JP2014217909A - Master device for tool replacement device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a master device for a tool replacement device which achieves downsizing while preventing the connection with a tool connection device from being released carelessly.SOLUTION: A master device for a tool replacement device which attaches a tool to a robot includes: a device body having a robot connection part that may be connected with the robot; and a connection part connected with the device body. The connection part includes a cylindrical insertion part that may be inserted into a cavity part opening on an outer surface of a tool connection device that is attached to the tool, the cylindrical insertion part having multiple through holes; ball members, each of which is arranged in the through hole and has a part protruding to the exterior of the insertion part; and a switch mechanism which may switch the state of the ball members between a state where the ball members protruding from the insertion part engage with engagement parts of the tool connection device and a state where the ball members engaged with the engagement parts are retreated. In the switching mechanism, a biasing member which biases a reciprocation body in the insertion part is arranged between the reciprocation body and a bottom part of the insertion part.

Description

  The present invention relates to a master device for a tool changer that attaches a tool to a robot in a replaceable manner.

  2. Description of the Related Art Conventionally, a tool changer that attaches a tool to a robot in a replaceable manner has been provided. Such a tool changer includes a master device attached to a robot and a tool connection device to which a tool is attached.

  The master device is configured to be connectable to the tool connection device. This will be described more specifically. The master device includes a device main body having a robot connecting portion connectable to the robot, a frame connected to the robot connecting portion, and a connection for connecting the master device to the tool connecting device. (For example, refer to Patent Document 1).

  The connecting portion includes a cylindrical insertion portion having a plurality of through holes provided at intervals in the circumferential direction, a ball member disposed in the through hole of the insertion portion, and a part of the ball member. A switching mechanism capable of switching between a locked state protruding outside the insertion portion and a non-locking state in which a part of the ball member is retracted into the insertion portion.

  On the premise of this, the tool connecting device includes a concave or hole-like cavity that is open on the outer surface, and a locking part that is disposed around the center of the cavity and protrudes into the cavity.

  In such a tool changer, in a state where the insertion part of the master device is inserted into the cavity of the tool connection device, the switching mechanism causes a part of the ball member to protrude outside the insertion part, so that the ball member The locking portion of the tool connecting device is locked, and the switching mechanism retracts a part of the ball member into the insertion portion, whereby the locking of the ball member with respect to the locking portion of the tool connecting device is released. As a result, the master device of the tool changer configured as described above can be switched between connection and release with respect to the tool connection device. As a result, the tool attached to the tool connection device can be exchanged for the robot to which the master device is attached. It can be attached to.

  By the way, what was provided with the lock mechanism for maintaining the state which the ball member has latched in the latching | locking part of the tool connection apparatus is provided in the master apparatus for the above-mentioned tool change apparatus (for example, Patent Document 2).

  In this type of master device, the switching mechanism is a cam portion that is disposed in the insertion portion and is movable in the axial direction of the insertion portion, and a shaft portion that is concentric with the cam portion. And a reciprocating body having a shaft portion movably provided in the axial direction with respect to the cam portion. Accordingly, the lock mechanism includes an urging member disposed in the cam portion and disposed between the cam portion and the shaft portion. More specifically, the cam portion is an internal space that accommodates the biasing member and a first receiving portion that receives one end of the biasing member accommodated in the internal space, and is provided at the tip of the cam portion. And a first receiving part. The shaft portion inserted through the cam portion has a second receiving portion that is a second receiving portion facing the first receiving portion and that receives the other end portion of the biasing member.

  Thus, in this type of master device, the urging member (the urging member disposed between the first receiving portion and the second receiving portion) disposed in the internal space of the cam portion is the axis of the insertion portion. By urging the cam portion toward one direction in the direction, the cam portion can be prevented from inadvertently moving in the second direction. In other words, it is possible to prevent the ball member from being inadvertently released from the engagement portion of the tool connection device.

JP 2000-127072 A JP 2012-213847 A

  However, in the above-described master device, a space for arranging the urging member in the cam portion must be secured, so that the thickness of the entire master device (the size of the master device in the first direction) increases. That is, as a result of the total length of the cam portion being increased in order to accommodate the urging member, it is necessary to secure a space for accommodating the cam portion, and there is a problem that the entire master device is increased in size.

  In particular, in the master device for a tool changer, the center of gravity of the tool connection device becomes farther from the coupling portion and the weight increases as the thickness of the master device increases. That is, as a result of an increase in the size of the apparatus, a new problem arises in that the inertia generated when operating the robot is increased and the performance of the robot is reduced.

  Therefore, in view of such circumstances, the present invention provides a master device for a tool changer that can be reduced in size while preventing the connection to the tool connection device from being inadvertently released. And

  A master device for a tool changer according to the present invention is a master device for a tool changer that attaches a tool to a robot in a replaceable manner, and is connected to the robot connecting portion connectable to the robot and the robot connecting portion. An apparatus main body having a frame, and a connecting portion connected to the apparatus main body, the connecting portion being formed in a concave or hole-shaped cavity that is open on the outer surface of the tool connecting device attached to the tool. It is a cylindrical insertion part that can be inserted, and is an insertion part having a plurality of through holes formed at intervals in the circumferential direction, and a ball member disposed in the through hole, partly Is disposed around the center of the cavity of the tool connecting device by projecting a part of the ball member to the outside of the insertion part. Lockable to the locking part A switching mechanism that can be switched between a stop state and a non-locking state in which a part of the ball member is retracted into the insertion portion and the ball member cannot be locked to the locking portion; A locking mechanism for maintaining the switching mechanism, the switching mechanism includes a reciprocating body that is disposed in the insertion portion and has a cam portion that is movable in an axial direction of the insertion portion. A receiving portion disposed in the apparatus main body, the receiving portion being aligned with the cam portion of the reciprocating body in the axial direction of the insertion portion, and an urging force disposed between the reciprocating body and the receiving portion. A biasing member that biases the reciprocating body on one side in the axial direction of the insertion portion, and the cam portion of the reciprocating body is in one direction in the axial direction of the insertion portion. As it moves, the ball member is pushed out of the insertion portion, in the axial direction of the insertion portion. Kicking, characterized in that it is configured to release the extrusion against the ball member with the movement in the other direction.

  According to the master device for the tool changer having the above-described configuration, the cam portion is urged in the first direction by the urging member of the lock mechanism, and thus the cam in a state where the ball member is pushed out of the insertion portion. It is possible to prevent the part from inadvertently moving in the second direction. Thereby, the state in which the ball member is locked to the locking portion of the tool connection device is maintained, and the tool connection device is prevented from being accidentally dropped from the master device.

