Cleaning robot sealing mechanism and cleaning robot

Abstract

The utility model discloses a cleaning robot sealing mechanism which comprises a first joint arm and a second joint arm, a sealing ring and a blocking assembly located on the outer side of the sealing ring are arranged between the first joint arm and the second joint arm in a clamped mode, and the blocking assembly comprises a static ring and a movable ring which are arranged on the first joint arm and the second joint arm respectively. 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 sealing ring comprises an elastic protruding ring protruding towards the second joint arm and an open groove communicated with the axial gap (3) and the radial gap, and the elastic protruding ring abuts against the second joint arm. The utility model further discloses the cleaning robot which comprises the cleaning robot sealing mechanism. The cleaning robot sealing mechanism and the cleaning robot have the advantages that internal particles or pollutants can be well prevented from flowing to the external clean environment, external substances can be well prevented from entering the interior, the overall sealing and blocking effect is good, and the like.

Description

Technical Field

[0001] The utility model relates to the technical field of food and medicine packaging machinery and equipment, in particular to a cleaning robot sealing mechanism and the cleaning robot. Background Art

[0002] Currently, cleanroom robots use a lip seal to contact a metal shaft. This type of seal is a friction seal between rubber and the metal shaft. This type of seal generates small dust particles that are released into the cleanroom area where the equipment is located, contaminating the clean environment within the cleanroom.

[0003] Existing Chinese patent application number CN200710147847.2 discloses a sealing device for a robot joint and an articulated robot. The sealing device comprises a first contact sealing element (a lip seal) and a second contact sealing element (a V-ring) disposed in the joint gap. The two sealing elements cooperate to prevent lubricant in the drive mechanism from diffusing into the working area and to prevent foreign matter in the working area from entering the drive mechanism. This joint sealing device has the following deficiencies:

[0004] 1) There is friction between the second contact sealing element and the joint, which easily generates debris and affects the clean environment;

[0005] 2) The inner area of the skeleton oil seal faces the drive mechanism side, and the sealing effect becomes worse when the external pressure exceeds the internal pressure;

[0006] 3) There is a directly connected channel between the two contact sealing elements, which makes it difficult to form an effective buffer space. Utility Model Content

[0007] The technical problem to be solved by the utility model is to overcome the deficiencies of the existing technology and provide a cleaning robot sealing mechanism and a cleaning robot which can effectively prevent internal particles or pollutants from flowing to the external clean environment and effectively prevent external substances from entering the interior and have a good overall sealing and blocking effect.

[0008] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0009] A cleaning robot sealing mechanism includes a first joint arm and a second joint arm, a sealing ring and a blocking assembly located outside the sealing ring are sandwiched between the first joint arm and the second joint arm, the blocking assembly includes a static ring and a dynamic ring respectively provided on the first joint arm and the second joint arm, an axial gap, a radial gap and an annular groove for accommodating a flexible ring are formed between the static ring and the dynamic ring, the sealing ring includes an elastic convex ring protruding toward the second joint arm and an open groove connected to the axial gap and the radial gap, a spacer ring is provided on the dynamic ring, and the elastic convex ring abuts against the spacer ring.

[0010] As a further improvement of the above technical solution:

[0011] The sealing ring further comprises a mounting ring, wherein the mounting ring is arranged on the first joint arm, the elastic convex ring is arranged on the mounting ring, and the open groove is formed between the mounting ring and the elastic convex ring.

[0012] A buffer space is provided between the first joint arm and the second joint arm. The buffer space is communicated with the axial gap and the radial gap. The open groove is communicated with the buffer space.

[0013] The first articulated arm is provided with a protrusion protruding toward the second articulated arm on one side opposite to the second articulated arm. The static ring is located on the outside of the protrusion, the sealing ring is located on the inside of the protrusion, and a circumferential sealing ring is provided between the static ring and the protrusion.

[0014] There are at least two axial gaps, and the axial gap on the outer side is shorter than the axial length of the inner side.

