WO2022009424A1

WO2022009424A1 - Arm device

Info

Publication number: WO2022009424A1
Application number: PCT/JP2020/027065
Authority: WO
Inventors: 貴皓菅野; 健嗣川嶋; 哲郎宮嵜; 利弘川瀬; 拓也岩井
Original assignee: 国立大学法人東京医科歯科大学; リバーフィールド株式会社
Priority date: 2020-07-10
Filing date: 2020-07-10
Publication date: 2022-01-13

Abstract

An arm device 10 is configured to change the position and orientation of a tip end unit and comprises: a fixing unit 16 for fixing the arm device to a base 14; a plurality of joints 22, 24 that are provided in an arm part 18 extending from the fixing unit 16 to the tip end unit; a plurality of pneumatic actuators 52, 62 that use pressure of a supplied gas to generate a driving force to actuate the plurality of joints; and a pressure control mechanism 32 for controlling the pressure of the gas supplied to the pneumatic actuators. The joint 24 is configured such that the driving force generated from the pneumatic actuator 52 is transmitted thereto via a timing belt 54.

Description

Arm device

The present invention relates to an arm device used in a robot.

In recent years, robot arms have been applied not only for industrial use but also as cooperative robots and surgery support robots that work in human living spaces. Many industrial robots are vertical articulated robots that imitate human arms, and secure high rigidity by amplifying the torque of an electric motor using a reducer.

However, when handling it as an arm of a cooperative robot or a surgery support robot, it is necessary to passively operate the arm when it comes into contact with a person or when forceps are inserted, so a function to reduce the rigidity of the arm (a function to impart so-called back drivability). )Is required. For example, if a reducer with a high reduction ratio is adopted in order to obtain an output larger than the performance of the motor, a force sensor must be attached to the end effector and each axis in order to operate passively, and the size and cost of the robot. There is a problem that becomes large.

On the other hand, if a direct drive motor is used for the actuator without using a reducer, back drivability can be given to the arm, but if the motor size is increased in order to output high torque, the size of the arm will also increase. Further, as the size of the motor increases, it is necessary to pass a large current, so that there is a problem that the heat generated by the motor increases.

Therefore, an arm device has been devised in which a plurality of joints constituting a gimbal close to a surgical instrument are driven by a pneumatic actuator (for example, Patent Document 1).

Japanese Unexamined Patent Publication No. 2020-39434

However, the above-mentioned arm device is provided with a plurality of parallel link mechanisms from the base to the gimbal, and the entire arm device becomes complicated and large.

The present invention has been made in view of such a situation, and one of its exemplary purposes is to provide a new arm device that is relatively space-saving.

In order to solve the above problems, the arm device of a certain aspect of the present invention is an arm device configured to be able to change the position and posture of the tip unit, and is a fixing portion for fixing the arm device to the base. , Multiple joints provided in the arm part from the fixed part to the tip unit, multiple gas pressure actuators that generate driving force to drive multiple joints by the pressure of the supplied gas, and supply to the gas pressure actuator. It is provided with a pressure control mechanism for controlling the pressure of the gas. The first joint of the plurality of joints is configured such that the driving force generated by the first gas pressure actuator among the plurality of gas pressure actuators is transmitted via the timing belt.

According to this aspect, since the driving force is transmitted to the first joint via the timing belt, the first gaseous pressure actuator can be arranged at a position away from the first joint. Further, by rotating the first joint via a timing belt instead of the link mechanism, a space-saving arm device can be realized.

The timing belt may be wound around the first pulley and the second pulley at both ends of the upper arm portion of the arm portion. As a result, the timing belt can be arranged along the upper arm portion on the upstream side of the arm portion, so that the extra space for arranging the timing belt can be reduced.

The first pneumatic actuator may have a first pneumatic cylinder and a first slider crank mechanism connected to the first pneumatic cylinder. The first slider crank mechanism is configured to allow the first pulley on the upstream side of the upper arm to rotate forward and backward, and the first joint has the rotation of the first pulley via a timing belt. It may be rotated with the rotation of the transmitted second pulley. As a result, the first joint can be rotated about the rotation axis by the linear movement of the first pneumatic cylinder located away from the first joint, so that the degree of freedom in the layout of the first pneumatic cylinder is high. Will increase.

