Patent Publication Number: US-2022226989-A1

Title: End effector, end-effector set, and control system

Description:
BACKGROUND 
     1. Technical Field 
     The present disclosure relates to an end effector, an end-effector set, and a control system. 
     2. Description of the Related Art 
     Patent Literature (PTL) 1 describes a robot hand including an attracting part such as an electromagnet that attracts a workpiece and a conforming part including six or more pins that are lowered by their own weight to conform the shape of the workpiece. The robot hand fixes the ascending or descending pins as necessary and fixes the workpiece using a support hook that supports the workpiece from below as necessary when, for example, the workpiece has a large weight. 
     PTL 1 is Unexamined Japanese Patent Publication No. H10-264068. 
     SUMMARY 
     The present disclosure has been devised in view of the above-mentioned conventional situation and has as its object to provide an end effector that can support a target object (for example, a workpiece). 
     An end effector according to one aspect of the present disclosure includes a hole plate includes a plurality of holes, a plurality of pins which respectively penetrate the plurality of holes and are hung on the hole plate to be movable upward, and a force applying part that applies an inward force to an outer pin of the plurality of pins. 
     This makes it possible to further move a plurality of pins inwardly by the force applying part while the target object is surrounded by the pins. Moving the pins inwardly in this manner enables the end effector to support a target object (for example, a workpiece). 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  is a perspective view illustrating an example of a configuration of end effector  10  according to a first exemplary embodiment. 
         FIG. 2  is a longitudinal sectional view illustrating an example of the configuration of end effector  10  according to the first exemplary embodiment. 
         FIG. 3  is a longitudinal sectional view illustrating an example of the configuration of end effector  10  according to the first exemplary embodiment. 
         FIG. 4  is a longitudinal sectional view illustrating an example of a state of end effector  10  in a support stage. 
         FIG. 5  is an enlarged view of a portion including projection  14 B of an example of the configuration of end effector  10 . 
         FIG. 6  is a longitudinal sectional view illustrating an example of the state of end effector  10  in a pushing stage. 
         FIG. 7  is a transverse sectional view illustrating an example of the configuration of end effector  10  according to the first exemplary embodiment. 
         FIG. 8  is a block diagram illustrating an example of a hardware configuration of control system  100  according to the first exemplary embodiment. 
         FIG. 9  is a longitudinal sectional view illustrating an example of a configuration of end effector  10  according to a second exemplary embodiment. 
         FIG. 10  is a longitudinal sectional view illustrating an example of a tracing stage of switching adapter  33  by end effector  10  according to the second exemplary embodiment. 
         FIG. 11  is a longitudinal sectional view illustrating an example of a support stage of switching adapter  33  by end effector  10  according to the second exemplary embodiment. 
         FIG. 12  is a view for explaining a protruding state of pins in a space inside a base in a case where target object  3  according to a third exemplary embodiment can be supported. 
         FIG. 13  is a view for explaining the protruding state of pins  12  in the space inside the base in a case where target object  3  according to the third exemplary embodiment cannot be supported. 
         FIG. 14  is a block diagram illustrating an example of a hardware configuration of control system  100  according to the third exemplary embodiment. 
     
    
    
     DETAILED DESCRIPTION 
     Hereinafter, exemplary embodiments of the present disclosure will be described in detail with reference to the accompanying drawings as appropriate. It is noted that a more detailed description than necessary may be omitted. For example, the detailed description of already well-known matters and overlapping description of substantially the same configurations may be omitted. This is to avoid an unnecessarily redundant description below and to facilitate understanding of a person skilled in the art. Note that the attached drawings and the following description are provided for those skilled in the art to fully understand the present disclosure, and are not intended to limit the subject matter as described in the appended claims. 
     First Exemplary Embodiment 
       FIG. 1  is a perspective view illustrating an example of a configuration of end effector  10  according to a first exemplary embodiment. 
