Robot arm arm device

Abstract

To provide an arm device of a robot arm which can be downsized easily and also enables improvement of control accuracy.SOLUTION: An arm device of a robot arm includes: housing means; first rotation means 3 having a first motor 31 disposed within the housing means, a first output shaft 32 which extends along a first axis B and is connected to the first motor 31 so as to be rotated around a rotation axis set to a first axis B by the first motor 31 being driven, and a first encoder which measures a rotation angle of the first output shaft 32 to perform feedback control of the first motor 31; and first brake means 4 having a first brake sheet 42 connected to the first output shaft 32, and a first blake plate 46 which is driven so as to move along the first axis B to contact with the first blake sheet 42 and thereby prevent rotation of the first output shaft 32 or move away from the first brake sheet 42 and thereby allow rotation of the first output shaft 32.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to an arm device used in a robot arm. [Background technology]

[0002] FIG. 1 shows an arm joint device for a robot arm described in Patent Document 1. As shown, this arm joint device includes a front arm 91, a first rotating assembly 92, an arm member 93, and a second rotating assembly 94. The first rotating assembly 92 is disposed within the front arm 91 and includes a first motor 921, a first reducer 922, and transmission means 923. The first motor 921 has an output shaft 924. The first reducer 922 has an input shaft 925 and an output shaft 926. The transmission means 923 includes a first pulley 927 attached to the output shaft 924 of the first motor 921, a second pulley 928 attached to the input shaft 925 of the first reducer 922, and a belt 929 attached thereto. The driving force from the first motor 921 is transmitted to the first reducer 922 by the transmission means 923. The arm member 93 is attached to the front arm 91 and connected to the output shaft 926 of the first reducer 922, and therefore rotates about the first output axis L1 by the driving force from the output shaft 926. The second rotating assembly 94 has a second motor 941, a connection base 942, and a second reducer 943. The second motor 941 is disposed within the arm member 93 and has an output shaft 944. The connection base 942 connects the second motor 941 and the second reducer 943. When the rotational driving force from the second motor 941 is transmitted to the second reducer 943, a workpiece (not shown) attached to the output shaft of the second reducer 943 rotates about the second output axis L2.

[0003] Power transmission in the arm joint device of this conventional robot arm is achieved by the first reducer 922 and the second reducer 943, and both the first reducer 922 and the second reducer 943 are configured using pulleys linked to belts, so that precise control of the transmission becomes difficult due to deterioration of the belt over time, and space is required to place the pulleys, making it difficult to make the device compact. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Taiwan Patent No. I418452B Specification Summary of the Invention [Problem to be solved by the invention]

[0005] In view of the above-mentioned conventional techniques, an object of the present invention is to provide an arm device for a robot arm that can be easily miniaturized and has high control accuracy. [Means for solving the problem]

[0006] In order to achieve the above object, the present invention provides an arm device (1) for a robot arm, which is used in a robot arm and includes a housing means (2), a first rotation means (3), a second rotation means (5), and a first brake means (4), the first rotation means (3) includes a first motor (31) disposed in the housing means (2), a first output shaft (32) extending along a first axis (B) and connected to the first motor (31) so as to rotate about the first axis (B) as a rotation axis when driven by the first motor (31), and a first encoder (38) measuring a rotation angle of the first output shaft (32) and feedback-controlling the first motor (31); the second rotating means (5) is disposed on the first output shaft (32) so as to rotate together with the first output shaft (32) about the first axis (B) as a rotation axis, and is configured to include a second motor (51) and a work table (52) driven by the second motor (51) to rotate about a second axis (T) perpendicular to the first axis (B) as a rotation axis; The first brake means (4) has a first brake sheet (42) connected to the first output shaft (32), and a first brake plate (46) that is driven to move along the first axis (B), thereby abutting against the first brake sheet (42) to prevent rotation of the first output shaft (32), and moving away from the first brake sheet (42) to allow rotation of the first output shaft (32). [Effects of the Invention]

