Gear, end effector, and robotic arm

Abstract

To provide a gear that can contribute to a predetermined function with a simpler configuration.SOLUTION: A gear 11c1 according to this disclosure is a gear 11c1 including a resin and includes a circuit 11d that is formed integrally with a resin and contributes to a predetermined function.SELECTED DRAWING: Figure 3

Description

[Technical field]

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

[0002] Conventionally, robot arms are known for various applications, such as industrial robots used in manufacturing sites, medical robots, and nursing care robots. End effectors, including robot hands and robot grippers, attached to the tips of robot arms generally have gears as part of a drive mechanism for driving a gripping portion at the tips.

[0003] Gear-related technologies have also been widely known for some time. For example, Patent Document 1 discloses a strain wave gear device equipped with a torque detection mechanism that does not require a detection element or the like to be placed inside the device. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent Publication No. 2021-173387 Summary of the Invention [Problem to be solved by the invention]

[0005] Conventional end effectors are required to have fewer parts, be smaller, and be lighter due to limitations on the weight that can be carried by robot arms. However, as in the case of the strain wave gear device described in Patent Document 1, in order for conventional gears to contribute to a specific function such as torque detection, it was necessary to additionally place sensor parts such as piezoelectric elements. This resulted in a complex structure of the drive mechanism including the gears, making it difficult to reduce the size and weight of the end effector.

[0006] An object of the present disclosure is to provide a gear, an end effector, and a robot arm that can contribute to a predetermined function with a simpler configuration. [Means for solving the problem]

[0007] A gear according to a first aspect for solving the above problems comprises: A gear containing a resin, The device is provided with a circuit that is formed integrally with the resin and contributes to a predetermined function.

[0008] The end effector according to the second aspect is A drive mechanism that operates based on the above gears; A gripping portion that is driven to perform an opening and closing operation based on the driving mechanism; Equipped with.

[0009] The robot arm from the third viewpoint is The end effector is as described above. Effect of the Invention

[0010] According to the present disclosure, it is possible to provide a gear, an end effector, and a robot arm that can contribute to a predetermined function with a simpler configuration. [Brief description of the drawings]

[0011] [Figure 1] FIG. 1 is a schematic diagram illustrating an example of an appearance of a robot arm according to an embodiment of the present disclosure. [Diagram 2] FIG. 2 is a block diagram showing an example of the configuration of the robot arm of FIG. 1. [Diagram 3] 3 is a schematic diagram showing an example of a configuration of a gear according to an embodiment of the drive mechanism shown in FIG. 2. [Figure 4] 4 is a schematic diagram showing another example of the pattern of the contact end drawn on the tooth surface of the gear in FIG. 3. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] An embodiment of the present disclosure will be mainly described below with reference to the accompanying drawings.

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

[0014] 1, the robot arm 1 has a housing 1a constituting 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 to a gripping portion 11b 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 in accordance with the opening and closing movement of the gripping portion 11b.

[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 the present disclosure, the "robot" includes, for example, an industrial robot, a nursing robot, a marine robot, a medical robot, and a moving body such as a vehicle and a drone that moves by making autonomous decisions. The "industrial robot" includes, for example, a collaborative robot that can work together with a worker in the same space and other robots that work in a state isolated from the worker. The end effector 10 is configured as a robot hand or a robot gripper in such a robot. The end effector 10 has a main body 11 that contains resin.

[0016] The main body 11 constitutes the entire outer shape of the end effector 10. The main body 11 has an attachment 11a attached to the housing 1a of the robot arm 1. The main body 11 has a gripping portion 11b protruding from an end of the attachment 11a located on the opposite side to the housing 1a. The gripping portion 11b is composed of, for example, a pair of claws. The gripping portion 11b is driven to perform an opening and closing operation based on a drive mechanism 11c. The gripping portion 11b grips an object by shortening the separation distance between the pair of claws to be approximately equal to the width of the object. The main body 11 has a drive mechanism 11c that drives the gripping portion 11b to realize the opening and closing operation of the gripping portion 11b. The drive mechanism 11c includes, for example, a plurality of gears including a gear 11c1 described later according to one embodiment, a motor for rotating the plurality of gears, and the like. The drive mechanism 11c operates based on the gear 11c1. The gear 11c1 according to one embodiment also contains resin.

[0017] As described below, in the present disclosure, the "resin" includes, for example, a thermoplastic resin. The "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.

[0018] 2, the robot arm 1 has an end effector 10 having a main body 11 including an attachment portion 11a, a gripping portion 11b, and a drive mechanism 11c, as well as 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 housed in a housing 1a of the robot arm 1.

[0019] 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.

[0020] The driving unit 30 includes, for example, any module for controlling the driving mechanism 11c of the end effector 10 to drive the gripper 11b. The driving unit 30 drives the gripper 11b of the end effector 10 in accordance with a control signal from the control unit 40. The driving unit 30 drives the gripper 11b in accordance with a control signal from the control unit 40, for example, so that the gripper 11b of the main body 11 of the end effector 10 grips an object.