     Robot devices used in factories and the like can perform various operations by attaching end effector  10  to a robot arm (not illustrated). For example, the robot arm picks a target object (workpiece or the like) flowing through a production line in a factory using end effector  10  and conveys the object to a destination. With this configuration, even when the pins are usually thin and it is difficult to attach a sensor to each pin itself, the support state of target object  3  can be determined. In addition, the next processing can be automatically started by using the determination itself of whether target object  3  is supported as a trigger. The target object may be a relatively small object such as a screw, a nut, or a washer, or may be a relatively large object (for example, a housing) such as a rib or a boss. 
     &lt;Standby Stage&gt; 
       FIG. 2  is a longitudinal sectional view illustrating an example of the configuration of end effector  10  according to the first exemplary embodiment. Note that, in the present disclosure, the same direction as gravity will be referred to as downward, and the direction opposite to gravity will be referred to as upward. In the present disclosure, a cross section parallel to the direction of gravity is described as a longitudinal cross section, and a cross section perpendicular to the direction of gravity is described as a transverse cross section. 
       FIG. 2  illustrates the state of end effector  10  at a stage (hereinafter referred to as a “standby stage”) before end effector  10  connected to the robot arm starts picking target object  3 . The configuration of end effector  10  will be described below with reference to  FIG. 2 . 
     End effector  10  includes hole plate  11 , a plurality of pins  12 , base  13 , holder  14 , movable plate  15 , and actuator  16 . 
     Hole plate  11  is a plate provided with a plurality of through holes. The thickness of hole plate  11  may be, for example, 0.1 mm to 2 mm. However, the present invention is not limited to this. Hole plate  11  may be integrated with base  13 . 
     Each pin  12  has an elongated rod shape and is inserted into each hole of hole plate  11 . The cross-sectional shape of pin  12  and the shape of the hole may be circular, but are not limited to this. The diameter of pin  12  may be, for example, between 0.1 mm and 2 mm, and is slightly smaller than the diameter of the hole. The material of pin  12  may be a metal. However, the material of pin  12  is not limited to metals, and may be, for example, a resin. 
     Pin  12  has, at its upper end, a head portion having a diameter larger than the diameter of the hole provided in hole plate  11 . The head portion serves as a stopper, and pin  12  is hung from hole plate  11  by its own weight. In addition, since the diameter of pin  12  is slightly smaller than the diameter of the hole, pin  12  can move upward when pushed up from below. In this case, the thickness of hole plate  11  is sufficiently short with respect to the length of pin  12 . Accordingly, pin  12  is movable within a conical range having the hole as a vertex. That is, pin  12  has some backlash. Accordingly, as will be described later, target object  3  can be supported by pins  12 . 
     The lower portion of pin  12  has a tapered shape that narrows toward the lower end. That is, the lower end of pin  12  has a pointed shape like a needle. Accordingly, as will be described later, this makes it possible to support target objects  3  in various shapes. 
     The maximum movable radius (for example, the radius of the bottom surface of the cone formed by the movable range having the above hole as a vertex) due to the backlash of pin  12  may be within the distance from the center of pin  12  to the center of adjacent pin  12 . This is because the force transmission efficiency decreases when pin  12  moves beyond the center of adjacent pin  12 . 
     Outer pin  12 A may be shorter than inner pin  12 B. As a result, as will be described later, the force applied inward to outer pin  12 A (that is, the force toward target object  3 ) is transmitted not to the lower end of inner pin  12 B but to an appropriate side surface of inner pin  12 B, thereby increasing the force for supporting target object  3 . 
     Base  13  has a tubular shape. The upper surface of base  13  is connected to the robot arm. Hole plate  11  is fixed to the lower surface of base  13 . Therefore, the plurality of pins  12  hanging from hole plate  11  protrude lower than the lower surface of base  13 . 
     Holder  14  has a tubular shape and surrounds the outside of the plurality of pins  12 . Holder  14  includes side surface portion  14 A forming a surface substantially parallel to pin  12  and projection  14 B protruding toward the inside of the cylinder. In this example, projection  14 B is one aspect of the force applying part. 
