Dosing module and robot arm

Abstract

The present invention provides a measuring module and a robotic arm that can facilitate the measurement of objects with a simpler configuration. The measuring module (10) disclosed herein is a measuring module (10) that facilitates the measurement of objects, comprising: a support portion (11b) for supporting the object; and a first detection portion (11c) for generating strain based on the force applied to the support portion (11b) due to the weight of the object, the first detection portion (11c) containing a first resin and having a first circuit (CB1) integrally formed with the first resin and outputting a first electrical signal that changes according to the strain of the first detection portion (11c).

Description

Technical Field

[0001] This disclosure relates to a metering module and a robotic arm. Background Technology

[0002] Previously, robotic arms for various applications, such as industrial robotic arms, medical robotic arms, and nursing robotic arms, were known for use in manufacturing sites and other similar environments. Furthermore, technologies related to end effectors, including manipulators and mechanical grippers, mounted on the front end of the robotic arm are known. For example, Patent Document 1 discloses a food holding device that uses an end effector with a spoon-shaped tip to evenly distribute fluid ingredients such as sauces onto the surface of meals such as machine-made meals or bento boxes with a simple configuration.

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2018-176292 Summary of the Invention

[0006] The problem that the invention aims to solve

[0007] However, the prior art described in Patent Document 1 does not adequately consider the measurement of objects held by the spoon-shaped front end of the end effector.

[0008] The purpose of this disclosure is to provide a measuring module and robotic arm that can facilitate the measurement of objects with a simpler configuration.

[0009] Methods for solving problems

[0010] The first viewpoint for solving the above-mentioned problem is a metering module that helps to measure an object, comprising: a support portion supporting the object; and a first detection portion that generates strain based on the force applied to the support portion due to the weight of the object, the first detection portion containing a first resin and having a first circuit integrally formed with the first resin and outputting a first electrical signal that changes according to the strain of the first detection portion.

[0011] The robotic arm used to address the aforementioned issues in the second viewpoint has the aforementioned metering module as an end effector.

[0012] Invention Effects

[0013] According to this disclosure, a measuring module and robotic arm that can facilitate the measurement of objects with a simpler configuration can be provided. Attached Figure Description

[0014] Figure 1This is a perspective view showing an example of a robotic arm according to the first embodiment of the present disclosure.

[0015] Figure 2 It means Figure 1 A block diagram illustrating an example of the structure of a robotic arm.

[0016] Figure 3 It means Figure 1 A perspective view of an example of the end effector of a robotic arm.

[0017] Figure 4 It is used for explanation Figure 1 A flowchart illustrating an example of the robotic arm's movements.

[0018] Figure 5 This is a perspective view showing the appearance of the end effector of the first modified example.

[0019] Figure 6 This is a perspective view showing the appearance of the end effector in the second variation.

[0020] Figure 7 This is a perspective view showing the appearance of the end effector in the third variation.

[0021] Figure 8 This is a perspective view showing an example of an end effector according to the second embodiment of the present disclosure.

[0022] Figure 9 It means having Figure 8 A block diagram illustrating an example of the configuration of a robotic arm with an end effector.

[0023] Symbol Explanation

[0024] 1: Robotic arm; 1a: Housing; 10: End effector (measuring module); 11: Main body; 11a: Mounting part; 11b: Support part; 11c: First detection part; 11d: Second detection part; 20: Storage part; 30: Drive part; 40: Control part; CB1: First circuit; CB2: Second circuit; E1: Input electrode; E2: Output electrode; E3: Input electrode; E4: Output electrode; W1: First wiring; W11: Connecting wire; W12: Strain gauge wire; W2: Second wiring; W21: Connecting wire; W22: Strain gauge wire. Detailed Implementation

[0025] Hereinafter, one embodiment of the present disclosure will be described with reference to the accompanying drawings.

[0026] (First Implementation)

[0027] Figure 1 This is a perspective view showing an example of the robotic arm 1 according to the first embodiment of the present disclosure. Figure 2 It means Figure 1 A block diagram illustrating an example of the configuration of robotic arm 1. Figure 3 It means Figure 1 A perspective view of an example of the end effector 10 of the robotic arm 1. (Referring to...) Figures 1 to 3 The description will primarily focus on an example of the configuration of a robotic arm 1 that includes the end effector 10 of the first embodiment as a metering module.

[0028] like Figure 1 and Figure 3 As shown, the robotic arm 1 has a housing 1a constituting the main body and an end effector 10 mounted on the housing 1a at the front end of the robotic arm 1. The end effector 10 corresponds to the metering module described in the claims. The end effector 10 is mounted on the housing 1a via its end opposite to the support portion 11b described later, thereby the end effector 10 is supported by the housing 1a. The end effector 10 is driven while supported by the housing 1a, scooping up and holding an object while moving along a predetermined trajectory. The end effector 10 helps to measure the object while holding it.

[0029] In this disclosure, "object" includes, for example, powders, liquids, solids, viscous substances, or gel-like substances. It is not limited to this; the object may also include any other substance that becomes the object of measurement using the end effector 10. "Measurement" refers, for example, to determining and quantifying physical parameters such as weight, mass, or volume.

[0030] The end effector 10 is used in a robot. For example, the end effector 10 functions as part of a robot having a robotic arm 1. In this disclosure, "robot" includes, for example, industrial robots, nursing robots, marine robots, medical robots, and mobile bodies such as vehicles and drones that autonomously determine and move. "Industrial robots" include, for example, collaborative robots capable of working alongside an operator in the same space, as well as other robots that work in isolation from an operator. The end effector 10 is configured as a robotic hand or mechanical gripper in such a robot.

[0031] like Figure 2 and Figure 3 As shown, the end effector 10 has a main body 11. The main body 11 forms the entire outer shape of the end effector 10. The main body 11 has a mounting portion 11a, a support portion 11b, and a first detection portion 11c. The main body 11 contains a first resin. As an example, the entire main body 11, which includes the mounting portion 11a, the support portion 11b, and the first detection portion 11c, is formed of the first resin. That is, the first detection portion 11c, which helps to measure the object, also contains the first resin.

[0032] In this disclosure, "first resin" includes, for example, a thermoplastic resin. "Thermoplastic resin" includes, for example, at least one selected from the group consisting of engineering plastics or super engineering plastics. Thermoplastic resin is, for example, a polyarylene sulfide resin. More specifically, the thermoplastic resin includes polyarylene sulfide resins such as polyphenylene sulfide resin.

[0033] like Figure 3 As shown, the mounting part 11a is disposed at one end of the main body 11 and is mounted on the housing 1a of the robotic arm 1. The mounting part 11a can also be mounted on the housing 1a by any mounting method including screwing, snapping, locking, fitting, joining or bonding.

[0034] The support portion 11b is located at the front end of the main body 11 on the side opposite to the mounting portion 11a. The support portion 11b supports the object. The support portion 11b has a spoon structure for scooping up and holding the object. For example, the support portion 11b is disposed at the other end of the main body 11 and has a hemispherical recess. After the support portion 11b scoops up the object, it receives the object in the recess. The support portion 11b can also be mounted to the front end of the first detection portion 11c by any mounting method including screwing, snapping, locking, fitting, joining, or bonding.

