End effector, robot arm, and manufacturing system

Abstract

To provide an end effector capable of more accurately gripping an object.SOLUTION: An end effector 10 according to the present invention is an end effector 10 used for a robot, the end effector 10 including a main body part 11 containing a plastic, a sensor part 12 having a sensor that is integrally attached to a front face of the plastic in the main body part 11 and contributes to a predetermined function, and an attachment part 13 including an adhesive or an adhesive tape for attaching the sensor to the front face of the plastic, wherein a flexural modulus of the plastic is within a range of 1 to 60GPa, and an adhesive layer of the adhesive or the adhesive tape contains a carboxyl group-containing (meth) acrylate ester polymer.SELECTED DRAWING: Figure 7

Description

[Technical Field]

[0001] The present disclosure relates to an end effector, a robotic arm, and a manufacturing system. [Background technology]

[0002] Conventionally, robot arms for various purposes, such as industrial robots used in manufacturing sites, medical robots, and nursing care robots, are known. In addition, technologies related to end effectors, including robot hands and robot grippers, attached to the ends of robot arms are known. For example, Patent Document 1 discloses a robot hand with tactile sensors that can reduce damage and malfunctions caused by contact of an object to be grasped with parts of the fingers other than the palm surface when the robot hand with tactile sensors is in use. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2022-184009 Summary of the Invention [Problem to be solved by the invention]

[0004] For example, in the prior art described in Patent Document 1, the tactile sensor body is a film-like object attached to the outer surface of the housing that forms the finger portion. In this prior art, double-sided tape is simply used as the material for the adhesive layer that attaches the tactile sensor body to the outer surface of the housing that forms the finger portion, and the configuration of the adhesive layer has not been fully considered.

[0005] This reduces the accuracy with which the end effector grasps an object. In other words, it is not easy to use a single end effector to grasp objects with different shapes, dimensions, weights, hardness (softness), and other materials. Generally, it is necessary to create a program and replace the end effector or robot arm for each object with different conditions. As a result, the cost and labor required to manufacture the object as a manufactured product increase.

[0006] An object of the present disclosure is to provide an end effector, a robot arm, and a manufacturing system that can grip an object with greater precision. [Means for solving the problem]

[0007] The end effector to solve the above problems is as follows: An end effector for use in a robot, a main body containing a resin; a sensor unit having a sensor integrally attached to a surface of the resin in the main body unit, the sensor contributing to a predetermined function; a mounting portion including an adhesive or adhesive tape for mounting the sensor on the surface of the resin; Equipped with The flexural modulus of the resin is in the range of 1 to 60 GPa, The adhesive or the adhesive layer of the adhesive tape contains a carboxyl group-containing (meth)acrylic acid ester copolymer.

[0008] A robot arm for solving the above problem includes the above end effector.

[0009] A manufacturing system for solving the above problems includes: a production line for producing manufactured products; The robot arm is configured such that the end effector grasps the manufactured product, which is in a predetermined environment in the manufacturing line, as an object; Equipped with. [Effects of the Invention]

[0010] According to the present disclosure, it is possible to provide an end effector, a robot arm, and a manufacturing system that can grip an object with higher precision. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 is a schematic diagram illustrating an appearance of a robot arm according to an embodiment of the present disclosure. [Figure 2] FIG. 2 is a block diagram showing a schematic configuration of the robot arm of FIG. 1. [Figure 3] FIG. 2 is a first schematic diagram showing the appearance of an end effector of the robot arm of FIG. [Figure 4] FIG. 2 is a second schematic diagram showing the appearance of the end effector of the robot arm of FIG. [Figure 5] FIG. 2 is a third schematic diagram showing the appearance of the end effector of the robot arm of FIG. 1. [Figure 6] FIG. 4 is a fourth schematic diagram showing the appearance of the end effector of the robot arm of FIG. [Figure 7] 3 is an enlarged cross-sectional view schematically showing a part of the configuration of the end effector of FIG. 2. FIG. [Figure 8] FIG. 10 is a schematic diagram showing the appearance of an end effector according to a modified example of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0012] Hereinafter, one embodiment of the present disclosure will be mainly described with reference to the accompanying drawings.

[0013] Fig. 1 is a schematic diagram showing the appearance of a robot arm 1 according to an embodiment of the present disclosure. Fig. 2 is a block diagram showing a schematic configuration of the robot arm 1 in Fig. 1. The schematic configuration of the robot arm 1 including an end effector 10 will be mainly described with reference to Figs. 1 and 2.

[0014] As shown in FIG. 1, the robot arm 1 has a housing 1a that constitutes a main body, and an end effector 10 attached to the housing 1a at the tip of the robot arm 1. The end of the end effector 10 opposite the portion for gripping an object is attached to the housing 1a, so that the end effector 10 is supported by the housing 1a. The end effector 10 is driven while supported by the housing 1a and grips the object. For example, the end effector 10 may grip an object in a low load range where the load applied to the object when gripping the object is 1 N or less.

[0015] The end effector 10 is used in a robot. For example, the end effector 10 functions as a part of a robot having a robot arm 1. In this disclosure, the term "robot" includes, for example, industrial robots, nursing robots, marine robots, medical robots, and mobile objects such as vehicles and drones that move by making autonomous decisions. The term "industrial robot" includes, for example, collaborative robots that can work together with workers in the same space and other robots that work separately from workers. The end effector 10 is configured as a robot hand or robot gripper in such a robot.

[0016] 2, the end effector 10 has a main body 11 containing resin, and a sensor unit 12 having a sensor integrally attached to the surface of the resin in the main body 11. In addition to the end effector 10 having the main body 11 and the sensor unit 12, the robot arm 1 also has a memory unit 20, a drive unit 30, and a control unit 40. The memory unit 20, drive unit 30, and control unit 40 are housed in a housing 1a of the robot arm 1.

[0017] The storage unit 20 includes, for example, a semiconductor memory, a magnetic memory, an optical memory, or any combination thereof. The storage unit 20 functions, for example, as a main storage device, an auxiliary storage device, or a cache memory. The storage unit 20 stores information used in the operation of the robot arm 1 and information obtained by the operation of the robot arm 1. For example, the storage unit 20 stores system programs, application programs, and various data acquired by any means such as communication.

[0018] The drive unit 30 includes, for example, any drive mechanism for driving the end effector 10. The drive mechanism includes, for example, a plurality of gears and a motor for rotating the gears. The drive unit 30 drives the end effector 10 in accordance with a control signal from the control unit 40. For example, the drive unit 30 drives the claw portion 11b (described later) of the main body 11 of the end effector 10 in accordance with the control signal from the control unit 40 so that the claw portion 11b grips an object.