[0021] 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 a GPU, or a dedicated processor specialized for a specific process. "CPU" is an abbreviation for Central Processing Unit. "GPU" is an abbreviation for Graphics Processing Unit. The programmable circuit is, for example, an FPGA. "FPGA" is an abbreviation for Field-Programmable Gate Array. The dedicated circuit is, for example, an ASIC. "ASIC" is an abbreviation for Application Specific Integrated Circuit. The control unit 40 is communicably connected to each component that constitutes the robot arm 1, and executes various processes related to the operation of the robot arm 1 while controlling each component.

[0022] Fig. 3 is a schematic diagram showing an example of the configuration of a gear 11c1 according to one embodiment, which is included in the drive mechanism 11c of Fig. 2. An example of the configuration and function of the gear 11c1 included in the drive mechanism 11c of the end effector 10 will be mainly described with reference to Fig. 3.

[0023] The gear 11c1 has a base 11c2 that constitutes the main body of the gear 11c1 and is formed in a disk shape. The gear 11c1 has a bearing 11c3 that is located at the center of the base 11c2 in the radial direction D1 and rotates with the shaft. The gear 11c1 has a plurality of teeth 11c4 that are regularly arranged along the circumferential direction over the entire circumference of the base 11c2.

[0024] The gear 11c1 of the driving mechanism 11c contains resin. The gear 11c1 has a circuit 11d that is integrally formed with the resin and contributes to a predetermined function. In the present disclosure, the "predetermined function" includes, for example, a function to detect at least one of the rotation speed, rotation angle, and wear of the gear 11c1, the reduction in grease used to smooth the rotation of the gear 11c1, and the magnitude of torque according to the rotation of the gear 11c1.

[0025] The circuit 11d of the gear 11c1 is formed, for example, by drawing directly on the surface of the resin that forms the gear 11c1. In the circuit 11d, the wiring W and the electrodes E are formed in each area of ​​the surface of the resin that forms the gear 11c1. The circuit 11d is formed, for example, as a molded circuit using LDS, a catalyst deactivation method, a surface roughening method, or the like, among MID. "MID" is an abbreviation for Molded Interconnect Device. "LDS" is an abbreviation for Laser Direct Structuring. The circuit 11d can be formed by directly irradiating a laser onto the surface of the gear 11c1 as a molded product and plating it.

[0026] The catalyst deactivation method includes a process of forming a catalyst deactivation layer on the surface of the gear 11c1 as a molded product, and selectively removing the catalyst deactivation layer by irradiating the surface with a laser. The circuit 11d is obtained by plating the portion irradiated with the laser. The surface roughening method includes a process of roughening the surface of the gear 11c1 as a molded product by laser and etching treatment, etc. As a result, the circuit 11d is formed in the roughened portion.

[0027] The circuit 11d has a wiring W formed on the resin surface of the gear 11c1. The circuit 11d has an electrode E formed on the resin surface of the gear 11c1. The wiring W and the electrode E are integrally molded on the resin surface of the gear 11c1. The wiring W and the electrode E are made of a conductive metal or the like.

[0028] The electrode E of the circuit 11d is formed on the surface S1 of the base 11c2 of the gear 11c1, which is formed in a disk shape. The electrode E is formed on the surface S1 at a position close to the bearing portion 11c3. The electrode E is formed in a rectangular pattern that continuously expands on the surface S1. The electrode E is also formed in a similar position and pattern on the surface of the base 11c2 located opposite the surface S1. In the circuit 11d, a pair of electrodes E are formed on the surface S1 of the base 11c2 and on the surface located opposite the surface S1.

[0029] The wiring W of the circuit 11d has a straight portion W1 that connects to an electrode E that is formed integrally with the resin. The straight portion W1 extends linearly from the electrode E toward the outside in the radial direction D1 of the base 11c2. The straight portion W1 extends from the electrode E to the outer tip of the tooth 11c4. The straight portion W1 is formed in the same position and pattern on the surface S1 and on the surface opposite to the surface S1 of the base 11c2.

[0030] In the present disclosure, "outside" corresponds to a direction away from the center of the gear 11c1 in a predetermined direction. For example, the outside of the radial direction D1 corresponds to a direction away from the center of the gear 11c1 in the radial direction D1. The outside of the radial direction D1 corresponds to a direction toward the opposite side of the bearing portion 11c3. Without being limited thereto, the outside does not have to completely correspond to a direction away from the center in a predetermined direction, and may correspond to a direction away from the center along a slight diagonal. "Inside" is the opposite of outside.

[0031] The wiring W of the circuit 11d has a contact end W2 formed on at least a part of the tooth surface S2 of the tooth 11c4 of the gear 11c1. The contact end W2 is formed in a first pattern that continuously expands on the tooth surface S2. As an example, the contact end W2 is formed on only one tooth 11c4 among the multiple teeth 11c4.

