechanism 40 on one side in the direction of the rotation axis CL of the rotating portion 42, the portion of the housing member 61 on one side in the direction of the rotation axis CL of the rotating portion 42, the second seal member 74, the rotating member 62, and the end portion of the rotating portion 42 of the rotation transmission mechanism 40 on one side in the direction of the rotation axis CL of the rotating portion 42. This lubricant reservoir 80 is an annular space that stores lubricant that leaks from the rotation transmission mechanism 40 through the portion between the fixed portion 43 and the rotating portion 42 where the first seal member 71 is disposed. In other words, the robot 100 includes the annular lubricant reservoir 80 that is disposed between the first seal member 71 and the second seal member 74 in the direction of the rotation axis CL of the rotating portion 42 and stores lubricant that leaks from the rotation transmission mechanism 40 through the portion between the fixed portion 43 and the rotating portion 42 where the first seal member 71 is disposed.

[0028] The housing member O-ring 75 is disposed between an end portion of the rotating portion 42 of the rotation transmission mechanism 40 on one side in the direction of the rotation axis CL of the rotating portion 42 and a portion of the housing member 61 on the other side in the direction of the rotation axis CL of the rotating portion 42. The housing member O-ring 75 prevents the lubricant stored in the lubricant reservoir 80 from leaking to the outside of the joint portion 12 from between the end portion of the rotating portion 42 of the rotation transmission mechanism 40 on one side in the direction of the rotation axis CL of the rotating portion 42 and the portion of the housing member 61 on the other side in the direction of the rotation axis CL of the rotating portion 42.

[0029] (Structure of Lubricant Reservoir)

[0030] like Figure 3 As shown, the second sealing member 74 includes a lip portion formed on the radially inner side of the rotating portion 42. The lubricant reservoir 80 includes a lubricant discharge hole 61a connected to the lubricant reservoir 80. The lubricant discharge hole 61a is normally closed and opens when the lubricant stored in the lubricant reservoir 80 is discharged from the lubricant reservoir 80. The lubricant discharge hole 61a is normally closed by a sealing plug 76. When the lubricant stored in the lubricant reservoir 80 is discharged from the lubricant reservoir 80, the sealing core rod 76 is removed from the lubricant discharge hole 61a. The lubricant discharge hole 61a is formed in the housing member 61.

[0031] The lubricant discharge hole 61a is located at the lower end 80a of the annular lubricant reservoir 80 when the rotation axis CL of the rotating portion 42 extends horizontally. Specifically, the lubricant discharge hole 61a is formed in a portion of the lubricant reservoir 80 on the radially outer side of the rotating portion 42, which forms the bottom surface of the lubricant reservoir 80 when the rotation axis CL of the rotating portion 42 extends horizontally. Furthermore, a plurality of lubricant discharge holes 61a are arranged at equal intervals in the radial direction of the rotating portion 42. In other words, the lubricant discharge holes 61a are also formed in portions of the lubricant reservoir 80 on the radially outer side of the rotating portion 42, other than the portion of the lubricant reservoir 80 on the radially outer side of the rotating portion 42, which forms the bottom surface of the lubricant reservoir 80 when the rotation axis CL of the rotating portion 42 extends horizontally.

[0032] <Structure for Delaying Lubricant Leaking from the Rotation Transmission Mechanism from Reaching the Second Seal Member>

[0033] The lubricant reservoir 80 stores the lubricant so as to delay the lubricant leaking from the rotation transmission mechanism 40 from reaching the second sealing member 74 .

[0034] As a first structure for delaying lubricant leaking from the rotation transmission mechanism 40 from reaching the second sealing member 74, the lubricant reservoir 80 includes an annular partition wall portion 80d that projects so as to cover the portion 74b of the second sealing member 74 on the first sealing member 71 side. Specifically, the annular partition wall portion 80d is formed on the radially outer surface 80b of the lubricant reservoir 80 that projects inwardly from the radially outer side of the rotating portion 42, so as to cover the portion of the second sealing member 74 that is inwardly located in the direction of the rotation axis CL of the rotating portion 42. The partition wall portion 80d projects inwardly from the radially outer surface 80b of the lubricant reservoir 80 that is in the radially outer side of the rotating portion 42, for example, so as to cover half of the portion of the second sealing member 74 that is inwardly located in the radial direction of the rotating portion 42.