[0019] The control unit 40 includes a microcontroller, a processor, a programmable circuit, a dedicated circuit, or any combination thereof. The processor is a general-purpose processor such as a CPU or GPU, or a dedicated processor specialized for specific processing. "CPU" is an abbreviation for Central Processing Unit. "GPU" is an abbreviation for Graphics Processing Unit. An example of the programmable circuit is an FPGA. "FPGA" is an abbreviation for Field-Programmable Gate Array. An example of the dedicated circuit is an ASIC. "ASIC" is an abbreviation for Application Specific Integrated Circuit. The control unit 40 is communicatively connected to each component of the robot arm 1, and executes various processes related to the operation of the robot arm 1 while controlling each component.

[0020] FIG. 3 is a first schematic diagram showing the appearance of the end effector 10 of the robot arm 1 of FIG. 1. The main body 11 forms the entire outer shape of the end effector 10. The main body 11 has an attachment portion 11a that is attached to the housing 1a of the robot arm 1. The main body 11 has a pair of claws 11b that protrude from the end of the attachment portion 11a that is located on the opposite side from the housing 1a. The pair of claws 11b grip an object, for example, by shortening the distance between them so that it is approximately the same as the width of the object. As an example, the entire main body 11, including the attachment portion 11a and the claws 11b, is formed from resin.

[0021] As described below, in the present disclosure, the term "resin" includes, for example, a thermoplastic resin. The term "thermoplastic resin" includes, for example, at least one selected from the group consisting of engineering plastics and super engineering plastics. The thermoplastic resin is, for example, a polyarylene sulfide resin. More specifically, the thermoplastic resin includes a polyarylene sulfide resin such as a polyphenylene sulfide resin.

[0022] The flexural modulus of the resin forming the main body 11 is within the range of 1 to 60 GPa. The lower limit of the flexural modulus of the resin may be, for example, 1 GPa, and more preferably 2 GPa. The upper limit of the flexural modulus of the resin may be, for example, 60 GPa, and preferably 30 GPa, more preferably 20 GPa, and even more preferably 10 GPa.

[0023] The following mainly describes the function of the end effector 10.

[0024] The sensor included in the sensor unit 12 of the end effector 10 contributes to a predetermined function. In the present disclosure, the "predetermined function" includes, for example, a first function, a second function, a third function, and a fourth function. The first function is a function of detecting contact of the main body unit 11 with a first object. The second function is a function of detecting the height of a second object. The third function is a function of detecting the magnitude of pressure generated when the end effector 10 grasps a third object. The fourth function is a function of detecting the pH of a fourth object. The first object, second object, third object, and fourth object may be the same as or different from one another.

[0025] 3, the sensors included in the sensor unit 12 include a first sensor 121 that detects that the main body unit 11 has come into contact with a first object. The first sensor 121 contributes to a first function.

[0026] The first sensor 121 is disposed, for example, on each of the inner surfaces of the pair of claws 11b in the separation direction D1 in which the pair of claws 11b separate from each other. The inner surfaces of the claws 11b are surfaces located on the ventral side of the claws 11b, which is the side of the claws 11b that grips an object. The first sensor 121 is disposed on the inner surfaces of the claws 11b at the tip ends in the extension direction D2 of the main body 11, which is perpendicular to the separation direction D1.

[0027] Without being limited thereto, the first sensor 121 may be disposed, for example, on at least one of the outer surfaces of the pair of claws 11b in the separation direction D1 in which the pair of claws 11b separate from each other. The outer surface of the claws 11b is a surface located on the dorsal side opposite the ventral side of the claws 11b, which is the side of the claws 11b that grips an object. The first sensor 121 may be disposed on the outer surface of the claws 11b at the tip end in the extension direction D2 of the main body 11 that is perpendicular to the separation direction D1, or may be disposed over substantially the entire area from the tip end along the extension direction D2.

[0028] Fig. 4 is a second schematic diagram showing the appearance of the end effector 10 of the robot arm 1 of Fig. 1. In the second example shown in Fig. 4, the sensors of the sensor unit 12 include a second sensor 122 that detects the height of a second object. The second sensor 122 contributes to a second function.

[0029] The second sensor 122 is disposed, for example, on each of the inner surfaces of the pair of claw portions 11b in the separation direction D1. The inner surfaces of the claw portions 11b are surfaces located on the ventral side of the claw portions 11b, which is the side of the claw portions 11b that grips an object. The second sensor 122 is disposed on the inner surfaces of the claw portions 11b at the tip ends in the extension direction D2 of the main body 11. However, the present invention is not limited to this, and the second sensor 122 may be disposed on the inner surfaces of the claw portions 11b at the center in the extension direction D2 of the main body 11.

[0030] Fig. 5 is a third schematic diagram showing the appearance of the end effector 10 of the robot arm 1 of Fig. 1. In the third example shown in Fig. 5, the sensors included in the sensor unit 12 include a third sensor 123 that detects the magnitude of pressure generated when the end effector 10 grasps a third object. The third sensor 123 contributes to a third function.

[0031] The third sensor 123 is disposed, for example, on each of the inner surfaces of the pair of claws 11b in the separation direction D1. The third sensor 123 is disposed on the inner surfaces of the claws 11b at a central portion in the extension direction D2 of the main body 11. That is, the third sensor 123 may be disposed on the claws 11b that are formed narrow and have a curved surface, and at a central portion of the claws 11b where the amount of deflection is greatest when the end effector 10 grips an object. However, the third sensor 123 may also be disposed on the inner surfaces of the claws 11b at a tip end portion in the extension direction D2 of the main body 11.

[0032] Fig. 6 is a fourth schematic diagram showing the appearance of the end effector 10 of the robot arm 1 of Fig. 1. In the fourth example shown in Fig. 6, the sensors included in the sensor unit 12 include a fourth sensor 124 that detects the pH of a fourth object. The fourth sensor 124 contributes to a fourth function.

[0033] The fourth sensor 124 is disposed, for example, on each of the inner surfaces of the pair of claws 11b in the separation direction D1. The fourth sensor 124 is disposed on the inner surfaces of the claws 11b at the tip ends in the extension direction D2 of the main body 11. However, the fourth sensor 124 may be disposed on the inner surfaces of the claws 11b at the center in the extension direction D2 of the main body 11.