[0035] The first detection unit 11c is disposed between the support unit 11b and the mounting unit 11a. One end of the first detection unit 11c is continuously connected to the mounting unit 11a. The other end of the first detection unit 11c is mounted to the support unit 11b. The first detection unit 11c is disposed adjacent to the support unit 11b on the same straight line. The first detection unit 11c is formed into a flat plate. The first detection units 11c are continuously disposed in a rectangular shape in the main body 11, forming a flat plate with a uniform width.

[0036] The first detection unit 11c has a first circuit CB1 integrally formed with the first resin and outputs a first electrical signal that changes according to the strain of the first detection unit 11c. The first circuit CB1 is disposed on the surface of the first detection unit 11c on the same side as the opening of the hemispherical recess of the support portion 11b. The first circuit CB1 is located on the surface of the first detection unit 11c that intersects with the direction of gravity of the object acting when the end effector 10 holds the object using the support portion 11b. The surface of the first detection unit 11c is disposed on the same plane as the surface of the mounting portion 11a.

[0037] Not limited to the above, the first circuit CB1 can be disposed on the surface on the same side as the opening of the hemispherical recess of the support portion 11b, or alternatively, on the back side of the first detection portion 11c located on the opposite side of that surface.

[0038] The first circuit CB1 is, for example, depicted on the surface of the first resin forming the first detection portion 11c of the main body portion 11. In the first circuit CB1, wiring and electrodes are formed in various regions of the surface of the first resin forming the main body portion 11. The first circuit CB1 is, for example, configured as a molded circuit based on MID technology. "MID" is an abbreviation for Molded Interconnect Device. For example, the first circuit CB1 is formed by a process of forming at least one plating layer on the surface of the resin molded part of the main body portion 11 while using a mask corresponding to a predetermined pattern of the wiring of the first circuit CB1. At this time, the at least one plating layer can be formed by chemical plating, electroplating, sputtering, or a combination thereof as a layer made of metal and / or ceramic.

[0039] Not limited to the above, the first circuit CB1 may also be configured as a molding circuit using LDS in a MID. "LDS" is an abbreviation for Laser Direct Structuring. The first circuit CB1 may also be formed by directly irradiating the surface of the main body 11, which is a molded article, with a laser and then depositing it.

[0040] The first circuit CB1 has a first wiring W1 formed on the surface of the first resin in the first detection section 11c. The first circuit CB1 has an input electrode E1 and an output electrode E2 formed from the surface of the first resin in the first detection section 11c across the surface of the first resin in the mounting section 11a. The input electrode E1 and the output electrode E2 are formed side by side. The first wiring W1 of the first circuit CB1 includes multiple straight lines connecting the input electrode E1 and the output electrode E2, which are integrally formed with the first resin.

[0041] For example, the first wiring W1 has connecting lines W11 extending in an L-shape relative to the input electrode E1 and the output electrode E2, respectively. The first wiring W1 has strain gauge lines W12 connecting the input electrode E1 and the output electrode E2 to two ends located on opposite sides of the two connecting lines W11. The strain gauge lines W12 function as strain gauges. For example, the strain gauge lines W12 are formed by repeatedly folding a straight line back 180° at one end and then further folding the folded line back 180° at the other end.

[0042] The linewidth of the first wiring W1, such as strain gauge line W12, is not particularly limited, but is preferably 250 μm or less, more preferably 200 μm or less, even more preferably 150 μm or less, and even more preferably 100 μm or less. In the first wiring W1, the spacing between adjacent pairs of strain gauge lines W12 is not particularly limited, but is preferably 250 μm or less, more preferably 200 μm or less, even more preferably 150 μm or less, and even more preferably 100 μm or less. As an example, the linewidth of the strain gauge line W12 and the spacing between adjacent pairs of strain gauge lines W12 can each be narrowed to approximately 50 μm.

[0043] A first circuit CB1 formed on the surface of the first detection unit 11c outputs a first electrical signal that varies depending on the resistance of the first wiring W1 itself. For example, the first circuit CB1 outputs the first electrical signal to the control unit 40, which will be described later. Thus, the first detection unit 11c, based on the first wiring W1 itself, facilitates the measurement of the object by the control unit 40. For example, the first circuit CB1 includes a strain gauge. More specifically, the first circuit CB1 functions as a strain gauge based on the configuration of the first wiring W1 described above.

[0044] For example, if the first detection unit 11c experiences strain due to the weight of the object while being held by the support unit 11b, the first wiring W1 connecting the input electrode E1 and the output electrode E2 will also experience strain, and the resistance of the first wiring W1 will change according to the degree of strain. The strain in the first detection unit 11c is related to the resistance value of the first wiring W1. Accordingly, the voltage between the input electrode E1 and the output electrode E2 changes according to the strain of the first detection unit 11c. The first circuit CB1 outputs a first voltage signal corresponding to the resistance of the first wiring W1 itself, which changes according to the strain of the first detection unit 11c, to the control unit 40 as an example of the aforementioned first electrical signal.

[0045] The end effector 10 is driven while supported by the housing 1a, causing the support portion 11b located at the front end of the end effector 10 to move along a predetermined trajectory, thereby scooping up the object. The end effector 10 uses the support portion 11b to hold the scooped object. The first detection unit 11c generates strain based on the force applied to the support portion 11b due to the weight of the object. The end effector 10 changes a first electrical signal based on the strain of the first detection unit 11c generated by the holding of the object by the support portion 11b, and outputs it to the control unit 40, thereby aiding in the measurement of the object.

[0046] like Figure 2As shown, in addition to the end effector 10 of the main body 11, the robotic arm 1 also has a storage unit 20, a drive unit 30, and a control unit 40. The storage unit 20, the drive unit 30, and the control unit 40 are, for example, housed in the housing 1a of the robotic arm 1.

[0047] The storage unit 20 may include, for example, a semiconductor memory, a magnetic memory, an optical memory, or any combination thereof. The storage unit 20 may function as, for example, a main storage device, an auxiliary storage device, or a cache memory. The storage unit 20 stores information for the actions of the robotic arm 1 and information obtained through the actions of the robotic arm 1. For example, the storage unit 20 stores various data obtained through any means such as system programs, application programs, and communications.

[0048] The drive unit 30 includes, for example, any drive mechanism for driving the end effector 10. The drive mechanism includes, for example, multiple gears and a motor for rotating the gears. The drive unit 30 drives the end effector 10 according to a control signal from the control unit 40. For example, when using the support portion 11b of the end effector 10 to scoop up an object, the drive unit 30 moves the end effector 10 along a predetermined trajectory.

[0049] The control unit 40 includes a microcontroller, a processor, a programmable circuit, a special-purpose circuit, or any combination thereof. The processor is a general-purpose processor such as a CPU or GPU, or a special-purpose processor dedicated to specific processing. "CPU" is short for Central Processing Unit. "GPU" is short for Graphics Processing Unit. The programmable circuit is, for example, an FPGA. "FPGA" is short for Field Programmable Gate Array. The special-purpose circuit is, for example, an ASIC. "ASIC" is short for Application Specific Integrated Circuit. The control unit 40 is communicatively connected to each structural component constituting the robotic arm 1, controlling each component while executing various processes related to the movements of the robotic arm 1.