     Movable plate  15  is provided above hole plate  11  and can move up and down. Movable plate  15  is coupled to slit  14 C provided in an upper portion of side surface portion  14 A of holder  14 . When movable plate  15  ascends, it comes into contact with the upper end portion of slit  14 C. When movable plate  15  further ascends, holder  14  is lifted upward. Further, movable plate  15  pushes down inner pin  12 B protruding above hole plate  11  when lowering. 
     Actuator  16  is a device that raises, lowers, and stops movable plate  15 . Actuator  16  may be, for example, an air actuator, and lowers and raises movable plate  15  by sucking and discharging air. 
     &lt;Tracing Step&gt; 
       FIG. 3  is a longitudinal sectional view illustrating an example of the state of end effector  10  in a tracing stage. 
     When shifting from the standby stage to the tracing stage, the robot arm lowers end effector  10  toward placed target object  3  and presses the tips of pins  12  against target object  3 . That is, the shape of target object  3  is traced by the plurality of pins  12 . In this tracing, since pin  12  touching the surface of target object  3  cannot be lowered any more, the upper portion of pin  12  protrudes above hole plate  11 . For example, the robot arm lowers end effector  10  until at least some of inner pins  12 B among the plurality of inner pins  12 B touch the placement surface of target object  3 . Thus, end effector  10  can trace the shape of target object  3  by the plurality of inner pins  12 B. Note that end effector  10  may be lowered manually or automatically. 
     Note that end effector  10  may generate vibration in the tracing stage. Since pin  12  that has been caught halfway and has not been completely lowered can be lowered by this vibration, more accurate tracing can be performed. Therefore, in the support stage described later, the transmission efficiency of the force between adjacent pins  12  and the transmission efficiency of the force to target object  3  can be improved. 
     &lt;Support Stage&gt; 
       FIG. 4  is a longitudinal sectional view illustrating an example of the state of end effector  10  in the support stage. 
     Upon transition from the tracing stage to the supporting stage, actuator  16  raises movable plate  15  (see the upward arrows from movable plate  15 ). As a result, holder  14  coupled to movable plate  15  is raised, and projection  14 B of holder  14  comes into contact with the side surface of outer pin  12 A to apply an inward force to outer pin  12 A (that is, a force toward target object  3 ). Due to this inward force, as outer pin  12 A falls inward, inner pin  12 B also sequentially falls inward (the rightward arrow on inner pin  12 B), and inner pin  12 B finally coming into contact with target object  3  is pressed against the side surface of target object  3 . In this manner, target object  3  is supported by the plurality of inner pins  12 B in contact with target object  3 . Note that a mechanism that applies inward force (that is, force toward target object  3 ) to outer pin  12 A by the mechanism as described above is one aspect of the force applying part. For example, projection  14 B described above is one aspect of the force applying part. However, the force applying part may be configured by means other than projection  14 B. 
     The robot arm conveys target object  3  to a destination while end effector  10  supports target object  3  in this manner. 
       FIG. 5  is an enlarged view of a portion including projection  14 B of an example of the configuration of end effector  10 . As illustrated in  FIG. 5 , when holder  14  is raised, projection  14 B comes into contact with outer pin  12 A and falls inward. Inner pin  12 B falls inward by being pushed by outer pin  12 A, and the side surface portion of inner pin  12 B comes into contact with target object  3  from the lateral direction illustrated in  FIG. 5 . That is, a lateral force is applied to target object  3 . Applying a force from the opposite side to this lateral force so as to face each other makes it possible to support target object  3  so as to grip target object  3 . 
     Note that the lower portion of pin  12  has a tapered shape that narrows toward the lower end. As a result, as compared with a case where the lower portion of pin  12  has a simple rod shape, the side surface portion of inner pin  12 B that has fallen inward comes into contact with target object  3  more smoothly. Therefore, a lateral force is easily applied to target object  3 , and the support of target object  3  is stabilized. 
     &lt;Pushing Stage&gt; 
       FIG. 6  is a longitudinal sectional view illustrating an example of the state of end effector  10  in the pushing stage. 
