Robot arm assist device

Abstract

The present invention provides a robot arm assist device that helps expand the range of tasks that can be performed by a single robot arm while minimizing cost increases. [Solution] A hand is attached to the tip of an auxiliary arm 21, which is mounted parallel to the robot arm and whose base end is connected to the base part 1. The base end of the auxiliary arm 21, the second arm 22, the third arm 23, and the fourth arm 24 are each provided with a first movable part 10, a second movable part, a third movable part, and a fourth movable part, and the first to fourth braking parts brake the first movable part 10, etc. The first support part 32 and the second support part 33 are positioned to return the auxiliary arm 21 to its initial position when the braking by each braking part is released. An auxiliary-side connecting member 38 is placed at the tip of the auxiliary arm 21 and is configured to be connectable to a robot-side connecting member located at the tip of the robot arm. The robot controller controls the robot arm and each braking part.

Description

Technical Field

[0001] The present invention relates to a device for assisting the work of a robotic arm while being arranged in parallel with the robotic arm.

Background Art

[0002] In recent years, the decrease in the farming population has become a social problem, and as a means of improving productivity by utilizing digital technology, the development of agricultural robots has been desired. What is required for agricultural robots is, for example, as disclosed in Patent Document 1, the automation of harvesting work is typical. However, since the workload of cultivation management and the like other than harvesting is also high for workers, in order to achieve labor saving in the entire agriculture, the development of robots that can handle various tasks is desired.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Here, in automating the work performed by a person using two arms, for example, using a multifunctional robot hand or using two or more robotic arms can be considered. However, in the former case, the structure of the robot hand becomes complex, increasing its weight, and a dedicated design of the robot hand is required for each work. For the latter case, problems such as an increase in cost and how to mount a plurality of robotic arms on a mobile cart arise.

[0005] The present invention has been made in view of the above circumstances, and an object thereof is to provide a robotic arm assisting device that assists in expanding the range of work that can be performed by a single robotic arm while suppressing an increase in cost as much as possible.

Means for Solving the Problems

[0006] The robot arm assist device according to claim 1 has a base portion (1) to which the base end of an assist arm (21), which is made up of multiple arms (22-24), is connected, and the assist arm is installed within the working range of the robot arm (40). Assist side tools (43, 68) are attached to the tip of the assist arm. Multiple movable parts (10, 25, 27, 28) are rotatably arranged at each connection point of the assist arm, and multiple braking parts (60, 26, 29, 30) brake the corresponding movable parts. Suspension parts (32, 33) are arranged to return the assist arm to its initial position when the braking by the multiple braking parts is released. Furthermore, an assist side connecting member (38) is arranged at the tip of the assist arm, which is configured to be connectable to a robot side connecting member (52) located at the tip of the robot arm. The control unit (61) controls the robot arm and the braking parts.

[0007] With this configuration, the control unit controls the robot arm and the braking unit to connect the robot-side connecting member and the auxiliary-side connecting member. By releasing the brake and moving the auxiliary arm, the brake is then applied again, allowing the auxiliary tool at the tip of the auxiliary arm to be moved to a predetermined position while maintaining the posture of the auxiliary arm. Then, the control unit releases the connection between the robot-side connecting member and the auxiliary-side connecting member and controls the robot arm, enabling the robot-side tool to perform the task.

[0008] Therefore, by controlling both the robotic arm and the auxiliary arm with a single robot, the auxiliary arm can assist the robotic arm in its work, allowing the robotic arm to handle multiple tasks without having to switch tools. Furthermore, it enables tasks that would be difficult with a single robotic arm alone. Additionally, due to the action of the suspension system, releasing the brakes on each axis returns the auxiliary arm to its initial position, allowing the control unit to easily repeat the auxiliary arm's movements.

[0009] According to the robot arm assist device described in claim 2, the robot arm has a first axis at its base end, and the assist arm has a first movable part (10) at its base end. The assist arm is installed such that the rotation center of the first axis and the rotation center of the first movable part coincide. With this configuration, the first movable part of the assist arm can be easily rotated in conjunction with the first axis of the robot arm.