[0050] For example, the control unit 40 of the robotic arm 1 measures the object based on a first electrical signal output from the first circuit CB1 of the first detection unit 11c. More specifically, the control unit 40 measures the voltage change between the input electrode E1 and the output electrode E2 based on the first electrical signal, thereby measuring the object held by the support 11b of the end effector 10. For example, the control unit 40 calculates the weight of the object based on the first electrical signal output from the first circuit CB1 of the first detection unit 11c.

[0051] Figure 4It is used for explanation Figure 1 A flowchart illustrating an example of the movements of robotic arm 1. (Refer to...) Figure 4 An example of the processing associated with the measurement of the object performed by the control unit 40 of the robotic arm 1 will be described.

[0052] In step S101, the control unit 40 acquires measured data as a pre-calibration operation before actually measuring the object using the end effector 10 of the robotic arm 1. The control unit 40 stores the acquired measured data in the storage unit 20. In this disclosure, "measured data" includes, for example, data relating the voltage value of the first electrical signal output from the first detection unit 11c to the weight of the object. Based on such measured data, the control unit 40 calculates an approximate formula representing the relationship between the voltage value and the weight of the object, and stores it as information in the storage unit 20.

[0053] In step S102, the control unit 40 obtains a target value for the weight of the object scooped up by the end effector 10. The control unit 40 may also obtain a target value preset by a user or others who manage the robotic arm 1 equipped with the end effector 10, by using any method such as an input interface or a communication interface.

[0054] In step S103, the control unit 40 controls the drive unit 30 to drive the support unit 11b to perform the action of the support unit 11b scooping up the object.

[0055] In step S104, the control unit 40 measures the object. For example, the control unit 40 calculates the weight of the object held by the support unit 11b. At this time, the control unit 40 calculates the weight of the object corresponding to the voltage value of the first electrical signal output from the first detection unit 11c, while referring to the above-described approximation formula based on past measured data stored in the storage unit 20. As described above, the control unit 40 measures the object based on past measured data obtained in advance through calibration operations.

[0056] In step S105, the control unit 40 determines whether the difference between the measured weight of the object calculated in step S104 and the target weight of the object obtained in step S102 is below a threshold. If the control unit 40 determines that the difference between the measured value and the target value is below the threshold, it executes the processing in step S107. If the control unit 40 determines that the difference between the measured value and the target value is greater than the threshold, it executes the processing in step S106.

[0057] In step S106, if the control unit 40 determines in step S105 that the difference between the measured value and the target value is greater than a threshold, it adjusts the amount of object held by the support unit 11b. For example, if the measured value is greater than the target value, the control unit 40 may control the drive unit 30 to scrape off a portion of the object held by the support unit 11b with a scraper to reduce the amount of object held. For example, if the measured value is less than the target value, the control unit 40 may control the drive unit 30 to either scoop up additional object from the support unit 11b or return all the object previously held by the support unit 11b and scoop it up again to increase the amount of object held.

[0058] In step S107, when the control unit 40 determines in step S105 that the difference between the measured value and the target value is below a threshold, it transfers the object held by the support unit 11b to a predetermined container or the like.

[0059] The first resin used in the first embodiment will be described below. Preferably, a thermoplastic resin is used as the first resin. There are no particular limitations on the thermoplastic resin; examples 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; polyamide-imide resins; polystyrene resins such as polystyrene, syndiotactic polystyrene, acrylonitrile-styrene copolymer resins, or acrylonitrile-butadiene-styrene copolymer resins; polyaryl sulfide resins such as polyphenylene sulfide; polyphenylene ether resins; polyurethane resins; polylactic acid; polyetheretherketone resins; polyetherimide resins; polyketide resins; polyaryl ester resins such as amorphous polyaryl esters and liquid crystal polyaryl esters; and liquid crystal polyester resins.

[0060] Among them, the thermoplastic resin used in the first embodiment is preferably a so-called engineering plastic or super engineering plastic with excellent heat resistance and mechanical properties, namely thermoplastic polyimide resin, polyamide-imide resin, polyarylene sulfide resin, polyphenylene ether resin, polyether ether ketone resin, polyetherimide resin, polyketide resin, polyarylene ester resin and liquid crystal polyester resin. From the viewpoint of chemical resistance, heat resistance and mechanical properties, polyarylene sulfide resin is more preferred. Among polyarylene sulfide resins (hereinafter also referred to as "PAS resin"), polyphenylene sulfide resin (hereinafter also referred to as "PPS resin") is particularly preferred.

[0061] In the first embodiment, the above-described resin can be used alone, or it can be used in the form of a polymer alloy formed by mixing multiple of the above-described resins. Furthermore, the first resin of the first embodiment may also contain fillers. The first resin of the first embodiment may be in the form of a composition containing any of the additives described later (fillers, colorants, antistatic agents, antioxidants, heat stabilizers, UV stabilizers, UV absorbers, foaming agents, flame retardants, flame retardant additives, rust inhibitors, coupling agents, silane coupling agents, thermoplastic elastomers, or synthetic resins) as needed.

[0062] Polyarylene sulfide resins have a resin structure in which an aromatic ring bonded to a sulfur atom is a repeating unit. Specifically, it is a resin in which the structural part shown in the following general formula (1) is a repeating unit and, if necessary, the structural part shown in the following general formula (2) is a trifunctional structural part.

[0063] [Chemistry 1]

[0064]

[0065] In equation (1), R 1 and R 2 Each of the following groups independently represents an alkyl group, a nitro group, an amino group, a phenyl group, a methoxy group, or an ethoxy group, which are each in the range of 1 to 4 carbon atoms.

[0066] [Chemistry 2]

[0067]

[0068] The trifunctional structural part shown in formula (2) is preferably in the range of 0.001 to 3 mol% relative to the total number of moles of other structural parts, and particularly preferably in the range of 0.01 to 1 mol%.

[0069] Here, regarding the structural portion shown in the above general formula (1), especially considering the mechanical strength of the PAS resin, R in the formula is preferred. 1 and R 2 For hydrogen atoms, examples of structural sites with para-bonding shown in equation (3) and meta-bonding shown in equation (4) can be cited.

[0070] [Chemistry 3]

[0071]

[0072] From the perspective of the heat resistance and crystallinity of the above-mentioned PAS resin, it is particularly preferred that the sulfur atom in the repeating unit is bonded to the aromatic ring in the para-bonded structure shown in the above-mentioned general formula (3).

[0073] In addition, the PAS resin described above may contain not only the structural parts shown in the above general formulas (1) and (2), but also the structural parts shown in the following structural formulas (5) to (8) with a total of less than 30 mol% of the structural parts shown in the above general formulas (1) and (2).

[0074] [Chemistry 4]

[0075]

[0076] In particular, in the first embodiment, from the perspective of the heat resistance and mechanical strength of the PAS resin, it is preferable that the structural parts shown in the above general formulas (5) to (8) are 10 mol% or less. When the above PAS resin contains the structural parts shown in the above general formulas (5) to (8), the bonding mode can be either a random copolymer or a block copolymer.

[0077] In addition, the above-mentioned PAS resin may have naphthalene thioether bonds in its molecular structure, and the total molar percentage of the resin is preferably 3 mol% or less, and particularly preferably 1 mol% or less, relative to the total molar percentage of the resin and other structural sites.