[0034] 7 is an enlarged cross-sectional view schematically illustrating a portion of the configuration of the end effector 10 of FIG. 2. FIG. 7 is a schematic diagram illustrating how the sensor of the sensor unit 12 is integrally attached to the resin surface of the claw portion 11b. As shown in FIG. 7, the end effector 10 further includes an attachment unit 13 including an adhesive or adhesive tape that attaches the sensor of the sensor unit 12 to the resin surface that forms the main body 11. In this disclosure, the term "adhesion" in the context of an adhesive refers to, for example, an attachment mode that involves a chemical reaction. The term "adhesion" in the context of an adhesive tape refers to, for example, an attachment mode that does not involve a chemical reaction.

[0035] In the attachment portion 13, the adhesive or the adhesive layer of the adhesive tape contains a carboxyl group-containing (meth)acrylic acid ester copolymer (A). In the attachment portion 13, the adhesive or the adhesive layer of the adhesive tape may further contain a nitrogen atom-containing (meth)acrylic acid ester copolymer (B).

[0036] The equivalent ratio of the carboxyl groups in the carboxyl group-containing (meth)acrylic acid ester copolymer (A) to the nitrogen atoms in the nitrogen atom-containing (meth)acrylic acid ester copolymer (B) may be 1:0.05 to 1:0.50. For example, the equivalent ratio is more preferably 1:0.05 to 1:0.30, and even more preferably 1:0.05 to 1:0.20. By blending copolymers (A) and (B) within the above range, corrosion of the metal part of the sensor in sensor unit 12 can be suppressed, and further, the adhesive layer of the adhesive or adhesive tape included in mounting unit 13 can be imparted with excellent sensor attachment performance.

[0037] Of the monomer components constituting the carboxyl group-containing (meth)acrylic acid ester copolymer (A), 99% by mass or more of the monomer components do not contain a carboxyl group.

[0038] The carboxyl group-containing (meth)acrylic acid ester copolymer (A) is a polymer in which a carboxyl group-containing monomer is copolymerized with a (meth)acrylic acid ester monomer having 2 to 14 carbon atoms as the main component. By using the (meth)acrylic acid ester having 2 to 14 carbon atoms as the main component, the adhesive strength or cohesive strength required for attaching a sensor to a resin surface can be imparted to the adhesive layer of the adhesive or adhesive tape.

[0039] The nitrogen atom-containing (meth)acrylic acid ester copolymer (B) is a polymer in which a methacrylic acid ester monomer having 1 to 8 carbon atoms as the main component is copolymerized with a nitrogen atom-containing copolymerizable monomer. By using the (meth)acrylic acid ester having 1 to 8 carbon atoms as the main component, the adhesive strength or cohesive strength required for attaching a sensor to a resin surface can be imparted to the adhesive or adhesive layer of the adhesive tape.

[0040] The resin used in one embodiment is preferably a thermoplastic resin. The thermoplastic resin is not particularly limited, but examples thereof include polyolefin resins such as polypropylene, polyethylene, and polybutene; polyester resins such as polyethylene terephthalate and polybutylene terephthalate; polyamide resins or aromatic polyamide resins such as nylon-6 and nylon 6,6; thermoplastic polyimide resins; polyamideimide resins; polystyrene resins such as polystyrene, syndiotactic polystyrene, acrylonitrile-styrene copolymer resin, and acrylonitrile-butadiene-styrene copolymer resin; polyarylene sulfide resins such as polyphenylene sulfide; polyphenylene ether resins; polyurethane resins; polylactic acid; polyether ether ketone resins; polyetherimide resins; polyketone resins; polyarylate resins such as amorphous polyarylate and liquid crystalline polyarylate; and liquid crystalline polyester resins.

[0041] Among these, the thermoplastic resin used in one embodiment is preferably a thermoplastic polyimide resin, a polyamideimide resin, a polyarylene sulfide resin, a polyphenylene ether resin, a polyether ether ketone resin, a polyetherimide resin, a polyketone resin, a polyarylate resin, or a liquid crystalline polyester resin, which are so-called engineering plastics or super engineering plastics that are excellent in heat resistance, mechanical properties, etc., and from the viewpoints of chemical resistance, heat resistance, and mechanical properties, a polyarylene sulfide resin is more preferred, and even among polyarylene sulfide resins (hereinafter also referred to as "PAS resins"), a polyphenylene sulfide resin (hereinafter also referred to as "PPS resins") is particularly preferred.

[0042] In one embodiment, the resin may be used alone, or a plurality of the resins may be mixed and used in the form of a polymer alloy. The resin according to one embodiment may also contain a filler. The filler-containing resin may contain the filler described below and the resin described above, and may be in the form of a composition containing any of the optional additives described below (colorants, antistatic agents, antioxidants, heat stabilizers, UV stabilizers, UV absorbers, foaming agents, flame retardants, flame retardant assistants, rust inhibitors, coupling agents, silane coupling agents, thermoplastic elastomers, or synthetic resins) as needed.

[0043] The polyarylene sulfide resin has a resin structure in which a repeating unit is a structure in which an aromatic ring and a sulfur atom are bonded. Specifically, the polyarylene sulfide resin is a resin in which a repeating unit is a structural moiety represented by the following general formula (1) and, if necessary, a trifunctional structural moiety represented by the following general formula (2).

[0044] [ka] In formula (1), R 1 and R 2 each independently represents a hydrogen atom, an alkyl group having 1 to 4 carbon atoms, a nitro group, an amino group, a phenyl group, a methoxy group, or an ethoxy group.

[0045] [ka] The trifunctional structural moiety represented by formula (2) is preferably contained in an amount of 0.001 to 3 mol %, particularly preferably 0.01 to 1 mol %, based on the total number of moles including other structural moieties.

[0046] Here, the structural moiety represented by the general formula (1) is, in particular, R 1 and R 2 is preferably a hydrogen atom from the viewpoint of the mechanical strength of the PAS resin, and in that case, examples include those bonded at the para position represented by the following formula (3) and those bonded at the meta position represented by the following formula (4).

[0047] [ka] Among these, a structure in which the sulfur atom is bonded to the aromatic ring in the repeating unit at the para position represented by the general formula (3) is particularly preferred in terms of the heat resistance and crystallinity of the PAS resin.

[0048] Furthermore, the PAS resin may contain not only the structural moieties represented by the general formulas (1) and (2) but also the structural moieties represented by the following structural formulas (5) to (8) in an amount of 30 mol % or less of the total of the structural moieties represented by the general formulas (1) and (2).

[0049] [ka] In one embodiment, the structural moieties represented by the general formulae (5) to (8) preferably account for 10 mol % or less in terms of the heat resistance and mechanical strength of the PAS resin. When the structural moieties represented by the general formulae (5) to (8) are contained in the PAS resin, the bonding mode thereof may be either a random copolymer or a block copolymer.

