END EFFECTOR DEVICE AND MULTI-JOINT ROBOT

摘要

To identify an object holder by using a photoelectric sensor.SOLUTION: An end effector device comprises a body of rotation having multiple holders arranged in the hoop direction at prescribed angular intervals, a rotating device for rotating the body of rotation so that the multiple holders revolves in the hoop direction, a lifting device capable of lifting a holder at a prescribed position, out of the multiple holders, as an object holder, detected parts provided in some of the multiple holders, multiple photoelectronic sensors provided to face respective holders in a state where any one of the multiple holders is at a prescribed revolution position, and capable of detecting the detected part, and a control arrangement. The control arrangement identifies the object holder on the basis of combination of signals outputted from the multiple photoelectronic sensors, respectively. The multiple photoelectronic sensors are provided to satisfy a relation; N≤2-2, where N is the number of holders, and n is the number of the photoelectronic sensors.SELECTED DRAWING: Figure 6