A first gravity compensating mechanism for compensating for the gravitational torque acting on the rotation axis of the first joint may be further provided. The first gravity compensating mechanism may be provided in parallel with the first gaseous pressure actuator. As a result, the first gravity compensating mechanism can be arranged at a position away from the first joint, so that the degree of freedom in the layout of the first gravity compensating mechanism is increased. Here, as the first gravity compensation mechanism, for example, an elastic member such as a compression coil spring or a leaf spring is used.

The plurality of joints may have a second joint. Of the plurality of pneumatic actuators, the second pneumatic actuator may have a second pneumatic cylinder and a second slider crank mechanism connected to the second pneumatic cylinder. The second slider crank mechanism may be configured to rotate the upper arm portion in the vertical direction about the rotation axis of the second joint provided on the first pulley side of the upper arm portion.

A second gravity compensating mechanism for compensating for the gravitational torque acting on the rotation axis of the second joint may be further provided. The second gravity compensating mechanism may be provided on the upper arm portion. As a result, the timing belt and the second gravity compensation mechanism can be provided together on the upper arm portion, so that a more space-saving arm device can be realized.

The plurality of gas pressure actuators may include a vane motor that converts gas pressure energy into rotational energy. The plurality of joints may have a third joint that swivels the arm device relative to the base. The third joint may be driven by a vane motor and the pressure control mechanism may control the pressure supplied to the vane motor from the pressure source. As a result, rotation about the rotation axis of the third joint can be realized by controlling the pressure of the gas, so that heat generation can be suppressed as compared with the case where the third joint is rotated by the electric motor.

A plurality of gas pressure actuators, a pressure control mechanism, and a vane motor are integrated as an arm drive unit, and the arm drive unit may be arranged between the timing belt and the fixed portion. This makes it possible to reduce the weight and simplify the configuration of the arm portion from the upper arm portion to the forearm portion.

The plurality of joints may be configured to realize movement with 6 degrees of freedom. The timing belt may be arranged below the fixed portion. Thereby, when the first joint functions as the elbow portion between the upper arm portion and the forearm portion, the forearm portion can be arranged upward from the elbow portion.

It should be noted that any combination of the above components and the conversion of the expression of the present invention between methods, devices, systems, etc. are also effective as aspects of the present invention.

According to the present invention, it is possible to provide a new arm device that saves a relatively large amount of space.

It is a schematic diagram which shows the schematic structure of the arm device which concerns on this embodiment. It is a schematic diagram for demonstrating the 1st slider crank mechanism. It is a schematic diagram for demonstrating the 2nd slider crank mechanism.

Hereinafter, the present invention will be described with reference to the drawings based on the embodiments. The same or equivalent components, members, and processes shown in the drawings shall be designated by the same reference numerals, and duplicate description thereof will be omitted as appropriate. Further, the embodiment is not limited to the invention but is an example, and all the features and combinations thereof described in the embodiment are not necessarily essential to the invention.

The present invention can be applied to, for example, an arm device of a surgical robot that can change the position and posture of a surgical tool such as a forceps or an endoscope, which is one of the tip units. In the case of the arm device applied to the surgical robot on the slave side, remote control is possible based on the command of the robot on the master side operated by an operator such as a doctor. Alternatively, it can also be used as an arm device for a surgical robot on the master side. The tip unit may be a work or an end effector of an industrial robot as well as a surgical tool, but in the present embodiment, a case where the arm device is applied to a surgical robot will be described.

When applying the arm device to a surgical robot, it is necessary to cover the entire arm device with a drape to prevent infectious diseases. Therefore, especially when a high-output electric motor is used for the actuator, it is necessary to take measures to exhaust heat so that the heat of the actuator does not stay around the robot. Therefore, in the arm device according to the present embodiment, instead of the electric motor for moving the joint, a gas pressure actuator that generates almost no heat is positively used to suppress heat generation, and as a result, measures against waste heat are taken. It can be simplified as much as possible. Air is generally used as the gas used for the gas pressure actuator, but other gases may be used.

Further, the gas pressure actuator used as the actuator of the arm device according to the present embodiment can impart high back drivability as compared with the electric motor using the speed reducer. Therefore, it is suitable as an actuator for a medical robot.