[0015] The dynamic ring includes a first dynamic ring and a second dynamic ring, the axial gap and the radial gap are formed between the first dynamic ring and the static ring, the spacer ring is arranged on the second dynamic ring and faces one side of the first joint arm, and the elastic convex ring abuts against the outer peripheral side of the spacer ring.

[0016] Annular grooves with radial openings are provided at corresponding positions of the static ring, the dynamic ring and the flexible ring, and the flexible ring is clamped in the corresponding annular grooves.

[0017] A transmission mechanism connected to the second joint arm is provided in the first joint arm. The static ring is interference-fitted with the first joint arm, and the dynamic ring is interference-fitted with the second joint arm.

[0018] The first articulated arm and the second articulated arm are rotatably connected via a rotating shaft, and the sealing ring and the blocking assembly are both coaxial with the rotating shaft.

[0019] A cleaning robot comprises the above-mentioned cleaning robot sealing mechanism.

[0020] Compared with the prior art, the advantages of the present invention are:

[0021] In the sealing mechanism of the clean robot of the present invention, the airflow is subjected to the deceleration effect of the extended flow path formed between the static ring and the dynamic ring and the blocking effect of the annular groove and the flexible ring on the airflow, thereby causing the particles or pollutants carried by the airflow to be precipitated and intercepted, and cooperates with the sealing ring to completely block the airflow carrying particles or pollutants in the joint from flowing to the transmission mechanism. First, the static ring and the dynamic ring form a clearance fit through the connected axial gap and radial gap, avoiding the generation of friction products that affect the external clean environment. Moreover, when particles or pollutants in the transmission mechanism area inside the first joint move from the inside to the outside, they are first blocked by the first blocking effect of the sealing ring and then by the second blocking effect formed between the static ring and the dynamic ring, achieving an excellent effect of preventing internal particles or pollutants from flowing to the external clean environment. Second, when the external pressure exceeds the internal pressure, the axial gap, radial gap and flexible ring form a first deceleration blocking effect, and the external atmospheric pressure in the open groove causes the elastic convex ring to strengthen the axial abutment force on the second joint, forming a tighter second sealing blocking effect, thereby achieving an excellent effect of preventing external substances from entering the internal transmission mechanism.

[0022] The clean robot of the utility model comprises a clean robot sealing mechanism and has all the advantages of the clean robot sealing mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a structural diagram of the sealing mechanism of the cleaning robot of the present utility model.

[0024] Figure 2 yes Figure 1 Schematic diagram of the enlarged structure at point A in the middle.

[0025] The numbers in the figure represent:

[0026] 1. First joint arm; 11. Protrusion; 2. Second joint arm; 3. Sealing ring; 31. Opening groove; 32. Elastic convex ring; 33. Mounting ring; 4. Blocking assembly; 41. Static ring; 42. Dynamic ring; 421. First dynamic ring; 422. Second dynamic ring; 423. Spacer ring; 43. Axial gap; 44. Flexible ring; 45. Annular groove; 46. Radial gap; 5. Circumferential sealing ring; 6. Buffer space; 7. Transmission mechanism; 8. Rotating shaft. DETAILED DESCRIPTION

[0027] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0028] In the description of the present invention, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0029] 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 the technical features being referred to. Thus, a feature specified as "first" or "second" may explicitly or implicitly include one or more of such features. In the description of this utility model, "plurality" means two or more, unless otherwise specifically defined.

[0030] In this utility model, unless otherwise expressly specified or limited, terms such as "assemble," "connect," "connect," and "fix" should be understood in a broad sense. For example, they may refer to fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two components or interaction between two components. Those skilled in the art will be able to understand the specific meanings of the above terms in this utility model based on specific circumstances.