[0010] According to the robot arm assist device described in claim 3, the first braking unit (60) corresponding to the first movable part selectively connects the first movable part to either the base unit or the first axis by means of a base end connecting mechanism (45-47) and a base end connecting drive unit (51). Therefore, by rotating the first axis while the first movable part is connected to the first axis of the robot arm, the first movable part can be moved to its initial position or any other position. [Brief explanation of the drawing]

[0011] [Figure 1] This is a perspective view showing the configuration of the auxiliary arm, representing the first embodiment. [Figure 2] Right side view showing the configuration of the auxiliary arm [Figure 3] Front view showing the configuration of the auxiliary arm [Figure 4] Left side view showing the configuration of the auxiliary arm [Figure 5] Perspective view showing a configuration in which a robotic arm is attached to an auxiliary arm. [Figure 6] Right side view showing a configuration with a robotic arm attached to an auxiliary arm. [Figure 7] Front view showing a configuration with a robotic arm attached to an auxiliary arm. [Figure 8] Left side view showing a configuration with a robotic arm attached to an auxiliary arm. [Figure 9] This perspective view shows a configuration in which a robotic arm is attached to an auxiliary arm, from a different angle than Figure 5. [Figure 10] A diagram showing a magnified portion of the brake OFF state in the first braking unit. [Figure 11]Figure showing the state of the brake ON in the first braking unit, with a partial enlargement [Figure 12] Figure showing the state corresponding to FIG. 10, simplified [Figure 13] Figure showing the state corresponding to FIG. 11, simplified [Figure 14] Perspective view showing the robot-side connecting member arranged on the robot arm at the center [Figure 15] Left side view showing the robot-side connecting member arranged on the robot arm at the center [Figure 16] Perspective view showing the robot-side connecting member arranged on the robot arm at the center, in a direction different from FIG. 14 [Figure 17] Figure showing the unconnected state of the robot-side connecting member and the auxiliary-side connecting member [Figure 18] Figure showing the connected state of the robot-side connecting member and the auxiliary-side connecting member [Figure 19] Functional block diagram showing the configuration of the entire system [Figure 20] Flowchart showing the control content by the robot controller [Figure 21] Right side view showing an example (part 1) of the harvesting operation by the robot arm and the auxiliary arm in the second embodiment [Figure 22] Perspective view showing an example (part 1) of the harvesting operation by the robot arm and the auxiliary arm [Figure 23] Flowchart showing the control content by the robot controller [Figure 24] Perspective view showing the configuration in the third embodiment where the robot arm is provided together with the auxiliary arm having the recovery member attached [Figure 25] Front view showing the configuration in which the robot arm is provided together with the auxiliary arm having the recovery member attached [Figure 26] Left side view showing the configuration in which the robot arm is provided together with the auxiliary arm having the recovery member attached [Figure 27] Right side view showing an example (part 2) of the harvesting operation by the robot arm and the auxiliary arm [Figure 28]Perspective view showing an example of harvesting work using a robotic arm and an auxiliary arm (part 2) [Figure 29] Flowchart showing the control details by the robot controller [Modes for carrying out the invention]

[0012] (First Embodiment) As shown in Figures 1 to 4, the robot arm assist device of this embodiment has an assist arm 21 attached to a base portion 1. The base portion 1 is generally rectangular in shape and includes a substrate 2 with the front portion slightly protruding to the right in the figure, three support columns 3 to 5 rising from the substrate 2, and an arc-shaped fixing plate 6 supported by the support columns 3 to 5. The base end of, for example, a vertical 6-axis robot arm, which will be described later, is attached to the substrate 2.

[0013] A guide member 8 is attached to the fixed plate 6 to move the movable member 7, to which the base end portion 20 of the auxiliary arm 21 shown in Figures 3 and 4 is attached, parallel to the ground surface and along a circular arc. Hereafter, parallel to the ground surface will be conveniently referred to as "horizontal". The base end portion 20 of the auxiliary arm 21 is attached to the arm support portion 9 of the movable member 7. In other words, the movable member 7 and the guide member 8 constitute the first movable part 10 that moves the auxiliary arm 21 around a horizontal axis. A more detailed configuration of the movable member 7 and the guide member 8 will be described later.

[0014] The auxiliary arm 21 has a second arm 22, a third arm 23, and a fourth arm 24. The second arm 22 is rotatably supported on a second movable part 25, which is a horizontal second axis located at the base end 20. Here, the first movable part 10 is considered equivalent to the first axis, and the second movable part is referred to as the second axis and second arm 22. The second movable part 25 is equipped with a second braking part 26, which consists of a disc brake that applies braking force to the rotation around its axis.

[0015] The second arm 22 and the third arm 23 are connected via a third movable part 27, which is a horizontal third axis, and similarly, the third arm 23 and the fourth arm 24 are connected via a fourth movable part 28, which is a horizontal fourth axis. Corresponding to the third movable part 27 and the fourth movable part 28, similar to the second movable part 25, are a third braking part 29 and a fourth braking part 30, which apply braking to the rotation around their respective axes.