FIG. 1 is a schematic diagram showing a schematic configuration of an arm device according to the present embodiment. The arm device 10 shown in FIG. 1 has a plurality of joints for realizing movement with six degrees of freedom so that the position and posture of the surgical tool 12, which is a tip unit, can be changed. The arm device 10 includes a fixing portion 16 for fixing the arm device 10 to the base 14, and a plurality of

joints

20, 22, 24, 26, 28 provided on the arm portion 18 from the fixing portion 16 to the surgical tool 12. , 30, a plurality of gas pressure actuators that generate a driving force for driving a plurality of joints by the pressure of the supplied gas, and a pressure control mechanism 32 that controls the pressure of the gas supplied to the gas pressure actuator.

The arm device 10 holds the position and posture of the surgical tool 12 so as to be changeable. Further, the arm device 10 is controlled by the control device 34 so that the surgical tool 12 passes through the pivot position P, which is a predetermined relative position with respect to the arm device 10, even if the position or posture of the surgical tool 12 is changed. The pivot position P is a position called the so-called center of remote movement, which roughly coincides with the position of the trocar (instrument) 40 placed on the abdominal wall 38 of the patient (subject) 36 who is the target of endoscopic surgery. There is.

In this embodiment, an example in which the surgical tool 12 is a forceps will be described. The surgical tool 12, which is forceps, is mainly provided with a main body portion 12a and a tubular portion 12b. The main body portion 12a is a portion gripped by the arm device 10, and houses an imaging device that converts image information guided by the tubular portion 12b into an electronic signal.

The tubular portion 12b is a member extending in a tubular shape or a rod shape, and is inserted through the trocar 40 and inserted into the abdominal wall 38 of the patient. Further, the cylindrical portion 12b is formed so that an image signal can be transmitted from the tip end to the main body portion 12a.

The tubular portion 12b is provided with a tip portion 12c and a bent portion 12d. The tip portion 12c is a portion of the tip of the tubular portion 12b that is the end on the side to be inserted into the patient 36. This embodiment will be described by applying it to an example in which the tip portion 12c is provided with a configuration in which an object is sandwiched.

The bent portion 12d is formed in a tubular shape or a columnar shape in which one end is arranged on the tip end portion 12c side and the other end portion is arranged on the tubular portion 12b. Further, the bent portion 12d has a structure that can be bent laterally with respect to the extending direction of the tubular portion 12b. A known configuration can be used for the configuration of the bent portion 12d, and the configuration is not particularly limited.

The surgical tool 12 is further provided with a wire and a pneumatic actuator for the surgical tool (both not shown) used for bending the bent portion 12d.

Further, the pressure control mechanism 32 includes a path for supplying the air boosted and sent from the air supply unit 42 to each gas pressure actuator, and a plurality of valves provided in the path. In the control device 34, the pressure of the air supplied to each gas pressure actuator is set to a desired value based on the operation information of the robot on the master side operated by the operator and the information from the sensors provided in each part of the arm device. The opening and closing of each valve of the pressure control mechanism 32 is controlled so as to be.

As shown in FIG. 1, the arm device 10 includes a rotating portion 44 constituting the joint 20, a belt transmission mechanism 46 in which the joint 22 and the joint 24 are provided at both ends, and joints 26, 28, 30. It has a gimbal portion 48 and a grip portion 50 that grips the surgical tool 12 which is a tip unit, and can move at least 6 degrees of freedom.

The rotating portion 44 is a vane motor arranged further below the fixing portion 16 for fixing the arm device 10 below the base 14. The vane motor converts the pressure energy of a gas into rotational energy. Therefore, unlike an electric motor, there is no heat generation due to power supply. As a result, the joint 20 is driven by the rotating unit 44, and the pressure control mechanism 32 controls the pressure supplied from the air supply unit 42, which is a pressure supply source such as a pump, to the rotating unit 44.

Further, the rotating portion 44 functions as a joint 20 that rotates (rotates) the arm device in the xy plane with respect to the base 14. As described above, since the rotation around the rotation axis of the joint 20 can be realized by the pressure control of the gas, heat generation can be suppressed as compared with the case where the joint 20 is rotated by the electric motor. Further, since the pressure control mechanism 32 can be arranged at a position away from the joint 20, the degree of freedom in layout in the vicinity of the joint 20 is increased.