[0007] The arm device of a robot arm of the present invention can stop the rotation of the first output shaft more accurately and reliably by measuring the rotation angle of the first output shaft with a first encoder and performing feedback control of the first motor, and by employing a first brake means that uses a first brake sheet and a first brake plate. Furthermore, since the arm device of a robot arm of the present invention realizes a drive system using a motor, encoder, and brake means instead of a configuration that uses a belt, pulley, and reducer, it is possible to more centrally arrange each component, which therefore contributes to the miniaturization of the entire device, and the object of the present invention can be reliably achieved. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is an exploded perspective view showing an example of a conventional arm joint device for a robot arm. [Figure 2] 1 is a perspective view showing the configuration of an embodiment of an arm device of a robot arm of the present invention; [Figure 3]FIG. 2 is a partially exploded perspective view showing a first rotating means and a first braking means of the embodiment. [Figure 4] FIG. 4 is a partially exploded perspective view similar to FIG. 3. [Figure 5] FIG. 4 is another partially exploded perspective view of the first rotating means and the first braking means in the same embodiment. [Figure 6] FIG. 6 is a partially exploded perspective view similar to FIG. 5. [Figure 7] FIG. 2 is a partially exploded perspective view of a second rotating means and a second braking means in the embodiment. [Figure 8] FIG. 8 is a partially exploded perspective view similar to FIG. 7. [Figure 9] FIG. [Figure 10] FIG. 3 is a partially enlarged cross-sectional view showing a first brake means in the embodiment. [Figure 11] FIG. 11 is a partially enlarged cross-sectional view similar to FIG. [Figure 12] FIG. 3 is a partially enlarged cross-sectional view showing a second brake means in the embodiment. [Figure 13] FIG. 13 is a partially enlarged cross-sectional view similar to FIG. 12. DETAILED DESCRIPTION OF THE INVENTION

[0009] In order to more clearly describe the objectives, technical means, and advantages of the embodiments of the present invention, the following will clearly and completely describe the technical means in the embodiments of the present invention in combination with the accompanying drawings of the embodiments of the present invention. It should be apparent that the described embodiments are only some embodiments of the present invention, and not all embodiments. Generally, the components of the embodiments of the present invention depicted and shown in the accompanying drawings can be arranged and designed in various different configurations. Therefore, the detailed description of the embodiments of the present invention provided below in the accompanying drawings does not constitute any limitation on the protection scope of the present invention, but merely represents selected embodiments of the present invention.

[0010] Before describing the present invention in more detail, it should be noted that, where considered appropriate, reference numerals or terminal portions of reference numerals have been repeated among the figures to indicate corresponding or analogous elements, which may optionally have similar characteristics.

[0011] In describing the present invention, terms indicating orientations or positional relationships such as "upper," "lower," "inner," "outer," "left," "right," "front," and "rear" are used based on the orientations and positional relationships shown in the drawings or the orientations and positional relationships customarily assumed when using the product of the present invention, for the purpose of easier and clearer explanation, and are not intended to teach or suggest that the corresponding apparatus or device has a specific orientation, structure, operation, etc. in a specific orientation, and are not intended to be a limitation on the present invention.

[0012] Also, in describing the present invention, terms such as "first", "second", etc. are used for distinction purposes only and do not teach or imply relative importance.

[0013] As used herein, the term "electrically connected" can refer to both a "wired connection" in which multiple electrical facilities, electrical apparatuses, or electrical devices are connected via a conductive material, and a "wireless connection (i.e., a signal connection)" which is a one-way or two-way wireless communication achieved by wireless communication technology. Furthermore, the term "electrically connected" can refer to both a "direct connection" in which multiple electrical facilities, electrical apparatuses, or electrical devices are directly connected to each other, and an "indirect connection" in which multiple electrical facilities, electrical apparatuses, or electrical devices are indirectly connected to each other via other electrical facilities, electrical apparatuses, or electrical devices.

[0014] Furthermore, the term "signal connection" refers to the exchange of signal output and input realized by wireless or wired connections for the purpose of transmitting information and performing control functions between multiple electrical equipment or devices.

[0015] 2 and 3 show an embodiment of a robot arm arm device 1 of the present invention, which is suitable for installation on a robot arm (not shown) and is controlled by control signals from a server (not shown). This robot arm arm device 1 comprises a housing means 2, a first rotation means 3, a first braking means 4, a second rotation means 5, and a second braking means 6.