[0035] Furthermore, as a second structure for delaying the lubricant leaking from the rotation transmission mechanism 40 from reaching the second sealing member 74, when the lubricant reservoir 80 extends horizontally in the direction of the rotation axis CL of the rotating portion 42, a surface 80c, which forms the bottom surface of the lubricant reservoir 80, is inclined from the side of the surface 80c forming the bottom surface of the lubricant reservoir 80 toward the side opposite to the surface 80c forming the bottom surface of the lubricant reservoir 80 as it moves from the first sealing member 71 side toward the second sealing member 74 side in the direction of the rotation axis CL of the rotating portion 42. Specifically, a surface 80b, which is located radially outward of the lubricant reservoir 80, is inclined from the radially outward side toward the radially inward side of the rotating portion 42 as it moves from the first sealing member 71 side toward the second sealing member 74 side in the direction of the rotation axis CL of the rotating portion 42. Furthermore, when the direction of the rotation axis CL of the rotating portion 42 extends horizontally, the surface 80b of the lubricant reservoir 80, which is radially outward of the rotating portion 42, is inclined from a vertically downward position toward an upward position as it moves from the first seal member 71 side toward the second seal member 74 side. Furthermore, the lubricant discharge hole 61a is formed on a surface 80c of the lubricant reservoir 80, which serves as the bottom surface of the lubricant reservoir 80 when the direction of the rotation axis CL of the rotating portion 42 extends horizontally, at a position closer to the first seal member 71 than the second seal member 74.

[0036] (Size of the Second Sealing Member Relative to the First Sealing Member)

[0037] In the direction of the rotation axis CL of the rotating portion 42, the width W2 of the second sealing member 74 is smaller than the width W1 of the first sealing member 71. In other words, the area where the inner circumferential surface 74a of the second sealing member 74 contacts the outer circumferential surface 62a of the rotating member 62 is smaller than the area where the inner circumferential surface of the first sealing member 71 contacts the rotating portion 42 of the rotation transmission mechanism 40.

[0038] The inner diameter r2 of the second sealing member 74 is smaller than the inner diameter r1 of the first sealing member 71. Specifically, in the radial direction of the rotating portion 42, the position where the inner circumferential surface 74a of the second sealing member 74 contacts the outer circumferential surface 62a of the rotating member 62 is located inward of the position where the inner circumferential surface of the first sealing member 71 contacts the rotating portion 42 of the rotation transmission mechanism 40. Furthermore, in the radial direction of the rotating portion 42, the outer circumferential surface of the second sealing member 74 is located outward of the inner circumferential surface of the first sealing member 71.

[0039] (Effects of this embodiment)

[0040] In this embodiment, the following effects can be obtained.

[0041] In this embodiment, the robot 100 includes an annular lubricant reservoir 80 disposed between the first sealing member 71 and the second sealing member 74 in the direction of the rotation axis CL of the rotating unit 42. The lubricant reservoir 80 stores lubricant so as to delay lubricant leaking from the rotation transmission mechanism 40 from reaching the second sealing member 74. Thus, the lubricant reservoir 80 can store lubricant leaking from the rotation transmission mechanism 40 so as to delay lubricant from reaching the second sealing member 74. As a result, further leakage of lubricant from the rotation transmission mechanism 40 to the outside can be suppressed.

[0042] Furthermore, in this embodiment, the lubricant reservoir 80 includes an annular partition wall 80d that protrudes so as to cover the portion 74b of the second sealing member 74 on the first sealing member 71 side. Thus, the annular partition wall 80d can prevent the lubricant stored in the lubricant reservoir 80 from reaching the second sealing member 74. As a result, it is possible to easily configure the annular lubricant reservoir 80 that stores lubricant so as to delay lubricant leaking from the rotation transmission mechanism 40 from reaching the second sealing member 74.

