Articulated device and robot device

Abstract

The purpose of the present invention is to improve the degree of freedom for the position of mounting a brake. A joint device 20 according to an aspect of the present disclosure comprises: an output shaft 30 pivotally supported by a first link 13, and connected to a second link 15; a rotary drive source 41 installed on the first link; first transmission mechanisms 45, 47, 49 for transmitting a rotation force of the rotary drive source to the output shaft; a braking shaft 53 installed on the first link; second transmission mechanisms 55, 57, 59 for transmitting the rotation of the output shaft to the braking shaft, separately and independently of the first transmission mechanisms; and a braking device 51 for braking the rotation of the braking shaft.

Description

[Technical field]

[0001] The present invention relates to a joint device and a robot device. [Background technology]

[0002] There is known a mechanism that transmits the power generated by a driving source such as a motor to a joint shaft of a robot through a transmission mechanism such as a belt and gears to drive the robot. In such a mechanism, if a malfunction of the transmission mechanism occurs, such as a broken belt or a damaged gear, the torque cannot be applied to the joint shaft. If a malfunction of the transmission mechanism occurs in a joint device having a rotation axis perpendicular to the direction of gravity, the structure on the rotating side of the joint device may fall due to its own weight, and the robot, the hand attached to the robot, and peripheral devices such as workpieces and jigs around the robot may be damaged. In the case of a collaborative robot, there is a possibility that a worker present in the vicinity may be harmed. In order to avoid such a situation, Patent Document 1 discloses a configuration in which a brake mechanism is provided on the output shaft. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP2010-142895A Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the configuration disclosed in Patent Document 1, the output shaft and the brake are directly connected, so the degree of freedom in the mounting position of the brake is low, and if the output shaft is hollow, the brake becomes large. Therefore, there is a demand for improving the degree of freedom in the mounting position of the brake. [Means for solving the problem]

[0005] A joint device according to one aspect of the present disclosure includes an output shaft journaled on a first link and connected to the second link, a rotational drive source provided on the first link, and a first transmission mechanism that transmits a rotational force of the rotational drive source to the output shaft; The first link is supported at a position on the first link that is not concentric with the output shaft and is spaced apart from the position of the output shaft. The braking shaft and the first transmission mechanism Separate body As Established The brake shaft is provided with a second transmission mechanism that transmits the rotational force of the output shaft to the braking shaft, and a brake that brakes the rotation of the braking shaft. Effect of the Invention

[0006] According to one aspect of the present disclosure, it is possible to improve the degree of freedom in the mounting position of the brake. [Brief description of the drawings]

[0007] [Figure 1] FIG. 1 is an external view showing an example of a robot device including a joint device according to this embodiment. [Diagram 2] FIG. 2 is a front view of the internal structure of the joint device according to this embodiment. [Diagram 3] FIG. 3 is a side view of the internal structure of the joint device shown in FIG. [Figure 4] FIG. 4 is a configuration diagram of a robot device equipped with a joint device according to this embodiment. [Diagram 5] FIG. 5 is a diagram showing the internal structure of another example of the joint device according to the present embodiment as viewed from the front side. [Figure 6] FIG. 6 is a front view of the internal structure of another example of the joint device according to the present embodiment. [Figure 7] FIG. 7 is a diagram showing another example of the brake of the joint device according to the present embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0008] The joint device according to this embodiment will be described below with reference to the drawings. The joint device is composed of a joint mechanism, which is a structural part, and a joint control device that controls the joint mechanism. The joint mechanism can be used alone, or can be used as a joint of a robot arm mechanism or the like. In this embodiment, the joint mechanism that constitutes the joint device is applied to a joint of a robot arm mechanism, and the control device that controls the robot arm mechanism functions as a joint control device that constitutes the joint device. In the following description, components having approximately the same functions and configurations are given the same reference numerals, and repeated description will be given only when necessary.

[0009] As shown in FIG. 1, a robot device 1 equipped with a joint device 20 according to this embodiment includes a robot arm mechanism 10 and a control device 90 that controls the robot arm mechanism 10.