[0031] Example 1:

[0032] Figure 1 and Figure 2 An embodiment of the sealing mechanism of a clean robot of the present invention is shown. The sealing mechanism of the clean robot of this embodiment includes a first articulated arm 1 and a second articulated arm 2. A sealing ring 3 and a blocking assembly 4 located outside the sealing ring 3 are sandwiched between the first articulated arm 1 and the second articulated arm 2. The blocking assembly 4 includes a static ring 41 and a dynamic ring 42 respectively provided on the first articulated arm 1 and the second articulated arm 2. A connected axial gap 43, a radial gap 46, and an annular groove 45 accommodating a flexible ring 44 are formed between the static ring 41 and the dynamic ring 42. The sealing ring 3 includes an elastic convex ring 32 protruding toward the second articulated arm 2 and an open groove 31 connected to the axial gap 43 and the radial gap 46. A spacer ring 423 is provided on the dynamic ring 42, and the elastic convex ring 32 abuts against the spacer ring 423. Preferably, the opening of the open groove 31 faces the second articulated arm 2.

[0033] The first articulated arm 1 and the second articulated arm 2 achieve relative motion coordination through the static ring 41 and the dynamic ring 42. Through the coordination of the static ring 41 and the dynamic ring 42, an axial gap 43, a radial gap 46 and an annular groove 45 containing a flexible ring 44 are formed between the static ring 41 and the dynamic ring 42, thereby achieving a good speed reduction blocking effect. The elastic convex ring 32 abuts against the spacer ring 423, achieving a good sealing blocking effect. It should be noted that, taking the sealing ring 3 provided on the first articulated arm 1 as an example, the elastic convex ring 32 abuts against the spacer ring 423, and the opening groove 31 can be vertically oriented toward the second articulated arm 2, that is, the direction of the opening groove 31 is the same as the axial direction of the spacer ring 423. The opening groove 31 can also be tilted toward the second articulated arm 2, and the direction of the opening groove 31 can also be the same as the radial direction of the spacer ring 423, as long as the opening groove 31 can be connected to the axial gap 43 and the radial gap 46.

[0034] The sealing mechanism of this clean robot can intercept particles or pollutants when the airflow is decelerated by the extended flow path between the static ring 41 and the dynamic ring 42 and blocked by the annular groove 45 and the flexible ring 44, and cooperates with the sealing ring 3 to completely block the airflow carrying particles or pollutants in the joint from flowing to the transmission mechanism 7. On the one hand, the static ring 41 and the dynamic ring 42 form a clearance fit through the connected axial gap 43 and radial gap 46 to avoid the generation of friction products and affect the external clean environment. In addition, when the particles or pollutants in the internal transmission mechanism 7 area of the first joint arm 1 and / or the second joint arm 2 move from the inside to the outside, they are first blocked by the first blocking effect of the sealing ring 3, and then by the second blocking effect formed between the static ring 41 and the dynamic ring 42, thereby achieving a good effect of preventing the internal particles or pollutants of the first joint arm 1 and / or the second joint arm 2 from flowing to the external clean environment; on the other hand, when the external pressure of the first joint arm 1 and / or the second joint arm 2 exceeds the internal pressure, the axial gap 43, the radial gap 46 and the flexible ring 44 constitute a first speed reduction blocking effect, and the open groove 31 is affected by the external atmospheric pressure to cause the elastic convex ring 32 to strengthen the abutment force on the second joint arm 2, forming a tighter second sealing blocking effect, thereby achieving a good effect of preventing external substances of the first joint arm 1 and / or the second joint arm 2 from entering the internal transmission mechanism 7.

[0035] Furthermore, in this embodiment, the sealing ring 3 also includes a mounting ring 33, which is disposed on the first articulated arm 1. The elastic protruding ring 32 is disposed on the mounting ring 33, and the opening 31 is formed between the mounting ring 33 and the elastic protruding ring 32. The flexible elastic protruding ring 32 is mounted on the first articulated arm 1 via the rigid mounting ring 33, thereby improving the stability of the overall joint seal structure. Preferably, the mounting ring 33 and the elastic protruding ring 32 are integrally formed and securely fixed to the first articulated arm 1.