The joint 24 (first joint) has a rotating portion 56 in which the driving force generated by the gas pressure actuator 52 (first gas pressure actuator) is transmitted via the timing belt 54 of the belt transmission mechanism 46. As a result, the driving force is transmitted to the rotating portion 56 of the joint 24 via the timing belt 54, so that the gas pressure actuator 52 can be arranged at a position away from the joint 24. In the present embodiment, the gas pressure actuator 52 is fixedly arranged at the lower part of the base 14 which is a place different from the arm portion 18, thereby suppressing the weight increase of the arm portion 18 and reducing the inertia and the gravitational torque of the arm portion 18. Can be reduced. Further, by rotating the joint 24 via the timing belt 54 instead of the link mechanism, the space-saving arm device 10 can be realized.

The timing belt 54 is wound around a first pulley 58 and a second pulley 60 at both ends of the upper arm portion 18a of the arm portion 18. As a result, the timing belt 54 can be arranged along the upper arm portion 18a on the upstream side of the arm portion 18, so that the extra space for arranging the timing belt 54 can be reduced.

The gas pressure actuator 52 has a pneumatic cylinder 52a and a first slider crank mechanism connected to the pneumatic cylinder 52a. The first slider crank mechanism may be any as long as it can convert the linear motion of the pneumatic cylinder 52a into the rotary motion of the first pulley 58, and is appropriately selected from various configurations including a known mechanism. Further, the first slider crank mechanism according to the present embodiment is configured so that the first pulley 58 on the upstream side of the upper arm portion 18a can be rotated forward and backward, and the joint 24 is the first pulley. The rotation of 58 is rotated with the rotation of the second pulley 60 transmitted via the timing belt 54. As a result, the joint 24 can be rotated about the rotation axis by the linear movement of the pneumatic cylinder 52a located away from the joint 24, so that the degree of freedom in the layout of the pneumatic cylinder 52a is increased.

The joint 22 has a rotating portion 64 to which the driving force generated by the gas pressure actuator 62 (second gas pressure actuator) is transmitted. The pneumatic actuator 62 has a pneumatic cylinder 62a and a second slider crank mechanism connected to the pneumatic cylinder 62a. The second slider crank mechanism may be any as long as it can convert the linear motion of the pneumatic cylinder 62a into the rotary motion of the rotating portion 64, and is appropriately selected from various configurations including a known mechanism. The second slider crank mechanism is configured to rotate the upper arm portion 18a in the vertical direction along the yz plane around the rotating portion 64 of the joint 22 provided on the first pulley 58 side of the upper arm portion 18a. ing.

In the arm device 10 according to the present embodiment, the

gas pressure actuators

52 and 62, the pressure control mechanism 32 and the rotating portion 44 are integrated as an arm drive unit 100. The arm drive unit 100 is arranged between the timing belt 54 and the fixing portion 16. This makes it possible to reduce the weight and simplify the configuration of the arm portion 18 from the upper arm portion 18a to the forearm portion 18b.

Further, the timing belt 54 according to the present embodiment is arranged below the fixed portion 16. As a result, when the joint 24 functions as the elbow portion 18c between the upper arm portion 18a and the forearm portion 18b, the forearm portion 18b can be arranged upward from the elbow portion 18c. As a result, the posture and position of the surgical tool 12 can be changed around the desired pivot position P while avoiding interference with existing devices such as a shadowless lamp and an endoscopic monitor.

The gimbal portion 48 is mainly composed of a joint 26, a joint 28 and a joint 30 whose rotation axes intersect with each other, and a gas pressure actuator 26a, a gas pressure actuator 28a and a gas pressure actuator 30a. As shown in FIG. 1, the joint 26 is arranged at a position adjacent to the joint 24. The joint 26 is arranged in a posture in which its rotation axis extends diagonally upward from the horizontal direction (xy plane).

The joint 28 is arranged between the joint 26 and the joint 30. The joint 30 is arranged at a position adjacent to the grip portion 50. The joint 26, the joint 28, and the joint 30 may be any mechanism as long as they can rotate around the rotation axis, and the mechanism is not particularly limited.

As shown in FIG. 1, the gas pressure actuator 26a is arranged in the vicinity of the joint 26, and drives the joint 26 to rotate and controls the rotation angle. Further, the gas pressure actuator 26a generates a driving force by a gas supplied from the pressure control mechanism 32, or air in the present embodiment.

The gas pressure actuator 26a is a rotary pneumatic actuator, and has a configuration for directly generating torque for rotationally driving the joint 26. As the configuration of the gas pressure actuator 26a, a known configuration can be used, and the configuration is not particularly limited.