[0032] As an example, the contact end W2 is formed in a rectangular pattern on the entire first tooth surface S21 of the tooth 11c4 facing the opposite side to the rotation direction D2 of the gear 11c1. Similarly, the contact end W2 is also formed in a rectangular pattern on the entire second tooth surface S22 of the tooth 11c4 facing the same side as the rotation direction D2 of the gear 11c1. In addition, the contact end W2 is also formed in a rectangular pattern on the entire tip surface S3 on the outside in the radial direction D1, which connects the first tooth surface S21 and the second tooth surface S22 of the tooth 11c4. The contact end W2 is formed continuously with the straight line portion W1 by connecting the portion formed on the tip surface S3 to the straight line portion W1.

[0033] The circuit 11d of the gear 11c1 is configured such that a pair of electrodes E are connected to each other via the straight portion W1 of the surface S1, the contact end W2, and the straight portion W1 formed on the surface located opposite to the surface S1. The circuit 11d of the gear 11c1 has wiring W formed on the surface of the resin, and contributes to a predetermined function based on the wiring W itself. For example, the circuit 11d of the gear 11c1 contributes to a predetermined function by meshing with another gear 100 having conductivity with the gear 11c1, and the contact end W2 comes into contact with the other gear 100 due to the rotation of the gear 11c1. As an example, the drive mechanism 11c has another gear 100 in addition to the gear 11c1.

[0034] When a contact end W2 of a conductive wiring W connecting a pair of electrodes E comes into contact with another conductive gear 100, a current leak occurs at the contact point, and the resistance of the wiring W changes. This causes a change in voltage between the pair of electrodes E. For example, the control unit 40 of the robot arm 1 detects this voltage change and determines that the contact end W2 of the gear 11c1 of the drive mechanism 11c has come into contact with the other gear 100. The gear 11c1 outputs this voltage change to the control unit 40 of the robot arm 1 as an electric signal, thereby contributing to a predetermined function.

[0035] In the following, an example of a predetermined function realized by using the circuit 11d formed in the gear 11c1 of the end effector 10 will be mainly described.

[0036] The control unit 40 of the robot arm 1 realizes a predetermined function based on the detection of contact between the contact end W2 of the gear 11c1 and another gear 100. The predetermined function includes, for example, a function to detect at least one of the number of rotations, the rotation angle, and wear of the gear 11c1, and a reduction in the amount of grease used for rotating the gear 11c1.

[0037] As the gear 11c1 meshes with the other gear 100 and the multiple teeth 11c4 of the gear 11c1 come into contact with the other gear 100 in sequence, one tooth 11c4 on which the contact end W2 is formed comes into contact with the other gear 100. At this time, the control unit 40 of the robot arm 1 detects a voltage change between the pair of electrodes E as an electric signal based on the contact. The control unit 40 calculates the number of rotations of the gear 11c1 by counting the number of times such an electric signal is detected. Since the gear 11c1 has only one tooth 11c4 on which the contact end W2 is formed, the number of times the electric signal is detected corresponds to the number of rotations of the gear 11c1.

[0038] The control unit 40 calculates the rotation angle of the gear 11c1 based on the value of the rotation speed or angular velocity of the gear 11c1 and the time when an electrical signal based on a voltage change between the pair of electrodes E is detected. More specifically, the control unit 40 calculates the angle by which the gear 11c1 has rotated since one tooth 11c4 on which the contact end W2 is formed comes into contact with another gear 100 as the rotation angle based on the elapsed time from the time when the electrical signal is detected and the rotation speed or angular velocity of the gear 11c1. The control unit 40 may obtain the value of the rotation speed or angular velocity of the gear 11c1 in advance as a set value read out from the storage unit 20 and set, for example, or may obtain the value in real time as an actual measurement value by any other method using a sensor or the like.

[0039] The control unit 40 determines the wear of the gear 11c1 based on the change in the signal strength of the electric signal based on the voltage change between the pair of electrodes E. For example, when the gear 11c1 is driven for a long period of time and the teeth 11c4 wear, the contact end W2 formed on a certain tooth 11c4 is also scraped or broken and wears. At this time, when the contact end W2 comes into contact with another conductive gear 100, the amount of change in the resistance of the wiring W changes compared to when the contact end W2 is not worn. The wear of the contact end W2 makes it difficult to obtain conduction between the contact end W2 and the other gear 100, and the signal strength of the electric signal based on the voltage change between the pair of electrodes E decreases.

[0040] The control unit 40 determines the wear of the gear 11c1 by, for example, comparing the signal strength of the electric signal with a first threshold value. When the signal strength of the electric signal falls below the first threshold value, the control unit 40 determines that the gear 11c1 is worn. The control unit 40 may store such a first threshold value in advance in the storage unit 20 as an input value input by a user, and read and acquire it from the storage unit 20 at a timing required for the determination process. Although the control unit 40 directly detects only the wear of the contact end W2 formed on one tooth 11c4, it presumes that the other teeth 11c4 that rotate under similar conditions and mesh with other gears 100 are also worn in the same manner, and determines the wear of the entire gear 11c1.