[0043] Furthermore, in this embodiment, surface 80c of the lubricant reservoir 80, which forms the bottom surface of the lubricant reservoir 80 when the rotation axis CL of the rotating portion 42 extends horizontally, is inclined toward the rotation axis CL as it moves from the first seal member 71 side toward the second seal member 74 side in the rotation axis CL direction of the rotating portion 42. Thus, the inclination of surface 80c, which forms the bottom surface of the annular lubricant reservoir 80 when the rotation axis CL of the rotating portion 42 extends horizontally, can prevent lubricant accumulated in the lubricant reservoir 80 from reaching the second seal member 74. As a result, it is possible to easily configure an annular lubricant reservoir 80 that stores lubricant while delaying the lubricant leaking from the rotation transmission mechanism 40 from reaching the second seal member 74.

[0044] Furthermore, in this embodiment, the robot 100 includes a lubricant discharge hole 61 a, which is connected to the lubricant reservoir 80, is normally closed, and is opened when the lubricant stored in the lubricant reservoir 80 is to be discharged from the lubricant reservoir 80. Thus, the lubricant stored in the lubricant reservoir 80 can be discharged from the lubricant reservoir 80 by opening the lubricant discharge hole 61 a.

[0045] Furthermore, in this embodiment, the robot 100 includes an annular housing member 61 disposed outside the rotation transmission mechanism 40 so as to constitute the lubricant reservoir 80 and having a lubricant discharge hole 61 a formed therein. Thus, the housing member 61 functions both as the lubricant reservoir 80 and as the member having the lubricant discharge hole 61 a formed therein. This reduces the number of components in the robot 100 compared to a case where the robot 100 includes separate components for constituting the lubricant reservoir 80 and for forming the lubricant discharge hole 61 a.

[0046] In addition, in this embodiment, the lubricant discharge hole 61a is arranged at a position at the lower end of the annular lubricant reservoir 80 when the direction of the rotation axis CL of the rotating portion 42 extends horizontally. Therefore, when the direction of the rotation axis CL of the rotating portion 42 extends horizontally, the lubricant stored in the lubricant reservoir 80 can be discharged from the lubricant reservoir 80 by opening the lubricant discharge hole 61a.

[0047] Furthermore, in this embodiment, surface 80c of the lubricant reservoir 80, which forms the bottom surface of the lubricant reservoir 80 when the rotation axis CL of the rotating portion 42 extends horizontally, is inclined toward the rotation axis CL as it moves from the first seal member 71 side toward the second seal member 74 side. Furthermore, the lubricant discharge hole 61a is located closer to the first seal member 71 than the second seal member 74 on surface 80c of the lubricant reservoir 80, which forms the bottom surface of the lubricant reservoir 80 when the rotation axis CL of the rotating portion 42 extends horizontally. Consequently, when the rotation axis CL of the rotating portion 42 extends horizontally, the lubricant discharge hole 61a can be located in the vertically lower portion of surface 80c, which forms the bottom surface of the lubricant reservoir 80. As a result, when the direction of the rotation axis CL of the rotating portion 42 extends along the horizontal direction, even when the amount of lubricant stored in the lubricant storage portion 80 is relatively small, the lubricant stored in the lubricant storage portion 80 can be discharged from the lubricant storage portion 80 by opening the lubricant discharge hole 61a.

[0048] Furthermore, in this embodiment, the robot 100 includes a rotating member 62 fixed to the rotating portion 42 and having an outer circumferential surface 62a that contacts the inner circumferential surface 74a of the second sealing member 74. Furthermore, in the direction of the rotation axis CL of the rotating portion 42, the width W2 of the second sealing member 74 is smaller than the width W1 of the first sealing member 71. This reduces the contact area between the inner circumferential surface 74a of the second sealing member 74 and the outer circumferential surface 62a of the rotating member 62. This reduces the frictional resistance generated between the outer circumferential surface 62a of the rotating member 62 and the inner circumferential surface 74a of the second sealing member 74 when the rotating member 62 rotates relative to the second sealing member 74. Consequently, the energy loss used to rotate the rotating portion 42 relative to the fixed portion 43 in the rotation transmission mechanism 40 can be reduced.