  Further, in the master device for the tool changer having the above configuration, since it is arranged between the receiving portion arranged in the apparatus main body and the reciprocating body, a space for arranging the biasing member is secured in the apparatus main body. Will be. Thereby, in the master device for the tool changer having the above configuration, the thickness (the dimension of the insertion portion in the axial direction) can be reduced.

  Furthermore, in the master device for the tool changer having the above-described configuration, the center of gravity of the tool connecting device can be brought close to the connecting portion by reducing the thickness, so that inertia generated when operating the robot can be reduced. . Therefore, the performance of the robot can be improved.

  Moreover, as one aspect | mode of the master apparatus for the tool change apparatus of this invention, the cam part of the said reciprocating body has a concave cam side recessed part formed in the part facing the said receiving part, A part may be arranged in the recess on the cam side. In this way, since a part of the urging member can be arranged in the cam portion, the thickness can be further reduced.

  In this case, the cam side recess may be formed around the center portion of the cam portion and formed on the center portion side of the cam portion. If it does in this way, the part outside the cam side recessed part in a cam part will become thick compared with the part inside the cam side recessed part in a cam part. Accordingly, in the master device for the tool changer having the above-described configuration, the thickness can be reduced, and deformation of the reciprocating body can be prevented.

  As another aspect of the master device for the tool changer of the present invention, the receiving part has a concave receiving part side concave part formed in a part facing the cam part, and a part of the biasing member is You may make it arrange | position in this receiving part side recessed part. In this way, since a part of the urging member can be arranged in the receiving portion, the thickness of the master device for the tool changer can be further reduced.

  As another aspect of the master device for the tool changer of the present invention, the reciprocating body has a shaft portion extending from the cam portion, and the receiving portion is the insertion portion in the device main body. The urging member may be disposed between the reciprocating body and the receiving portion.

  Even if it does in this way, since an urging member is built in a shaft part, the space for arranging an urging member will be secured in the device main part. Thereby, the master device for the tool changer having the above-described configuration can also reduce the thickness (the dimension of the insertion portion in the axial direction).

  As still another aspect of the master device for a tool changer according to the present invention, the biasing member is formed of a coil spring, and the cam portion and the receiving portion are such that the cam portion is closest to the receiving portion. In this state, the distance between the bottom of the cam-side recess and the bottom of the receiving-side recess may be greater than 1/3 of the free length of the biasing member.

  In this way, even when the reciprocating body is in the state closest to the bottom of the insertion portion, the urging member is not completely compressed (the state in which the shrinkage allowance has been eliminated). In addition to preventing wear due to contact between the wires of the urging member, the stress generated inside the urging member can be suppressed, and a reduction in life due to metal fatigue can be prevented. Moreover, the thickness of the master device for a tool changer can also be suppressed by setting a minimum dimension for applying an urging force to the reciprocating body.

  Further, as still another aspect of the master device for a tool changer according to the present invention, the cam portion and the receiving portion may be configured so that the cam-side recess portion is in a state where the cam portion is farthest from the receiving portion. You may make it comprise so that the space | interval of a bottom part and the bottom part of the said receiving part side recessed part may become smaller than the free length of the said urging | biasing member.

  In this way, even when the cam portion is farthest away from the receiving portion, the biasing member does not fully extend (the state where the allowance for extension has been eliminated), and the biasing member is not attached to the cam portion. The urging force is applied. Thereby, the urging member is restrained, and the generation of sound due to collision with surrounding members can be suppressed. In addition, it is possible to prevent the ball member from being inadvertently released from being engaged with the engagement portion of the tool connection device by moving the cam portion to the receiving portion side.

  As still another aspect of the master device for the tool changer of the present invention, the cam portion has a first end on the receiving portion side and a second end on the opposite side to the first end, The outer peripheral surface of the cam portion includes a fail safe portion formed between the first end and the second end, and the fail safe portion is formed so as to be able to be fitted to each of the ball members. Good.

  In this manner, when the cam portion is moved in the first direction and the ball member is in the locked state by moving the cam portion in the first direction, the fail-safe portion and the ball member are fitted. Can be combined. Therefore, by restricting the movement of the cam portion in the second direction, the connection between the master device and the tool connection device can be prevented from being inadvertently released.

  As described above, according to the master device for a tool changer of the present invention, it is possible to achieve downsizing while preventing the connection to the tool connecting device from being inadvertently released. obtain.

FIG. 1 is a top perspective view of a master device for a tool changer according to an embodiment of the present invention. FIG. 2 is an exploded perspective view of the master device for the tool changer according to the embodiment. FIG. 3 is a plan view of the master device for the tool changer according to the embodiment. 4 is a cross-sectional view of the master device for the tool changer according to the embodiment, which is a cross-sectional view taken along the line AA of FIG. 3. FIG. 5 is a lower perspective view of the master device for the tool changer according to the embodiment. FIG. 6 is a cross-sectional view of the master device for the tool changer according to the embodiment, which is a cross-sectional view taken along the line BB in FIG. 5. FIG. 7 is a perspective view of the connection structure of the master device for the tool changer according to the embodiment. FIG. 8 is a perspective view of the ball receiving member of the master device for the tool changer according to the embodiment. FIG. 9 is a top view of the ball receiving member of the master device for the tool changer according to the embodiment. FIG. 10 is an explanatory diagram of a master device for the tool changer according to the embodiment, and is an explanatory diagram of a state in which the master device is aligned with the tool connection device. FIG. 11 is an explanatory diagram of the master device for the tool changer according to the embodiment, and is an explanatory diagram of a state where the master device is attached to the tool connection device. FIG. 12 is a perspective view of the tool connection device attached to the master device for the tool changer according to the embodiment. FIG. 13 is a plan view of the tool connection device attached to the master device for the tool changer according to the embodiment. FIG. 14 is a cross-sectional view of the tool connection device attached to the master device for the tool changer according to the embodiment, and is a cross-sectional view taken along the line CC of FIG. FIG. 15 is an explanatory diagram of a master device for a tool changer according to another embodiment of the present invention.

  Hereinafter, a master device for a tool changer according to an embodiment of the present invention (hereinafter simply referred to as a master device) will be described with reference to the accompanying drawings.

  The master device according to the present embodiment is for a tool changer that attaches a tool to a robot in a replaceable manner. The master device can be attached to the robot. The master device is configured to be connectable to a tool connection device to which a tool is attached.

