| 摘要 |
PROBLEM TO BE SOLVED: To provide a master device for a tool changer, which can be downsized, while confirming a state of a switching mechanism.SOLUTION: The master device for the tool changer comprises a robot connection part connectable to a robot, a device body having a frame connected to the robot connection part, and a connection part connected to the device body. The connection part comprises: an insertion part having a plurality of through-holes and insertable into a cavity part of a tool connection device attached to a tool; a ball member arranged in the through-holes; the switching mechanism for performing switching between a locking state the ball member can be locked to a locking part arranged around the center of the cavity part and a non-locking state where the ball member cannot be locked to the locking part; and at least any one of a first detection part for detecting the locking state of the switching mechanism, that is, the first detection part arranged in the insertion part and a second detection part for detecting the non-locking state of the switching mechanism, that is, the second detection part arranged in the switching mechanism. |