[0050] Furthermore, the PAS resin may have naphthyl sulfide bonds or the like in its molecular structure, but the amount is preferably 3 mol % or less, and particularly preferably 1 mol % or less, of the total number of moles including other structural moieties.

[0051] The physical properties of the PAS resin are not particularly limited as long as they do not impair the effects of one embodiment, but are as follows.

[0052] (melt viscosity) The melt viscosity of the PAS resin is not particularly limited, but in order to obtain a good balance between fluidity and mechanical strength, the melt viscosity (V6) measured at 300°C is preferably in the range of 2 Pa·s or more, preferably in the range of 1000 Pa·s or less, more preferably in the range of 500 Pa·s or less, and even more preferably in the range of 200 Pa·s or less. The melt viscosity (V6) is measured using a Shimadzu CFT-500D flow tester for the polyarylene sulfide resin at 300°C under a load of 1.96×10. 6 The melt viscosity is measured after holding the sample at a pressure of 10 Pa and L / D=10 (mm) / 1 (mm) for 6 minutes.

[0053] (Non-Newtonian exponents) The non-Newtonian index of the PAS resin is not particularly limited, but is preferably in the range of 0.90 or more to 2.00 or less. When a linear polyarylene sulfide resin is used, the non-Newtonian index is preferably in the range of 0.90 or more, more preferably 0.95 or more, and preferably 1.50 or less, more preferably 1.20 or less. Such polyarylene sulfide resins have excellent mechanical properties, fluidity, and abrasion resistance. However, in one embodiment, the non-Newtonian index (N value) is a value calculated using the following formula after measuring the shear rate (SR) and shear stress (SS) using a capillograph under conditions of a melting point of +20°C and an orifice length (L) to orifice diameter (D) ratio of L / D = 40. The closer the non-Newtonian index (N value) is to 1, the more linear the structure, and the higher the non-Newtonian index (N value), the more branched the structure.

[0054]

number

[0055] The resin used in one embodiment may contain a metal oxide containing at least one of copper and chromium. The metal oxide generates heat when irradiated with a laser, melts the resin, and roughens the surface of the molded article. The metal oxide is activated by laser irradiation to selectively form a plating layer.

[0056] The metal oxide contains at least one of copper and chromium, and may further contain other metals such as iron, aluminum, gallium, boron, molybdenum, tungsten, and selenium.

[0057] Specific examples of the metal oxide include, but are not limited to, CuFe 0.5 B 0.5 O 2.5 , CuAl 0.5 B 0.5 O 2.5 , CuGa 0.5 B 0.5 O 2.5 , CuB2O4, CuB 0.7 O2, CuMo 0.7 O3, CuMo 0.5 O 2.5 , CuMoO4, CuWO4, CuSeO4, CuCr2O4, etc. Among these, the metal oxides are CuCr2O4, CuFe 0.5 B 0.5 O 2.5 , CuAl 0.5 B 0.5 O 2.5 It is preferable that CuCr2O4, CuFe 0.5 B 0.5 O 2.5 It is more preferable that the metal oxide is one of these, or two or more of these may be used in combination.

[0058] The average particle size of the metal oxide is preferably 0.01 μm or more, more preferably 0.05 μm or more, and preferably 50 μm or less, more preferably 30 μm or less. An average particle size of 0.01 μm or more is preferable because efficient and stable production is possible. On the other hand, an average particle size of 50 μm or less is preferable because material strength can be maintained. In this disclosure, the "average particle size of the metal oxide" refers to the number-average particle size, and the value measured by electron microscopy is used. Specifically, the particle sizes of 100 arbitrarily selected metal oxide particles in one field of view of an electron microscope are measured, and the average value is calculated.

[0059] The Mohs hardness of the metal oxide is preferably in the range of 4.0 or more, preferably 6.5 or less, more preferably 6.0 or less.

[0060] The amount of the metal oxide is preferably 15 parts by mass or more, more preferably 20 parts by mass or more, even more preferably 25 parts by mass or more, and preferably 90 parts by mass or less, per 100 parts by mass of the PAS resin. A metal oxide amount of 15 parts by mass or more per 100 parts by mass of the PAS resin is preferred from the viewpoints of surface roughening and activation of the metal oxide by laser irradiation in the resulting molded article, and excellent plating properties. On the other hand, a metal oxide amount of 90 parts by mass or less per 100 parts by mass of the PAS resin is preferred from the viewpoint of maintaining material strength.

[0061] As other fillers, known and commonly used materials can be used as long as they do not impair the effects of one embodiment, and examples include fillers of various shapes, such as fibrous ones and non-fibrous ones such as granular and plate-shaped ones. Specifically, fibrous fillers such as glass fiber, carbon fiber, silane glass fiber, ceramic fiber, aramid fiber, metal fiber, potassium titanate, silicon carbide, calcium silicate, wollastonite, and natural fibers can be used. Also usable are non-fibrous fillers such as glass beads, glass flakes, barium sulfate, clay, pyrophyllite, bentonite, sericite, mica, talc, kerolite, pimelite, pyrophyllite, hydrotalcite, kaolinite, attapulgite, ferrite, calcium silicate, calcium carbonate, glass beads, zeolite, milled fiber, and calcium sulfate.

[0062] In one embodiment, the content of the filler is not particularly limited as long as it does not impair the effects of the embodiment. The amount of filler to be blended is, for example, preferably 1 part by mass or more, more preferably 10 parts by mass or more, and preferably 600 parts by mass or less, more preferably 200 parts by mass or less, per 100 parts by mass of the resin. This range is preferable because the resin exhibits good mechanical strength and moldability.