[0041] The control unit 40 determines the reduction in the amount of grease used to smooth the rotation of the gear 11c1 based on the change in the signal strength of the electric signal based on the voltage change between the pair of electrodes E. For example, in order to smooth the rotation of the gear 11c1, grease is often interposed between the gear 11c1 and another gear 100 as a lubricant, but when the grease is interposed, it becomes difficult to obtain electrical continuity between the contact end W2 and the other gear 100, and the signal strength of the electric signal based on the voltage change between the pair of electrodes E decreases. When the gear 11c1 is driven for a long period of time and the grease is reduced, the amount of change in the resistance of the wiring W changes. More specifically, the reduction in the amount of grease makes it easier to obtain electrical continuity between the contact end W2 and the other gear 100, and the signal strength of the electric signal based on the voltage change between the pair of electrodes E increases.

[0042] The control unit 40 determines the reduction in grease by, for example, comparing the signal strength of the electric signal with a second threshold value. When the signal strength of the electric signal exceeds the second threshold value, the control unit 40 determines that the grease is reduced. The control unit 40 may store such a second threshold value in advance in the storage unit 20 as an input value input by the user, and may read and acquire it from the storage unit 20 at a timing required for the determination process. The second threshold value may be the same value as the above-mentioned first threshold value, or may be a different value.

[0043] 4 is a schematic diagram showing another example of the pattern of the contact end W2 drawn on the tooth surface S2 of the gear 11c1 in FIG. 3. FIG. 4 shows the tooth surface S2 of the tooth 11c4 shown in FIG. 3 in an enlarged manner, with the tooth surface S2 at the center. In order to facilitate understanding of the following description, a pair of electrodes E is also shown, and the pair of electrodes E in the gear 11c1 are formed on the surface S1 of the base 11c2 and the surface of the base 11c2 located opposite to the surface S1, as described above, for example. Similarly, a pair of straight line portions W1 are also shown, and the pair of straight line portions W1 in the gear 11c1 are formed on the surface S1 of the base 11c2 and the surface of the base 11c2 located opposite to the surface S1, as described above, for example.

[0044] The contact end W2 of the wiring W may be formed in a second pattern that functions as a strain gauge on the tooth surface S2. For example, the second pattern is formed by repeating a straight line folded back 180° at one end and then folded back again 180° at the other end. Such a second pattern of the contact end W2 may be formed on at least one of the first tooth surface S21 and the second tooth surface S22. In this case, the predetermined function may further include a function of detecting the magnitude of torque corresponding to the rotation of the gear 11c1 instead of or in addition to the above-mentioned function.

[0045] The control unit 40 of the robot arm 1 detects the magnitude of the torque corresponding to the rotation of the gear 11c1 based on the electric signal obtained from the contact end W2 functioning as a strain gauge. More specifically, the control unit 40 calculates the force applied to the gear 11c1 to rotate the gear 11c1 based on the deformation amount of the tooth surface S2 when the contact end W2 contacts another gear 100 due to the rotation of the gear 11c1. The control unit 40 further calculates the magnitude of the torque corresponding to the rotation of the gear 11c1 based on the calculated force. In addition, the control unit 40 may also calculate the rotation speed of the gear 11c1 from the change in the electric signal obtained from the contact end W2 functioning as a strain gauge.

[0046] 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 resins, and acrylonitrile-butadiene-styrene copolymer resins; 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 crystal polyarylate; and liquid crystal polyester resins.

[0047] 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 crystal polyester resin, which are so-called engineering plastics or super engineering plastics 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 preferable, and among polyarylene sulfide resins (hereinafter also referred to as "PAS resins"), a polyphenylene sulfide resin (hereinafter also referred to as "PPS resins") is particularly preferable.

[0048] In one embodiment, the above resin may be used alone, or may be used in the form of a polymer alloy in which a plurality of the above resins are mixed. The resin according to one embodiment may also contain a filler. The resin containing a filler may contain the filler and the above resin described below, and may be in the form of a composition containing any of the following optional additive components (colorant, antistatic agent, antioxidant, heat stabilizer, ultraviolet stabilizer, ultraviolet absorber, foaming agent, flame retardant, flame retardant assistant, rust inhibitor, coupling agent, silane coupling agent, thermoplastic elastomer, or synthetic resin) as necessary.

[0049] The polyarylene sulfide resin has a resin structure having a repeating unit in which an aromatic ring and a sulfur atom are bonded. Specifically, the polyarylene sulfide resin is a resin having a repeating unit of a structural portion represented by the following general formula (1) and, if necessary, a trifunctional structural portion represented by the following general formula (2).

[0050] [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.

[0051] [ka] The trifunctional structural moiety represented by formula (2) is preferably present 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.