The gas pressure actuator 26a is provided with a pressure sensor 26s. The pressure sensor 26s measures the pressure of air in the gaseous pressure actuator 26a. The measured air pressure value is output to the control device 34 and fed back as information when controlling the pressure control mechanism 32. As the pressure sensor 26s, a known sensor can be used and is not particularly limited.

The gas pressure actuator 28a is arranged in the vicinity of the joint 28, and rotates and drives the joint 28 and controls the rotation angle. Further, the gas pressure actuator 28a generates a driving force by a gas supplied from the outside, or air in the present embodiment.

The gas pressure actuator 28a is a rotary pneumatic actuator, and has a configuration for directly generating torque for rotationally driving the joint 28. As the configuration of the gas pressure actuator 28a, a known configuration can be used, and the configuration is not particularly limited.

The gas pressure actuator 28a is provided with a pressure sensor 28s. The pressure sensor 28s measures the pressure of air in the gaseous pressure actuator 28a. The measured air pressure value is output to the control device 34 and fed back as information when controlling the pressure control mechanism 32. As the pressure sensor 28s, a known sensor can be used and is not particularly limited.

The gas pressure actuator 30a is arranged in the vicinity of the joint 30 and drives the joint 30 to rotate and controls the rotation angle. Further, the gas pressure actuator 30a generates a driving force by a gas supplied from the outside, or air in the present embodiment.

The gas pressure actuator 30a is a rotary pneumatic actuator, and has a configuration for directly generating torque for rotationally driving the joint 30. As the configuration of the gas pressure actuator 30a, a known configuration can be used, and the configuration is not particularly limited.

The gas pressure actuator 30a is provided with a pressure sensor 30s. The pressure sensor 30s measures the pressure of air in the gaseous pressure actuator 30a. The measured air pressure value is output to the control device 34 and fed back as information when controlling the pressure control mechanism 32. As the pressure sensor 30s, a known sensor can be used and is not particularly limited.

The grip portion 50 is arranged at a position adjacent to the gimbal portion 48, in other words, at the tip of the arm device 10. The gripping portion 50 may be configured as long as it can grip the surgical tool 12, and the specific configuration is not limited.

The control device 34 drives and controls the arm device 10, and is an information processing device such as a computer having a CPU (central processing unit), ROM, RAM, input / output interface, and the like. The program stored in the storage device such as the ROM described above causes the CPU, ROM, RAM, and the input / output interface to cooperate with each other to function as a calculation unit and a control unit.

Next, the gravity compensation mechanism of the joint 24 will be described. FIG. 2 is a schematic diagram for explaining the first slider crank mechanism. The length and angle of each link of the first slider crank mechanism 66 are set so as to convert the linear movement of the pneumatic cylinder 52a into the rotational movement of the first pulley 58. For example, when the pneumatic cylinder 52a moves in the direction of arrow A due to the air pressure supplied from the pressure control mechanism 32, the first pulley 58 rotates in the direction of arrow B.

The first pulley 58 has a gravitational torque applied to a rotating portion 56 coaxially fixed to the second pulley 60 via a timing belt 54 (mainly a torque due to a load of an arm portion downstream of the joint 24 or a surgical tool). ) Is transmitted. Therefore, the compression coil spring 68 (first gravity compensation mechanism) provided in parallel with the pneumatic cylinder 52a is compressed, so that the force of the first pulley 58 in the direction of rotation in the arrow B direction is the compression coil spring. It will be in a state of being urged from 68. As a result, the compression coil spring 68 can be arranged at a position away from the joint 24, so that the degree of freedom in the layout of the compression coil spring 68 is increased.

Next, the gravity compensation mechanism of the joint 22 will be described. FIG. 3 is a schematic diagram for explaining the second slider crank mechanism. In the second slider crank mechanism 70, the length and angle of each link are set so as to convert the linear movement of the pneumatic cylinder 62a into the swinging movement of the upper arm portion 18a. For example, when the pneumatic cylinder 62a moves in the direction of arrow A due to the air pressure supplied from the pressure control mechanism 32, the upper arm portion 18a fixed to the rotating portion 64 swings in the direction of arrow C.

The rotating portion 64 transmits the gravitational torque (mainly the torque due to the load of the arm portion downstream of the joint 22 and the surgical tool) applied to the fixed upper arm portion 18a. Therefore, the gas spring 72 (second gravity compensating mechanism) provided on the upper arm portion 18a is compressed, so that the rotating portion 64 is urged by the gas spring 72 in the direction of rotation in the direction of arrow C. It becomes a state. As a result, the timing belt 54 and the gas spring 72 can be provided together on the upper arm portion 18a, so that a more space-saving arm device 10 can be realized.