[0049] Furthermore, in this embodiment, the robot 100 includes an annular rotating member 62 fixed to the rotating portion 42 and having an outer peripheral surface 62a in contact with the inner peripheral surface 74a of the second sealing member 74. Furthermore, the inner diameter r2 of the second sealing member 74 is smaller than the inner diameter r1 of the first sealing member 71. As a result, the torque acting on the portion of the outer peripheral surface 62a of the rotating member 62 in contact with the inner peripheral surface 74a of the second sealing member 74 is relatively small. Therefore, when the rotating member 62 rotates relative to the second sealing member 74, the frictional resistance generated between the outer peripheral surface 62a of the rotating member 62 and the inner peripheral surface 74a of the second sealing member 74 can be reduced. Consequently, the energy loss used to rotate the rotating portion 42 relative to the fixed portion 43 in the rotation transmission mechanism 40 can be reduced.

[0050] Furthermore, in this embodiment, the second sealing member 74 blocks the leakage of lubricant to the outside of the joint 12. Thus, lubricant leaking from the rotation transmission mechanism 40 can be stored in the lubricant reservoir 80, delaying its arrival at the second sealing member 74, which blocks the leakage of lubricant to the outside of the joint 12. As a result, the lubricant leaking from the rotation transmission mechanism 40 can be suppressed from leaking to the outside of the joint 12.

[0051] Furthermore, in this embodiment, the rotation transmission mechanism 40 is a speed reducer. Thus, the lubricant reservoir 80 can store lubricant leaking from the speed reducer serving as the rotation transmission mechanism 40 and delay its arrival at the second sealing member 74. As a result, further leakage of the lubricant from the speed reducer serving as the rotation transmission mechanism 40 to the outside can be suppressed.

[0052] [Modification]

[0053] The embodiments disclosed herein are to be considered in all respects as illustrative and non-restrictive. The scope of the present disclosure is indicated by the claims rather than the description of the embodiments above, and includes all modifications (variations) within the meaning and scope equivalent to the claims.

[0054] For example, although the above embodiment shows an example in which the lubricant reservoir 80 includes an annular partition 80d that protrudes so as to cover the portion 74b of the second sealing member 74 on the first sealing member 71 side, the present disclosure is not limited thereto. In the present disclosure, the lubricant reservoir may not include an annular partition that protrudes so as to cover the portion of the second sealing member on the first sealing member side.

[0055] In addition, although the above embodiment shows an example in which the surface 80c of the lubricant reservoir 80, which becomes the bottom surface of the lubricant reservoir 80 when the direction of the rotation axis CL of the rotating portion 42 extends in the horizontal direction, is inclined toward the rotation axis CL side as it moves from the first sealing component 71 side toward the second sealing component 74 side, the present disclosure is not limited to this. In the present disclosure, the surface of the lubricant reservoir that becomes the bottom surface of the lubricant reservoir when the direction of the rotation axis of the rotating portion extends in the horizontal direction may not be inclined as it moves from the first sealing component side toward the second sealing component side, but may be inclined toward the side opposite to the rotation axis side. In addition, the surface of the lubricant reservoir that becomes the bottom surface of the lubricant reservoir when the direction of the rotation axis of the rotating portion extends in the horizontal direction may be formed in a stepped shape.

[0056] Furthermore, while the above embodiment illustrates an example in which the robot 100 includes a lubricant discharge hole 61a that is connected to the lubricant reservoir 80, is normally closed, and opens when the lubricant accumulated in the lubricant reservoir 80 is discharged from the lubricant reservoir 80, the present disclosure is not limited thereto. In the present disclosure, the robot may also include a lubricant discharge hole that is connected to the lubricant reservoir and is always open to discharge the lubricant accumulated in the lubricant reservoir from the lubricant reservoir. Furthermore, the robot may not include a lubricant discharge hole that is connected to the lubricant reservoir and discharges the lubricant accumulated in the lubricant reservoir from the lubricant reservoir.