[0052] Here, the structural portion represented by the above general formula (1) is particularly 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).

[0053] [ka] Among these, a structure in which the bond of the sulfur atom to the aromatic ring in the repeating unit is bonded at the para position represented by the above general formula (3) is particularly preferred in terms of the heat resistance and crystallinity of the PAS resin.

[0054] In addition, the PAS resin may contain not only the structural moieties represented by the above 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 above general formulas (1) and (2).

[0055] [ka] In one embodiment, the structural moieties represented by the general formulae (5) to (8) are preferably 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.

[0056] In addition, the PAS resin may have naphthyl sulfide bonds or the like in its molecular structure, but the amount of such bonds is preferably 3 mol % or less, and particularly preferably 1 mol % or less, relative to the total number of moles including other structural portions.

[0057] 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.

[0058] (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 2000 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 flow tester, CFT-500D, at 300°C, load: 1.96×10 6 The melt viscosity is measured after holding the sample for 6 minutes at a pressure of 1 Pa and L / D = 10 (mm) / 1 (mm).

[0059] (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 in the range of 0.95 or more to preferably in the range of 1.50 or less, more preferably in the range of 1.20 or less. Such a polyarylene sulfide resin is excellent in mechanical properties, fluidity, and abrasion resistance. However, in one embodiment, the non-Newtonian index (N value) is a value calculated using the following formula by measuring the shear rate (SR) and shear stress (SS) using a capillograph under the conditions of melting point +20°C and the ratio of the orifice length (L) to the orifice diameter (D) L / D=40. The closer the non-Newtonian index (N value) is to 1, the closer the structure is to a linear structure, and the higher the non-Newtonian index (N value), the more branched the structure is.

[0060]

number

[0061] In addition, the PAS resin used in this embodiment may be a newly polymerized PAS resin or a recycled PAS resin. For example, a PAS resin recovered from a PAS resin composition or a PAS resin molded product may be used. Specifically, a PAS resin obtained by heating a PAS resin composition or a PAS resin molded product in an organic polar solvent to dissolve the PAS contained therein and performing the above-mentioned post-treatment may be used. In addition, a PAS resin composition or a PAS resin molded product that has been mechanically crushed may be used as the PAS resin. Specifically, a sprue or runner generated during the manufacture of a molded product, a product recovered as a non-standard molded product, or a molded product that has been used as a product may be crushed. In that case, a crushed product of a PAS resin composition or a PAS resin molded product containing a component other than the PAS resin may be used, but from the viewpoint of mechanical strength, the PAS resin content is preferably 90 parts by mass or more, more preferably 95 parts by mass or more, and even more preferably 98 parts by mass or more.

[0062] In one embodiment, the resin used contains a metal oxide containing at least one of copper and chromium for the purpose of forming a molded circuit using LDS. The metal oxide generates heat when irradiated with a laser in the resulting molded article, melts the resin, and roughens the surface of the molded article, and is activated by laser irradiation to selectively form a plating layer.

[0063] 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.

[0064] 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 0.7O2, CuMo 0.7 O3, CuMo 0.5 O 2.5 , CuMoO4, CuWO4, CuSeO4, CuCr2O4, etc. Among these, the metal oxide is 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. These metal oxides may be used alone or in combination of two or more kinds.

[0065] 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. When the average particle size of the metal oxide is 0.01 μm or more, it is preferable because efficient and stable production can be achieved. On the other hand, when the average particle size of the metal oxide is 50 μm or less, it is preferable because material strength can be maintained. In this disclosure, the "average particle size of the metal oxide" means the number average particle size, and the value measured by electron microscopy is adopted. Specifically, the particle sizes of 100 arbitrarily selected metal oxide particles in one visual field of an electron microscope are measured, and the average value is calculated.

[0066] 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.

[0067] The amount of the metal oxide is preferably 15 parts by mass or more, more preferably 20 parts by mass or more, and even more preferably 25 parts by mass or more, and preferably 90 parts by mass or less, relative to 100 parts by mass of the PAS resin. When the amount of the metal oxide is 15 parts by mass or more relative to 100 parts by mass of the PAS resin, it is preferable from the viewpoints that the surface roughening and activation of the metal oxide by laser irradiation can be highly generated in the obtained molded product, and that the plating property is excellent. On the other hand, when the amount of the metal oxide is 90 parts by mass or less relative to 100 parts by mass of the PAS resin, it is preferable from the viewpoints that the material strength can be maintained.

[0068] When using PAS resin as thermoplastic resin, from the viewpoint of excellent plating deposition speed of molded product, it is preferable to further blend thermoplastic resin other than PAS resin, and in the resin composition and molded product, the thermoplastic resin other than PAS resin forms a dispersed phase together with the metal oxide. As the thermoplastic resin forming a dispersed phase in the continuous phase of PAS resin, a thermoplastic resin that is not compatible with the PAS resin and has a higher melt viscosity is preferable, for example, polyamide resin, polyetherimide resin, polycarbonate resin, polyphenylene ether resin, polysulfone resin, polyethersulfone resin, polyetheretherketone resin, polyetherketone resin, polyarylene resin, syndiotactic polystyrene resin can be mentioned. Among them, polyamide resin is preferable, and aromatic polyamide resin is more preferable.

