| 摘要 |
The present invention is directed to a robot arm coupling apparatus comprising a master plate 1 attached to a robot arm, a tool plate 2 to which a tool or like element is attachable and a locking mechanism 27 for jointing and locking both the plates 1 and 2 together, and has an object of making the robot arm coupling apparatus thinner while employing ball members 44 . To attain this, the outer periphery of a cam member 28 of the locking mechanism 27 has a plurality of master side ball receiving grooves 29 of substantially arcuate cross section formed to extend substantially along the sliding direction of the cam member 28 and each capable of receiving the corresponding ball member 44 , a ball retainer 58 of the tool plate 2 has a plurality of tool side ball receiving grooves 63 of substantially arcuate cross section formed to extend substantially along the sliding direction of the cam member 28 and each capable of receiving the corresponding ball member 44 , the inner surface of each master side ball receiving groove 29 is provided with a master side first inclined portion 30 , the inner surface of each tool side receiving groove 63 is provided with a tool side inclined portion 64 inclined opposite to the master side first inclined portion 30 . The apparatus is configured so that when the cam member 28 is positioned in the locking position, each master side first inclined portion 30 pushes the corresponding ball member 44 against the corresponding tool side inclined portion 64.
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