[0078] Furthermore, the physical properties of the PAS resin are not particularly limited as long as they do not impair the effects of the first embodiment, but as described below.

[0079] Melt viscosity

[0080] The melt viscosity of PAS resin is not particularly limited. However, from the perspective of achieving a good balance between flowability 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) was measured using a Shimadzu CFT-500D flow tester for polyarylene sulfide resin at 300°C and a load of 1.96 × 10⁻⁶. 6 The measured value of melt viscosity after holding at Pa and L / D = 10 (mm) / 1 (mm) for 6 minutes.

[0081] Non-Newtonian exponents

[0082] The non-Newtonian index of PAS resin is not particularly limited, but is preferably in the range of 0.90 or higher and 2.00 or lower. When using linear polyarylene sulfide resin, the non-Newtonian index is preferably in the range of 0.90 or higher, more preferably in the range of 0.95 or higher, more preferably in the range of 1.50 or lower, and even more preferably in the range of 1.20 or lower. Such polyarylene sulfide resin exhibits excellent mechanical properties, flowability, and abrasion resistance. In the first embodiment, the non-Newtonian index (N value) is calculated using a capillary rheometer at a melting point of +20°C and a pore length (L) to pore diameter (D) ratio of L / D = 40, by measuring the shear rate (SR) and shear stress (SS), and using the following formula. A non-Newtonian index (N value) closer to 1 indicates a structure closer to a linear structure, and a higher non-Newtonian index (N value) indicates a more advanced branching structure.

[0083] [Number 1]

[0084]

[0085] Where SR represents the shear rate (seconds) -1 ), SS represents shear stress (Dyne / cm). 2 ), where K represents a constant.

[0086] The first resin used in the first embodiment can be combined with a silane coupling agent as an arbitrary component as needed. There are no particular limitations on the silane coupling agent, as long as it does not impair the effect of the first embodiment. Preferred silane coupling agents include those having functional groups (e.g., epoxy, isocyanate, amino, or hydroxyl groups) that react with carboxyl groups. Examples of such silane coupling agents include epoxy-containing alkoxysilane compounds such as γ-glycidoxypropyltrimethoxysilane, γ-glycidoxypropyltriethoxysilane, and β-(3,4-epoxycyclohexyl)ethyltrimethoxysilane; γ-isocyanopropyltrimethoxysilane, γ-isocyanopropyltriethoxysilane, γ-isocyanopropylmethyldimethoxysilane, γ-isocyanopropylmethyldiethoxysilane, and γ-isocyanopropylethyldimethoxysilane. The silane coupling agent is an isocyanate-containing alkoxysilane compound such as methoxysilane, γ-isocyanopropylethyldiethoxysilane, and γ-isocyanopropyltrichlorosilane; an amino-containing alkoxysilane compound such as γ-(2-aminoethyl)aminopropylmethyldimethoxysilane, γ-(2-aminoethyl)aminopropyltrimethoxysilane, and γ-aminopropyltrimethoxysilane; and a hydroxyl-containing alkoxysilane compound such as γ-hydroxypropyltrimethoxysilane and γ-hydroxypropyltriethoxysilane. In the first embodiment, the silane coupling agent is not a necessary component, but when used in combination, its amount is not particularly limited as long as it does not impair the effect of the first embodiment. It is preferably 0.01 parts by weight or more, more preferably 0.1 parts by weight or more, more preferably 10 parts by weight or less, and more preferably 5 parts by weight or less, relative to 100 parts by weight of the resin. Within this range, the resin exhibits good corona resistance and moldability, especially release properties, and the molded articles show excellent adhesion to epoxy resin, and further improved mechanical strength, therefore it is preferred.

[0087] The first resin used in the first embodiment may contain a thermoplastic elastomer as an arbitrary component, as needed. Examples of thermoplastic elastomers include polyolefin-based elastomers, fluorinated elastomers, or silicone-based elastomers, with polyolefin-based 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 first embodiment; it is preferably 0.01 parts by weight or more, more preferably 0.1 parts by weight or more, more preferably 10 parts by weight or less, and more preferably 5 parts by weight or less, relative to 100 parts by weight of resin (A). Within this range, the impact resistance of the resulting resin is improved, and therefore preferred.

[0088] For example, the aforementioned polyolefin-based elastomers may include homopolymers of α-olefins, copolymers of two or more α-olefins, or copolymers of one or more α-olefins with vinyl polymerizable compounds having functional groups. In this case, examples of the aforementioned α-olefins include ethylene, propylene, 1-butene, and other α-olefins with 2 to 8 carbon atoms. Furthermore, examples of the aforementioned functional groups include carboxyl groups, anhydride groups (-C(=O)OC(=O)-), epoxy groups, amino groups, hydroxyl groups, mercapto groups, isocyanate groups, and oxazoline groups. Furthermore, examples of vinyl polymerizable compounds having the aforementioned functional groups include 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 (as metals, alkali metals such as sodium, alkaline earth metals such as calcium, zinc, etc.); 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 one or more derivatives (monoesters, diesters, anhydrides) of the aforementioned α,β-unsaturated dicarboxylic acids. The aforementioned thermoplastic elastomers can be used alone or in combination of two or more.

[0089] Furthermore, in addition to the components described above, the first resin used in the first embodiment may, depending on the application, be appropriately combined with 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, polyaryl resin, polyethylene resin, polypropylene resin, polytetrafluoroethylene resin, polydifluoroethylene resin, polystyrene resin, ABS resin, phenolic resin, polyurethane resin, and liquid crystal polymer (hereinafter referred to as synthetic resins). In the first embodiment, the aforementioned synthetic resins are not essential components, but when combined, their proportion is not particularly limited as long as it does not impair the effect of the first embodiment. Moreover, it varies depending on the specific purpose and cannot be generalized. However, the proportion of synthetic resins combined in the first resin of the first embodiment is, for example, in the range of 5 parts by mass or more relative to 100 parts by mass of resin, in the range of 15 parts by mass or less. In other words, the proportion of resin (A) relative to the total of resin (A) and synthetic resin is preferably (100 / 115) or more by mass, and more preferably (100 / 105) or more.

[0090] In addition, the first resin used in the first embodiment may also contain, as needed, commonly known additives such as fillers, colorants, antistatic agents, antioxidants, heat stabilizers, ultraviolet stabilizers, ultraviolet absorbers, foaming agents, flame retardants, flame retardant additives, rust inhibitors, and coupling agents as any component. These additives are not essential components; for example, they are preferably in the range of 0.01 parts by weight or more, and preferably in the range of 1000 parts by weight or less, relative to 100 parts by weight of the resin, and can be appropriately adjusted according to the purpose and use without impairing the effect of the first embodiment.

[0091] The manufacturing method of the first resin used in the first embodiment will be described in detail below.

[0092] The first resin used in the first embodiment is prepared by combining the necessary components and any other components as needed. There are no particular limitations on the method for manufacturing the first resin used in the first embodiment; examples include methods of combining the necessary components and any other components as needed and performing melt mixing. More specifically, examples include methods of uniformly dry mixing using a roller or Henschel mixer as needed, followed by melt mixing in a twin-screw extruder.