[0069] As the other filler, a known and commonly used material can be used as long as it does not impair the effect of one embodiment, and examples of such fillers 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, and 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 can also be used. Among them, it is preferable to add a clay mineral as an optional component, since it exerts a synergistic effect with the above-mentioned metal oxide and has a function of improving the plating property of the obtained molded product and the bonding strength of the plating layer. The clay mineral is preferably contained in a large amount in the dispersed phase, similarly to the metal oxide, from the viewpoint of obtaining a practical plating deposition rate for the obtained molded article. The clay mineral is preferably one having a layered structure and cleavage, and examples of the clay mineral include carbonate minerals and silicate minerals.

[0070] In one embodiment, the content of the filler is not particularly limited as long as it does not impair the effect of the embodiment. The amount of the 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, relative to 100 parts by mass of the resin. In this range, the resin exhibits good mechanical strength and moldability, which is preferable.

[0071] The resin used in one embodiment can be mixed with a silane coupling agent as an optional component as necessary. The silane coupling agent is not particularly limited as long as it does not impair the effect of one embodiment, but a silane coupling agent 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, is preferably mentioned. 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, the silane coupling agent is not an essential component, but when it is blended, the blending amount is not particularly limited as long as it does not impair the effect 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 such a range, the resin has good corona resistance and moldability, especially releasability, and the molded product exhibits excellent adhesion to the epoxy resin while further improving mechanical strength, which is preferable.

[0072] The resin used in one embodiment may contain a thermoplastic elastomer as an optional component, if necessary. Examples of the thermoplastic elastomer include polyolefin-based elastomers, fluorine-based elastomers, and silicone-based elastomers, among which polyolefin-based elastomers are preferred. When these elastomers are added, the amount of the elastomers is not particularly limited as long as it does not impair the effects of one embodiment, but 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, based on 100 parts by mass of resin (A). In this range, the impact resistance of the resulting resin is improved, which is preferable.

[0073] For example, the polyolefin-based elastomer may be a homopolymer of an α-olefin, a copolymer of two or more α-olefins, or a copolymer of one or more α-olefins and a vinyl polymerizable compound having a functional group. In this case, the α-olefin may be an α-olefin having 2 or more to 8 or less carbon atoms, such as ethylene, propylene, or 1-butene. In addition, the functional group may be 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, or 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.

[0074] Furthermore, in addition to the above components, the resin used in one embodiment may further contain 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, polytetrafluoroethylene resin, polydifluoroethylene resin, polystyrene resin, ABS resin, phenol resin, urethane resin, and liquid crystal polymer as optional components depending on the application. Although the above synthetic resin is not an essential component in one embodiment, when it is added, the ratio of the synthetic resin to be added is not particularly limited as long as it does not impair the effect of one embodiment, and it differs depending on each purpose and cannot be generally defined, but the ratio of the synthetic resin to be added 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 the resin. In other words, the ratio of resin (A) to the total of resin (A) and the synthetic resin is preferably in the range of (100 / 115) or more, and more preferably in the range of (100 / 105) or more, on a mass basis.

[0075] The resin used in one embodiment may contain other known and commonly used additives as optional components, such as colorants, antistatic agents, antioxidants, heat stabilizers, UV stabilizers, UV absorbers, foaming agents, flame retardants, flame retardant assistants, rust inhibitors, and coupling agents, etc. These additives are not essential components, and may be used, for example, in an amount of preferably 0.01 parts by mass or more and preferably 1000 parts by mass or less relative to 100 parts by mass of the resin, with appropriate adjustment depending on the purpose and application so as not to impair the effects of one embodiment.

[0076] A method for producing the resin used in one embodiment will be described in detail below.

[0077] The resin used in one embodiment is a mixture of each essential component and other optional components as required. The method for producing the resin used in one embodiment is not particularly limited, but includes a method of blending the essential components and optional components as required and melt-kneading them, more specifically, a method of uniformly dry-mixing them as required using a tumbler or Henschel mixer, and then feeding them into a twin-screw extruder and melt-kneading them.

[0078] The melt kneading can be carried out by heating the resin 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, preferably equal to or lower than the melting point + 100°C, more preferably equal to or lower than the melting point + 50°C.