[0036] Furthermore, in this embodiment, if Figure 2As shown, a buffer space 6 is provided between the first and second articulated arms 1 and 2. The buffer space 6 communicates with the axial gap 43, and the open slot 31 communicates with the buffer space 6. The buffer space 6 forms an expanded space with a width significantly greater than the axial gap 43. When airflow enters this area, it experiences a dramatic expansion and loss of kinetic energy, significantly reducing its ability to flow inward. The buffer space 6 further buffers particles or contaminants between the first and second articulated arms 1 and 2, further enhancing the sealing and barrier effect within the joint.

[0037] Furthermore, in this embodiment, a protrusion 11 is provided on the side of the first articulated arm 1 opposite the second articulated arm 2, projecting toward the second articulated arm 2. The static ring 41 is located outside the protrusion 11, and the sealing ring 3 is located inside the protrusion 11. A circumferential sealing ring 5 is provided between the static ring 41 and the protrusion 11. The protrusion 11 separates the first seal formed by the static ring 41, dynamic ring 42, and flexible ring 44 from the second seal formed by the sealing ring 3. This not only facilitates the separate installation of the two seals, but also improves the overall sealing effect.

[0038] Furthermore, in this embodiment, at least two axial gaps 43 are provided, and the outer axial gap 43 is shorter than the inner axial length, which is convenient for processing and manufacturing. In addition, the shorter axial gap 43 has higher structural strength and can prevent deformation caused by impact and affect the sealing effect.

[0039] Furthermore, in this embodiment, the dynamic ring 42 includes a first dynamic ring 421 and a second dynamic ring 422, the axial gap 43 and the radial gap 46 are formed between the first dynamic ring 421 and the static ring 41, the spacer ring 423 is arranged on the second dynamic ring 422 and faces one side of the first joint arm 1, and the elastic convex ring 32 abuts against the outer peripheral side of the spacer ring 423.

[0040] Preferably, the first dynamic ring 421 and the second dynamic ring 422 are provided on the second articulated arm 2. The elastic convex ring 32 contracts inwards under the elastic action, and can fit tightly with the spacer ring 423 to improve the sealing effect. Preferably, the spacer ring 423 is made of wear-resistant material to increase its service life.

[0041] Preferably, the first dynamic ring 421 and the second dynamic ring 422 are fixed together or formed as one piece, so as to facilitate their installation as a whole on the second articulated arm 2. Of course, in other embodiments, the second dynamic ring 422 can also be provided separately and independently from the first dynamic ring 421. When machining the area of the first dynamic ring 421, it will not be affected by the second dynamic ring 422 and the spacer ring 423. The separate and independent design can reduce machining difficulty and improve machining accuracy, allowing the static ring 41 and the first dynamic ring 421 to be better combined after machining.

[0042] Furthermore, in this embodiment, radially opening annular grooves 45 are provided at corresponding positions on the stationary ring 41 and the dynamic ring 42 (specifically, the first dynamic ring 421) relative to the flexible ring 44. The flexible ring 44 is retained within the corresponding annular grooves 45. In other words, the annular grooves 45 face toward or away from the rotating shaft 8. On the one hand, the annular grooves 45 enhance the blocking and deceleration effect on passing materials (gas, particles, and / or pollutants). On the other hand, they work in conjunction with the flexible ring 44 to achieve an even greater blocking and deceleration effect.

[0043] Furthermore, in this embodiment, a transmission mechanism 7 connected to the second articulated arm 2 is provided within the first articulated arm 1. The stationary ring 41 has an interference fit with the first articulated arm 1 and is therefore stationary relative to the transmission mechanism 7 on the first articulated arm 1. The dynamic ring 42 has an interference fit with the second articulated arm 2 and is therefore movable relative to the transmission mechanism 7 on the first articulated arm 1. Preferably, both the first dynamic ring 421 and the second dynamic ring 422 have an interference fit with the second articulated arm 2.

[0044] Furthermore, in this embodiment, the first articulated arm 1 and the second articulated arm 2 are rotationally connected via a rotating shaft 8 , and the sealing ring 3 and the blocking assembly 4 are both coaxial with the rotating shaft 8 .

[0045] Example 2:

[0046] A cleaning robot comprises the cleaning robot sealing mechanism of embodiment 1. The robot has all the advantages of the cleaning robot sealing mechanism.