  Here, prior to the description of the master device, the tool connection device will be described. As shown in FIGS. 12 and 13, the tool connection device 8 includes a concave or hole-shaped cavity 80 that is open on the outer surface. Further, as shown in FIG. 14, the tool connection device 8 includes a locking portion 81 that is disposed around the center of the cavity 80 and protrudes into the cavity 80. The tool connection device 8 includes a concave positioned portion 82.

  This will be described more specifically. The tool connection device 8 is formed so that its external appearance has an annular shape. Therefore, the cavity 80 is configured by a space surrounded by the inner periphery of the tool connection device 8.

  Further, the tool connection device 8 has a first end surface on the side where the tool T is attached and a second end surface opposite to the first end surface (that is, a surface on the side where the master device is attached). And the internal diameter of the tool connection apparatus 8 is set so that it may become small as it becomes a 2nd end surface side from the center part side. Therefore, the locking portion 81 is configured by an inner peripheral portion on the second end side of the tool connection device 8.

  The positioned portion 82 is open to the second surface side of the tool connection device 8. In addition, a plurality (two in this embodiment) of the positioned portions 82 are provided at intervals in the circumferential direction of the tool connection device 8. A detected body 82a that can be detected by a position detection sensor to be described later is installed at the bottom of the position determining section.

  Although not shown in FIGS. 12, 13, and 14, the tool connection device 8 has a concave tool-side accommodation portion that can accommodate a module coupled to the tool. The tool side accommodating portion is formed so as to open to the second surface side and the outer peripheral side surface of the tool connection device 8. Accordingly, the tool connection device 8 has a tool side cover 83 that covers the open portion of the tool side accommodating portion, as shown in FIG.

  The module is, for example, for supplying fluid (air, water, etc.) to the tool T and supplying power. Further, in the tool connection device 8 according to the present embodiment, a configuration for attaching the tool side cover 83 (for example, a notch for arranging the tool side cover 83 and a bolt inserted through the tool side cover 83 are screwed together. A screw hole or the like to be formed is formed in the locking portion 81 to reduce the size.

  As shown in FIGS. 1 and 2, the master device 1 includes a robot connecting portion 20 that can be connected to the robot R, and a frame 21 that is connected to the robot connecting portion 20, and has a concave shape that opens at least on the outer peripheral surface. The apparatus main body 2 having the frame 21 including the housing portion 210 is provided. In addition, the master device 1 includes a cover 3 that covers an open portion of the accommodating portion 210.

  The master device 1 includes a seal member 4 that closes the space between the device main body 2 and the cover 3. Furthermore, the master device 1 includes a connecting portion 5 that is connected to the device main body 2. Further, as shown in FIG. 3, the master device 1 includes a positioning unit 6 that can be fitted into a positioned unit 82 provided in the tool connection device 8, and a position detection sensor disposed in the positioning unit 6. 7.

  As shown in FIGS. 2 and 4, the robot coupling portion 20 is formed in a plate shape in which the planar view shape is a circular shape. And the robot connection part 20 has the 1st surface facing the robot R, and the 2nd surface on the opposite side to this 1st surface.

  As shown in FIGS. 5 and 6, the robot connecting portion 20 has a plurality of first insertion holes 200a,... Formed at intervals around the central portion (see FIG. 6), and the intervals around the central portion. A plurality of second insertion holes 200b formed by opening a plurality of second insertion holes 200b formed on the center side with respect to the first insertion hole, and the base plate 200, Are inserted into each of the plurality of first insertion holes 200a, ... or the plurality of second insertion holes 200b, ..., and have a plurality of male screw members 201, ... extending from the first surface. Further, as shown in FIG. 6, the robot coupling portion 20 has a fitting member 202 that can be fitted to a fitted portion Rf2 of a robot flange Rf provided in the robot R.

  In FIG. 6, as an example, a screw hole Rf <b> 1 formed at a position corresponding to the first insertion hole 200 a of the robot coupling portion 20, and a concave fitted portion Rf <b> 2 into which the fitting member 202 can be fitted. The state which the master apparatus 1 is attached to the robot R via the robot flange Rf which has is shown.

  The second insertion hole 200b communicates with a communication hole 212 formed at a position corresponding to the second insertion hole 200b of the frame 21.

  The male screw member 201 includes a first screw member 201a inserted into the first insertion hole 200a and a second screw member 201b screwed into the second insertion hole 200b.

  The first screw member 201a extends to the first surface side of the robot connecting portion 20 through the first insertion hole 200a. The second screw member 201 b is inserted into the communication hole 212 of the frame 21. Further, it is screwed into the second insertion hole 200b. Therefore, in the master device 1, the robot connecting portion 20 and the frame 21 are connected by the second screw member 201b. The second screw member 201b does not extend to the first surface side of the robot connecting portion 20 in a state where the second screw member 201b is screwed into the second insertion hole 200b.

  The base plate 200 has a fitting portion 200c into which the connecting portion 5 (a cylinder portion 531 of the switching mechanism 53 described later) is fitted. The fitting portion 200c is formed in a concave shape from the second surface of the robot coupling portion 20 toward the first surface side. That is, the fitting part 200c is configured by a recess that opens on the second surface.

  In addition, the base plate 200 has an attaching / detaching portion 200d on the first surface side for attaching and detaching the fitting member 202 having a different outer diameter in a replaceable manner. The attaching / detaching portion 200d has a screw hole, and the fitting member 202 can be attached to the first surface side of the base plate 200 by screwing a male screw inserted into the fitting member 202 into the screw hole. It is like that.

  As a result, in the master device 1, the second screw member 201b is screwed into the screw hole Rf1 of the robot flange Rf, and the fitting member 202 attached to the detachable portion 203 is fitted into the fitted portion Rf2 so as to fit the robot. The connecting part 20 is attached to the robot flange Rf. Therefore, the master device 1 is connected to the robot R.

  In addition, although the robot connection part 20 which concerns on this embodiment is connected with the robot flange Rf by the 1st screw member 201a, depending on the position of the screw hole Rf1 of the robot flange Rf, the 2nd screw member 201b. May be extended to the first surface side of the robot connecting portion 20. That is, the robot connecting part 20 may be connected to the robot flange Rf by the second screw member 201b.

  Further, in the robot connecting portion 20 according to the present embodiment, the attaching / detaching portion 203 can attach and detach the fitting member 202 having a different outer diameter to the first surface side of the robot connecting portion 20 in a replaceable manner. The fitting member 202 having an outer diameter corresponding to the size of the fitted portion Rf2 of the flange Rf can be selected and attached to the detachable portion 203.