[0079] The melt kneader is preferably a twin-screw kneading extruder from the viewpoint of dispersibility and productivity. For example, it is preferable to melt knead while appropriately adjusting the discharge amount of the resin component in the range of 5 to 500 (kg / hr) and the screw rotation speed in the range of 50 to 500 (rpm), and it is more preferable to melt knead under the condition that the ratio (discharge amount / screw rotation speed) is in the range of 0.02 to 5 (kg / hr / rpm). In addition, the addition and mixing of each component to the melt kneader may be performed simultaneously or in portions. For example, when an additive is added among the above components, it is preferable to feed the additive into the extruder from a side feeder of the twin-screw kneading extruder from the viewpoint of dispersibility. The position of the side feeder is preferably such that the ratio of the distance from the extruder resin input part (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. In addition, such a ratio is preferably 0.9 or less, more preferably 0.7 or less.

[0080] 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 necessary, 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 range of 100 to 150° C. as necessary.

[0081] The molded article of one embodiment is formed by molding a resin. A method for producing the molded article of one embodiment includes a step of melt-molding the resin. The method will be described in detail below.

[0082] The resin used in one embodiment is subjected to injection molding. The various molding conditions are not particularly limited, and molding can be performed by a general method. For example, in an injection molding machine, the resin is melted at a temperature range of the melting point of the resin or higher, preferably at a temperature range of the melting point +10°C or higher, more preferably at a temperature range of the melting point +10°C to the melting point +100°C, and even more preferably at a temperature range of the melting point +20 to the melting point +50°C, and then the resin is injected into a mold from a resin discharge port and molded. At that time, the mold temperature may be set to a known temperature range, for example, room temperature (23°C) to 300°C, preferably 120 to 180°C.

[0083] According to the gear 11c1 of the embodiment as described above, it is possible to contribute to a predetermined function with a simpler configuration. The gear 11c1 is formed integrally with resin and has the circuit 11d that contributes to a predetermined function, so that it is not necessary to additionally arrange a sensor component such as a piezoelectric element as in the conventional technology. The end effector 10 having the gear 11c1 as the drive mechanism 11c does not need to separately arrange a sheet or film for the sensor component and a substrate that forms an electric circuit. The end effector 10 having the gear 11c1 does not need to separately provide a joint or bonding portion of the sheet, film, substrate, etc. The end effector 10 having the gear 11c1 is possible to contribute to a predetermined function with the above-mentioned simpler configuration.

[0084] By simplifying the structure of the drive mechanism 11c including the gear 11c1 containing resin, the end effector 10 can be reduced in number of parts, reduced in size, and reduced in weight, and can also satisfy the weight capacity limit of the robot arm 1. The end effector 10 can also have an improved degree of freedom in its shape design. In addition, the end effector 10 has improved waterproofing and water resistance because the gear 11c1 contains resin, and can be washed to prevent the spread of infectious diseases and for other hygienic purposes. Unlike conventional metal end effectors, the end effector 10 is light and rust-resistant during washing can be suppressed.

[0085] The circuit 11d has wiring W formed on the surface of the resin, and contributes to a predetermined function based on the wiring W itself. As a result, the gear 11c1 becomes an integrally molded product that contributes to a predetermined function by directly drawing the circuit 11d on the gear 11c1. Since the drawn circuit 11d itself serves as a means for transmitting an electric signal, the gear 11c1 does not need to be provided with additional wiring such as a harness and a board. The end effector 10 having the gear 11c1 does not require a shape and space for accommodating a harness as a wire and a board on which a circuit is formed, and can be simplified in configuration without complicating the shape.

[0086] Although the gear 11c1 tends to become charged due to the resin it contains, even in such a case, the charge can be easily removed by the plating wiring W in the metal circuit 11d formed on the surface. The gear 11c1 can effectively remove the static electricity that builds up due to the path shape of the wiring W that is directly drawn on its surface.

[0087] The wiring W has a contact end W2 formed on at least a part of the tooth surface S2 of the gear 11c1, and thus can contribute to a predetermined function based on contact between the contact end W2 and a metallic contact object such as another conductive gear 100. The gear 11c1 can contribute to a predetermined function based on a rotational motion along the rotation direction D2. The gear 11c1 can contribute to a predetermined function based on an electric signal resulting from contact between the circuit 11d and the other conductive gear 100.

[0088] For example, the circuit 11d contributes to a predetermined function when the gear 11c1 meshes with another conductive gear 100 and the rotation of the gear 11c1 brings the contact end W2 into contact with the other gear 100. The gear 11c1 changes the voltage between the pair of electrodes E based on a change in resistance at the contact point between the contact end W2 and the other gear 100, thereby outputting an electrical signal to the control unit 40 of the robot arm 1 and contributing to a predetermined function.

[0089] For example, the control unit 40 of the robot arm 1 can detect the number of rotations of the gear 11c1. The control unit 40 of the robot arm 1 can also detect the rotation angle of the gear 11c1. Therefore, the control unit 40 can identify the operating state of the gear 11c1 in the drive mechanism 11c in real time with a simpler configuration without additionally arranging a sensor component for the gear 11c1.