[0016] Above the second braking section 26 is a support member 31 that extends forward and is roughly rectangular in shape, with part of its top surface and part of both sides open. The upper end of the first bracing section 32 is connected to an intermediate part of the second arm 22, and the lower end of the first bracing section 32 is connected to the support member 31. The upper end of the second bracing section 33 is connected to an intermediate part of the third arm 23, and the lower end of the second bracing section 33 is connected to the fourth arm 24. The first bracing section 32 and the second bracing section 33 are made of, for example, gas springs. These bracing sections 32 and 33 are mechanisms that apply force to return the auxiliary arm 21 to its initial position when the braking of the auxiliary arm 21, whose end-effector position has been moved by the robot arm as described later, is released.

[0017] Furthermore, first to third reduction mechanisms 34 to 36, each composed of a belt and pulley, are positioned between the base end 20 and the second movable part 25, the second arm 22 and the third movable part 27, and the third arm 23 and the fourth movable part 28, respectively. The tip of the fourth arm 24 is provided with an auxiliary tool mounting part 37, to which an auxiliary tool is attached. An auxiliary connecting member 38 is positioned on the left side of the fourth arm 24 in Figure 3. This auxiliary connecting member 38 will be described later.

[0018] Figures 5 to 9 show the state in which a vertical 6-axis robot arm 40 is attached to the substrate 2 of the base unit 1, and the auxiliary arm 21 is installed within the working range of the robot arm 40. A scissor-shaped harvesting tool 41 and a 3D camera 42 are attached to the end of the robot arm 40 as robot-side tools. A gripping hand 43 and an imaging device, a 3D camera 44, are attached to the end of the auxiliary arm 21 as auxiliary-side tools.

[0019] As shown in Figures 10 and 11, the inner circumference of the fixed plate 6, that is, the side facing the robot arm 40, is provided with an arc-shaped fixed tooth portion 45. The fixed tooth portion 45 has short comb teeth formed in a continuous pattern on its inner circumference. On the other hand, the first axis arm of the robot arm 40 is provided with a fitting projection 46. The movable member 7 is provided with a connecting member 47. The left end of the connecting member 47 in the figure is formed with a fixed-side fitting portion 48 that engages with the fixed tooth portion 45, and the right end of the figure is formed with a robot-side fitting portion 49 that engages with the fitting projection 46.

[0020] The connecting member 47 is secured to the movable member 7 by the pivot center 50, and the left end of the connecting member 47 is displaced vertically by the solenoid 51, so that the robot-side fitting portion 49 engages with the fitting projection 46, as shown in Figure 10, resulting in a brake OFF state, or the fixed-side fitting portion 48 engages with the fixed tooth portion 45, as shown in Figure 11, resulting in a brake ON state. The fixed tooth portion 45, the fitting projection 46, and the connecting member 47 correspond to the base end connecting mechanism, and the solenoid 51 corresponds to the base end connecting drive unit.

[0021] In other words, the brake-off state is when the first movable part 10 moves horizontally together with the first axis arm of the robot arm 40, and the brake-on state is when the first movable part 10 is engaged with the fixed plate 6 and does not move. Figures 12 and 13 are simpler models of the states corresponding to Figures 10 and 11, and in the right-hand figures, the fixed teeth 45 are shown unfolded in a linear manner. In this configuration, the fixed teeth 45, the fitting projection 46, the connecting member 47, and the solenoid 51 constitute the first braking unit 60. As is clear from these figures, the auxiliary arm 21 is installed so that the rotation center of the first movable part 10 coincides with the rotation center of the first axis of the robot arm 40.

[0022] Figures 14 to 16 show the robot-side connecting member 52 positioned on the fifth axis arm 40(5) of the robot arm 40. The robot-side connecting member 52 is positioned on the right side of the fifth axis arm 40(5) when viewed from the front, and its base 53 is attached at an angle of approximately 45 degrees to the longitudinal direction of the fifth axis arm 40(5), as shown in Figure 15. Grasping members 54F and 54R, which are roughly semi-cylindrical in shape, are positioned at both ends of the base 53.

