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If you have to change your working pattern or hours because of your caring responsibilites, speak to your employer first. You may be able to sort something out without using your legal rights.
You may also be able to use arguments about sex discrimination. If you are a woman, and your employer’s insistence on full-time work or a particular pattern of work puts women at more of a disadvantage than men (because they are more likely to be carers), then your employer may have to reconsider. This is called indirect sex discrimination. You would also have to show that you are personally disadvantaged. But if the employer has a strong business reason for insisting on full-time work, then they may be able to justify the discrimination.
If you are a man, you may be able to show that women in similar jobs are allowed to change their hours, but you are not. This could be direct sex discrimination.
If you care for a disabled adult, there is also an argument that you are protected by disability discrimination. You could argue this if you feel you are being treated unfairly because of your caring responsibilities.