[0016] The housing means 2 has a base 21, and a first side holder 22 and a second side holder 23 arranged on the base 21 with a gap between them. The first side holder 22 has a first side holder main body 221 connected to the base 21, and a first side cover 222 attached to the side of the first side holder main body 221. The second side holder 23 has a second side holder main body 231 connected to the base 21, and a second side cover 232 attached to the side of the second side holder main body 231.

[0017] As shown in Figures 3 to 5, the first rotating means 3 is connected to the server in terms of signals and includes a first motor 31 disposed on the first side support base 22 and the second side support base 23, a first output shaft 32 connected to the first motor 31 and extending along the first axis B and penetrating the first side support base 22 and the second side support base 23, a first annular connecting base 33 fixed to an end of the first output shaft 32 within the first side support base body 221, and a second side support base 23. It has a second annular connecting base 34 fixed to the other end of the first output shaft 32 within the holding base main body 231, a first bearing 35 rotatably abutting between the first annular connecting base 33 and the first side holding base main body 221, a second bearing 36 rotatably abutting between the second annular connecting base 34 and the second side holding base main body 231, a first circuit board 37 fixed to the second side cover 232, and a first encoder 38 arranged within the second side holding base main body 231.

[0018] 4 to 6, the first motor 31 is controlled by a signal from the server to drive the first output shaft 32 that rotates about the first axis B. The first encoder 38 measures the rotation angle of the first output shaft 32, and includes a first rotating disk 381 that is fixed to the second annular connecting base 34 and rotates together with the first output shaft 32 about the first axis B, and a first reader head 382 that is electrically connected to the first circuit board 37. The first reader head 382 is disposed on the side of the first circuit board 37 that faces the first rotating disk 381.

[0019] In this embodiment, the first motor 31 is disk-shaped. An optical encoder is used as the first encoder 38, and multiple reflective and non-reflective areas (not shown) are alternately arranged on the first rotating disk 381. When the first rotating disk 381 rotates together with the second annular connecting base 34 and the first output shaft 32, light from a light source in the first reader head 382 hits a reflective area and is reflected and received by the first reader head 382. When the light hits a non-reflective area, it is not reflected and the first reader head 382 cannot receive the reflected light. Therefore, information such as the number and frequency of reception of the reflected light by the first reader head 382 is collectively processed to calculate the rotation angle of the first output shaft 32. The rotation angle calculated by the first encoder 38 is then used to feedback-control the first motor 31. That is, the rotation angle data measured by the first encoder 38 is transferred to the server, and the server uses the received rotation angle data as a reference to control the first motor 31, thereby improving the accuracy of control when driving the first motor 31.

[0020] As shown in Figures 3, 4 and 9, the first brake means 4 is disposed within the first side support base 22 and includes a first brake mounting plate 41 fixed to the first output shaft 32, two first brake sheets 42 attached to the first brake mounting plate 41, a first mounting base 43 fixed to the first side cover 222, a first coil 44 housed within the first mounting base 43, four first elastic members 45 disposed within the first mounting base 43, and a drive The brake pad 46 has a first brake plate 46 that can be moved along the first axis B to move between a position where it is close to and in contact with the first brake sheet 42 and a position where it is spaced apart from the first brake sheet 42, a first fixed plate 47 that is fixed to the first mounting base 43 along the first axis B at a position spaced apart from the first mounting base 43, and four first guide pillars 48 that extend parallel to the first axis B and are interposed between the first mounting base 43 and the first fixed plate 47.

[0021] When the first output shaft 32 extending along the first axis B rotates, the first brake mounting plate 41 fixed to the first output shaft 32 and the two first brake sheets 42 attached to the first brake mounting plate 41 rotate around the first axis B. The first brake mounting plate 41 is located between the first fixed plate 47 and the first brake plate 46, and there is always a gap between each of the first brake sheets 42 and the first fixed plate 47 (see FIG. 10 ).