[0093] Melt mixing can be performed at a temperature range where the resin temperature is above the resin's melting point, preferably above the melting point +10°C, more preferably above the melting point +10°C, even more preferably above the melting point +20°C to preferably below the melting point +100°C, and more preferably below the melting point +50°C.

[0094] From the viewpoint of dispersibility and productivity, a twin-screw compounding extruder is preferred as the aforementioned melt mixing mill. For example, it is preferable to perform melt mixing while appropriately adjusting the resin component discharge rate to a range of 5 to 500 kg / hr and the screw speed to a range of 50 to 500 rpm. More preferably, melt mixing is performed under conditions where their ratio (discharge rate / screw speed) is in the range of 0.02 to 5 kg / hr / rpm. Furthermore, the addition and mixing of each component into the melt mixing mill can be performed simultaneously or separately. For example, when adding the additives mentioned above, from the viewpoint of dispersibility, it is preferable to feed them into the extruder through the side feeder of the aforementioned twin-screw compounding extruder. Regarding the location of the side feeder, the ratio of the distance from the resin input section (top feeder) of the extruder to the side feeder to the total length of the screw of the aforementioned twin-screw compounding extruder is preferably 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.

[0095] The first resin obtained by melt mixing in this way is a melt mixture containing the above-mentioned essential components and any components added as needed and their source components. After melt mixing, it is preferably processed into granules, fragments, particles, powders, etc., by a known method, such as extruding the molten resin into a filament, and then pre-drying it in a temperature range of 100 to 150°C as needed.

[0096] The molded article of the first embodiment is formed by molding a first resin. Furthermore, the manufacturing method of the molded article of the first embodiment includes a step of melt molding the aforementioned first resin. This will be described in detail below.

[0097] The first resin used in the first embodiment is used for injection molding. There are no particular limitations on the various molding conditions, and molding can generally be performed using common methods. For example, in an injection molding machine, the resin is melted at a temperature above the resin's melting point, preferably at a temperature above the melting point +10°C, more preferably at a temperature range of melting point +10°C to melting point +100°C, and even more preferably at a temperature range of melting point +20°C to melting point +50°C. The melted resin is then injected into a mold from the resin outlet to form the mold. At this time, the mold temperature is also set to a known temperature range, for example, room temperature (23°C) to 300°C, preferably 120°C to 180°C.

[0098] According to the end effector 10 and robotic arm 1 of the metering module as described above in the first embodiment, a simpler configuration is possible to facilitate the measurement of objects. In the end effector 10, the first detection unit 11c generates strain based on the force applied to the support unit 11b due to the weight of the object, and has a first circuit CB1 that outputs a first electrical signal that changes according to this strain, thereby enabling the measurement of the object using the control unit 40 of the robotic arm 1. The robotic arm 1 can measure the object held by the support unit 11b and quantify the physical parameters of the object.

[0099] The end effector 10 has a first circuit CB1 integrally formed with the first resin in the main body 11, thus eliminating the need to additionally mount sensor components such as strain gauges when measuring the object. The end effector 10 can also omit the configuration of leads corresponding to the strain gauge. The end effector 10 does not require additional mounting of sheets, films, or substrates for forming the circuitry. The end effector 10 does not require additional joining or bonding portions for sheets, films, or substrates. The end effector 10, with its simpler configuration as described above, facilitates the measurement of the object.

[0100] The end effector 10 enables the reduction of the number of parts, miniaturization, and weight reduction, while also meeting the weight limitations of the robotic arm 1. The end effector 10 also allows for greater freedom in its shape design. Furthermore, the end effector 10 incorporates a first resin in its main body 11, thereby improving its water resistance and water resistance, and enabling cleaning for purposes such as preventing the spread of infection and maintaining hygiene. Unlike conventional metal end effectors, the end effector 10 is lightweight and inhibits rusting during cleaning.

[0101] The first circuit CB1 has a first wiring W1 formed on the surface of the first resin, and outputs a first electrical signal that varies according to the resistance of the first wiring W1 itself. Thus, the end effector 10 becomes an integrally molded article in which the first circuit CB1 is directly depicted on the end effector 10, facilitating the measurement of the object. Since the depicted first circuit CB1 itself becomes the mechanism for transmitting the first electrical signal, the end effector 10 does not require additional wiring harnesses or substrates. The end effector 10 does not need the shape and space required to accommodate wire harnesses and substrates with circuits, thus avoiding complex shapes and further simplifying its structure.

[0102] The end effector 10 has a tendency to become charged due to the presence of the first resin in its main body 11, but even in this case, it can be easily de-energized by the first wiring W1 plated in the first metal circuit CB1 formed on its surface. The end effector 10 can effectively de-energize by directly depicting the path shape of the first wiring W1 on its surface.

[0103] The support portion 11b of the end effector 10 has a spoon structure for scooping up and holding an object. Thus, the end effector 10 can easily scoop up a predetermined amount of object that can be contained in a hemispherical recess formed as a spoon structure. By holding the object in the support portion 11b with the spoon structure, the end effector 10 facilitates the measurement of the object using the control portion 40 of the robotic arm 1.

[0104] The first detection unit 11c is arranged adjacent to the support unit 11b on the same straight line. Therefore, when the end effector 10 measures the object using the control unit 40 of the robotic arm 1, it can maintain the first detection unit 11c and the support unit 11b horizontally on the same straight line. Thus, the end effector 10 can configure the surface of the first detection unit 11c orthogonal to the direction of the gravity exerted on the support unit 11b by the weight of the object, and make it easier for the first detection unit 11c to generate strain based on this gravity.

[0105] The control unit 40 of the robotic arm 1 calculates the weight of the object based on a first electrical signal output from the first circuit CB1 of the first detection unit 11c. Thus, the robotic arm 1 can quantify the physical parameters of the object held by the support portion 11b of the end effector 10 by measuring it. By comparing the quantified physical parameters with a user-specified target value, the robotic arm 1 can precisely control the end effector 10 so that the support portion 11b ultimately holds the object with an appropriate amount corresponding to the target value.

[0106] The end effector 10 includes a strain gauge via the first circuit CB1, and is capable of outputting a first voltage signal corresponding to the weight of the object held by the support 11b to the control unit 40. Thus, the end effector 10 can facilitate the measurement of the object using the control unit 40. The control unit 40 can measure the object with high precision based on the first voltage signal obtained from the end effector 10.

[0107] By including a thermoplastic resin, specifically a polyarylene sulfide resin, the end effector 10 exhibits improved water resistance and waterproofness. Furthermore, due to the excellent chemical and heat resistance of the polyarylene sulfide resin, the end effector 10 also enhances these properties. Therefore, the end effector 10 can be used with chemicals and in high-temperature environments. For example, the end effector 10 can be held in place by the support portion 11b for applications requiring chemical resistance, such as hydrochloric acid.

[0108] In the first embodiment described above, it was explained that the metering module includes an end effector 10, but it is not limited to this. The metering module may also include any other module. For example, the metering module is not limited to a robot module such as the end effector 10 used in the robotic arm 1. The metering module may also include a module at the front end of a metering instrument installed in the metering device, etc.

