END EFFECTOR, INDUSTRIAL ROBOT, AND OPERATION METHOD THEREOF

摘要

An end effector 4 of the industrial robot has an end effector base portion 5 connected to a robot arm, a first object holding mechanism 6 provided to the end effector base portion 5 so as to hold a first type of object to be handled, a second object holding unit 9 for holding a second type of object to be handled O2, and a unit holding mechanism 10 provided to the end effector base portion 5 so as to releasably hold the second object holding unit 9. The second object holding unit 9 which is held by the unit holding mechanism 10 is driven by the first object holding mechanism 6. The end effector is capable of considerably enlarging a range of kind and size of an object which can be handled while suppressing increase of manufacturing cost and decline in credibility and increase in changing hand installation space accompanying complication of the configuration.