Industrial Robot And Method For Moving A Robot Arm In A Clean Room

An industrial robot comprising:

• a robot control configured to execute a robot program;
• a robot arm with a plurality of links connected by joints, the joints configured for automatic mutual adjustment of the links according to the robot program;
• at least one of the joints configured as a rotary joint connecting a first link of the plurality of links to an adjacent second link for relative rotation of the first and second links;
• the first link comprising a shaft seal which includes a sealing lip made from a PTFE material;
• and
• the second link comprising a shaft section which includes a tread made from a PTFE material;
• the sealing lip of the shaft seal contacting the tread in a sealing fashion.

A method for moving a robot arm of an industrial robot arranged in a cleanroom, the method comprising:

• obtaining a robot, the robot including:
• a robot control configured to execute a robot program,
• a robot arm with a plurality of links connected by joints, the joints configured for automatic mutual adjustment of the links according to the robot program,
• at least one of the joints configured as a rotary joint connecting a first link of the plurality of links to an adjacent second link for relative rotation of the first and second links,
• the first link comprising a shaft seal which includes a sealing lip made from a PTFE material, and
• the second link comprising a shaft section which includes a tread made from a PTFE material,
• the sealing lip of the shaft seal contacting the tread in a sealing fashion;
• and actuating with the robot control the automatic movement of at least one rotary joint of the robot arm at a maximum angular velocity, whereby the sealing lip of the shaft seal moves with a relative velocity in reference to the tread which is less than 1 meter per second.