  Further, when the fitting member 202 is not required (for example, when the robot flange Rf does not have the fitted portion Rf2), the robot connecting unit 20 removes the fitting member 202 from the attaching / detaching portion 203, and then the robot R It can also be connected to (robot flange Rf).

  Returning to FIG. 1 and FIG. 2, the frame 21 has a thickness in a direction (hereinafter, referred to as a first direction) aligned with the robot coupling unit 20. Further, the frame 21 has a first surface facing the second surface of the robot coupling portion 20 and a second surface opposite to the first surface. The frame 21 has an outer peripheral surface connected to the first surface and the second surface.

  Furthermore, as shown in FIG. 4, the frame 21 has an arrangement hole 211 that is formed at the center of the frame 21 and penetrates from the first surface to the second surface. In the following description, “21a” is attached to the second surface of the frame 21, and “21b” is attached to the outer peripheral surface of the frame 21.

  Returning to FIG. 2, a plurality of accommodating portions 210 are formed at intervals around the center portion of the frame 21. That is, the frame 21 has a plurality (three in the present embodiment) of accommodating portions 210.

  Further, each of the plurality of accommodating portions 210,... Is formed so as to accommodate a module (not shown) coupled to the tool T (coupled to the tool T via a module accommodated in the tool side accommodating portion). ing. In addition, the module accommodated in the accommodating part 210 is a thing for supplying the fluid (air, water, etc.), the electric power, etc. to the tool T, for example.

  The accommodating part 210 is open | released toward the direction orthogonal to a 1st direction and a 1st direction. That is, the accommodating part 210 is opened toward the first surface of the frame 21, the second surface 21 a of the frame 21, and the outer peripheral surface 21 b of the frame 21.

  In the apparatus main body 2, the first surface of the frame 21 is opposed to the second surface of the robot coupling portion 20, so that the accommodating portion 210 has an open portion on the first surface of the frame 21. It is blocked by the robot connecting part 20. Therefore, in the apparatus main body 2, the accommodating portion 210 is opened on the second surface 21 a of the frame 21 and the outer peripheral surface 21 b of the frame 21.

  And the open end (henceforth the 1st open end 210a) in the 2nd surface 21a side of the frame 21 in the accommodating part 210 is on the 1st surface side of the frame 21 rather than the 2nd surface 21a side of the frame 21. positioned. In addition, the open end (hereinafter referred to as the second open end 210 b) of the housing portion 210 on the outer peripheral surface 21 b side of the frame 21 is positioned inside the frame 21 relative to the outer peripheral surface 21 b of the frame 21.

  As shown in FIG. 4, the arrangement hole 211 is formed so that the hole diameter on the second surface 21 a side of the frame 21 is smaller than the hole diameter on the first surface side of the frame 21.

  Returning to FIG. 2, the cover 3 is continuous with the outer surface of the frame 21 (in this embodiment, the second surface 21 a of the frame 21 and the outer peripheral surface 21 b of the frame 21) in a state in which the cover 3 covers the open portion of the housing portion 210. It is supposed to be. Further, the cover 3 covers the open portion of the housing portion 210 and the outer edge portion comes into contact with the first open end 210 a of the housing portion 210 and the second open end 210 b of the housing portion 210. .

  More specifically, the cover 3 includes a side surface portion 30 having an outer surface continuous with the outer peripheral surface 21b of the frame 21 in a state of covering the open portion of the storage portion 210, and the storage portion 210 orthogonal to the side surface portion 30. And an upper surface portion 31 having an outer surface continuous with the second surface 21a of the frame 21 in a state of covering the open portion.

  The side surface portion 30 is formed in an arc shape, and has a first end in the circumferential direction and a second end opposite to the first end. Moreover, the side part 30 has an upper end in the direction orthogonal to the circumferential direction, and a lower end opposite to the upper end. In the following description, “30a” is attached to the first end of the side surface portion 30, “30b” is attached to the second end of the side surface portion 30, and “30c” is attached to the lower end of the side surface portion 30. It will be attached.

  The side surface 30 is configured such that each of the first end 30 a and the second end 30 b abuts on the first open end 210 a of the frame 21. Further, the side surface portion 30 is configured such that the lower end 30 c is disposed on the outer edge portion of the second surface of the robot coupling portion 20.

  The upper surface portion 31 has a first end provided at the upper end of the side surface portion 30 and a second end opposite to the first end. Further, the upper surface portion 31 has a pair of side ends in a direction orthogonal to the direction in which the first end and the second end of the upper surface portion 31 are arranged. In the following description, “31a” is attached to the second end of the upper surface portion 31, “31b” is attached to one side end of the upper surface portion 31, and the other side end of the upper surface portion 31 is attached. “31c” is attached.

  The second end 31 a of the upper surface portion 31 comes into contact with the first open end 210 a of the housing portion 210. Further, one side end 31 b of the upper surface portion 31 and the other side end 31 c of the upper surface portion 31 are in contact with the second open end 210 b of the housing portion 210.

  The seal member 4 is formed in an annular shape and is disposed on the second surface of the robot coupling unit 20. Accordingly, the seal member 4 is disposed over the entire outer peripheral edge portion on the second surface of the robot coupling portion 20.

  Therefore, the seal member 4 is sandwiched between the frame 21 (the second surface 21a of the frame 21) and the cover 3 (the lower end 30c of the side surface portion 30 of the cover 3) when the housing portion 210 is covered with the cover 3. It has become. Accordingly, the seal member 4 is configured to block between the frame 21 (the second surface 21a of the frame 21) and the cover 3 (the lower end 30c of the side surface portion 30 of the cover 3).

  As shown in FIG. 7, the connecting portion 5 is a cylindrical insertion portion 50 that can be inserted into the cavity portion 80 of the tool connection device 8, and has a plurality of through holes formed at intervals in the circumferential direction. 500,..., An annular ball receiving member 51 fitted into each of the through holes 500 of the inserting portion 50, and a ball member 52 fitted into each of the ball receiving members 51, A part of the ball member 52 that can protrude to the outside of the insertion portion 50, and a part of the ball member 52 are protruded to the outside of the insertion portion 50 to lock the ball member 52 to the tool connection device 8. A locking state in which the ball member 52 is locked to the locking portion 81 and a part of the ball member 52 that is retracted into the insertion portion 50 so that the ball member 52 cannot be locked to the locking portion 81 of the tool connection device 8. The switching mechanism 53 that can be switched to the locked state, and to maintain the locked state And a locking mechanism 54 (see FIG. 4).