[0022] As shown in Fig. 9, the first coil 44 is located on the side of the first brake plate 46 opposite the first brake sheet 42, and is configured as an electromagnet that generates magnetic force when electricity is supplied by switching between an on-state and an off-state under the control of the server. Each first elastic member 45 is a compression coil spring and is arranged to constantly apply a force to the first brake plate 46 that presses the first brake plate 46 toward the first brake sheet 42. As shown in Fig. 10, when electricity is supplied to the first coil 44, the magnetic force generated in the first coil 44 counteracts the force applied to the first brake plate 46 by each first elastic member 45, moving the first brake plate 46 away from the first brake sheet 42, and each first elastic member 45, which is a compression coil spring, is compressed. As shown in FIG. 11, when electricity is not supplied, the first coil 44 does not generate magnetic force, and therefore the first brake plate 46 is pushed and moved so as to abut against each first brake sheet 42 by each first elastic member 45, which is a compression coil spring.

[0023] 3 and 4 , four first screws 49 pass through the first fixing plate 47 and are then screwed into the corresponding first guide posts 48 to fix the first fixing plate 47 to the first mounting base 43. The first brake plate 46 is formed with four first engagement notches 461 through which the first guide posts 48 pass. In this way, due to the correspondence between the first engagement notches 461 and the first guide posts 48, the first guide posts 48 function as a track along which the first brake plate 46 moves along the first axis B, and therefore the first brake plate 46 can stably move between the first mounting base 43 and the first fixing plate 47 along the first axis B.

[0024] 7 to 9, the second rotation means 5 is disposed on the first output shaft 32 and can therefore rotate together with the first output shaft 32 about the first axis B as a rotation axis. Specifically, the second rotation means 5 includes a second motor 51 that is signal-connected to the server, a workbench 52 attached to the second motor 51, a hollow sleeve 53 that is attached to the second motor 51 and fixed to the first output shaft 32 so as to extend along a second axis T that is perpendicular to the first axis B, a second output shaft 54 ​​that is attached to the workbench 52 and rotatably passes through the hollow sleeve 53, a connector 55 and a second circuit board 56 that are attached to the end of the second output shaft 54 ​​opposite the workbench 52, and a second encoder 57 that measures the rotation angle of the second output shaft 54.

[0025] The second motor 51 has an outer rotor 511 that receives a signal from the server and rotates around the second axis T as its rotation axis. The work table 52 is attached to the outer end of the outer rotor 511, and can rotate together with the outer rotor 511 around the second axis T as its rotation axis. The work table 52 is used to attach / fix a workpiece or a tool used for machining. When the work table 52 rotates together with the second output shaft 54 ​​around the second axis T as its rotation axis, the connector 55 attached to the second output shaft 54 ​​rotates together with the work table 52 and the second output shaft 54 ​​around the second axis T as its rotation axis.

[0026] The second encoder 57 is configured to measure the rotation angle of the second output shaft 54, and has a second rotating disk 571 attached to the connector 55 and a second reader head 572 electrically connected to the second circuit board 56. In this embodiment, the second reader head 572 is disposed on the side of the second circuit board 56 facing the second rotating disk 571.

[0027] Incidentally, a detailed explanation of the specific configuration of the second encoder 57 will be omitted because an optical encoder is used, just like the first encoder 38; however, when the second rotating disk 571 in the second encoder 57 rotates together with the connector 55 and the second output shaft 54, the encoding of the second reader head 572 is used to calculate the rotation angle of the second output shaft 54, and the server uses the received rotation angle to feedback control the second motor 51, thereby improving the accuracy of control when driving the second motor 51.

[0028] The second brake means 6 includes a second brake mounting plate 61 connected to the second output shaft 54, two second brake seats 62 attached to the second brake mounting plate 61, a second mounting base 63 fixed to the end of the hollow sleeve 53 opposite the second motor 51, a second coil 64 housed in the second mounting base 63, four second elastic members 65 housed in the second mounting base 63, a second brake plate 66 that can be driven along the second axis T to move between a position in close contact with the second brake seat 62 and a position spaced apart from the second brake seat 62, a second fixed plate 67 fixed at a position spaced apart from the second mounting base 63 along the second axis T, and four second guide pillars 68 extending parallel to the second axis T and interposed between the second mounting base 63 and the second fixed plate 67.