[0057] Furthermore, while the above embodiment illustrates an example in which the robot 100 includes an annular housing member 61 disposed outside the rotation transmission mechanism 40 to constitute the lubricant reservoir 80 and having the lubricant discharge hole 61a formed therein, the present disclosure is not limited thereto. In the present disclosure, the robot may also include a member constituting the lubricant reservoir and a member having the lubricant discharge hole formed therein, respectively.

[0058] Furthermore, while the above embodiment illustrates an example in which the lubricant discharge hole 61a is disposed at the lower end of the annular lubricant reservoir 80 when the rotation axis CL of the rotating portion 42 extends horizontally, the present disclosure is not limited thereto. In the present disclosure, the lubricant discharge hole may not be disposed at the lower end of the annular lubricant reservoir when the rotation axis of the rotating portion extends horizontally.

[0059] In addition, although the above-mentioned embodiment shows an example in which the surface 80c of the lubricant storage portion 80, which becomes the bottom surface of the lubricant storage portion 80 when the direction of the rotation axis CL of the rotating portion 42 extends in the horizontal direction, is inclined toward the rotation axis CL side as it moves from the first sealing component 71 side toward the second sealing component 74 side, and the lubricant discharge hole 61a is arranged on the surface 80c of the lubricant storage portion 80, which becomes the bottom surface of the lubricant storage portion 80 when the direction of the rotation axis CL of the rotating portion 42 extends in the horizontal direction, at a position closer to the first sealing component 71 than the second sealing component 74, the present disclosure is not limited to this. In the present disclosure, the surface of the lubricant storage portion, which becomes the bottom surface of the lubricant storage portion when the direction of the rotation axis of the rotating portion is a direction extending in the horizontal direction, may be inclined toward the rotation axis side as it moves from the first sealing component side toward the second sealing component side, and the lubricant discharge hole may be formed in the center of the first sealing component and the second sealing component on the surface of the lubricant storage portion, which becomes the bottom surface of the lubricant storage portion when the direction of the rotation axis of the rotating portion is a direction extending in the horizontal direction, and may also be formed at a position closer to the second sealing component than the first sealing component.

[0060] Furthermore, while the above embodiment illustrates an example in which the width W2 of the second sealing member 74 is smaller than the width W1 of the first sealing member 71 in the direction of the rotation axis CL of the rotating portion 42, the present disclosure is not limited thereto. In the present disclosure, the width of the second sealing member in the direction of the rotation axis of the rotating portion may be equal to or greater than the width of the first sealing member.

[0061] In addition, although the above embodiment shows an example in which the inner diameter r2 of the second sealing member 74 is smaller than the inner diameter r1 of the first sealing member 71, the present disclosure is not limited to this. In the present disclosure, the inner diameter of the second sealing member may be equal to or larger than the inner diameter of the first sealing member.

[0062] In addition, although the above embodiment shows an example in which the second sealing member 74 seals the leakage of lubricant to the outside of the joint portion 12, the present disclosure is not limited to this. In the present disclosure, the second sealing member may also seal the leakage of lubricant from the inner portion to the outer portion of the joint portion.

[0063] In addition, although the above embodiment shows an example in which the rotation transmission mechanism 40 is a speed reducer, the present disclosure is not limited thereto. In the present disclosure, the rotation transmission mechanism may be a speed increaser or a transmission.

[0064] In addition, although the above embodiment shows an example in which the outer circumferential surface of the second sealing member 74 is positioned outward relative to the inner circumferential surface of the first sealing member 71 in the radial direction of the rotating portion 42, the present disclosure is not limited to this. In the present disclosure, the outer circumferential surface of the second sealing member may also be positioned inward relative to the inner circumferential surface of the first sealing member in the radial direction of the rotating portion.

