Patent ID: 7878088

Claim:
An articulated robot comprising: a joint section; a driving mechanism incorporated into said joint section; a bearing unit provided in said driving mechanism and supporting, in a mutually rotatable manner, a pair of sections joined through said joint section movably relative to each other; and a sealing device provided in said joint section and comprising overlapped seal portions having a multi-stage configuration provided for said driving mechanism; wherein said bearing unit comprises a cross-roller bearing; wherein said sealing device comprises: a first seal portion including a first contact seal element sealing a first inter-member gap defined adjacent to a lubricant retaining section provided in said driving mechanism; and a second seal portion arranged outside said first seal portion and including a second contact seal element sealing a second inter-member gap defined in a circumferential wall of said joint section, said circumferential wall defining an accommodation space for accommodating said driving mechanism; wherein said first inter-member gap is defined adjacent to said bearing unit; wherein said first contact seal element is disposed in said first inter-member gap; wherein said circumferential wall of said joint section includes two wall members rotatable relative to each other; wherein said second inter-member gap is defined between outer circumferential edge regions of end faces of said two wall members, said end faces being adjacent and opposing each other in a direction along a rotation axis of said two wall members; and wherein said second contact seal element is disposed in said second inter-member gap and seals said second inter-member gap through a lip contact structure contacting one of said end faces of said two wall members.