[0063] The resin used in one embodiment can be blended with a silane coupling agent as an optional component as needed. The silane coupling agent is not particularly limited as long as it does not impair the effects of one embodiment, but preferred examples include silane coupling agents having a functional group that reacts with a carboxy group, such as an epoxy group, an isocyanato group, an amino group, or a hydroxyl group. Examples of such silane coupling agents include epoxy group-containing alkoxysilane compounds such as γ-glycidoxypropyltrimethoxysilane, γ-glycidoxypropyltriethoxysilane, and β-(3,4-epoxycyclohexyl)ethyltrimethoxysilane; isocyanato group-containing alkoxysilane compounds such as γ-isocyanatopropyltrimethoxysilane, γ-isocyanatopropyltriethoxysilane, γ-isocyanatopropylmethyldimethoxysilane, γ-isocyanatopropylmethyldiethoxysilane, γ-isocyanatopropylethyldimethoxysilane, γ-isocyanatopropylethyldiethoxysilane, and γ-isocyanatopropyltrichlorosilane; amino group-containing alkoxysilane compounds such as γ-(2-aminoethyl)aminopropylmethyldimethoxysilane, γ-(2-aminoethyl)aminopropyltrimethoxysilane, and γ-aminopropyltrimethoxysilane; and hydroxyl group-containing alkoxysilane compounds such as γ-hydroxypropyltrimethoxysilane and γ-hydroxypropyltriethoxysilane. In one embodiment, a silane coupling agent is not an essential component, but when used, its amount is not particularly limited as long as it does not impair the effects of the embodiment, and is preferably in the range of 0.01 parts by mass or more, more preferably 0.1 parts by mass or more, to preferably 10 parts by mass or less, more preferably 5 parts by mass or less, relative to 100 parts by mass of the resin. In this range, the resin has good corona resistance and moldability, particularly releasability, and the molded article exhibits excellent adhesion to the epoxy resin while also improving mechanical strength, which is preferable.

[0064] The resin used in one embodiment may optionally contain a thermoplastic elastomer. Examples of thermoplastic elastomers include polyolefin elastomers, fluorine elastomers, and silicone elastomers, with polyolefin elastomers being preferred. When these elastomers are added, their amount is not particularly limited as long as it does not impair the effects of the embodiment. However, it is preferably in the range of 0.01 parts by mass or more, more preferably 0.1 parts by mass or more, to 10 parts by mass or less, more preferably 5 parts by mass or less, per 100 parts by mass of the resin. This range is preferred because it improves the impact resistance of the resulting resin.

[0065] Examples of the polyolefin elastomer include a homopolymer of an α-olefin, a copolymer of two or more α-olefins, and a copolymer of one or more α-olefins with a vinyl polymerizable compound having a functional group. Examples of the α-olefin include α-olefins having 2 to 8 carbon atoms, such as ethylene, propylene, and 1-butene. Examples of the functional group include a carboxy group, an acid anhydride group (—C(═O)OC(═O)—), an epoxy group, an amino group, a hydroxyl group, a mercapto group, an isocyanate group, and an oxazoline group. Examples of the vinyl polymerizable compound having the functional group include one or more of vinyl acetate; α,β-unsaturated carboxylic acids such as (meth)acrylic acid; alkyl esters of α,β-unsaturated carboxylic acids such as methyl acrylate, ethyl acrylate, and butyl acrylate; metal salts of α,β-unsaturated carboxylic acids such as ionomers (metals include alkali metals such as sodium, alkaline earth metals such as calcium, and zinc); glycidyl esters of α,β-unsaturated carboxylic acids such as glycidyl methacrylate; α,β-unsaturated dicarboxylic acids such as maleic acid, fumaric acid, and itaconic acid; and derivatives of the above α,β-unsaturated dicarboxylic acids (monoesters, diesters, and acid anhydrides). The above thermoplastic elastomers may be used alone or in combination of two or more.

[0066] Furthermore, in addition to the above components, the resin used in one embodiment may further contain, as appropriate depending on the application, synthetic resins such as polyester resin, polyamide resin, polyimide resin, polyetherimide resin, polycarbonate resin, polyphenylene ether resin, polysulfone resin, polyethersulfone resin, polyetheretherketone resin, polyetherketone resin, polyarylene resin, polyethylene resin, polypropylene resin, polyethylenetetrafluoroethylene resin, polyethylenedifluoroethylene resin, polystyrene resin, ABS resin, phenolic resin, urethane resin, and liquid crystal polymer (hereinafter simply referred to as synthetic resin) as optional components. Although the above synthetic resins are not essential components in one embodiment, when they are contained, their proportion is not particularly limited as long as it does not impair the effects of one embodiment. Furthermore, since the proportion varies depending on each purpose and cannot be generally defined, the proportion of synthetic resin contained in the resin according to one embodiment is, for example, in the range of 5 parts by mass or more and 15 parts by mass or less per 100 parts by mass of resin. In other words, the ratio of the resin to the total of the resin and the synthetic resin is preferably in the range of (100 / 115) or more, more preferably in the range of (100 / 105) or more, on a mass basis.

[0067] The resin used in one embodiment may also contain, as optional components, known and commonly used additives such as colorants, antistatic agents, antioxidants, heat stabilizers, UV stabilizers, UV absorbers, foaming agents, flame retardants, flame retardant assistants, rust inhibitors, and coupling agents, as needed. These additives are not essential components, and may be used in amounts, for example, preferably 0.01 parts by mass or more and preferably 1,000 parts by mass or less per 100 parts by mass of the resin, adjusted appropriately depending on the purpose and application so as not to impair the effects of one embodiment.

[0068] A method for producing the resin used in one embodiment will be described in detail below.

[0069] The resin used in one embodiment is a blend of the essential components and, if necessary, other optional components. The method for producing the resin used in one embodiment is not particularly limited, but examples thereof include a method in which the essential components and, if necessary, the optional components are blended and melt-kneaded, more specifically, a method in which, if necessary, the components are dry-mixed uniformly using a tumbler or a Henschel mixer, and then the mixture is charged into a twin-screw extruder and melt-kneaded.

[0070] Melt kneading can be carried out by heating to a temperature range in which the resin temperature is equal to or higher than the melting point of the resin, preferably equal to or higher than the melting point + 10°C, more preferably equal to or higher than the melting point + 10°C, even more preferably equal to or higher than the melting point + 20°C, to a temperature range in which the resin temperature is equal to or higher than the melting point + 100°C, more preferably equal to or lower than the melting point + 50°C.

[0071] From the viewpoints of dispersibility and productivity, the melt-kneading machine is preferably a twin-screw kneading extruder. For example, it is preferable to melt-knead while appropriately adjusting the resin component discharge rate in the range of 5 to 500 (kg / hr) and the screw rotation speed in the range of 50 to 500 (rpm). It is even more preferable to melt-knead under conditions where the ratio (discharge rate / screw rotation speed) is in the range of 0.02 to 5 (kg / hr / rpm). Furthermore, the components may be added and mixed simultaneously or in portions into the melt-kneading extruder. For example, when adding additives among the components, it is preferable from the viewpoint of dispersibility to feed them into the extruder through a side feeder of the twin-screw kneading extruder. The position of the side feeder is preferably such that the ratio of the distance from the extruder's resin input section (top feeder) to the side feeder to the total screw length of the twin-screw kneading extruder is 0.1 or more, more preferably 0.3 or more. Furthermore, this ratio is preferably 0.9 or less, more preferably 0.7 or less.

