| 摘要 |
PURPOSE: To speedily and automatically attach and detach a robot arm from an end effector by providing a mounting device for supporting and storing this end effector in a predetermined direction when the end effector is attached to the robot arm. CONSTITUTION: When an end effector 18 is attached to a robot arm 12, a mounting device 42 stores an end effector 12 in a predetermined direction. This mounting device 42 is provided with a braking device 64 operating in a first state in which the end effector 18 is held at a predetermined position of the mounting device 42 and a second state in which it can be removed from the mounting device 42 by the arm 12 of the end effector 18 when a connection device operates in the first or second state. Furthermore, this mounting device 42 has an operation device (including a hydraulic cylinder 74 and a lever 82) for operating the connection device 26 and the braking device 64 selectively and operating them up to the first or second state. |