[0029] Each second brake sheet 62 attached to the second brake mounting plate 61 rotates together with the second brake mounting plate 61 and the second output shaft 54 ​​around the second axis T as its rotation axis, and since the second brake mounting plate 61 is positioned between the second fixed plate 67 and the second brake plate 66, the distance between each second brake sheet 62 and the second fixed plate 67 is always constant (see Figure 12). 9, the second coils 64 are located on the side of the second brake plate 66 opposite the second brake sheets 62, and are configured as electromagnets that generate magnetic force when electricity is supplied by switching between an on-state and an off-state under the control of the server. Also, each second elastic member 65 is a compression coil spring, and is arranged to constantly apply a force to the second brake plate 66 that presses the second brake plate 66 against the second brake plate 66.

[0030] 12, when electricity is supplied to the second coil 64, the magnetic force generated in the second coil 64 counteracts the force that each second elastic member 65 applies to the second brake plate 66, moving the second brake plate 66 away from the second brake sheet 62, and each second elastic member 65, which is a compression coil spring, is compressed. 13, when electricity is not supplied, the second coil 64 does not generate a magnetic force, and therefore the second brake plate 66 is pushed and moved by each second elastic member 65, which is a compression coil spring, so that it abuts against each second brake sheet 62.

[0031] As shown in FIG. 9, the second circuit board 56 is fixed to a second fixing plate 67 .

[0032] 7, 8, and 12, four second screws 69 pass through the second fixing plate 67 and are then screwed into the corresponding second guide posts 68 to fix the second fixing plate 67 to the second mounting base 63. The second brake plate 66 is formed with four second engagement notches 661 through which the second guide posts 68 pass. In this way, due to the correspondence between the second engagement notches 661 and the second guide posts 68, the second guide posts 68 function as a track along which the second brake plate 66 moves along the second axis T, and therefore the second brake plate 66 can stably move between the second mounting base 63 and the second fixing plate 67 along the second axis T.

[0033] 9 to 11, when the arm device 1 of the robot arm of the present invention is operating, the first motor 31 controlled by the server rotates the first output shaft 32, and as the first output shaft 32 rotates about the first axis B, the first encoder 38 measures the rotation angle of the first output shaft 32 and outputs the measurement result to the server. The server then controls the first motor 31 using the measurement result of the first output shaft 32, thereby improving the accuracy with which the first motor 31 rotates the first output shaft 32. As the first output shaft 32 rotates, the second rotation means 5 and the first brake mounting plate 41 rotate together with the first output shaft 32 about the first axis B. In addition, the server controls the supply of electricity to the first coil 44 in synchronization with controlling the rotational drive of the first output shaft 32 of the first motor 31, so that the magnetic force generated in the first coil 44 attracts the first brake plate 46, compressing each first elastic member 45 and causing the first brake plate 46 to no longer contact each first brake sheet 42, so that the first brake mounting plate 41 rotates around the first axis B as the rotation axis due to the drive of the first output shaft 32. Furthermore, when the first output shaft 32 rotates to the target drive position / angle, the server stops the supply of electricity to the first coil 44, which eliminates the force attracting the first brake plate 46 from the first coil 44, causing each first elastic member 45 to push the first brake plate 46 against each first brake sheet 42, thereby stopping the rotation of the first brake mounting plate 41 about the first axis B as its rotation axis and also stopping the rotation of the first output shaft 32 about the first axis B as its rotation axis. In this way, the first brake means 4 can be used to improve the accuracy and stability of controlling the rotation of the first output shaft 32.