  The insertion part 50 is made of light metal (for example, aluminum, magnesium, titanium, etc.) or resin (for example, fiber reinforced plastic, engineering plastic (engineering plastic), thermosetting resin, thermoplastic resin, carbon fiber reinforced plastic, etc.). (The insertion part 50 in this embodiment is comprised with the aluminum which is a light metal).

  In addition, when comprising the insertion part 50 with a light metal, it is preferable to employ | adopt aluminum. Moreover, when the insertion part 50 is comprised with resin, it is preferable to employ | adopt fiber reinforced plastic, More preferably, it is a carbon fiber reinforced plastic, More preferably, it is a carbon fiber reinforced plastic containing a phenol-type resin.

  Moreover, the insertion part 50 has the 1st end by the side of the robot connection part 20, and the 2nd end on the opposite side to this 1st end. The insertion portion 50 has a concave fitting concave portion 501 continuous with the through hole 500. Further, the insertion portion 50 has a screw hole 502 formed so as to be connected to the through hole 500 from the first end, and a male screw member 503 to be screwed into the screw hole 502.

  The fitting recess 501 is formed in a concave shape toward the second end side of the insertion portion 50. The screw hole 502 is formed so as to be connected from the first end of the insertion portion 50 to the fitting recess 501.

  The ball receiving member 51 is made of metal (for example, sintered metal, stainless steel, iron-based metal, etc.). The ball receiving member 51 is preferably made of sintered metal. Moreover, the ball receiving member 51 according to the present embodiment is made of a sintered metal.

  As shown in FIGS. 7, 8, and 9, the ball receiving member 51 protrudes toward the second end side of the insertion portion 50 from the outer surface of the annular ball receiving member main body 510 and the ball receiving member main body 510. Projecting portion 511.

  The ball receiving member main body 510 has a first end in the axial direction and a second end opposite to the first end. In the ball receiving member main body 510 according to the present embodiment, the first end is located on the outer peripheral surface of the insertion portion 50 and the second end is inserted in the state where the ball receiving member main body 510 is fitted in the through hole 540b of the insertion portion 50. It is located on the inner peripheral surface of the insertion portion 50. Further, the ball receiving member main body 510 has a first end flush with the outer peripheral surface of the insertion portion 50 and a second end inside the insertion portion 50 when the ball receiving member main body 510 is fitted in the through hole 500 of the insertion portion 50. It is formed so as to be flush with the peripheral surface.

  And as shown in FIG. 8, the ball | bowl receiving member main body 510 has the return part 510a which protrudes toward the circumferential direction inner side from the internal peripheral surface of the 1st end side. The ball receiving member main body 510 according to the present embodiment has a pair of return portions 510a and 510a.

  The protruding portion 511 has a screw stop portion 511 a that is formed in a concave shape at a position corresponding to the screw hole 502 of the insertion portion 50 when the ball receiving member 51 is fitted into the through hole 500 of the insertion portion 50. Therefore, in the connecting portion 5, the ball receiving member 51 is fitted into the through hole 500 of the insertion portion 50, the protruding portion 511 is fitted into the fitting recess 501, and the male screw member 503 screwed into the screw hole 502 is inserted into the protruding portion. The ball receiving member 51 can be fixed to the insertion portion 50 by making contact with the screw stop portion 511a of 511.

  As shown in FIG. 4, the switching mechanism 53 includes a reciprocating body 530 that is disposed in the insertion portion 50 and has a cam portion 530 a that is movable in the axial direction of the insertion portion 50.

  The switching mechanism 53 includes a cylindrical cylinder portion 531 connected to the first end of the insertion portion 50, a pressure receiving portion 532 connected to the reciprocating body 530, and an external force acting on the pressure receiving portion 532 to reciprocate the moving body 530. And a drive source (not shown) for moving in the first direction.

  The reciprocating body 530 has a shaft portion 530b extending from the cam portion 530a. And the cam part 530a of the reciprocating body 530 moves the ball members 52,... To the outside of the insertion part 50 as it moves in one direction (hereinafter referred to as the first direction) in the axial direction of the insertion part 50. And the ball member 52,... Is released as it moves in the second direction opposite to the first direction.

  More specifically, the cam portion 530a has a first end on the robot connecting portion 20 side and a second end opposite to the first end. And the cam part 530a has the concave cam side recessed part 530aa formed in the 1st end side (side facing the receiving part 540 mentioned later).

  The cam side recess 530aa has an annular shape around the center of the cam portion 530a. The cam-side recess 530aa is formed on the center side of the cam portion 530a. Therefore, a portion outside the cam side recess 530aa in the cam portion 530a (a dimension from the cam side recess 530aa to the outer peripheral portion) is a portion inside the cam side recess 530aa in the cam portion 530a (from the cam side recess 530aa to the center portion). It is thicker than the previous dimension).

  The outer peripheral surface 530c of the cam portion 530a includes a fail-safe portion 530cc formed between the first end of the cam portion 530a and the second end of the cam portion 530a. More specifically, the outer peripheral surface 530c of the cam portion 530a includes a first taper portion 530ca formed on the first end side of the cam portion 530a and a second taper formed on the second end side of the cam portion 530a. Part 530cb and a fail safe part 530cc formed between the first taper part 530ca and the second taper part 530cb.

  The first taper portion 530ca is formed so that the outer shape becomes smaller toward the first end side of the cam portion 530a. And the 2nd taper part 530cb is formed so that an external shape may become large as it becomes the 2nd end side of the cam part 530a.

  The fail-safe portion 530cc can be configured by being formed in a cylindrical shape, or can be configured by a dent that is curved toward the inside and formed over the entire circumference of the cam portion 530a. Further, the fail-safe portion 530cc is formed so as to be fitted to each of the ball members 52,.

  Therefore, when the cam portion 530a moves in the first direction, first, the first taper portion 530ca contacts the ball members 52,. Thereby, the ball members 52,... Begin to be pushed out of the insertion portion 50. When the cam portion 530a further moves in the first direction, the second taper portion 530cb comes into contact with the ball members 52,. Thereby, each of the ball members 52,... Protrudes from the insertion portion 50, and each of the ball members 52,. Further, the cam portion 530a moves in the second direction to release the push-out of each of the plurality of ball members 52,.

