| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot arm coupling device 10 of high reliability equipped with a master plate 11 mounted on a robot arm 1, a tool plate 30 whereon a tool 3 is mounted, a mounting/removing mechanism 43 to mount the tool plate 30 removably on the master plate 11, and a locating mechanism 64 to locate the tool plate 30 relative to the master plate 11 when the two plates 11 and 30 are coupled by the mechanism 43. SOLUTION: A bushing 72 to abut air-tightly to the bushing abutting part 70a of the master plate when the two plates 11 and 30 are coupled for putting a master side air port 70 in communication with a tool side air port 71 is formed approximately cylindrical having at the forefront a tapered position 72a protruding from the coupling surfaces, and a ring-shaped ridge 72b is formed concentrically in the middle part of the tapered portion 72a, and a reinforcement 73 in a pipe shape approximately is provided on the inside surface of the bushing 72.
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