[0034] As for the second motor 51 side, as shown in Figures 9, 12 and 13, when the second motor 51 controlled by the server rotates the work table 52 together with the second output shaft 54 ​​around the second axis T as the rotation axis, the second encoder 57 measures the rotation angle of the second output shaft 54 ​​and outputs the measurement result to the server, and the server controls the second motor 51 using the measurement result of the second output shaft 54, thereby improving the accuracy with which the second motor 51 rotates the second output shaft 54. In addition, the server controls the supply of electricity to the second coil 64 in synchronization with controlling the rotational drive of the second output shaft 54 ​​of the second motor 51 and the workbench 52, and the magnetic force generated in the second coil 64 attracts the second brake plate 66, compressing each second elastic member 65 and causing the second brake plate 66 to no longer contact each second brake sheet 62, so that the second brake mounting plate 61 rotates around the second axis T as a rotation axis due to the drive of the second output shaft 54. Furthermore, when the second output shaft 54 ​​rotates to the target drive position / angle, the server stops the supply of electricity to the second coil 64, which eliminates the force attracting the second brake plate 66 from the second coil 64, and the second elastic members 65 push the second brake plate 66 against the second brake sheets 62 to abut them, thereby stopping the rotation of the second brake mounting plate 61 about the second axis T as its rotation axis and also stopping the rotation of the second output shaft 54 ​​and the work table 52 about the second axis T as their rotation axes. In this way, the second brake means 6 can be used to improve the accuracy and stability of controlling the rotation of the second output shaft 54 ​​and the work table 52.

[0035] In summary, the arm device 1 of the robot arm of the present invention uses the first encoder 38 and the second encoder 57 to measure the rotation angles of the first output shaft 32 and the second output shaft 54, respectively, and outputs the measurement results to the server to perform feedback control, thereby improving the accuracy of controlling the rotational drive of the first output shaft 32, the second output shaft 54 ​​and the work table 52. In addition, when the first output shaft 32 and / or the second output shaft 54 ​​rotates to the target drive position / angle, the server controls the first brake means 4 and / or the second brake means 6 to stop the supply of electricity to the first coil 44 and / or the second coil 64, thereby instantly generating a braking effect and stopping the rotation of the first output shaft 32 and / or the second output shaft 54, thereby further improving the control accuracy of the rotation of the first output shaft 32 and the second output shaft 54. In addition, in the arm device 1 of the robot arm of the present invention, instead of a configuration using a belt, pulleys, and reducer, a drive system using a motor, encoder, and brake means is realized, which allows each component to be arranged more centrally, thereby contributing to the miniaturization of the entire device and ensuring the achievement of the object of the present invention.

[0036] The above-described embodiments are illustrative for explaining the principles and effects of the present invention, and are not intended to limit the present invention. Those skilled in the art may make slight changes or modifications to the above-described embodiments without departing from the spirit and scope of the present invention. Therefore, all changes and modifications made by those skilled in the art without departing from the gist of the present invention should be considered to fall within the scope of protection of the present invention. [Industrial Applicability]

[0037] The present invention has a high applicability in the manufacturing industry as an arm device for a robot arm with high control precision. [Explanation of symbols]

[0038] 1. Robot arm arm device 2. Housing means 21 Pedestal 22 First side support stand 221 first side support base body 222 First Side Cover 23 Second side support stand 231 Second side support base body 232 Second Side Cover 3. First Rotation Means 31 First Motor 32 First output shaft 33 First annular connecting base 34 Second annular connecting block 35 First bearing 36 Second bearing 37 First Circuit Board 38 First Encoder 381 First Rotating Disk 382 First Reader Head 4. First braking means 41 First brake mounting plate 42 First brake seat 43 First Mounting Base 44 First Coil 45 First elastic member 46 First brake plate 461 First engagement notch 47 First Fixing Plate 48 First Guide Pillar 49 First Screw 5 Second Rotation Means 51 Second Motor 511 outer rotor 52 Workbench 53 Hollow sleeve 54 Second output shaft 55 Connector 56 Second Circuit Board 57 Second Encoder 571 Second Rotating Disk 572 Second Reader Head 6 Second braking means 61 Second brake mounting plate 62 Second brake seat 63 Second Mounting Base 64 Second Coil 65 Second elastic member 66 Second brake plate 661 Second engagement notch 67 Second Fixation Plate 68 Second Guide Pillar 69 Second screw B First axis T Second Axis