[0109] In the first embodiment described above, the first circuit CB1 is described as having a first wiring W1 formed on the surface of the first resin, and outputting a first electrical signal that varies according to the resistance of the first wiring W1 itself, but it is not limited to this. The first circuit CB1 may also have a substrate integrally formed with the first resin of the main body 11 and wiring formed on the substrate, and output a first electrical signal that varies according to the resistance of the wiring itself.

[0110] The first circuit CB1 can also be constructed based on a substrate integrally molded with the first resin via insert molding or the like. Wiring and electrodes can also be formed on this substrate in the first circuit CB1. The first circuit CB1 can also be configured as a molding circuit using IME (In-Mold Electronics) from a MID (Mold Integrated Device). The first circuit CB1 can also be formed by embedding a flexible substrate during injection molding. Thus, the end effector 10 becomes an integrally molded product that integrates the substrate and the first resin, facilitating the measurement of the object.

[0111] In the first embodiment described above, it was explained that the first circuit CB1 is helpful to the object being measured based on the first wiring W1 itself, but it is not limited thereto. The first circuit CB1 may also replace the first wiring W1 that is helpful to the object being measured, or it may have a sensor component that is installed by welding or the like and is helpful to the object being measured.

[0112] Furthermore, the first circuit CB1 may also include a control element that is mounted by welding or the like and performs the processing required to measure the object. In this disclosure, "control element" may include, for example, a microcontroller, a processor, a programmable circuit, a special-purpose circuit, or any combination thereof. Thus, the end effector 10 can also perform the various processes described above performed by the control unit 40 of the robotic arm 1 on its own. The end effector 10 can also perform decision processing, learning processing, and other arbitrary processing on its own.

[0113] In the first embodiment described above, it is explained that the first detection unit 11c is arranged adjacent to the support unit 11b on the same straight line as the support unit 11b, but this is not a limitation. The arrangement of the first detection unit 11c and the support unit 11b can be arbitrarily configured as long as the function of the end effector 10 described above can be achieved.

[0114] In the first embodiment described above, it is stated that the first circuit CB1 includes a strain gauge, but it is not limited thereto. The first circuit CB1 may also include any other constituent elements that can assist in measuring the object, such as the end effector 10.

[0115] In the first embodiment described above, it is stated that the entire main body 11 is formed of the first resin, but this is not a limitation. The portion of the main body 11 in which the first circuit CB1 is formed may be formed of at least the first resin, and other portions of the main body 11 may be formed of any material other than the first resin.

[0116] In the first embodiment described above, the end effector 10 is described to have only one set of support portion 11b and first detection portion 11c, but it is not limited to this. The end effector 10 may also have two or more sets of support portions 11b and first detection portions 11c.

[0117] In the first embodiment described above, it was explained that the robotic arm 1 has a metering module as an end effector 10, but it is not limited to this. The metering module is not limited to a configuration in which it is installed on the robotic arm 1 as an end effector 10. For example, the metering module may also be installed on a single-axis or multi-axis electric actuator instead of the robotic arm 1.

[0118] In the first embodiment described above, it is explained that the control unit 40 of the robotic arm 1 measures the object based on past measured data obtained in advance through calibration operations, but it is not limited to this. The control unit 40 may also calculate the weight of the object without using such past measured data. For example, if the control unit 40 can refer to information such as a theoretical formula for weight calculation that includes parameters such as the voltage value of the first electrical signal output from the first circuit CB1 of the first detection unit 11c, it may also calculate the weight of the object based on the theoretical formula.

[0119] Furthermore, the control unit 40 of the robotic arm 1 can also construct a learning model based on past measured data obtained in advance through calibration operations. For example, the control unit 40 can also use this measured data as learning data to correlate the voltage value of the first electrical signal output from the first detection unit 11c with the weight of the object, and construct a learning model that has learned the weight of the object corresponding to the voltage value. Figure 4 In step S104 of the flowchart, the weight of the object corresponding to the voltage value of the first electrical signal output from the first detection unit 11c is calculated while using the constructed learning model. The control unit 40 can also measure the object based on the learning process in machine learning as described above.

[0120] Figure 5 This is a perspective view showing the external appearance of the end effector 10 in the first modified example. In the first embodiment described above, it is explained that the surface of the first detection unit 11c and the surface of the mounting unit 11a are arranged on the same plane, but this is not a limitation. The surface of the first detection unit 11c may also be inclined downward relative to the surface of the mounting unit 11a.

[0121] At this time, the input electrode E1 and output electrode E2 of the first circuit CB1 can also be disposed on the surface of the first resin of the mounting portion 11a. The connecting wire W11 of the first wiring W1 of the first circuit CB1 can also be disposed across the surface of the first resin of the mounting portion 11a and the surface of the first resin of the first detection portion 11c. The strain gauge wire W12 of the first wiring W1 of the first circuit CB1 can also be disposed on the surface of the first resin of the first detection portion 11c.

[0122] Figure 6 This is a perspective view showing the external appearance of the end effector 10 in the second modified example. In the first embodiment described above, it is explained that the surface of the first detection unit 11c and the surface of the mounting unit 11a are arranged on the same plane, but this is not a limitation. The surface of the first detection unit 11c may also be curved and recessed downward relative to the surface of the mounting unit 11a.

[0123] At this time, the input electrode E1 and output electrode E2 of the first circuit CB1 can also be disposed on the surface of the first resin of the mounting portion 11a. The connecting wire W11 of the first wiring W1 of the first circuit CB1 can also be disposed on the surface of the first resin of the mounting portion 11a. The strain gauge wire W12 of the first wiring W1 of the first circuit CB1 can also be disposed from the surface of the first resin of the first detection portion 11c to the surface of the first resin of the mounting portion 11a.

[0124] Figure 7 This is a perspective view showing the external appearance of the end effector 10 in the third modified example. In the first embodiment described above, the support portion 11b is shown as a separate component mounted at the front end of the first detection portion 11c, but this is not a limitation. The support portion 11b may also be integrally formed with the first detection portion 11c. The main body portion 11 may also be constructed by integrally forming the mounting portion 11a, the support portion 11b, and the first detection portion 11c together.

[0125] At this time, the input electrode E1 and output electrode E2 of the first circuit CB1 can also be disposed on the surface of the first resin of the first detection unit 11c. The connecting line W11 of the first wiring W1 of the first circuit CB1 can also be disposed on the surface of the first resin of the first detection unit 11c. The strain gauge line W12 of the first wiring W1 of the first circuit CB1 can also be disposed on the surface of the first resin of the first detection unit 11c.

[0126] (Second Implementation)

[0127] Figure 8 This is a perspective view showing an example of the end effector 10 according to the second embodiment of the present disclosure. Figure 9 It means having Figure 8 A block diagram illustrating an example of the configuration of the robotic arm 1 with end effector 10. (Referring to...) Figure 8 and Figure 9 The following description will primarily focus on an example of the configuration and function of the end effector 10 in the second embodiment.

[0128] The end effector 10 of the second embodiment of this disclosure differs from the first embodiment in that the support portion 11b has a gripping structure. Other configurations, functions, effects, and variations are the same as in the first embodiment, and the corresponding descriptions also apply to the end effector 10 of the second embodiment. Hereinafter, the same reference numerals are used to denote components identical to those in the first embodiment, and their descriptions are omitted. The main focus will be on the differences from the first embodiment.