[0010] The robot arm mechanism 10 includes a base 11, a first link 13 connected to the base 11 via a joint J1, a second link 15 connected to the first link 13 via a joint J2, a third link 17 connected to the second link 15 via a joint J3, a fourth link 18 connected to the third link 17 via a joint J4, and an end effector 19 connected to the fourth link 18 via a joint J5. The joint J1 is a rotary joint having a rotation axis parallel to the direction of gravity. The joints J2, J3, and J4 are each a rotary joint having a rotation axis perpendicular to the direction of gravity. The joint J5 is a rotary joint having a rotation axis perpendicular to the rotation axis of the joint J4. In this embodiment, of the three orthogonal axes, the axis parallel to the rotation axis of the joint J1 is defined as the Z axis, the axis parallel to the rotation axes of the joints J2, J3, and J4 is defined as the Y axis, and the axis perpendicular to the Y axis and the Z axis is defined as the X axis. When the robot arm mechanism 10 is placed on a horizontal surface, the Z axis (the rotation axis of the joint J1) is parallel to the direction of gravity.

[0011] The structural portion of the joint device 20 is applied to the joint J2 that connects the first link 13 and the second link 15. Of course, the structural portion of the joint device 20 can also be applied to the other joints J1, J3, J4, and J5 other than the joint J2.

[0012] As shown in Figures 2 and 3, the joint device 20 includes an output shaft 30 journaled on the first link 13 and connected to the second link 15, a drive mechanism 40 provided on the first link 13 for driving the rotation of the output shaft 30, a braking mechanism 50 provided on the first link 13 for braking the rotation of the output shaft 30, and a break detection sensor 70 for detecting breakage of a drive belt 49 constituting the drive mechanism 40.

[0013] The output shaft 30 is rotatably mounted on the first link 13 via a bearing or the like so that its rotation axis RA1 is parallel to the Y-axis. Two pulleys 47, 57 are connected to an end portion of the output shaft 30 inside the first link 13. The pulley 47 around which the drive belt 49 is wound is referred to as the first output pulley 47, and the pulley 57 around which the brake belt 59 is wound is referred to as the second output pulley 57. Of course, the two pulleys 47, 57 may be replaced with a single pulley having two belt grooves.

[0014] The drive mechanism 40 has a motor unit 41. The motor unit 41 has a servo motor (rotation drive source) that generates power to rotate the output shaft 30, and a reducer that decelerates the rotation of the motor. The motor unit 41 is provided at a position offset from the output shaft 30 in the XZ plane, with the rotation axis RA2 of the drive shaft 43 oriented parallel to the Y axis. A drive pulley 45 is connected to the drive shaft 43. The drive pulley 45 has one belt groove. An endless drive belt 49 is stretched between the drive pulley 45 and the first output pulley 47 with a certain tension. The drive pulley 45, the first output pulley 47, and the drive belt 49 constitute a first transmission mechanism that transmits the rotational force of the motor unit 41 to the output shaft 30.

[0015] The braking mechanism 50 has a shaft (braking shaft 53) rotatably provided on the first link 13. The braking shaft 53 may be journaled on the first link 13, or may be rotatably supported via a bearing or the like on a member provided on the first link 13, such as the electromagnetic brake 51. The braking shaft 53 is provided at a position offset from the output shaft 30 on the XZ plane, with its rotation axis RA3 parallel to the Y axis. A braking pulley 55 is connected to one end of the braking shaft 53. The braking pulley 55 has one belt groove. An endless braking belt 59 is stretched between the braking pulley 55 and the second output pulley 57 with a certain tension. The electromagnetic brake 51 is provided on the other end of the braking shaft 53. For example, the electromagnetic brake 51 may be of a type that brakes the rotation of the braking shaft 53 when not excited and releases the braking shaft 53 when excited. When not excited, the electromagnetic brake 51 presses a friction braking member against the braking shaft 53 by a solenoid, braking the rotation of the braking shaft 53 by friction. The braking pulley 55, the second output pulley 57 and the braking belt 59 constitute a second transmission mechanism that transmits the rotational force of the output shaft 30 to the braking shaft 53.

[0016] The break detection sensor 70 detects a break in the drive belt 49. A reflective photoelectric sensor that emits light such as visible light or infrared light from a light-projecting section and detects a change in the amount of light reflected by a detection target with a light-receiving section can be used as the break detection sensor 70. The break detection sensor 70 is provided at a position facing the belt surface of the drive belt 49. When the amount of light received by the light-receiving section is equal to or less than a threshold value, the break detection sensor 70 outputs a detection signal to the control device 90 indicating that an abnormality such as a break has occurred in the drive belt 49.