[0072] The resin according to one embodiment obtained by melt-kneading in this manner is a molten mixture containing the above-mentioned essential components, optional components added as needed, and components derived therefrom. After the melt-kneading, it is preferable to process the molten resin by a known method, for example, by extruding the resin in a strand shape, and then processing it into a form such as pellets, chips, granules, or powder, and then pre-drying it at a temperature in the range of 100 to 150°C as needed.

[0073] The molded article of one embodiment is formed by molding a resin. Also, a method for producing the molded article of one embodiment includes a step of melt-molding the resin. The method is described in detail below.

[0074] The resin used in one embodiment is subjected to injection molding. The molding conditions are not particularly limited, and molding can be performed using a typical method. For example, the resin may be melted in an injection molding machine at a temperature above the melting point of the resin, preferably within a temperature range of the melting point +10°C, more preferably within a temperature range of the melting point +10°C to the melting point +100°C, and even more preferably within a temperature range of the melting point +20°C to the melting point +50°C, and then injected into a mold through a resin discharge port for molding. The mold temperature may also be set within a known temperature range, for example, from room temperature (23°C) to 300°C, preferably 120 to 180°C.

[0075] The end effector 10 according to the embodiment described above can grasp an object with greater precision. The end effector 10 has a sensor unit 12 that is integrally attached to the resin surface of the main body 11 and has a sensor that contributes to a predetermined function. In addition, the adhesive of the attachment unit 13 or the adhesive layer of the adhesive tape contains a carboxyl group-containing (meth)acrylic acid ester copolymer.

[0076] The carboxyl group-containing (meth)acrylic acid ester copolymer can impart the adhesive or adhesive layer of an adhesive tape with the adhesive strength or cohesion required to attach a sensor to a resin surface. This allows the end effector 10 to more directly transmit the effect of the main body 11 touching the object when grasping the object to the sensor of the sensor unit 12, which is integrally attached to the main body 11. Therefore, compared to conventional techniques that use common materials such as double-sided tape, the end effector 10 can detect the object more accurately when grasping the object. In addition, the flexural modulus of the resin forming the main body 11 is in the range of 1 to 60 GPa. This allows the end effector 10 to more easily deflect the main body 11 when grasping an object. Therefore, the end effector 10 can deflect the main body 11 even when grasping an object with a small load, and can detect the object more sensitively based on this deflection.

[0077] As described above, unlike conventional technologies that detect an object to be grasped by image processing using a vision sensor such as a camera, the end effector 10 can detect an object without using a camera. Therefore, the end effector 10 does not require the creation of a program required for image processing or the incorporation of artificial intelligence, and can therefore be relatively inexpensive.

[0078] The end effector 10 can grip objects with different conditions, such as shape, size, weight, hardness (softness), and other materials, using a single end effector 10. For example, the end effector 10 can grip both large and small objects. For example, the end effector 10 can grip both hard and soft objects. As a result, unlike conventional techniques, the end effector 10 does not require tasks such as creating a program and replacing the end effector or robot arm for each object with different conditions. As a result, the cost and labor required to manufacture the object as a manufactured product are reduced compared to conventional techniques.

[0079] In addition, the end effector 10 has improved waterproofing and water resistance because the main body 11 contains resin, and can be washed to prevent the spread of infection and for other hygienic purposes. Unlike conventional metal end effectors, the end effector 10 is lightweight and can be prevented from rusting when washed.

[0080] The end effector 10 grasps an object in a low load range where the load applied to the object when grasping the object is, for example, 1 N or less. This allows the end effector 10 to reduce damage to the object when grasping, even if the object is soft and not sturdy, and suppresses grasping failures. The end effector 10 can also detect objects using weak signals, and can accurately grasp soft and light objects without damaging them.

[0081] The end effector 10 can contribute to the first function by including a first sensor 121 that detects that the main body 11 has come into contact with a first object. More specifically, when the first object comes into contact with the first sensor 121, the first sensor 121 reacts at the contact point. As a result, the first sensor 121 outputs a predetermined detection signal. For example, the control unit 40 of the robot arm 1 acquires such a detection signal from the first sensor 121 and determines that the main body 11 of the end effector 10 has come into contact with the first object. Therefore, the end effector 10 contributes to the first function by outputting such a detection signal to the control unit 40 of the robot arm 1 as information.

[0082] The robot arm 1 can detect the presence or absence of a first object through contact detection by the control unit 40. When the end effector 10 comes into contact with the first object, the robot arm 1 can stop the movement of the end effector 10 and prevent the end effector 10 from moving further toward the first object. Therefore, the robot arm 1 can prevent the end effector 10 itself from breaking down or the first object from being damaged due to violent contact or collision between the end effector 10 and the first object. The end effector 10 can improve the safety of the operation of the robot arm 1.

[0083] The end effector 10 can contribute to the second function by including a second sensor 122 that detects the height of a second object. More specifically, according to the same principle as described above regarding contact detection, the control unit 40 of the robot arm 1 can determine at which of the portions P1, P2, P3, and P4 of the second sensor 122 shown in FIG. 4 the claw portion 11b of the end effector 10 is in contact with the second object.

[0084] Therefore, the control unit 40 can measure the distance from the tip of the claw portion 11b to the upper end of the contact point with the second object in the height direction parallel to the extension direction D2 within a predetermined numerical range. At this time, the control unit 40 may use, for example, the distance from the tip of the claw portion 11b to each part of the second sensor 122 as information. Such information may be stored in advance in the storage unit 20, for example.

[0085] For example, if the control unit 40 determines that the claw portion 11b is in contact with the second object only at portion P1, it can determine the predetermined numerical range based on the range of portion P1. For example, if the control unit 40 determines that the claw portion 11b is in contact with the second object at portions P1 and P2, it can determine the predetermined numerical range based on the range of portion P2. For example, if the control unit 40 determines that the claw portion 11b is in contact with the second object at portions P1, P2, and P3, it can determine the predetermined numerical range based on the range of portion P3. For example, if the control unit 40 determines that the claw portion 11b is in contact with the second object at all of portions P1, P2, P3, and P4, it can determine the predetermined numerical range based on the range of portion P4.

[0086] For example, if the control unit 40 can obtain information on the current height position of the tip of the claw portion 11b measured from a reference plane such as the ground or floor surface using any method, it can calculate the height from the reference plane to the top of the contact point with the second object as a numerical range.