[0129] In the first embodiment described above, the support portion 11b is described as having a spoon structure for scooping up and holding an object, but it is not limited to this. The support portion 11b may also have a gripping structure for holding the object. Furthermore, the end effector 10 of the second embodiment may further have a second detection portion 11d that generates strain based on the gripping force when the support portion 11b holds the object.

[0130] The end effector 10 is driven while supported by the housing 1a, and grips the object. While gripping the object by the support 11b, the end effector 10 uses a first detection unit 11c, similar to the first embodiment, to aid in the measurement of the object. The end effector 10 uses a second detection unit 11d to aid in the measurement of the force exerted by the reaction force when gripping the object.

[0131] In the second embodiment, "object" includes, for example, a solid object that can be held by the end effector 10. It is not limited to this, and the object may also include any other object that can be held by the end effector 10.

[0132] The main body 11 constitutes a support portion 11b, which is a pair of claws located at the front end opposite to the mounting portion 11a. The support portion 11b supports an object. The pair of claws constituting the support portion 11b grips the object by, for example, by shortening the separation distance between them, making them approximately the same as the width of the object.

[0133] The second detection section 11d contains a second resin. In this disclosure, "thermoplastic resin" includes, for example, at least one selected from the group consisting of engineering plastics or super engineering plastics. The thermoplastic resin is, for example, a polyarylene sulfide resin. More specifically, the thermoplastic resin includes polyarylene sulfide resins such as polyphenylene sulfide resin. The second resin may be the same as or different from the first resin in the first embodiment.

[0134] The second detection unit 11d generates strain based on the force applied to the support unit 11b. For example, the second detection unit 11d has a portion that is thinner than the support unit 11b in the separation direction in which the pair of claws constituting the support unit 11b are separated from each other.

[0135] The second detection unit 11d has a second circuit CB2 integrally formed with the second resin and outputs a second electrical signal that changes according to the strain of the second detection unit 11d. The second circuit CB2 is disposed on the surface located on the ventral side of each of the pair of claws constituting the support portion 11b. The second detection unit 11d has the second circuit CB2 on the surface that intersects the direction of the gripping force exerted by the end effector 10 when holding an object using the support portion 11b.

[0136] Not limited to the above, the second circuit CB2 can be disposed on the surface located on the ventral side of each of the pair of claws constituting the support portion 11b, or alternatively, on the surface located on the opposite side of the surface, on the dorsal side of each of the pair of claws.

[0137] The second circuit CB2 is, for example, depicted on the surface of the second resin forming the second detection section 11d of the main body 11. In the second circuit CB2, wiring and electrodes are formed in various regions of the surface of the second resin forming the second detection section 11d. The second circuit CB2 is, for example, configured as a molded circuit based on MID technology. For example, the second circuit CB2 is formed by a process of forming at least one plating layer on the surface of the resin molded part of the second detection section 11d while using a mask corresponding to a predetermined pattern of the wiring of the second circuit CB2. At this time, the at least one plating layer can be formed by chemical plating, electroplating, sputtering, or a combination thereof, and is a layer made of metal and / or ceramic.

[0138] Not limited to the above, the second circuit CB2 can also be configured as a molding circuit using LDS in MID. The second circuit CB2 can also be formed by directly irradiating the surface of the main body 11, which is a molded article, with a laser and then depositing it.

[0139] The second circuit CB2 has a second wiring W2 formed on the surface of the second resin of the second detection section 11d. The second circuit CB2 has an input electrode E3 and an output electrode E4 formed on the surface of the second resin of the second detection section 11d. The input electrode E3 and the output electrode E4 are formed side-by-side. The second wiring W2 of the second circuit CB2 includes multiple straight lines connecting the input electrode E3 and the output electrode E4, which are integrally formed with the second resin.

[0140] For example, the second wiring W2 has connecting lines W21 extending in an L-shape relative to both the input electrode E3 and the output electrode E4. The second wiring W2 also has strain gauge lines W22 that connect the two ends of the two connecting lines W21 located on the opposite side to the input electrode E3 and the output electrode E4, respectively. The strain gauge lines W22 function as strain gauges. For example, the strain gauge lines W22 are formed by repeatedly folding a straight line back 180° at one end and then further folding the folded line back 180° at the other end.

[0141] The second circuit CB2 formed on the surface of the second detection unit 11d outputs a second electrical signal that changes according to the resistance of the second wiring W2 itself. For example, the second circuit CB2 outputs the second electrical signal to the control unit 40. Thus, the second detection unit 11d, based on the second wiring W2 itself, helps the control unit 40 to control the gripping force when the support unit 11b holds an object. For example, the second circuit CB2 includes a strain gauge. More specifically, the second circuit CB2 functions as a strain gauge based on the configuration of the second wiring W2 described above.

[0142] For example, if the second detection unit 11d is strained due to the gripping force when an object is held using the support portion 11b, the second wiring W2 connecting the input electrode E3 and the output electrode E4 will also be strained, and the resistance of the second wiring W2 will change according to the degree of strain. The strain in the second detection unit 11d is related to the resistance value of the second wiring W2. As described above, the voltage between the input electrode E3 and the output electrode E4 changes according to the strain of the second detection unit 11d. The second circuit CB2 outputs a second voltage signal corresponding to the resistance of the second wiring W2 itself, which changes according to the strain of the second detection unit 11d, to the control unit 40 as an example of the aforementioned second electrical signal.

[0143] The end effector 10, supported by the housing 1a, is driven to shorten the separation distance of a pair of claws on the support portion 11b at the front end of the end effector 10 along the separation direction, making it approximately the same as the width of the object, thereby gripping the object using the pair of claws. The end effector 10 grips the object using the support portion 11b. The first detection unit 11c generates strain based on the force applied to the support portion 11b due to the weight of the object. The end effector 10 changes a first electrical signal based on the strain of the first detection unit 11c generated by the support portion 11b gripping the object, and outputs it to the control unit 40, thereby aiding in the measurement of the object. Furthermore, the end effector 10 changes a second electrical signal based on the strain of the second detection unit 11d generated by the support portion 11b gripping the object, and outputs it to the control unit 40, thereby aiding in the determination of the force borne due to the reaction when gripping the object.

[0144] The support portion 11b of the end effector 10 has a gripping structure for holding an object. Therefore, the end effector 10 can easily grip an object supported by a pair of claws formed in the gripping structure. By gripping the object with the support portion 11b having the gripping structure, the end effector 10 can facilitate the measurement of the object using the control unit 40 of the robotic arm 1.

[0145] The end effector 10 further includes a second detection unit 11d that generates strain based on the gripping force of the support portion 11b when holding an object. Thus, the end effector 10 can control the gripping force of the support portion 11b when holding an object, which is performed by the control unit 40 of the robotic arm 1. The robotic arm 1 can control the gripping force of the support portion 11b when holding an object with high precision.

[0146] The end effector 10 has a second circuit CB2 integrally formed with the second resin in the main body 11, thus eliminating the need for additional sensor components such as strain gauges when controlling gripping force. The end effector 10 can also omit the configuration of leads corresponding to strain gauges. The end effector 10 does not require additional sheet or film for sensor components, or a substrate for forming the circuit. The end effector 10 does not require additional joints or bonding portions for sheet, film, and substrate. The end effector 10, with its simpler configuration as described above, facilitates control of gripping force.

