| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a joint driving device suppressing leakage of oil. <P>SOLUTION: The joint driving device includes a case 8 fixed to one of two adjacent links of the robot, a shaft 12 rotatably supported by the case 8 and rotating the other of the two links, and an oil seal 10 for sealing lubricant in the joint driving device. The oil seal 10 is arranged between the shaft 12 and the case 8. The oil seal 10 includes a seal body 11 having a first lip 38 and a second lip 36 abutted to the shaft 12, and an elastic member 41 pressing the first lip 38 and the second lip 36 to the shaft 12. The first lip 38 and the second lip 36 are arranged in an axial direction of the shaft 12. <P>COPYRIGHT: (C)2011,JPO&INPIT |