  A shaft portion 530b of the reciprocating body 530 is inserted through a receiving portion 540 described later.

  The cylinder portion 531 is formed integrally with the insertion portion 50. Therefore, the cylinder portion 531 is also made of the same light metal or resin as the insertion portion 50. The cylinder portion 531 is formed so that the outer diameter is larger than the outer diameter of the insertion portion 50. In the following description, a member in which the cylinder portion 531 and the insertion portion 50 are integrated is referred to as a cylindrical portion.

  Therefore, in the master device 1, when the frame 21 is externally fitted to the insertion portion 50 disposed on the robot coupling portion 20, the inner peripheral surface (arrangement hole 211 on the first surface side of the frame 21 is fitted to the outer surface of the insertion portion 50. ) And the inner peripheral surface (arrangement hole 211) on the second surface 21 a side of the frame 21 contacts the outer surface of the cylinder portion 531 of the switching mechanism 53. Then, the connecting portion 5 is connected to the apparatus main body 2 by fixing the frame 21 on the robot connecting portion 20.

  The pressure receiving portion 532 is formed in a plate shape having a thickness, and has a circular shape in plan view. And the pressure receiving part 532 is arrange | positioned at the other side bordering on the receiving part 540 mentioned later. An annular seal member S <b> 2 is disposed between the outer peripheral surface of the pressure receiving portion 532 and the inner peripheral surface of the insertion portion 50.

  Therefore, the switching mechanism 53 is one of the internal spaces defined by the inner peripheral surface of the insertion portion 50, the receiving portion 540 described later, and the second surface of the robot connecting portion 20 with the pressure receiving portion 532 as a boundary. It is divided into a space (hereinafter referred to as a first space D1) and another space (hereinafter referred to as a second space D2) with the pressure receiving portion 532 as a boundary.

  The drive source is connected to a first flow path (not shown) for flowing gas into one space D1 and a second flow path (not shown) for flowing air into the other space D2. For example, an air compressor or the like can be employed as the drive source.

  The lock mechanism 54 is a receiving portion 540 disposed in the apparatus main body 2 (cylindrical portion), and is a receiving portion 540 aligned with the cam portion 530a of the reciprocating body 530 in the axial direction of the insertion portion 50. An urging member 541 disposed between the cam portion 530a of the reciprocating body 530 and the receiving portion 540, and urges the reciprocating body 530 toward one direction side in the axial direction of the insertion portion 50. And an urging member 541.

  The receiving part 540 has a concave receiving part side recessed part 540a formed in a part facing the cam part 530a. A through hole 540 b is formed at the center of the receiving portion 540.

  A plurality of receiving side recesses 540a are formed at intervals around the through hole 540b. In the present embodiment, three receiving side recesses 540a are formed (see FIG. 3).

  An annular seal member S <b> 1 is disposed in a portion that defines the through hole 540 b in the receiving portion 540. Therefore, in the switching mechanism 53, the shaft portion 530b comes into pressure contact with the seal member S1 of the receiving portion 540, and the gap between the shaft portion 530b and the receiving portion 540 is closed.

  The urging member 541 employs a coil spring. Moreover, in the switching mechanism 53, the cam side recessed part 530aa is arrange | positioned at each of the three cam side recessed parts 530aa. Therefore, the switching mechanism 53 has three urging members 541, and each urging member 541,... Urges the cam portion 530a (reciprocating body 530) in a direction away from the receiving portion 540. It is like that.

  Here, the relationship among the urging member 541, the cam portion 530a, and the receiving portion 540 will be described. In the present embodiment, the cam portion 530a and the receiving portion 540 are spaced apart from the bottom of the cam-side recess 530aa and the bottom of the receiving-side recess 540a when the cam portion 530a is closest to the receiving portion 540. The force member 541 is configured to be larger than 1/3 of the free length.

  Further, in the present embodiment, the cam portion 530a and the receiving portion 540 are the distance between the bottom of the cam-side recess 530aa and the bottom of the receiving-side recess 540a when the cam portion 530a is farthest from the receiving portion 540. Is configured to be smaller than the free length of the biasing member 541.

  Returning to FIG. 4, the positioning portion 6 is formed in a pin shape extending outward from the apparatus main body 2 (the second surface 21 a of the frame 21).

  A plurality (two in the present embodiment) of positioning units 6 are arranged around the center of the apparatus main body 2 at intervals. The pair of positioning units 6 and 6 are disposed at positions shifted from each other from a symmetrical position via the central portion of the apparatus main body 2.

  The position detection sensor 7 is provided in each of the pair of positioning units 6 and 6. Therefore, the master device 1 according to the present embodiment includes a pair of position detection sensors 7. Further, since the position detection sensor 7 is built in the position determination units 6, 6, from the tip of the position determination unit 6 to the detected object 82 a installed at the bottom of the position determination unit 82 of the tool connection device 8. It is designed to detect the distance.

  The master device 1 according to the present embodiment is as described above. Then, operation | movement of the master apparatus 1 which concerns on this embodiment is demonstrated, referring an accompanying drawing.

  First, in order to attach the tool T to the robot R with the master device 1, the cam portion 530a is moved to the receiving portion 540 side as shown in FIG. That is, a part of the ball member 52 is retracted into the insertion portion 50 so that the ball member 52 cannot be locked to the locking portion 81.

  Then, the position of the positioning unit 6 of the master device 1 is made to correspond to the position of the positioned unit 82 of the tool connection device 8, and further, the tool connection device from the tip of the positioning unit 6 detected by each position detection sensor 7. The master device 1 is adjusted to a posture that can be coupled to the tool connection device 8 while confirming the distance to the bottom of the position-determining portion 82 of FIG. And the insertion part 50 of the master apparatus 1 is made into the state inserted in the cavity 80 of the tool connection apparatus 8. FIG.

  Then, as shown in FIG. 11, by sending air into the second space D2, the cam portion 530a is moved away from the receiving portion 540, and each ball member 52 is inserted into the insertion portion 50 by the cam portion 530a. Extrude outside. Thereby, a part of the ball member 52 is protruded to the outside of the insertion portion 50, and the ball member 52 is locked to the locking portion 81 of the tool connection device 8.

  In order to remove the tool T from the robot R, air is sent into the second space D2, and the cam portion 530a is moved in a direction approaching the receiving portion 540. In this manner, a part of the ball member 52 is retracted into the insertion portion 50, and the ball member 52 is switched to a state in which the ball member 52 cannot be locked to the locking portion 81. Thereby, the pushing of the cam portion 530a to the ball member 52 is released.