[0023] As shown in Figure 17, the tip of the auxiliary connecting member 38 on the auxiliary arm 21 side has a gripping portion 39F that opens downwards in the figure and is notched in an arc shape, and a gripping portion 39R that opens upwards in the figure and is notched in an arc shape. In the state shown in the figure, the fifth axis arm 40(5) of the robot arm 40 is tilted 45 degrees downwards, and the angle of the base 53 of the robot-side connecting member 52 with respect to the horizontal is set to 90 degrees, and the auxiliary connecting member 38 is sandwiched from above and below by the gripping members 54R and 54F. As a result, the robot arm 40 and the auxiliary arm 21 are not connected.

[0024] The state shown in Figure 18 is the state shown in Figure 17 with the angle of the fifth axis arm 40(5) set to horizontal. As a result, the angle of the base 53 with respect to the horizontal becomes 45 degrees, and the gripping members 54F and 54R of the robot-side connecting member 52 fit into the gripping parts 39F and 39R of the auxiliary-side connecting member 38, respectively. This results in the robot arm 40 and the auxiliary arm 21 being disconnected. Therefore, if the end-effector of the robot arm 40 moves, the end-effector of the auxiliary arm 21 will also move in conjunction.

[0025] Figure 19 is a functional block diagram showing the overall system configuration. The robot controller 61 controls the robot arm 40 and the auxiliary arm 21. Details of the robot arm 40 are omitted as it is a typical vertical 6-axis arm. The robot controller 61 also controls the harvesting tool 41, which is referred to as the "robot-side tool" in the figure. On the auxiliary arm 21 side, the robot controller 61 controls the solenoid 51 of the first braking unit 60, the second braking unit 26, the third braking unit 29, the fourth braking unit 30, and the gripping hand 43, which is referred to as the "auxiliary-side tool" in the figure. The auxiliary arm 21 and the robot controller 61 constitute the robot arm auxiliary device 62.

[0026] The robot arm 40, robot controller 61, and robot arm auxiliary device 62 are mounted on a vehicle 63 and moved to perform harvesting work. A driving sensor 64 acquires the position information of the vehicle 63 and transmits this information to a control device 65, which is, for example, a personal computer. The control device 65 controls the speed and steering of the vehicle 63 based on this position information.

[0027] Processing image information from cameras 42 and 44 requires computationally intensive processing. Therefore, the robot controller 61 does not perform the processing alone; instead, the control device 64 is used to carry out the calculations. Based on the results of these calculations, control commands for the robot arm 40, that is, angle information for creating the posture of the arm 40, are passed to the robot controller 61.

[0028] Next, the operation of this embodiment will be described. As shown in Figure 20, the robot controller 61 first initializes the auxiliary arm 21 (S1). Specifically, by turning OFF the first to fourth braking units 60, 26, 29, and 30, the second to fourth movable units 25, 27, and 28 are moved to their initial positions by the action of the first cantilever unit 32 and the second cantilever unit 33. Also, by turning OFF the brake of the first braking unit 60, the first axis of the robot arm 40 is rotated to move the first movable unit 10 to its initial position. After that, the first to fourth braking units 60, 26, 29, and 30 are turned ON.

[0029] Next, the robot controller 61 controls the robot arm 40 and engages the robot-side connecting member 52 attached to the fifth axis arm 40(5) with the auxiliary-side connecting member 38 attached to the auxiliary arm 21 (S2). Then, the first to fourth braking units 60, 26, 29, and 30 are turned OFF. This allows the robot arm 40 to move the posture of the auxiliary arm 21 (S3).

[0030] Next, the robot controller 61 controls the robot arm 40 to move the gripping hand 43 attached to the end effector of the auxiliary arm 21 to an arbitrary position (S4). The arbitrary position is a position suitable for the gripping hand 43 to assist the work that will be performed later by the robot arm 40. The coordinates to be moved are acquired by the camera 42 attached to the robot arm 40 or the camera 44 attached to the auxiliary arm 21. Then, the first to fourth braking units 60, 26, 29 and 30 are turned ON. As a result, the gripping hand 43 attached to the auxiliary arm 21 stops at the arbitrary position (S5).

[0031] Next, the robot controller 61 controls the robot arm 40 to detach the robot-side connecting member 52 from the auxiliary-side connecting member 38 (S6). Then, the robot arm 40 is operated independently (S7). That is, the robot arm 40 is controlled with assistance from the gripping hand 43 of the auxiliary arm 21, which is fixed in a predetermined position, and the harvesting work is performed using the harvesting tool 41.