Although the present invention has been described above with reference to the above-described embodiment, the present invention is not limited to the above-described embodiment, and the present invention is not limited to the above-described embodiment, and the present invention may be a combination or a replacement of the configurations of the embodiments as appropriate. It is included in the present invention. Further, it is also possible to appropriately rearrange the combinations and the order of processing in the embodiment based on the knowledge of those skilled in the art, and to add modifications such as various design changes to the embodiments, and such modifications are added. The embodiments described above may also be included in the scope of the present invention.

The present invention can be used for cooperative robots and surgery support robots.

10 ... arm device, 12 ... surgical tool, 14 ... base, 16 ... fixed part, 18 ... arm part, 18a ... upper arm part, 20, 22, 24, 26 ... joint, 26a ... gas pressure actuator, 28 ... joint, 28a ... Gas pressure actuator, 30 ... Joint, 30a ... Gas pressure actuator, 32 ... Pressure control mechanism, 34 ... Control device, 44 ... Rotating part, 46 ... Belt transmission mechanism, 52 ... Gas pressure actuator, 52a ... Pneumatic cylinder, 54 ... Timing belt, 56 ... Rotating part, 58 ... First pulley, 60 ... Second pulley, 62 ... Gas pressure actuator, 62a ... Pneumatic cylinder, 64 ... Rotating part, 66 ... First slider crank mechanism, 68 ... Compression Coil spring, 70 ... second slider crank mechanism, 72 ... gas spring, 100 ... arm drive unit.

Claims

An arm device configured to change the position and posture of the tip unit.
A fixing part for fixing the arm device to the base,
A plurality of joints provided on the arm portion from the fixing portion to the tip unit, and
A plurality of gas pressure actuators that generate a driving force to drive the plurality of joints by the pressure of the supplied gas, and a plurality of gas pressure actuators.
A pressure control mechanism for controlling the pressure of the gas supplied to the gas pressure actuator is provided.
The first joint of the plurality of joints is characterized in that the driving force generated by the first gas pressure actuator among the plurality of gas pressure actuators is transmitted via a timing belt. Arm device.
The arm device according to claim 1, wherein the timing belt is wound around a first pulley and a second pulley at both ends of the upper arm portion of the arm portion.
The first pneumatic actuator has a first pneumatic cylinder and a first slider crank mechanism connected to the first pneumatic cylinder.
The first slider crank mechanism is configured to be able to rotate forward and reverse the first pulley on the upstream side of the upper arm portion.
The arm device according to claim 2, wherein the first joint is rotated along with the rotation of the second pulley transmitted through the timing belt. ..
Further provided with a first gravity compensating mechanism for compensating for the gravitational torque acting on the axis of rotation of the first joint.
The arm device according to claim 3, wherein the first gravity compensating mechanism is provided in parallel with the first gaseous pressure actuator.
The plurality of joints have a second joint and
The second pneumatic actuator among the plurality of gaseous pressure actuators has a second pneumatic cylinder and a second slider crank mechanism connected to the second pneumatic cylinder.
The second slider crank mechanism is configured to rotate the upper arm portion in the vertical direction about the rotation axis of the second joint provided on the first pulley side of the upper arm portion. The arm device according to any one of claims 2 to 4, wherein the arm device is characterized by the above.
Further provided with a second gravity compensating mechanism for compensating for the gravitational torque acting on the axis of rotation of the second joint.
The arm device according to claim 5, wherein the second gravity compensating mechanism is provided on the upper arm portion.
The plurality of gas pressure actuators include a vane motor that converts gas pressure energy into rotational energy.
The plurality of joints have a third joint that swivels the arm device relative to the base.
The third joint is driven by the vane motor and
The arm device according to any one of claims 1 to 6, wherein the pressure control mechanism controls the pressure supplied from the pressure supply source to the vane motor.
The plurality of gas pressure actuators, the pressure control mechanism, and the vane motor are integrated as an arm drive unit.
The arm device according to claim 7, wherein the arm drive unit is arranged between the timing belt and the fixing portion.
The plurality of joints are configured to be capable of 6 degrees of freedom of movement.
The arm device according to any one of claims 1 to 8, wherein the timing belt is arranged below the fixed portion.