  The tool T can be removed from the robot R by pulling out the insertion portion 50 of the master device 1 from the cavity 80 of the tool connection device 8.

  As described above, according to the master device 1 according to the present embodiment, since the cam portion 530a is biased in the first direction by the biasing member 541, the ball member 52 is pushed out of the insertion portion 50. It is possible to prevent the cam portion 530a in the state of being inadvertently moving in the second direction.

  In particular, the master device 1 according to the present embodiment is configured to move the cam portion 530a by flowing gas from the drive source into the one space D1 or the other space D2, so that the fluid from the drive source Even if the supply of is stopped, the cam portion 530a can be prevented from moving in the second direction.

  In addition, since it is arranged between the receiving part 540 and the cam part 530a (reciprocating body 530) arranged in the apparatus main body 2, a space for arranging the biasing member 541 is secured in the apparatus main body 2. It will be. Thereby, in the master apparatus 1, thickness (dimension in the axial direction of the insertion part 50) can be made small.

  Further, by reducing the thickness, the center of gravity of the tool connection device 8 can be brought closer to the connecting portion 5, so that inertia generated when the robot R is operated can be reduced. Therefore, the performance of the robot R can be improved.

  As described above, the master device 1 according to the present embodiment can achieve an excellent effect that the size can be reduced while preventing the connection to the tool connection device 8 from being inadvertently released.

  Further, the cam portion 530a of the reciprocating body 530 has a concave cam-side recess portion 530aa formed at a portion facing the receiving portion 540, and a part of the biasing member 541 is disposed in the cam-side recess portion 530aa. Therefore, a part of the urging member 541 can be disposed in the cam portion 530a, and the thickness in the first direction can be further suppressed.

  Since the cam-side recess 530aa forms an annular shape around the central portion of the cam portion 530a and is formed on the center side of the cam portion 530a, the cam-side recess 530aa is outside the cam-side recess 530aa. This portion is thicker than the portion inside the cam-side recess 530aa in the cam portion 530a, and deformation of the reciprocating body 530 can also be prevented.

  Further, the receiving portion 540 has a concave receiving portion side recess 540aa formed at a portion facing the cam portion 530a, and a part of the urging member 541 is disposed in the receiving portion side recess 540aa. A part of the urging member 541 can be disposed in the receiving portion 540, and the thickness of the master device 1 can be further reduced.

  Further, the urging member 541 is formed of a coil spring, and the cam portion 530a and the receiving portion 540 are arranged such that the cam portion 530a is closest to the receiving portion 540 and the bottom portion of the cam-side recessed portion 530aa Since the interval with the bottom of the receiving portion side recess 540aa is configured to be larger than 1/3 of the free length of the urging member 541, the reciprocating body 530 is brought closest to the bottom of the insertion portion 50. Even so, the urging member 541 is not completely compressed (the state in which the shrinkage allowance is eliminated). Thereby, in addition to preventing wear due to the wires of the urging member 541 coming into contact with each other, the stress generated inside the urging member 541 can be suppressed, and a reduction in life due to metal fatigue can be prevented. Moreover, the thickness of the master device 1 can be suppressed by setting a minimum dimension for applying a biasing force to the reciprocating body 530.

  The cam portion 530a and the receiving portion 540 are spaced apart from the bottom of the cam-side recess 530aa and the bottom of the receiving-side recess 540aa when the cam portion 530a is farthest from the receiving portion 540. Is configured to be smaller than the free length of the urging member 541. Therefore, even when the cam portion 530a is farthest from the receiving portion 540, the urging member 541 is fully extended (elongation allowance). However, the urging member 541 is in a state in which an urging force is applied to the cam portion 530a. As a result, the urging member 541 is restrained and the generation of sound due to collision with surrounding members can be suppressed, and the engagement of the tool connection device 8 can be achieved by the cam portion 530a moving to the receiving portion 540 side. It is possible to prevent the locking of the ball member 52 with respect to the stop portion from being inadvertently released.

  Further, the cam portion 530a has a first end on the receiving portion 540 side and a second end opposite to the first end, and an outer peripheral surface of the cam portion 530a has a first end and a second end. Since the fail-safe portion 530cc is formed so as to be able to be fitted to each of the ball members 52, the cam portion 530a is moved in the first direction so that the ball member 52 is formed. When the cam portion 530a is moved in the second direction in the state where is in the locked state, the fail safe portion 530cc and the ball member 52 can be fitted. Therefore, by restricting the movement of the cam portion 530a in the second direction, it is possible to prevent the connection between the master device 1 and the tool connection device 8 from being inadvertently released.

  The master device for the tool changer according to the present invention is not limited to the above-described embodiment, and it is needless to say that various modifications can be made without departing from the gist of the present invention.

  Although not particularly mentioned in the above embodiment, the cover 3 can naturally cover the open part of the housing part 210 in which the module is not housed, but the opening of the housing part 210 in which the module is housed. The part can be covered.

  In this case, the cover 3 may cover the open part of the housing part 210 in cooperation with the module housed in the housing part 210. More specifically, for example, when the module housed in the housing portion 210 includes a connector for connecting to an external device, the cover 3 cooperates with the connector to support the housing 210. The open part may be covered.

  Moreover, in the said embodiment, although the sealing member 4 closed the space | interval between the 2nd surface 21a of the flame | frame 21, and the lower end of the side part 30 in the cover 3, it is not limited to this, For example, The sealing member 4 also closes between the first open end 210a of the frame 21 and the second end of the cover 3 and between the first open end 210a of the frame 21 and each side end of the cover 3. It may be.

  Moreover, in the said embodiment, although the master apparatus 1 was equipped with a pair of position determination part 6, it is not limited to this, For example, it is made to provide two or more position determination parts 6. May be. Moreover, when doing in this way, the position detection sensor 7 may be internally equipped in all the position determination parts 6, and may be included in the one part position determination part 6. FIG.

  Moreover, in the said embodiment, although the positioning part 6 was formed in the pin shape extended toward outward from the apparatus main body 2 (2nd surface 21a of the flame | frame 21), it is not limited to this. For example, it may be a concave shape that opens outside the apparatus body 2 (on the second surface 21a of the frame 21).

  In this case, it is necessary to provide the position detection sensor 7 at the bottom of the position determination unit 6 and to form the position determination unit 82 of the tool connection device 8 in a pin shape that can be fitted to the position determination unit 6.