[0032] As described above, according to this embodiment, the auxiliary arm 21 is mounted parallel to the robot arm 40, and a gripping hand 43, for example, is attached to the tip of the auxiliary arm 21 as an auxiliary tool. The base end 20 of the auxiliary arm 21, the second arm 22, the third arm 23, and the fourth arm 24 are each provided with a first movable part 10, a second movable part 25, a third movable part 27, and a fourth movable part 28, and the first to fourth braking parts 60, 26, 29, and 30 brake the first movable part 10, etc.

[0033] The first cantilever section 32 and the second cantilever section 33 are positioned so that the auxiliary arm 21 returns to its initial position when the braking by the braking unit 60, etc., is released. An auxiliary-side connecting member 38 is also positioned at the tip of the auxiliary arm 21, which is configured to be connectable to the robot-side connecting member 52 located at the tip of the robot arm 40. The robot controller 61 controls the robot arm 40 and the braking unit 60, etc.

[0034] With this configuration, the robot controller 61 controls the robot arm 40 and the auxiliary arm 21, allowing the auxiliary arm 21 to assist the robot arm 40 in its work. This enables the robot arm 40 to handle multiple tasks without having to switch tools. Furthermore, it allows for tasks that would be difficult for a single robot arm 40 to perform. Additionally, the suspension parts 31 and 32 allow the auxiliary arm 21 to return to its initial position when the brakes on each axis are released, making it easy for the robot controller 61 to repeat the operation of the auxiliary arm 21. Furthermore, since the auxiliary arm 21 is installed on the base 1 such that the rotation center of its first movable part 10 coincides with the rotation center of the first axis of the robot arm 40, the first movable part 10 can be easily rotated in conjunction with the first axis.

[0035] Furthermore, since the auxiliary arm 21 is equipped with first to third reduction mechanisms 34 to 36 corresponding to the second movable part 25, the third movable part 27, and the fourth movable part 28, the auxiliary arm 21 can be made lighter, and the force required to return the auxiliary arm 21 to its initial position can be reduced. In addition, the load on the robot arm 40 can be reduced when moving the auxiliary arm 21.

[0036] Furthermore, the first braking unit 60, which corresponds to the first movable part 10 of the auxiliary arm 21, is configured by a base end member 47 and a solenoid 51 to selectively connect the first movable part 10 to either the base unit 1 or the first axis of the robot arm 40. Therefore, by rotating the first axis while the first movable part 10 is connected to the first axis, the first movable part 10 can be moved to its initial position or any other position.

[0037] (Second Embodiment) In the following description, parts identical to those in the first embodiment are denoted by the same reference numerals and their descriptions are omitted, while parts that differ are described. The second embodiment uses the same configuration as the first embodiment and shows how it can be specifically applied to the task of harvesting tomatoes 66, as shown in Figures 21 and 22. As shown in Figure 23, when the robot controller 61 executes steps S1 to S3, the robot arm 40 moves the gripping hand 43 of the auxiliary arm 21 to a position where it can grip the leaves 67 of the tomatoes 66 (S11).

[0038] Next, the gripping hand 43 is controlled to grasp the leaf 67 (S12), and the leaf 67 is moved in front of the tomato 66 to be harvested (S13). After that, steps S5 to S7 are executed, in which step S7 is the process of harvesting the tomato 66 with the harvesting tool 42 of the robot arm 40. The state shown in Figures 21 and 22 corresponds to step S7. Once the tomato 66 is harvested, the gripping hand 43 of the auxiliary arm 21 is controlled to release the leaf 67 from the gripping hand 43 (S14).

[0039] (Third embodiment) As shown in Figures 24 to 26, the third embodiment shows a case in which a collection member 68 is attached to the auxiliary arm 21 as an auxiliary tool. In Figure 24, a harvest box 69 is positioned in front of the robot arm 40. The collection member 68 is used to ensure that tomatoes 66, etc., are reliably placed in the harvest box 69 when tomatoes 66 are harvested, as in the second embodiment. The collection member 68 consists of a connecting member 70 and a pipe section 71, with the connecting member 70 located on the upper end side of the pipe section 71.

[0040] The connecting member 70 has an L-shaped mounting member 72 in the horizontal cross-section. One end of the mounting member 72 is attached to the auxiliary tool mounting portion 37. The mounting member 72 extends downward from there, and at its lower end, the respective tips of the L-shape extend forward and to the left in Figure 24. These forward and leftward extensions are connected to a square frame 73, and the upper end of the pipe portion 71 is connected to the center of the frame 73.