[0017] The configuration of the robot device 1 will be described below with reference to FIG. The control device 90 of the robot device 1 has a processor 91. The processor 91 is connected to a storage device 93, an output device 95, the motor driver 42 of the joint device 20, the brake circuit 52 of the joint device 20, and the break detection sensor 70 via a data / control bus.

[0018] The output device 95 is a display device such as a liquid crystal display, an organic EL display, etc. For example, a notification screen for notifying that an abnormality such as breakage has occurred in the drive belt 49 is displayed on the output device 95 under the control of the processor 91. The output device 95 may be a speaker, a lamp, etc. as long as it can notify the operator that an abnormality has occurred in the drive belt 49.

[0019] The storage device 93 stores a robot control program for controlling the robot arm mechanism 10 and a brake control program for controlling the electromagnetic brake 51. The processor 91 executes the robot control program to generate motor control command values ​​such as a position command value, a speed command value, and a torque command value for each joint, and outputs them to the motor driver 42. The motor driver 42 drives the motor in accordance with the motor control command values ​​from the processor 91 while referring to the output of a rotary encoder (not shown) that detects the rotation angle, rotation speed, rotation direction, etc. of the rotation shaft of the motor. As a result, the robot arm mechanism 10 operates in accordance with a sequence defined by the robot control program.

[0020] The processor 91 executes a brake control program to generate a switch command value for switching the electromagnetic brake 51 from an excited state to a non-excited state based on the output of a detection signal from the breakage detection sensor 70, and outputs the switch command value to the brake circuit 52. The brake circuit 52 is an electric circuit configured, for example, with transistors. The brake circuit 52 is configured to be able to supply brake power to the electromagnetic brake 51 in a normal state in which the drive belt 49 is not broken, and to be able to cut off the supply of brake power based on the output of a switch command value from the processor 91. In the normal state, the electromagnetic brake 51 is excited, and the braking shaft 53 is maintained in a released state. In this state, the braking shaft 53 rotates following the rotation of the output shaft 30. When the drive belt 49 breaks, the electromagnetic brake 51 is switched from an excited state to a non-excited state, and the rotation of the braking shaft 53 is braked by the electromagnetic brake 51. The braking force generated by the electromagnetic brake 51 on the braking shaft 53 is transmitted to the output shaft 30 via the second transmission mechanism. In other words, by braking the rotation of the braking shaft 53, the rotation of the output shaft 30 connected to the braking shaft 53 via the second transmission mechanism is braked, and the second link 15 connected to the output shaft 30 is stopped at the rotation position at the time of the breakage of the drive belt 49. Here, the electromagnetic brake 51 is used only when the drive belt 49 is broken, but it can also be used to decelerate the output shaft 30 in a normal state where the drive belt 49 is not broken. By slowing down the rotation of the output shaft 30 in cooperation with the motor and the electromagnetic brake 51, the motor load associated with the deceleration can be reduced.

[0021] According to the joint device 20 of this embodiment described above, by separating and independent the first transmission mechanism that transmits the rotational force of the motor unit 41 to the output shaft 30 and the second transmission mechanism that transmits the rotational force of the output shaft 30 to the braking shaft 53, even if the drive belt 49 breaks, the output shaft 30 and the second link 15 connected to the output shaft 30 can be braked by the braking mechanism 50, thereby improving the safety of the robot arm mechanism 10.

[0022] The joint device 20 according to the present embodiment adopts a configuration in which the rotational force of the motor unit 41 is transmitted to the output shaft 30 by the first transmission mechanism, and the rotational force of the output shaft 30 is transmitted to the braking shaft 53 via the second transmission mechanism, so that the motor unit 41 (driving shaft 43) and the electromagnetic brake 51 (braking shaft 53) can be offset with respect to the output shaft 30, and the degree of freedom in mounting the motor unit 41 and the electromagnetic brake 51 can be improved. Since the motor unit 41 and the electromagnetic brake 51 can be distributed inside the first link 13 with respect to the output shaft 30, the size of the joint portion can be suppressed compared to a configuration in which the output shaft 30 is directly braked by the electromagnetic brake 51 or a configuration in which the output shaft 30 is directly driven. In particular, since the electromagnetic brake 51 does not directly act on the output shaft 30, even if the output shaft 30 is a relatively large hollow shaft, there is no need to increase the size of the electromagnetic brake 51, and the size of the joint portion caused by the provision of the braking mechanism 50 can be suppressed.