  Moreover, in the said embodiment, although the to-be-positioned part 82 of the tool connection apparatus 8 was comprised by the non-penetrating hole, it is not limited to this, For example, the to-be-positioned part 82 is a tool connection. You may be comprised by the hole penetrated from the 1st surface of the apparatus 8 to the 2nd surface of the tool connection apparatus 8. FIG.

  In this case, the position detection sensor 7 of the master device 1 is caused to detect the distance from the tip of the positioning unit 6 to the tool T (the part surrounded by the through hole in the tool T).

  In the above embodiment, the ball receiving member 51 has the protruding portion 511. However, the present invention is not limited to this, and the ball receiving member 51 does not have the protruding portion 511. You can also.

  Moreover, in the said embodiment, although the receiving part 540 was arrange | positioned in the cylindrical part, it is not limited to this, For example, as shown in FIG. 15, on the 2nd surface of the robot connection part 20, as shown in FIG. In addition, the biasing member 541 may be disposed between the reciprocating body 530 and the receiving portion 540.

  Even in this case, since the urging member 541 is housed in the shaft portion 530b, a space for arranging the urging member 541 is secured in the apparatus main body 2, and the thickness (insertion) of the master device 1 is secured. The dimension in the axial direction of the insertion portion 50 can be reduced.

  DESCRIPTION OF SYMBOLS 1 ... Master apparatus, 2 ... Apparatus main body, 3 ... Cover, 4 ... Seal member, 5 ... Connection part, 6 ... Positioning part, 7 ... Position detection sensor, 8 ... Tool connection apparatus, 20 ... Robot connection part, 21 ... Frame, 21a ... second surface, 21b ... outer peripheral surface, 30 ... side surface portion, 30a ... first end, 30b ... second end, 30c ... lower end, 31 ... upper surface portion, 31a ... second end, 31b ... side end, 31c ... Side end, 50 ... Insertion part, 51 ... Ball receiving member, 52 ... Ball member, 53 ... Switching mechanism, 54 ... Lock mechanism, 80 ... Cavity part, 81 ... Locking part, 82 ... Positioned part, 82a ... detected object, 83 ... tool side cover, 200 ... base plate, 200a ... first insertion hole, 200b ... second insertion hole, 200c ... insertion part, 200d ... detachable part, 201 ... male screw member, 201a ... first One screw member, 201b ... Second screw member, 202 ... Joint member 203... Detachable part 210... Housing part 210 a. Open end 210 b Open end 211. Arrangement hole 212. Communication hole 500. Through hole 501 Fitting recess 502 502 Screw hole 503 ... male screw member, 510 ... ball receiving member main body, 510a ... return part, 511 ... projecting part, 511a ... screw stop part, 530 ... reciprocating body, 530a ... cam part, 530aa ... cam side recess, 530b ... shaft part, 530c ... outer peripheral surface, 530ca ... first taper portion, 530cb ... second taper portion, 530cc ... fail safe portion, 531 ... cylinder portion, 532 ... pressure receiving portion, 540 ... receiving portion, 540a ... receiving portion side recess, 540b ... through hole 541, biasing member, D1, space, D2, space, R, robot, Rf, robot flange, Rf1, screw hole, Rf2, fitting portion, S1, seal member, S2 Le member, T ... tool

Claims (8)

  A master device for a tool changer that attaches a tool to a robot in a replaceable manner, and includes a device main body having a robot connecting portion connectable to the robot, and a frame connected to the robot connecting portion, and the device main body. A coupling portion to be coupled, and the coupling portion is a cylindrical insertion portion that can be inserted into a concave or hole-shaped cavity portion opened on the outer surface of the tool connection device attached to the tool. An insertion part having a plurality of through holes formed at intervals in the circumferential direction, and a ball member disposed in the through hole, a part of which can protrude outside the insertion part A locking state in which a member and a part of the ball member are protruded to the outside of the insertion portion so that the ball member can be locked to a locking portion arranged around the center of the cavity of the tool connection device A part of the ball member A switching mechanism that can be switched to a non-locking state in which the ball member is retracted into the locking portion and cannot be locked to the locking portion, and a locking mechanism for maintaining the locking state. Comprises a reciprocating body having a cam portion that is arranged in the insertion portion and movable in the axial direction of the insertion portion, and the lock mechanism is a receiving portion that is arranged in the apparatus main body, A receiving portion that is aligned with the cam portion of the reciprocating body in the axial direction of the insertion portion, and a biasing member that is disposed between the reciprocating body and the receiving portion, the axial direction of the insertion portion An urging member that urges the reciprocating body on one side, and the cam portion of the reciprocating body moves the ball member to the outside of the insertion portion as it moves in one direction in the axial direction of the insertion portion. As the ball part moves in the other direction in the axial direction of the insertion part The master device for tool changing apparatus characterized by being configured to release the extruded against.   The cam portion of the reciprocating body has a concave cam-side recess formed in a portion facing the receiving portion, and a part of the biasing member is disposed in the cam-side recess. Master device for tool changers.   3. The master device for a tool changer according to claim 2, wherein the cam-side recess has an annular shape around a center portion of the cam portion, and is formed on a center portion side of the cam portion.   The said receiving part has a concave receiving part side recessed part formed in the part facing a cam part, and a part of said urging member is arrange | positioned in this receiving part side recessed part. A master device for the tool changer according to claim 1.   The reciprocating body has a shaft portion extending from the cam portion, and the receiving portion is provided in a portion of the apparatus main body aligned with the shaft portion in the axial direction of the insertion portion, and the biasing member Is a master device for a tool changer according to claim 1, which is arranged between the reciprocating body and the receiving portion.   The biasing member is formed of a coil spring, and the cam portion and the receiving portion include a bottom portion of the cam-side recess portion and a bottom portion of the receiving portion-side recess portion in a state where the cam portion is closest to the receiving portion. The master device for a tool changer according to claim 4, wherein the distance between the boss member and the biasing member is greater than 1/3 of the free length.   The cam portion and the receiving portion are configured so that a gap between the bottom portion of the cam-side concave portion and the bottom portion of the receiving-side concave portion is free of the biasing member in a state where the cam portion is farthest from the receiving portion. The master device for a tool changer according to claim 6, wherein the master device is configured to be smaller than the length.   The cam portion has a first end on the receiving portion side and a second end opposite to the first end, and an outer peripheral surface of the cam portion is formed between the first end and the second end. The master device for a tool changer according to any one of claims 1 to 7, wherein the fail-safe portion is formed so as to be fitted to each of the ball members.

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