[0065] In addition, although the above embodiment shows an example in which a plurality of lubricant discharge holes 61a are arranged at equal intervals in the radial direction of the rotating portion 42, the present disclosure is not limited thereto. In the present disclosure, a plurality of lubricant discharge holes may be arranged at unequal intervals in the radial direction of the rotating portion, or a plurality of lubricant discharge holes may not be arranged.

[0066] The functions of the elements disclosed in this specification can be performed using circuits or processing circuits including general-purpose processors, special-purpose processors, integrated circuits, ASICs (Application Specific Integrated Circuits), conventional circuits, and / or combinations thereof that are constructed or programmed to perform the disclosed functions. The processor is considered to be a processing circuit or circuit because it includes transistors and other circuits. In this disclosure, a circuit, unit, or mechanism is hardware that performs the listed functions, or hardware that is programmed to perform the listed functions. The hardware may be the hardware disclosed in this specification, or it may be other known hardware that is programmed or constructed to perform the listed functions. In the case of a processor where the hardware is considered to be a type of circuit, the circuit, mechanism, or unit is a combination of hardware and software, and the software is used for the structure of the hardware and / or processor.

[0067] [form]

[0068] It will be understood by those skilled in the art that the above-described exemplary embodiments are specific examples of the following aspects.

[0069] (Form 1) A robot, wherein:

[0070] have:

[0071] A robot arm comprising a plurality of arm portions and a joint portion connecting the arm portions to each other;

[0072] a rotation transmission mechanism disposed at the joint portion and comprising a fixed portion, a rotating portion that rotates relative to the fixed portion about a rotation axis, and an annular first sealing member disposed between the fixed portion and the rotating portion and sealing lubricant therein;

[0073] an annular second sealing member disposed outside the rotation transmission mechanism and on one side of the first sealing member in the direction of the rotation axis of the rotating portion; and

[0074] The annular lubricant reservoir is disposed between the first sealing member and the second sealing member in the direction of the rotation axis of the rotating portion and stores the lubricant so as to delay the lubricant leaking from the rotation transmission mechanism from reaching the second sealing member.

[0075] (Aspect 2) The robot according to aspect 1, wherein:

[0076] The lubricant reservoir includes an annular partition wall portion that protrudes so as to cover a portion of the second sealing member on the first sealing member side.

[0077] (Aspect 3) The robot according to aspect 1 or 2, wherein:

[0078] The surface of the lubricant reservoir, which becomes the bottom surface of the lubricant reservoir when the rotation axis of the rotating portion extends horizontally, is inclined toward the rotation axis as it moves from the first sealing member side toward the second sealing member side.

[0079] (Aspect 4) The robot according to any one of aspects 1 to 3, wherein:

[0080] A lubricant discharge hole is provided. The lubricant discharge hole is connected to the lubricant reservoir, is normally closed, and is opened when the lubricant stored in the lubricant reservoir is to be discharged from the lubricant reservoir.

[0081] (Aspect 5) The robot according to aspect 4, wherein:

[0082] An annular housing member is provided. The annular housing member is arranged outside the rotation transmission mechanism so as to constitute the lubricant reservoir and is formed with the lubricant discharge hole.

[0083] (Aspect 6) The robot according to aspect 4 or 5, wherein:

[0084] The lubricant discharge hole is arranged at a lower end portion of the annular lubricant reservoir when the rotation axis direction of the rotating portion extends in a horizontal direction.

[0085] (Aspect 7) The robot according to aspect 6, wherein:

[0086] The surface of the lubricant reservoir portion, which becomes the bottom surface of the lubricant reservoir portion when the rotation axis direction of the rotating portion extends in the horizontal direction, is inclined toward the rotation axis side as it moves from the first sealing member side toward the second sealing member side.

[0087] The lubricant discharge hole is formed on a surface of the lubricant reservoir that becomes the bottom surface of the lubricant reservoir when the rotation axis of the rotating portion extends horizontally, at a position closer to the first sealing member than the second sealing member.

