An industrial robot, having an end-effector supporting mechanism for
holding an end-effector such as a working tool and accommodating an
imaging device of a visual sensor, which is free from the interference
with the periphery and capable of taking an image of the working position
without any trouble. A container-shaped adaptor of the end-effector
supporting mechanism is attached to a distal end of a wrist flange
provided in a robot wrist supported by a robot arm. The adaptor has a
first attachment section provided with a first attachment surface to be
attached to the wrist flange, and a second attachment section provided
with a second attachment surface disposed generally parallel to a wrist
flange surface at a position apart from the first attachment section by a
predetermined distance along a rotary center axis of the wrist flange. On
the second attachment surface, a tool holding member of the end-effector
supporting mechanism for holding the working tool is attached. The
adaptor and the tool holding member may be integral with each other. The
imaging device is held by a holding means such as a screw or a magnetic
mechanism so that the rotary center axis of the wrist flange generally
coincides with a center line of the visual field and a center of gravity
is positioned within the adaptor. The wrist flange may be provided with a
through-hole for the connector-coupling, and the imaging device may be
provided with radio-communication means.