[0047] Although the present invention has been disclosed above with reference to preferred embodiments, this is not intended to limit the present invention. Any person skilled in the art can, without departing from the scope of the present invention, utilize the technical content disclosed above to make many possible changes and modifications to the present invention, or modify it into equivalent embodiments with equivalent variations. Therefore, any simple modifications, equivalent variations, and modifications made to the above embodiments based on the technical essence of the present invention, without departing from the content of the present invention, should fall within the scope of protection of the present invention.

Claims

1. A cleaning robot sealing mechanism, comprising a first joint arm (1) and a second joint arm (2), characterized in that: A sealing ring (3) and a blocking assembly (4) located outside the sealing ring (3) are sandwiched between the first joint arm (1) and the second joint arm (2). The blocking assembly (4) includes a static ring (41) and a dynamic ring (42) respectively provided on the first joint arm (1) and the second joint arm (2). An axial gap (43), a radial gap (46) and an annular groove (45) for accommodating a flexible ring (44) are formed between the static ring (41) and the dynamic ring (42). The sealing ring (3) includes an elastic convex ring (32) protruding toward the second joint arm (2) and an open groove (31) communicating with the axial gap (43) and the radial gap (46). A spacer ring (423) is provided on the dynamic ring (42), and the elastic convex ring (32) abuts against the spacer ring (423).

2. The sealing mechanism of the cleaning robot according to claim 1, characterized in that: The sealing ring (3) further comprises a mounting ring (33), wherein the mounting ring (33) is provided on the first articulated arm (1), the elastic convex ring (32) is provided on the mounting ring (33), and the opening groove (31) is formed between the mounting ring (33) and the elastic convex ring (32).

3. The sealing mechanism of the cleaning robot according to claim 1, characterized in that: A buffer space (6) is provided between the first joint arm (1) and the second joint arm (2); the buffer space (6) is in communication with the axial gap (43) and the radial gap (46); and the opening groove (31) is in communication with the buffer space (6).

4. The sealing mechanism of the cleaning robot according to claim 1, characterized in that: A protruding portion (11) protruding toward the second articulated arm (2) is provided on a side of the first articulated arm (1) relative to the second articulated arm (2); the static ring (41) is located outside the protruding portion (11); the sealing ring (3) is located inside the protruding portion (11); and a circumferential sealing ring (5) is provided between the static ring (41) and the protruding portion (11).

5. The sealing mechanism of the cleaning robot according to claim 1, characterized in that: At least two axial gaps (43) are provided, and the outer axial gap (43) is shorter than the inner axial gap (43).

6. The sealing mechanism of the cleaning robot according to any one of claims 1 to 5, characterized in that: The movable ring (42) includes a first movable ring (421) and a second movable ring (422), the axial gap (43) and the radial gap (46) are formed between the first movable ring (421) and the stationary ring (41), the spacer ring (423) is arranged on the second movable ring (422) and faces one side of the first joint arm (1), and the elastic convex ring (32) abuts against the outer peripheral side of the spacer ring (423).

7. The sealing mechanism of the cleaning robot according to any one of claims 1 to 5, characterized in that: Annular grooves (45) with radial openings are provided at corresponding positions of the static ring (41), the dynamic ring (42) and the flexible ring (44), and the flexible ring (44) is clamped in the corresponding annular grooves (45).

8. The sealing mechanism of the cleaning robot according to claim 7, characterized in that: A transmission mechanism (7) connected to the second joint arm (2) is provided in the first joint arm (1); the static ring (41) is interference-fitted with the first joint arm (1); and the dynamic ring (42) is interference-fitted with the second joint arm (2).

9. The sealing mechanism of the cleaning robot according to claim 7, characterized in that: The first joint arm (1) and the second joint arm (2) are rotationally connected via a rotating shaft (8), and the sealing ring (3) and the blocking component (4) are both coaxial with the rotating shaft (8).

10. A cleaning robot, characterized in that: The cleaning robot sealing mechanism comprises the sealing mechanism according to any one of claims 1 to 9.

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