[0088] (Aspect 8) The robot according to any one of aspects 1 to 7, wherein:

[0089] A rotating member is provided, the rotating member being fixed to the rotating portion and having an outer peripheral surface in contact with the inner peripheral surface of the second sealing member,

[0090] The second sealing member has a width smaller than a width of the first sealing member in the direction of the rotation axis of the rotating portion.

[0091] (Aspect 9) The robot according to any one of aspects 1 to 8, wherein:

[0092] An annular rotating member is fixed to the rotating portion and has an outer peripheral surface in contact with the inner peripheral surface of the second sealing member.

[0093] The inner diameter of the second sealing member is smaller than the inner diameter of the first sealing member.

[0094] (Aspect 10) The robot according to any one of aspects 1 to 9, wherein:

[0095] The second sealing member seals leakage of the lubricant to the outside of the joint portion.

[0096] (Aspect 11) The robot according to any one of aspects 1 to 10, wherein:

[0097] The above-mentioned rotation transmission mechanism is a speed reducer.

Claims

1. A robot, wherein: have: A robot arm including a plurality of arm portions and a joint portion connecting the arm portions to each other; a rotation transmission mechanism disposed at the joint portion and comprising a fixed portion, a rotating portion that rotates relative to the fixed portion about a rotation axis, and an annular first sealing member disposed between the fixed portion and the rotating portion and sealing a lubricant therein; an annular second sealing member disposed outside the rotation transmission mechanism and disposed on one side of the first sealing member in the direction of the rotation axis of the rotating portion; as well as The annular lubricant reservoir is disposed between the first sealing member and the second sealing member in the rotation axis direction of the rotating portion and stores the lubricant so as to delay the lubricant leaking from the rotation transmission mechanism from reaching the second sealing member.

2. The robot according to claim 1, wherein: The lubricant reservoir includes an annular partition wall portion that protrudes so as to cover a portion of the second sealing member on the first sealing member side.

3. The robot according to claim 1 or 2, wherein: The surface of the lubricant reservoir, which becomes the bottom surface of the lubricant reservoir when the rotation axis direction of the rotating portion extends horizontally, is inclined toward the rotation axis side as it moves from the first sealing member side toward the second sealing member side.

4. The robot according to claim 1, wherein: A lubricant discharge hole is provided. The lubricant discharge hole is connected to the lubricant reservoir, is normally closed, and is opened when the lubricant stored in the lubricant reservoir is discharged from the lubricant reservoir.

5. The robot according to claim 4, wherein: An annular housing member is provided. The annular housing member is arranged outside the rotation transmission mechanism so as to constitute the lubricant reservoir and has the lubricant discharge hole formed therein.

6. The robot according to claim 4, wherein: The lubricant discharge hole is arranged at a lower end portion of the annular lubricant reservoir when the rotation axis direction of the rotating portion extends in the horizontal direction.

7. The robot according to claim 6, wherein: When the rotation axis direction of the rotating portion extends in the horizontal direction, the surface of the lubricant reservoir portion, which serves as the bottom surface of the lubricant reservoir portion, is inclined toward the rotation axis side as it moves from the first sealing member side toward the second sealing member side. The lubricant discharge hole is formed on a surface of the lubricant reservoir that becomes the bottom surface of the lubricant reservoir when the rotation axis direction of the rotating portion extends horizontally, and is located closer to the first sealing member than the second sealing member.

8. The robot according to claim 1, wherein: A rotating member is provided, the rotating member being fixed to the rotating portion and having an outer peripheral surface in contact with the inner peripheral surface of the second sealing member, The width of the second sealing member in the direction of the rotation axis of the rotating portion is smaller than the width of the first sealing member.

9. The robot according to claim 1, wherein: An annular rotating member is provided, the annular rotating member being fixed to the rotating portion and having an outer peripheral surface in contact with the inner peripheral surface of the second sealing member, The inner diameter of the second sealing member is smaller than the inner diameter of the first sealing member.

10. The robot according to claim 1, wherein: The second sealing member seals leakage of the lubricant to the outside of the joint portion.

11. The robot according to claim 1, wherein: The rotation transmission mechanism is a speed reducer.

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