# US 10,480,695 B2 · Joint structure and robot

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- Number: US 10,480,695 B2
- Document ID: US10480695B2
- Status: Granted
- Kind: B2
- Application number: 15/674,628
- Filed: 2017-08-11
- Published: 2018-03-01
- Granted: 2019-11-19
- Earliest claimed: 2016-08-31
- Assignees: Fanuc Corporation
- Applicants: Fanuc Corporation
- Inventors: Hidenori Kurebayashi
- Web page: https://patentgrep.com/patent/US10480695B2

## CPC

- F16L 23/16: characterised by the sealing means
- B25J 17/00: Joints
- B25J 19/0079: {using an internal pressure system}
- F16L 23/003: {Auxiliary devices}
- F16L: PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50})

## Abstract

An object is to exhibit a higher sealing performance against an external pressure, to more reliably prevent breakage of a sealed state established by an inner seal member, and to maintain the soundness of inner mechanical components. Provided is a joint structure including two joint members, a driving mechanism that rotationally drives the two joint members about a predetermined axis relative to each other, two seal members forming a seal between the joint members at positions doubly surrounding the outside of a lubricant storing part in the driving mechanism, and a pressure-applying means that makes the air pressure in a space provided between the two seal members, higher than the pressure of the outside air.

## Claims

### Claim 1

A joint structure comprising:
two joint members;
a driving mechanism that drives the two joint members so as to rotate about a predetermined axis relative to each other;
two seal members forming a seal between the two joint members at positions doubly surrounding the outside of a lubricant storing part in the driving mechanism; and
a pressure-applying means that makes the air pressure in a space provided between the two seal members higher than the pressure of the outside air,
wherein the seal member on the outer side is formed of an elastic material and has a cut portion at at least one circumferential position,
the cut portion is inclined with respect to the radial direction, and
wherein the outer seal member is attached to a fixed part of the driving mechanism by tightening the outer peripheral surface with a fastener.

### Claim 2 (depends on 1)

The joint structure according to claim 1, wherein at least one of the two seal members is a lip seal.

### Claim 3 (depends on 1)

A joint structure according to claim 1, wherein the seal member on the outer side has lower pressure resistance than the seal member on the inner side.

### Claim 4 (depends on 1)

The joint structure according to claim 1, further comprising, on the outside of the seal member on the outer side, a protection wall that prevents the entrance of foreign matter from the outside.

### Claim 5 (depends on 1)

A robot comprising the joint structure according to claim 1.

### Claim 6 (depends on 5)

The robot according to claim 5, further comprising a flow-rate measuring means that measures the flow rate of gas supplied to the space by the pressure-applying means.

### Claim 7 (depends on 6)

The robot according to claim 6, further comprising a determination means that determines whether the seal member is deteriorated or damaged on the basis of the gas flow rate value measured by the flow-rate measuring means.