     Upon transition from the support stage to the pushing stage, actuator  16  lowers movable plate  15  to the lowest point. As a result, holder  14  coupled to movable plate  15  is lowered, and projection  14 B of holder  14  does not come into contact with outer pin  12 A to release the inward force applied outer pin  12 A. Accordingly, since the inward force of inner pin  12 B in contact with target object  3  is also released, no lateral force is applied to target object  3 . As a result, target object  3  is not supported. 
     In addition, since inner pins  12 B protruding above hole plate  11  are pushed down as movable plate  15  is lowered, target object  3  is pushed downward by inner pins  12 B. As a result, target object  3  is pushed out from end effector  10 . Pushed target object  3  falls, for example, into a container or the like provided in the next process on the production line. 
       FIG. 7  is a transverse sectional view illustrating an example of the configuration of end effector  10  according to the first exemplary embodiment. The arrangement of the plurality of holes of hole plate  11  is a staggered arrangement. Accordingly, the plurality of pins  12  hanging from hole plate  11  are also arranged in a staggered arrangement as illustrated in  FIG. 7 . The gap between adjacent pins  12  in the staggered arrangement may be, for example, smaller than the diameter of pin  12 . 
     The staggered arrangement formed by the plurality of holes and the plurality of pins  12  of hole plate  11  forms a plurality of regular hexagons. First, outermost pins  12 A among the plurality of pins  12  form the sides of a regular hexagon. Pins  12 B on the inner side of outermost pins  12 A also form the sides of a regular hexagon. That is, the staggered arrangement is configured such that a plurality of regular hexagons having different sizes overlap each other. By arranging the plurality of pins in this manner, the force applied inward with respect to outer pins  12 A (that is, the force toward target object  3 ) is efficiently transmitted to inner pins  12 B, thereby stably supporting target object  3 . 
     The arrangement of the plurality of holes of hole plate  11  and the arrangement of the plurality of pins  12  may be other arrangements. The staggered arrangement formed by the plurality of holes and the plurality of pins  12  of hole plate  11  may form a plurality of regular triangles. 
     &lt;Configuration of Control System&gt; 
       FIG. 8  is a block diagram illustrating an example of a hardware configuration of control system  100  according to the first exemplary embodiment. Control system  100  controls the operation of end effector  10  described above. Note that control system  100  may further control a robot arm (not illustrated). Control system  100  may be provided inside the robot arm or may be provided outside the robot arm. 
     Control system  100  includes processor  101 , memory  102 , input device  103 , end effector connection part  105 , communication device  106 , and input and output interface  107 . Memory  102 , input device  103 , end effector connection part  105 , communication device  106 , and input and output interface  107  are each connected to processor  101  by an internal bus or the like so as to be capable of inputting and outputting data or information. 
     Processor  101  functions as the controller of control system  100 . For example, processor  101  performs control processing for comprehensively controlling operation of each part of control system  100 , input and output processing of data or information with each part of control system  100 , data calculation processing, and data or information storage processing. Processor  101  functions also as a controller that controls end effector  10  and the robot arm. For example, processor  101  controls the operations of end effector  10  and the robot arm in the standby stage, the tracing stage, the support stage, and the pushing stage described above. Processor  101  may be a central processing unit (CPU), a micro processing unit (MPU), a digital signal processor (DSP), or a field programmable gate array (FPGA). 
     Memory  102  stores various programs (an operating system (OS), application software, etc.) to be executed by processor  101 , and various data. Memory  102  includes, for example, a hard disk drive (HDD), a flash memory, a read only memory (ROM), and/or a random access memory (RAM). 
     Input device  103  has a function as a human interface for a user and receives a manipulation input from the user. In other words, input device  103  is used for giving an input or an instruction for various processes performed by control system  100 . An example of input device  103  is a keyboard or a mouse. Alternatively, input device  103  is a programming pendant connected to the controller (not illustrated) of the robot arm. 