[0147] The end effector 10 enables the reduction of the number of parts, miniaturization, and weight reduction, while also meeting the weight limitations of the robotic arm 1. The end effector 10 also allows for greater freedom in its shape design. Furthermore, the end effector 10 incorporates a second resin in its main body 11, thereby improving its water resistance and allowing for cleaning to prevent the spread of infection and for other hygienic purposes. Unlike conventional metal end effectors, the end effector 10 is lightweight and inhibits rusting during cleaning.

[0148] The second circuit CB2 has a second wiring W2 formed on the surface of the second resin, and outputs a second electrical signal that varies according to the resistance of the second wiring W2 itself. Thus, the end effector 10 becomes an integrally molded product in which the second circuit CB2 is directly depicted on the end effector 10, facilitating the control of gripping force. Since the depicted second circuit CB2 itself becomes the mechanism for transmitting the second electrical signal, the end effector 10 does not require additional wiring harnesses or substrates. The end effector 10 does not need the shape and space required to accommodate wire harnesses and substrates with circuits, thus avoiding complex shapes and further simplifying its structure.

[0149] The end effector 10 has a tendency to become charged due to the presence of a second resin in its main body 11, but even in this case, the charge can be easily removed by the second wiring W2 plated in the second metal circuit CB2 formed on its surface. The end effector 10 can effectively remove static electricity by directly depicting the path shape of the second wiring W2 on its surface.

[0150] In the second embodiment described above, the second circuit CB2 is described as having a second wiring W2 formed on the surface of the second resin, and outputting a second electrical signal that varies according to the resistance of the second wiring W2 itself, but it is not limited to this. The second circuit CB2 may also have a substrate integrally formed with the second resin of the main body 11 and wiring formed on the substrate, and output a second electrical signal that varies according to the resistance of the wiring itself.

[0151] The second circuit CB2 can also be based on a substrate integrally molded with the second resin via insert molding or the like. Wiring and electrodes can also be formed on this substrate in the second circuit CB2. The second circuit CB2 can also be configured as a molded circuit using an IME from a MID. The second circuit CB2 can also be formed by embedding a flexible substrate during injection molding. Thus, the end effector 10 becomes an integrally molded product that integrates the substrate and the second resin, facilitating control of gripping force.

[0152] In the second embodiment described above, it is explained that the second circuit CB2 helps control the grip force based on the second wiring W2 itself, but it is not limited to this. The second circuit CB2 may also replace the second wiring W2 that helps control the grip force, or it may have a sensor component that helps control the grip force by being installed by soldering or the like.

[0153] Furthermore, the second circuit CB2 may also include a control element that is installed via welding or the like and performs the processing required to control the gripping force. Thus, the end effector 10 can also perform the various processes described above by the control unit 40 of the robotic arm 1 on its own. The end effector 10 can also perform decision processing, learning processing, and other arbitrary processing on its own.

[0154] It will be apparent to those skilled in the art that this disclosure may be implemented in other prescribed ways besides the described embodiments without departing from its spirit or essential characteristics. Therefore, the foregoing description is illustrative and not limiting. The scope of the disclosure is defined by the appended claims, not by the foregoing description. All modifications within their equivalent scope are included therein.

[0155] For example, the shape, pattern, size, arrangement, orientation, type, or number of each component described above is not limited to the content shown in the above description and the accompanying drawings. The shape, pattern, size, arrangement, orientation, type, or number of each component can be arbitrarily configured as long as it fulfills its function. The components of the end effector 10 and the robotic arm 1 shown in the drawings are functional concepts, and the specific configuration of each component is not limited to the components shown in the drawings.

[0156] The following are examples of some embodiments of the present disclosure. However, it should be noted that the embodiments of the present disclosure are not limited thereto.

[0157] [Postscript 1]

[0158] A measuring module for measuring an object includes: a support portion supporting the object; and a first detection portion that generates strain based on the force applied to the support portion due to the weight of the object, the first detection portion containing a first resin and having a first circuit integrally formed with the first resin and outputting a first electrical signal that changes according to the strain of the first detection portion.

[0159] [Postscript 2]

[0160] According to the metering module described in Appendix 1, the first circuit has a first wiring formed on the surface of the first resin and outputs a first electrical signal that varies according to the resistance of the first wiring itself.

[0161] [Postscript 3]

[0162] According to the metering module described in Appendix 1 or 2, the support portion has a spoon structure for scooping up and holding the object.

[0163] [Postscript 4]

[0164] According to the metering module described in Appendix 3, the first detection unit is disposed adjacent to the support unit on the same straight line as the support unit.

[0165] [Postscript 5]

[0166] According to the metering module described in Appendix 1 or 2, the support portion has a gripping structure for holding the object.

[0167] [Postscript 6]

[0168] According to the metering module described in Appendix 5, it further includes a second detection unit that generates strain based on the gripping force when the support holds the object.

[0169] [Postscript 7]

[0170] According to the metering module described in Appendix 6, the second detection unit contains a second resin and has a second circuit integrally formed with the second resin and outputs a second electrical signal that changes according to the strain of the second detection unit.

[0171] [Postscript 8]

[0172] According to the metering module described in Appendix 7, the second circuit has a second wiring formed on the surface of the second resin, and outputs a second electrical signal that varies according to the resistance of the second wiring itself.

[0173] [Postscript 9]

[0174] A robotic arm comprising a metering module as an end effector as described in any one of Appendices 1 to 8.

[0175] [Postscript 10]

[0176] The robotic arm according to Appendix 9 includes a control unit that calculates the weight of the object based on the first electrical signal output from the first circuit of the first detection unit.

Claims

1. A measuring module that helps to measure objects, comprising: The support portion supporting the object; and A first detection unit generates strain based on the force applied to the support due to the weight of the object. The first detection unit contains a first resin and has a first circuit integrally formed with the first resin and outputs a first electrical signal that changes according to the strain of the first detection unit.

2. The metering module according to claim 1, wherein, The first circuit has a first wiring formed on the surface of the first resin, and outputs a first electrical signal that varies according to the resistance of the first wiring itself.

3. The metering module according to claim 1, wherein, The support portion has a spoon structure for scooping up and holding the object.

4. The metering module according to claim 3, wherein, The first detection unit is disposed adjacent to the support unit on the same straight line as the support unit.

5. The metering module according to claim 1, wherein, The support portion has a gripping structure for holding the object.

6. The metering module according to claim 5, further comprising a second detection unit that generates strain based on the gripping force when the support holds the object.

7. The metering module according to claim 6, wherein, The second detection unit contains a second resin and has a second circuit integrally formed with the second resin and outputs a second electrical signal that changes according to the strain of the second detection unit.

8. The metering module according to claim 7, wherein, The second circuit has a second wiring formed on the surface of the second resin, and outputs a second electrical signal that varies according to the resistance of the second wiring itself.

9. A robotic arm comprising a metering module as an end effector according to any one of claims 1 to 8.

10. The robotic arm according to claim 9, comprising a control unit for calculating the weight of the object based on the first electrical signal output from the first circuit of the first detection unit.

Images