[0041] The pipe section 71 extends downward from the frame 73, curves slightly forward, and then straightens out towards the harvest box 69 below. Harvested items such as tomatoes 66 introduced into the pipe section 71 from above the collection member 68 are led out to the harvest box 69 via the pipe section 71. Figures 27 and 28 show the case where multiple mini tomatoes 74 are to be harvested in one bunch. However, the connection relationship between the connecting member 70 and the pipe section 71 is reversed compared to that shown in Figures 24 to 26.

[0042] In the flowchart shown in Figure 29, step S4 is replaced with step S15 in Figure 20 of the first embodiment. In step S15, the robot controller 61 controls the robot arm 40 to move the collection member 68 of the auxiliary arm 21 below the object to be harvested by the robot arm 40, for example, the cherry tomatoes 74. The tomatoes 66 and cherry tomatoes 74 correspond to the separated parts that have been separated from the target object.

[0043] (Other embodiments) The auxiliary arm is not limited to a vertical 4-axis type. Robot arms are not limited to the vertical 6-axis type. A reduction gear mechanism can be added as needed. The rotation center of the first movable part of the auxiliary arm does not necessarily have to coincide with the rotation center of the first axis of the robot arm; it is sufficient to configure the first movable part to rotate in conjunction with the first axis. This disclosure is described in accordance with the embodiments, but it is understood that this disclosure is not limited to such embodiments or structures. This disclosure also includes various modifications and variations within the equivalence. In addition, various combinations and forms, as well as other combinations and forms that include only one, more, or fewer of those elements, fall within the scope and concept of this disclosure. [Explanation of symbols]

[0044] In the drawing, 1 is the base, 10 is the first movable part, 21 is the auxiliary arm, 22 is the second arm, 23 is the third arm, 24 is the fourth arm, 25 is the second movable part, 26 is the second braking part, 27 is the third movable part, 28 is the fourth movable part, 29 is the third braking part, 30 is the fourth braking part, 32 is the first cantilever part, 33 is the second cantilever part, 34 is the first reduction mechanism, 35 is the second reduction mechanism, 36 is the third reduction mechanism, 38 is the auxiliary side connecting member, 40 is the robot arm, 41 is the harvesting tool, 42 is the 3D camera, 43 is the gripping hand, 44 is the 3D camera, 45 is the fixed tooth part, 46 is the fitting projection part, 47 is the connecting member, 51 is the solenoid, 52 is the robot side connecting member, 60 is the first braking part, 61 is the robot controller, and 62 is the robot arm auxiliary device.

Claims

1. Multiple arms (22-24) are connected, and the base end (20) is connected to the base part (1) and installed within the working range of the robot arm (40), and the auxiliary arm (21) is formed by connecting multiple arms (22-24), An auxiliary tool (43, 68) is attached to the tip of this auxiliary arm, Multiple movable parts (10, 25, 27, 28) are rotatably arranged at each connecting portion of the plurality of arms and at the connecting portion between the base and the auxiliary arm, Multiple braking units (60, 26, 29, 30) are provided to correspond to these multiple movable parts and to brake each movable part, With the braking by these multiple braking units released, there are multiple suspension units (32, 33) arranged to return the auxiliary arm to its initial position, An auxiliary connecting member (38) is positioned at the tip and configured to be connectable to a robot-side connecting member (52) positioned at the tip of the robot arm, A robot arm assist device comprising the robot arm and a control unit (61) for controlling the braking unit.

2. The robot arm has a first axis located at its base end, The auxiliary arm has a first movable part (10) located at its base end, The robot arm assist device according to claim 1, wherein the rotation center of the first axis and the rotation center of the first movable part are installed to coincide.

3. The first braking unit (60) corresponding to the first movable unit is, A base-end connecting mechanism (45-47) that selectively connects the first movable part to either the base part or the first shaft, The robot arm assist device according to claim 2, further comprising a base end connection drive unit (51) that switches the base end connection mechanism between connection to the base portion and connection to the first axis.

4. The robot arm assist device according to claim 1, further comprising a plurality of reduction mechanisms (34-36) incorporated into at least a portion of the plurality of movable parts.

5. The auxiliary tool is a gripping hand (43) for gripping an object, The robot arm assist device according to any one of claims 1 to 4, wherein the control unit controls the opening and closing of the gripping hand.

6. The robot arm auxiliary device according to any one of claims 1 to 4, wherein the auxiliary tool is a recovery member (68) that receives the separated material (74) separated from the object by the robot tool provided on the robot arm and leads the separated material to a recovery container.

7. The robot arm auxiliary device according to any one of claims 1 to 4, further comprising an imaging device (44) positioned at the tip of the auxiliary arm.

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