     End effector connection part  105  is a device for connecting end effector  10  to control system  100 . End effector connection part  105  and end effector  10  are connected by a wire such as a connector and a cable. However, end effector connection part  105  and end effector  10  may be wirelessly connected. 
     Communication device  106  is a device for communicating with the outside via network  108 . This communication may be wired communication or wireless communication. 
     Input and output interface  107  has a function as an interface through which data or information is input or output from or to control system  100 . 
     Note that the configuration of control system  100  illustrated in  FIG. 8  is an example, and control system  100  may not include some of the components illustrated in  FIG. 8  or may further include additional constituent elements not illustrated in  FIG. 8 . 
     &lt;Modification&gt; 
     The configuration of end effector  10  is not limited to the above configuration. For example, projection  14 B of holder  14  may be formed of an air tube, and the air tube may be disposed above the lower end of outer pin  12 A. In this case, end effector  10  injects air into the air tube in the support stage. As a result, the air tube expanded by the injection of air presses outer pin  12 A from the side surface and applies an inward force (that is, a force toward target object  3 ) to outer pin  12 A. Due to this inward force, as outer pin  12 A falls inward, inner pin  12 B also sequentially falls inward, and inner pin  12 B finally coming into contact with target object  3  is pressed against the side surface of target object  3 . Even with such a configuration, end effector  10  can support target object  3 . The air tube is an aspect of the force applying part. 
     Alternatively, end effector  10  may be configured not to include holder  14  but to include outer pin  12 A made of a shape memory alloy whose tip portion is deformed inward (that is, toward target object  3 ) when energized. In this case, end effector  10  energizes outer pin  12 A in the support stage. Accordingly, as outer pin  12 A is deformed inward, inner pin  12 B also sequentially falls inward, and inner pin  12 B finally coming into contact with target object  3  is pressed against the side surface of target object  3 . Even with such a configuration, end effector  10  can support target object  3 . A device that energizes outer pin  12 A is an aspect of the force applying part. 
     Second Exemplary Embodiment 
     A second exemplary embodiment will exemplify end effector  10  that supports a switching adapter. In the above first exemplary embodiment, target object  3  supported by end effector  10  is, for example, a workpiece to be picked in a factory or the like. On the other hand, in the second exemplary embodiment, end effector  10  supports another end effector. As an example of such another end effector, switching adapter  33  described later is available. End effector  10  and the other end effector supported and used by end effector  10  are collectively referred to as a set of end effectors. 
     The following will describe end effector  10  that supports and uses switching adapter  33  including suction pad  32  capable of sucking target object  3 . Note that, in the second exemplary embodiment, constituent elements common to those in the first exemplary embodiment are denoted by common reference numerals, and descriptions thereof may be omitted. 
       FIG. 9  is a longitudinal sectional view illustrating an example of the configuration of end effector  10  according to the second exemplary embodiment. 
     Main body suction unit  31  is mounted on end effector  10  in addition to the constituent elements described in  FIG. 2 . Main body suction unit  31  can be coupled to suction pad  32  described with reference to  FIG. 10  and constitutes a path for sucking and discharging air with respect to coupled suction pad  32 . 
     When actuator  16  sucks and discharges air, main body suction unit  31  may be connected to an air conveyance system common to actuator  16 . 
       FIG. 10  is a longitudinal sectional view illustrating an example of the tracing stage of switching adapter  33  by end effector  10  according to the second exemplary embodiment.  FIG. 11  is a longitudinal sectional view illustrating an example of the support stage of switching adapter  33  by end effector  10  according to the second exemplary embodiment. 
     As illustrated in  FIG. 10 , switching adapter  33  includes suction pad  32 . Pipe  34  for sucking and discharging air into and from the suction pad is coupled to main body suction unit  31 . This forms a path for sucking and discharging air from suction pad  32  to main body suction unit  31 . 
     Next, as illustrated in  FIG. 10 , end effector  10  traces switching adapter  33  in the tracing stage. Next, as illustrated in  FIG. 11 , end effector  10  supports switching adapter  33  in the support stage. 