[0087] As an example, the control unit 40 can measure the water level or the height of the upper surface of the contents contained in the container. The control unit 40 controls the operation of the end effector 10 via the drive unit 30 so that the tip of the claw portion 11b of the end effector 10 contacts the bottom surface of the container. The control unit 40 aligns the tip position of the claw portion 11b of the end effector 10 with the bottom surface. In this state, the control unit 40 determines which of the portions P1, P2, P3, and P4 the contents are in contact with. Based on the determination result, the control unit 40 can measure the water level or the height of the upper surface of the contents within a predetermined numerical range.

[0088] The end effector 10 can contribute to a third function by including a third sensor 123 that detects the magnitude of pressure generated when the end effector 10 grasps a third object. When the third object contacts the third sensor 123, the amount of strain in the third sensor 123 changes depending on the pressure at the contact point. When the amount of strain changes, the intensity of the detection signal from the third sensor 123 also changes. For example, the control unit 40 of the robot arm 1 can calculate the pressure applied to the third sensor 123 by measuring the amount of change in the intensity of the detection signal. In this case, the control unit 40 may use, for example, data that associates the pressure generated when the end effector 10 grasps the third object with the amount of change in the intensity of the detection signal. Such data may be stored in advance in the storage unit 20, for example.

[0089] As described above, the robot arm 1 can measure the pressure applied to the tip of the claw 11b when grasping the third object using the third sensor 123 of the end effector 10. By detecting the magnitude of the pressure applied to the tip of the claw 11b, the robot arm 1 can appropriately adjust the load applied to the third object when grasping the third object. When grasping the third object, the robot arm 1 can prevent a large load from being applied to the third object, thereby preventing damage to the third object and failure of the end effector 10 itself.

[0090] The end effector 10 can contribute to the fourth function by including a fourth sensor 124 that detects the pH of a fourth object. For example, when the fourth object contacts the fourth sensor 124, the fourth sensor 124 reacts at the contact point. As a result, the fourth sensor 124 outputs a predetermined detection signal corresponding to the pH of the fourth object. For example, the control unit 40 of the robot arm 1 acquires such a detection signal from the fourth sensor 124 and calculates the pH of the fourth object that the main body 11 of the end effector 10 has contacted. Therefore, the end effector 10 contributes to the fourth function by outputting such a detection signal as information to the control unit 40 of the robot arm 1.

[0091] The resin includes a thermoplastic resin, and the thermoplastic resin is a polyarylene sulfide resin, which allows the end effector 10 to have improved waterproof and water resistance. In addition, the excellent chemical resistance and heat resistance of the polyarylene sulfide resin allows the end effector 10 to have improved chemical resistance and heat resistance. This allows the end effector 10 to be used in chemicals and to grip high-temperature objects.

[0092] It will be apparent to those skilled in the art that the present disclosure may be embodied in other specific forms other than the above-described embodiments without departing from the spirit or essential characteristics thereof. Therefore, the foregoing description is illustrative and not limiting. The scope of the disclosure is defined not by the foregoing description but by the appended claims. All modifications within the range of equivalents of any modifications are intended to be embraced therein.

[0093] For example, the shape, pattern, size, arrangement, orientation, type, and number of each of the above-described components are not limited to those shown in the above description and drawings. The shape, pattern, size, arrangement, orientation, type, and number of each component may be configured arbitrarily as long as the function can be realized. The components of the end effector 10 and robot arm 1 shown in the drawings are functional concepts, and the specific form of each component is not limited to those shown in the drawings.

[0094] In the above embodiment, the first function, the second function, the third function, and the fourth function are exemplified as the predetermined functions, but the types and number of functions are not limited to these. The predetermined functions may include only some of the first function, the second function, the third function, and the fourth function. The predetermined functions may include at least one other type of function instead of or in addition to at least some of the first function, the second function, the third function, and the fourth function.

[0095] In the above embodiment, the end effector 10 has been described as grasping an object in a low load range where the load applied to the object when grasping the object is 1 N or less, but the present invention is not limited to this. The end effector 10 may grasp an object in a load range where the load applied to the object when grasping the object is greater than 1 N.

[0096] In the above embodiment, the second sensor 122 has been described as contributing to the second function of detecting the height of the second object, but is not limited thereto. For example, the second sensor 122 may contribute to the function of detecting the position of the second object along the horizontal direction by the robot arm 1 moving the end effector 10 in the horizontal direction instead of the height direction.

[0097] In the above embodiment, the sensors included in the sensor unit 12 include at least one of the first sensor 121, the second sensor 122, the third sensor 123, and the fourth sensor 124, but are not limited to this. The number, type, and arrangement of the sensors included in the sensor unit 12 in the main body 11 may be determined in any configuration that can contribute to each function. For example, if the predetermined function includes only some of the first function, the second function, the third function, and the fourth function, the sensors in the sensor unit 12 may include only sensors corresponding to those some of the functions. For example, if the predetermined function includes at least one other type of function instead of or in addition to at least some of the first function, the second function, the third function, and the fourth function, the sensors in the sensor unit 12 may include sensors corresponding to those functions.

[0098] The sensor unit 12 may further include other sensors instead of or in addition to the above-described various sensors that contribute to predetermined functions. The other sensors may include, for example, a microphone, a proximity sensor, a vibration sensor, a LiDAR (Light Detection and Ranging) sensor, and an image sensor. As a result, the end effector 10 can contribute to even more functions.

[0099] In addition, the end effector 10 may further include a control element electrically connected to the sensor of the sensor unit 12 and executing processes necessary to realize a predetermined function. In the present disclosure, the "control element" may include, for example, a microcontroller, a processor, a programmable circuit, a dedicated circuit, or any combination thereof. This allows the end effector 10 to execute the various processes described above that are performed by the control unit 40 of the robot arm 1. The end effector 10 can also execute determination processes, learning processes, and other arbitrary processes by itself.

[0100] In the above embodiment, the entire main body 11, including the attachment portion 11a and the claw portion 11b, is made of resin, but this is not limited to this. At least the portion of the main body 11 where the sensor is located needs to be made of resin, and other parts of the main body 11 may be made of any material other than resin.

[0101] In the above embodiment, the resin includes a thermoplastic resin, and the thermoplastic resin is described as a polyarylene sulfide resin, but is not limited to this. An appropriate resin may be selected depending on the usage conditions, such as the strength and chemical resistance of the object to be gripped by the end effector 10.

[0102] FIG. 8 is a schematic diagram showing the appearance of an end effector 10 according to a modified example of the present disclosure. In the above embodiment, the end effector 10 has been described as having a pair of claws 11b, i.e., two claws 11b, but this is not limited thereto. The end effector 10 may have three or more claws 11b. For example, as shown in FIG. 8, the end effector 10 may have three claws 11b.