[0023] 2, 5, and 6, a description will be given of the positional relationship of the electromagnetic brake 51 (braking shaft 53) and the motor unit 41 (driving shaft 43) with respect to the output shaft 30. Here, the positional relationship with respect to the XZ plane will be described.

[0024] 2, 5, and 6, from the viewpoint of widening the movable range (rotation range) of the second link 15, it is desirable to arrange the motor unit 41 on the same side as the electromagnetic brake 51 with respect to the output shaft 30, and at a position farther away than the electromagnetic brake 51. In a state housed inside the first link 13, the motor unit 41 is longer than the electromagnetic brake 51 in the Y-axis direction. By arranging the motor unit 41 at a position on the base 11 side farther away from the output shaft 30, the angular range in which the second link 15 interferes with the motor unit 41 can be narrowed, and the movable range (rotation range) of the second link 15 can be widened, compared to the case where the motor unit 41 is arranged at a position closer to the output shaft 30.

[0025] 5, from the viewpoint of suppressing an increase in size of the first link 13, it is desirable to arrange the electromagnetic brake 51 in a substantially elliptical range inside the track of the driving belt 49 when the joint device 20 is viewed from the front side (Y-axis direction). Specifically, it is desirable to arrange the braking shaft 53 between the rotation axis RA1 of the output shaft 30 and the rotation axis RA2 of the driving shaft 43, with its rotation axis RA3 on a straight line CL1 passing through the rotation axis RA1 of the output shaft 30 and the rotation axis RA2 of the driving shaft 43.

[0026] In the case where the electromagnetic brake 51 cannot be disposed inside the path of the drive belt 49, it is desirable to dispose the electromagnetic brake 51 (braking shaft 53) outside the path of the drive belt 49 and as close as possible to the drive belt 49, as shown in FIG. 2.

[0027] Furthermore, in the case where the electromagnetic brake 51 cannot be disposed inside the path of the driving belt 49, it is preferable to dispose the motor unit 41 on one side of the center line CL2 that is parallel to the length direction of the first link 13 and passes through the center of the width of the first link 13, and dispose the electromagnetic brake 51 on the other side of the center line CL2, as shown in Fig. 6. Specifically, the motor unit 41 is disposed at a position where its rotation axis RA2 is offset to one side (-X direction side) from the center line CL2 of the first link 13, and the electromagnetic brake 51 is disposed at a position where the rotation axis RA3 of the braking shaft 53 is offset to the other side (+X direction side) from the center line CL2 of the first link 13. This makes it possible to prevent interference between the driving belt 49 and the electromagnetic brake 51 and to prevent the first link 13 from becoming large due to the provision of the braking mechanism 50.

[0028] In this embodiment, the electromagnetic brake 51 is used to brake the rotation of the braking shaft 53, but the type of the brake is not limited to an electromagnetic brake as long as the rotation of the braking shaft 53 can be braked. For example, the brake may be a mechanical type that brakes the rotation of the braking shaft 53 by colliding another member against a rotating member connected to the braking shaft 53. As shown in FIG. 7, the brake has a disk 54 connected to the braking shaft 53 and an engaging arm 56. The disk 54 has a plurality of engaging recesses formed on its outer edge. The engaging arm 56 is configured so that its tip is disposed at a position away from the disk 54 in a normal state in which the driving belt 49 is not broken, and its tip moves toward the disk 54 when the driving belt 49 breaks. For example, a roller 58 that freely rotates in contact with the driving belt 49 is connected to the base end of the engaging arm 56. The roller 58 is journaled on the first link 13. The tip of the engaging arm 56 is biased toward the disk 54 by a spring material such as a leaf spring or an elastic resin material such as silicone rubber. In a normal state in which the drive belt 49 is not broken, in other words, in a state in which the roller 58 is rotated by the drive belt 49, the tip of the engaging arm 56 is moved away from the disk 54 against the biasing force, and the braking shaft 53 is released from the braking by the brake. When the drive belt 49 is broken, in other words, when the rotation of the roller 58 stops, the tip of the engaging arm 56 is biased toward the disk 54 and engages with a recess in the disk 54. This brakes the rotation of the braking shaft 53. With this configuration, the breakage detection sensor 70 can be eliminated, and since there is no need to electrically control the brake, there is also no need to run a cable or the like to the brake. Of course, any electrical component such as a motor may be used as a drive source for driving the engagement arm 56, and the engagement arm 56 may be driven by electrical control based on the detection of a break in the drive belt 49 by the break detection sensor 70.