     As a result, end effector  10  can use suction pad  32  through supported switching adapter  33 . That is, the robot arm can use another type of end effector such as suction pad  32  through switching adapter  33  without replacing pin-shaped end effector  10  according to the present disclosure. 
     The other type of end effector mounted on switching adapter  33  is not limited to suction pad  32  described above. For example, a finger type, electromagnetic type, or jamming type end effector may be mounted on switching adapter  33 . 
     Third Exemplary Embodiment 
     A third exemplary embodiment will exemplify end effector  30  that determines whether or not target object  3  can be supported in the support stage. Note that, in the third exemplary embodiment, constituent elements common to those in the first exemplary embodiment are denoted by common reference numerals, and descriptions thereof may be omitted. 
     An example of a method for determining whether or not end effector  30  according to the third exemplary embodiment can support target object  3  in the support stage will be described with reference to  FIGS. 12 and 13 .  FIG. 12  illustrates a state in which pins  12  protrude in the space between hole plate  11  and movable plate  15  (hereinafter referred to as “base inner space”) when target object  3  can be supported.  FIG. 13  illustrates a state in which pins  12  protrude in the space inside the base when target object  3  cannot be supported. 
     End effector  30  according to the third exemplary embodiment includes imaging device  17  (for example, a 3D sensor) for imaging the protruding state of pins  12  in the space inside the base in addition to the components of end effector  10  according to the first exemplary embodiment. Note that imaging device  17  may be provided anywhere as long as it can image the space inside the base. In the support stage, for example, as illustrated in  FIG. 13 , imaging device  17  captures an image of protruding state  201   a  of pins  12  in the space inside the base to generate three dimensional (3D) sensor image  201   b . Processor  101  of control system  130  then specifies three-dimensional shape  201  indicating protruding state  201   a  of the plurality of pins  12  from 3D sensor image  201   b  acquired by imaging device  17 . Processor  101  compares specified three-dimensional shape  201  with reference three-dimensional shape  200  indicating protruding state  200   a  of the plurality of pins  12  when target object  3  can be supported as illustrated in  FIG. 12  to determine whether or not end effector  30  can support target object  3 . In this case, reference three-dimensional shape  200  is identified from 3D sensor image  200   b  acquired by imaging device  17  by capturing an image of protruding state  200   a  of the plurality of pins  12  when target object  3  as illustrated in  FIG. 12  can be supported. For example, the comparison between three-dimensional shape  201  illustrated in  FIG. 13  and reference three-dimensional shape  200  illustrated in  FIG. 12  indicates that the right peak of the two peaks is low, and the inclined portion at the right end is missing. That is, the matching degree of three-dimensional shape  201  with respect to reference three-dimensional shape  200  is low (for example, the matching degree is less than a predetermined threshold). Accordingly, processor  101  may determine from three-dimensional shape  201  illustrated in  FIG. 13  that target object  3  cannot be supported. 
     When the height of a peak of three-dimensional shape  201  is less than a predetermined value, processor  101  may determine that target object  3  is not supported. When the inclination angle from the skirt to the peak of three-dimensional shape  201  is less than a predetermined angle (that is, when the inclination from the foot to the peak is gentle), processor  101  may determine that target object  3  is not supported. This is because in these cases, the area of each pin  12  in contact with the side surface of target object  3  is insufficient (for example, the lower end of pin  12  is in contact with target object  3 , but the portion above the lower end of pin  12  is not in contact with target object  3 ), and there is a high possibility that end effector  10  cannot lift target object  3 . 
     With this configuration, even when the pins are usually thin and it is difficult to attach a sensor to each pin itself, the support state of target object  3  can be determined. In addition, the next processing can be automatically started by using the determination itself of whether target object  3  is supported as a trigger. If it is determined that end effector  10  has not been able to support target object  3 , it is possible to perform processing such as redoing the tracing stage or the support stage, or notifying of an alert. When it is determined that end effector  30  can support target object  3 , target object  3  can also be moved to the next work place. 