[0103] The robot arm 1 having the end effector 10 described above may constitute part of a manufacturing system having a production line for manufacturing manufactured products. In this case, the robot arm 1 may operate so that the end effector 10 grasps a manufactured product that is in a predetermined environment on the production line. In this disclosure, the "predetermined environment" includes, for example, a cold-hot environment and a harsh environment such as an acid-base environment. The robot arm 1 can also grasp, with the end effector 10, an object that is heated to a high temperature, an object submerged in a high-temperature liquid, or an object submerged in an acidic solution. The predetermined environment is not limited to the above environments and may further include any other environment. The robot arm 1 having the end effector 10 can be used in a wide range of environments.

[0104] Some embodiments of the present disclosure will be described below as examples, however, it should be noted that the embodiments of the present disclosure are not limited to these examples. [Appendix 1] An end effector for use in a robot, a main body containing a resin; a sensor unit having a sensor integrally attached to a surface of the resin in the main body unit, the sensor contributing to a predetermined function; a mounting portion including an adhesive or adhesive tape for mounting the sensor on the surface of the resin; Equipped with The flexural modulus of the resin is in the range of 1 to 60 GPa, The adhesive or the adhesive layer of the adhesive tape contains a carboxyl group-containing (meth)acrylic acid ester copolymer. End effector. [Appendix 2] 10. The end effector of claim 1, the adhesive or the adhesive layer of the adhesive tape further contains a nitrogen atom-containing (meth)acrylic acid ester copolymer, the equivalent ratio of the carboxyl groups of the carboxyl group-containing (meth)acrylic acid ester copolymer to the nitrogen atoms of the nitrogen atom-containing (meth)acrylic acid ester copolymer is 1:0.05 to 1:0.50; End effector. [Appendix 3] 10. The end effector of claim 1, Among the monomer components constituting the carboxyl group-containing (meth)acrylic acid ester copolymer, the content of monomer components not containing a carboxyl group is 99% by mass or more. End effector. [Appendix 4] 4. The end effector according to claim 1, further comprising: The object is grasped in a low load region in which a load applied to the object when grasping the object is 1 N or less. End effector. [Appendix 5] 5. The end effector according to any one of claims 1 to 4, The sensor includes a first sensor that detects that the main body has come into contact with a first object. End effector. [Appendix 6] 6. The end effector of claim 1, The sensor includes a second sensor that detects the height of a second object. End effector. [Appendix 7] 7. The end effector of claim 1, The sensors include a third sensor that detects a magnitude of pressure generated when the end effector grasps a third object. End effector. [Appendix 8] 8. The end effector of claim 1, the sensors include a fourth sensor that detects the pH of a fourth object; End effector. [Appendix 9] 9. The end effector of claim 1, Further, a control element is electrically connected to the sensor and executes processing necessary to realize the predetermined function. End effector. [Appendix 10] 10. The end effector of any one of claims 1 to 9, The resin includes a thermoplastic resin. End effector. [Appendix 11] 11. The end effector of claim 10, The thermoplastic resin includes at least one selected from the group consisting of engineering plastics and super engineering plastics, End effector. [Appendix 12] 12. The end effector of claim 11, The thermoplastic resin is a polyarylene sulfide resin. End effector. [Appendix 13] A robot arm comprising an end effector according to any one of appendixes 1 to 12. [Appendix 14] a production line for producing manufactured products; 14. The robot arm according to claim 13, wherein the end effector grasps the manufactured product in a predetermined environment in the manufacturing line as an object; Equipped with Manufacturing system. [Explanation of symbols]

[0105] 1. Robotic Arm 1a Housing 10 End Effector 11 Main body 11a Mounting part 11b Claw part 12 Sensor section 121 First Sensor 122 Second Sensor 123 Third Sensor 124 4th Sensor 13 Mounting part (adhesive or adhesive tape) 20 Memory section 30 Drive unit 40 Control Unit D1 Separation direction D2 Extending direction P1, P2, P3, P4 part

Claims

1. An end effector for use in a robot, a main body containing a resin; a sensor unit having a sensor integrally attached to a surface of the resin in the main body unit, the sensor contributing to a predetermined function; a mounting portion including an adhesive or adhesive tape for mounting the sensor on the surface of the resin; Equipped with The flexural modulus of the resin is in the range of 1 to 60 GPa, the adhesive or the adhesive layer of the adhesive tape contains a carboxyl group-containing (meth)acrylic acid ester copolymer; End effector.

2. The end effector of claim 1 , the adhesive or the adhesive layer of the pressure-sensitive adhesive tape further contains a nitrogen atom-containing (meth)acrylic acid ester copolymer, the equivalent ratio of the carboxyl groups of the carboxyl group-containing (meth)acrylic acid ester copolymer to the nitrogen atoms of the nitrogen atom-containing (meth)acrylic acid ester copolymer is 1:0.05 to 1:0.50; End effector.

3. The end effector of claim 1 , Among the monomer components constituting the carboxyl group-containing (meth)acrylic acid ester copolymer, the content of monomer components not containing a carboxyl group is 99% by mass or more. End effector.

4. The end effector according to any one of claims 1 to 3, The object is grasped in a low load region in which a load applied to the object when grasping the object is 1 N or less. End effector.

5. The end effector according to any one of claims 1 to 3, The sensor includes a first sensor that detects that the main body has come into contact with a first object. End effector.

6. The end effector according to any one of claims 1 to 3, the sensor includes a second sensor that detects the height of a second object; End effector.

7. The end effector according to any one of claims 1 to 3, the sensors include a third sensor that detects a magnitude of pressure generated when the end effector grasps a third object; End effector.

8. The end effector according to any one of claims 1 to 3, the sensors include a fourth sensor that detects the pH of a fourth object; End effector.

9. The end effector according to any one of claims 1 to 3, Further, a control element is electrically connected to the sensor and executes processing necessary to realize the predetermined function. End effector.

10. The end effector according to any one of claims 1 to 3, The resin includes a thermoplastic resin. End effector.

11. The end effector of claim 10, The thermoplastic resin includes at least one selected from the group consisting of engineering plastics and super engineering plastics. End effector.

12. 12. The end effector of claim 11, The thermoplastic resin is a polyarylene sulfide resin. End effector.

13. A robot arm comprising the end effector according to any one of claims 1 to 3.

14. a production line for producing manufactured products; 14. The robot arm according to claim 13, wherein the end effector grasps the manufactured product that is in a predetermined environment in the manufacturing line as an object; Equipped with Manufacturing system.

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