[0029] In this embodiment, a photoelectric sensor is used as the breakage detection sensor 70, but the breakage detection sensor 70 is not limited to this as long as it can at least detect a breakage of the drive belt 49. For example, as a sensor for detecting an abnormality in the drive belt 49, a device can be used that biases a roller toward the drive belt 49, presses it against the belt surface of the drive belt 49, monitors a change in the position of the roller shaft, and detects the tension of the drive belt 49 based on the change in the position of the roller shaft. In addition, as a sensor for detecting an abnormality in the drive belt 49, a sonic belt tension meter that senses sound waves (natural frequency) generated from the drive belt 49 and can measure the tension of the drive belt 49 can be used. The above two types of devices can detect not only breakage of the drive belt 49, but also abnormalities such as slackness of the drive belt 49. When either of the above two devices is used instead of the breakage detection sensor 70, the processor 91 outputs a switch command value to the brake circuit 52 so that the electromagnetic brake 51 is activated when a break or slackness of the drive belt 49 is detected by the sensor. By being able to replace the drive belt 49 at the point in time when slack in the drive belt 49 is detected, the risk of damage to internal structural components of the first link 13 due to a broken drive belt 49 is reduced.

[0030] If the drive belt 49 is slightly loose, it may be possible to use it as it is. For this reason, the sensor may be configured to be able to distinguish between breakage and slackness of the drive belt 49, and when breakage of the drive belt 49 is detected, the electromagnetic brake 51 may be activated, and the breakage of the drive belt 49 may be notified to the operator via the output device 95, and when slackness of the drive belt 49 is detected, the electromagnetic brake 51 may not be activated, and the slackness of the drive belt 49 may be notified to the operator via the output device 95. For example, instead of replacing the drive belt 49 immediately when slackness is detected, the drive belt 49 may be replaced when a series of tasks performed by the robot arm mechanism 10 is completed, thereby suppressing a decrease in the work efficiency of the robot arm mechanism 10.

[0031] In this embodiment, the breakage of the drive belt 49 is detected by directly monitoring the drive belt 49 with the breakage detection sensor 70, but the configuration is not limited to the above as long as the breakage of the drive belt 49 can be detected. When the drive belt 49 breaks, the rotational force of the motor is not transmitted to the output shaft 30, so that a difference occurs between the rotational speed of the drive shaft 43 calculated from the rotational speed of the motor and the reduction ratio of the reducer, and the rotational speeds of the output shaft 30 and the braking shaft 53. The breakage of the drive belt 49 can be detected based on this difference. In this case, for example, an encoder is provided on the braking shaft 53 as a position detection unit that detects the rotational position of the braking shaft 53, and the breakage of the drive belt 49 can be detected based on the output value of the encoder and the rotational speed of the motor.

[0032] In addition, when the drive belt 49 breaks, the torque applied to the motor shaft, the drive shaft 43, and the output shaft 30 decreases, so that the breakage of the drive belt 49 can be detected by monitoring the amount of change in this torque using a torque sensor or the like.