       FIG. 14  is a block diagram illustrating an example of the hardware configuration of control system  130  according to the third exemplary embodiment. Note that, in the description with reference to  FIG. 14 , constituent elements common to those in  FIG. 8  are denoted by common reference numerals, and descriptions thereof will be omitted. 
     Control system  130  includes image acquisition unit  104  in addition to the constituent elements illustrated in  FIG. 8 . 
     Imaging device  17  described above is connected to image acquisition unit  104  wiredly or wirelessly. Image acquisition unit  104  then acquires an image captured by imaging device  17 . Processor  101  performs various types of image processing on the image acquired by image acquisition unit  104 . Note that control system  130  may further include an image processing unit (not illustrated), and in this case, the image processing unit may perform various types of image processing under the control of processor  101 . 
     As described above, end effector  10  according to an aspect of the present disclosure includes hole plate  11  provided with the plurality of holes, the plurality of pins  12  which respectively penetrate the plurality of holes and are hung on hole plate  11  so as to be movable upward, and the force applying part (for example, projection  14 B) that applies an inward force to outer pin  12 A among the plurality of pins  12 . As a result, when the force applying part applies an inward force (that is, a force toward target object  3 ) to outer pins  12 A, outer pins  12 A fall inward, and accordingly, inner pins  12 B sequentially fall inward, and inner pins  12 B finally coming into contact with target object  3  can support target object  3 . 
     Further, the arrangement of the plurality of holes is a staggered arrangement and may form a hexagonal shape. As a result, the inward force applied to outer pin  12 A is efficiently transmitted by inner pin  12 B, so that the force for supporting target object  3  is increased. 
     The lower portion of pin  12  may have a tapered shape that narrows toward the lower end. This makes it possible to support target objects  3  in various shapes. 
     End effector  10  may be capable of generating vibration for moving pin  12  downward. Accordingly, since pin  12  that has been caught halfway and has not been completely lowered can be lowered by this vibration, more accurate tracing can be performed. Therefore, in the support stage, the transmission efficiency of the force between adjacent pins  12  and the transmission efficiency of the force to target object  3  can be improved. 
     In addition, the force applying part is projection  14 B, and projection  14 B may come into contact with the side surface of outer pin  12 A when lifted to apply an inward force. As a result, when raised, projection  14 B can apply an inward force to outer pin  12 A. 
     End effector  10  may further include movable plate  15  that is disposed above hole plate  11 , raises projection  14 B when ascending, and pushes down pin  12  protruding above hole plate  11  and lowers projection  14 B when descending. Accordingly, movable plate  15  ascends to support target object  3  and descends to push out target object  3 . That is, both the support and the pushing of target object  3  can be achieved by a simple operation such as ascending and descending of movable plate  15 . 
     End effector  10  may further include actuator  16  that raises and lowers movable plate  15 . Accordingly, movable plate  15  can be raised and lowered by controlling actuator  16 . 
     The set of end effectors may also include end effector  10  described above and another end effector supportable by end effector  10 . This makes it possible to perform work while supporting the other end effector without replacing the end effector. 
     Furthermore, control system  130  that controls end effector  30  may include a controller (processor  101 ), and the controller may acquire a 3D sensor image obtained by imaging the plurality of pins  12  protruding above hole plate  11  and determine, on the basis of the 3D sensor image, whether or not the end effector supports the target object. As a result, even in a case in which normal pin  12  is thin and it is difficult to attach a sensor to pin  12  itself, the support state of target object  3  can be determined, and the next processing can be automatically started by using the determination itself as a trigger as to whether or not target object  3  is supported. 
     The exemplary embodiments have been described above with reference to the accompanying drawings, but the present disclosure is not limited to the above examples. It is obvious that those skilled in the art can conceive various changes, modifications, substitutions, additions, deletions, and equivalents within the scope described in the claims, and it is understood that these also belong to the technical scope of the present disclosure. In addition, the components in the above-mentioned exemplary embodiments may be arbitrarily combined without departing from the spirit of the present invention. 
     The end effector according to the present disclosure is applicable to an apparatus for supporting an object.