Claims

1. An arm device for a robot arm, the arm device comprising a housing means, a first rotation means, a second rotation means, and a first brake means, the first rotation means includes a first motor disposed within the housing means, a first output shaft extending along a first axis and connected to the first motor so as to rotate about the first axis as a rotation axis when driven by the first motor, and a first encoder that measures a rotation angle of the first output shaft and feedback-controls the first motor; the second rotating means is disposed on the first output shaft so as to rotate together with the first output shaft about the first axis as a rotation axis, and is configured to include a second motor and a work table driven by the second motor to rotate about a second axis perpendicular to the first axis as a rotation axis, the first brake means includes a first brake sheet connected to the first output shaft, and a first brake plate that is driven to move along the first axis, thereby abutting against the first brake sheet to prevent rotation of the first output shaft, and moving away from the first brake sheet to allow rotation of the first output shaft, the second rotating means includes: a hollow sleeve connected to the second motor, extending along the second axis and disposed on the first output shaft; and a second output shaft connected to the workbench and rotatably passing through the hollow sleeve. a second encoder that measures a rotation angle of the second output shaft and performs feedback control of the second motor; and further configured to include The arm device of the robot arm further comprises a second brake means disposed at an end of the hollow sleeve opposite to the second motor, The second brake means includes a second brake seat connected to the second output shaft; a second brake plate that is driven to move along the second axis, thereby abutting against the second brake seat to prevent rotation of the second output shaft, and moving away from the second brake seat to allow rotation of the second output shaft.

2. the first brake means further includes a first coil on the side of the first brake plate opposite the first brake sheet, and a plurality of first elastic members that constantly apply a force to the first brake plate to press the first brake plate against the first brake sheet, 2. The arm device of a robot arm according to claim 1, wherein the first coil is configured to generate a magnetic force, when electricity is supplied thereto, that counteracts the force that each of the first elastic members applies to the first brake plate and moves the first brake plate away from the first brake sheet.

3. the first brake means includes a first mounting base fixed to the housing means, a first fixed plate disposed at a position spaced apart from the first mounting base along the first axis, and a plurality of first guide posts extending parallel to the first axis and interposed between the first mounting base and the first fixed plate; the first coil and each of the first elastic members are housed in the first mount; 3. The arm device of a robot arm according to claim 2, wherein the first brake sheet is interposed between the first fixed plate and the first brake plate, and a gap is provided between the first brake sheet and the first fixed plate, and the first brake plate is formed with a plurality of first engagement notches for passing through each of the first guide posts.

4. 2. The arm device of a robot arm according to claim 1, wherein the first encoder comprises: a first rotating disk arranged to rotate together with the first output shaft; and a first reader head arranged in the housing means to detect a rotational state of the first rotating disk.

5. the housing means has a base, and a first side support base and a second side support base disposed on the base with a space therebetween; the first motor is disposed on the first side support; 2. The robot arm arm device of claim 1, wherein the first output shaft passes through the first side support and the second side support along the first axis, and the first encoder is connected to the first output shaft and is disposed within the second side support.

6. the second braking means includes a second coil connected to the hollow sleeve; a plurality of second elastic members that constantly apply a force to the second brake plate to press the second brake plate against the second brake sheet, 2. The arm device of a robot arm according to claim 1, wherein the second coil is configured to generate a magnetic force, when electricity is supplied thereto, that counteracts the force that each of the second elastic members applies to the second brake plate and urges the second brake plate away from the second brake sheet.

7. the second brake means includes a second mounting base fixed to the hollow sleeve, and a second fixing plate disposed at a position spaced apart from the second mounting base along the second axis; a plurality of second guide posts extending parallel to the second axis and interposed between the second mounting base and the second fixing plate; the second coil and each of the second elastic members are housed in the second mount; the second brake sheet is interposed between the second fixed plate and the second brake plate, and 7. The arm device of a robot arm according to claim 6, wherein a gap is provided between the second brake sheet and the second fixed plate, and the second brake plate is formed with a plurality of second engagement notches for passing through each of the second guide posts.

8. 8. An arm device of a robot arm according to claim 7, wherein the second encoder comprises: a second rotating disk disposed at an end of the second output shaft opposite the work table; and a second reader head disposed to be electrically connected to a circuit board fixed to the second fixed plate, the second reader head detecting a rotational state of the second rotating disk.

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