[0033] In this embodiment, a belt mechanism is used as the first transmission mechanism that transmits the rotational force of the motor to the output shaft 30, and a belt mechanism is used as the second transmission mechanism that transmits the rotational force of the output shaft 30 to the braking shaft 53. However, a gear mechanism formed by combining multiple gears may be used as one or both of the transmission mechanisms, or a mechanism combining a gear and a belt may be used. Even when the transmission mechanism is a gear mechanism, the same effect as when the transmission mechanism is configured as a belt mechanism is obtained. As in the case where the drive belt 49 breaks, if an abnormality such as a chipped gear of the first transmission mechanism occurs and the rotational force of the motor cannot be transmitted to the output shaft 30, the second link 15 cannot be braked and may fall. Therefore, it is only necessary to configure the first transmission mechanism so that an abnormality can be detected and the electromagnetic brake 51 is activated when an abnormality of the first transmission mechanism is detected. For example, an abnormality of the first transmission mechanism can be detected by using the rotational speed of the motor and the rotational speed of the braking shaft 53 (output shaft 30) as already described.

[0034] In this embodiment, only the driving belt 49 is monitored, but the braking belt 59 may be monitored together with the driving belt 49. In this case, the breakage of the braking belt 59 can be detected by using another breakage detection sensor that is the same as the breakage detection sensor 70. When the breakage of the braking belt 59 is detected by the other breakage detection sensor, the motor driver 42 stops driving the motor in accordance with a command from the processor 91. As a result, the second link 15 is braked at the position where the braking belt 59 was broken. Although the drive of the second link 15 is not affected by the breakage of the braking belt 59 alone, if the driving belt 49 is further broken in a state where the braking belt 59 is broken, the second link 15 cannot be braked. Therefore, when the breakage of the braking belt 59 is detected, the safety of the robot arm mechanism 10 can be further improved by stopping the rotation of the output shaft 30 by motor control.

[0035] The drive belt 49 and the brake belt 59 are desirably designed so that the life of the brake belt 59 is longer than that of the drive belt 49. In order to make the life of the brake belt 59 longer than that of the drive belt 49, a member thicker than that of the drive belt 49 is used for the brake belt 59. Of course, this is not limited to this, and the brake belt 59 may be formed of a material with high rigidity. If the drive belt 49 and the brake belt 59 are replaced at the same time during maintenance, even if the drive belt 49 breaks due to factors such as aging, the brake belt 59, which has a longer life than the drive belt 49, is likely to be normal. Reducing the possibility that the brake belt 59 breaks before the drive belt 49 breaks achieves the same safety as when the brake belt 59 is monitored by another break detection sensor, while eliminating the need for another break detection sensor to detect the breakage of the brake belt 59.

[0036] Although some embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These embodiments can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their modifications are included in the scope of the invention and its equivalents described in the claims, as well as in the scope and spirit of the invention. [Explanation of symbols]

[0037] 11...base, 13...first link, 15...second link, 20...joint device, 30...output shaft, 40...drive mechanism, 41...motor unit, 43...drive shaft, 45...drive pulley, 47...first output pulley, 49...drive belt, 50...braking mechanism, 51...electromagnetic brake, 53...braking shaft, 55...braking pulley, 57...second output pulley, 59...braking belt, 70...breakage detection sensor.

Claims

1. A joint device that connects a first link and a second link of a robot, an output shaft journaled on the first link and connected to the second link; A rotary drive source provided on the first link; a first transmission mechanism that transmits a rotational force of the rotation drive source to the output shaft; a braking shaft that is non-concentric with the output shaft and journaled at a position on the first link spaced apart from the position of the output shaft; a second transmission mechanism provided separately from the first transmission mechanism and configured to transmit a rotational force of the output shaft to the braking shaft; a brake for braking the rotation of the braking shaft; An articulation device comprising:

2. The joint device according to claim 1 , wherein the first transmission mechanism is a belt mechanism.

3. The joint device according to claim 1 or 2, wherein the second transmission mechanism is a belt mechanism.

4. The joint device according to claim 1 or 2, wherein the second transmission mechanism is a gear mechanism.

5. 5. An articulation device according to claim 1, wherein the brake is an electromagnetic brake.

6. a sensor for detecting an abnormality in the first transmission mechanism; A control unit that controls the brake based on an output of the sensor; 6. The articulation device according to claim 1 , further comprising:

7. The joint device according to claim 1 , wherein the rotational drive source is disposed on the same side as the brake with respect to the output shaft and at a position farther away than the brake.

8. 8. The joint device according to claim 1, wherein the rotational drive source is disposed on one side of a center line of the first link, and the brake is disposed on the other side of the center line of the first link.

9. A robot device comprising the joint device according to any one of claims 1 to 8.

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