[0090] For example, the control unit 40 of the robot arm 1 can detect wear of the gear 11c1. Therefore, the control unit 40 can identify the deterioration state of the gear 11c1 in the drive mechanism 11c in real time with a simpler configuration without additionally arranging a sensor component for the gear 11c1. The control unit 40 can also determine the time to replace the gear 11c1, and can notify the user who uses the robot arm 1 of the determination result as necessary. The user can easily know the time to replace the gear 11c1 by checking the determination result.

[0091] For example, the control unit 40 of the robot arm 1 can detect a decrease in the grease used for rotating the gear 11c1. Therefore, the control unit 40 can identify the smoothness of rotation of the gear 11c1 in the drive mechanism 11c in real time with a simpler configuration without additionally arranging a sensor component for the gear 11c1. The control unit 40 can also determine the timing of maintenance to replenish grease to the gear 11c1, and can notify the user who uses the robot arm 1 of the determination result as necessary. By checking the determination result, the user can easily know the timing of maintenance to replenish grease to the gear 11c1.

[0092] For example, the control unit 40 of the robot arm 1 is also able to detect the magnitude of torque corresponding to the rotation of the gear 11c1 by forming the contact end W2 in the second pattern that functions as a strain gauge on the tooth surface S2. Therefore, the control unit 40 can identify the operating state related to the torque of the gear 11c1 in the drive mechanism 11c in real time with a simpler configuration without additionally arranging a sensor component for the gear 11c1.

[0093] Since the resin contains a thermoplastic resin, and the thermoplastic resin is a polyarylene sulfide resin, the gear 11c1 can have improved waterproof and water resistance. In addition, the excellent chemical resistance and heat resistance of the polyarylene sulfide resin can improve the chemical resistance and heat resistance of the gear 11c1. This allows the gear 11c1 to be used in chemicals and in high-temperature environments.

[0094] Since the resin is made of a metal oxide containing at least one of copper and chromium, the gear 11c1 facilitates the formation of a molded circuit using LDS. The gear 11c1 generates heat when irradiated with a laser due to the metal oxide containing at least one of copper and chromium, and can provide functions such as melting the resin and roughening its surface, and being activated by laser irradiation to selectively form a plating layer.

[0095] It is obvious to those skilled in the art that the present disclosure can be realized in other specific forms other than the above-described embodiments without departing from the spirit or essential characteristics thereof. Therefore, the above description is illustrative and not limiting. The scope of the disclosure is defined by the appended claims, not by the above description. Any modifications within the scope of the equivalents of all modifications are intended to be included therein.

[0096] For example, the shape, pattern, size, arrangement, orientation, type, number, etc. of each of the above-mentioned components are not limited to the above description and the contents illustrated in the drawings. The shape, pattern, size, arrangement, orientation, type, number, etc. of each of the components may be configured arbitrarily as long as the function can be realized. The illustrated components of the gear 11c1, end effector 10, and robot arm 1 are functional concepts, and the specific form of each component is not limited to those illustrated.

[0097] In the above embodiment, the circuit 11d has the wiring W formed on the surface of the resin, and is described as contributing to a predetermined function based on the wiring W itself, but is not limited to this. The circuit 11d may have a substrate integrally molded with the resin and wiring formed on the substrate, and may contribute to a predetermined function based on the wiring itself.

[0098] The circuit 11d may be configured based on a substrate that is molded integrally with resin by insert molding or the like. In the circuit 11d, wiring and electrodes may be formed on the substrate. The circuit 11d may be configured as a molded circuit using, for example, an IME of MID. "IME" is an abbreviation for In-Mold Electronics. The circuit 11d may be formed by inserting a flexible substrate or the like during injection molding. In this way, the gear 11c1 becomes an integral molded product that contributes to a predetermined function by molding the substrate integrally with the resin.

[0099] In the above embodiment, the circuit 11d has been described as contributing to a predetermined function based on the wiring W itself, but this is not limited to this. The circuit 11d may have a sensor component that is mounted on the circuit 11d by soldering or the like and contributes to the predetermined function, instead of or in addition to the wiring W that contributes to the predetermined function.

[0100] In addition, the circuit 11d may have a control element that is mounted on the circuit 11d by soldering or the like and executes 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 above-mentioned various processes performed by the control unit 40 of the robot arm 1 by itself. The end effector 10 can also execute the determination process, learning process, and any other process by itself.

[0101] In the above embodiment, the wire W has been described as having a contact end W2 formed on at least a part of the tooth surface S2 of the gear 11c1, but is not limited thereto. The contact end W2 may be formed on any other part of the gear 11c1 that can come into contact with another gear 100 having electrical conductivity. The contact end W2 may be formed on any part of the gear 11c1 other than the tooth surface S2 instead of or in addition to the tooth surface S2. For example, the contact end W2 may be formed on the tip surface S3 of the tooth 11c4 instead of the tooth surface S2, or may be formed on the surface S1.

[0102] In the above embodiment, the circuit 11d is described as contributing to a predetermined function by meshing the gear 11c1 with another gear 100 having conductivity and contacting the contact end W2 with the other gear 100 due to rotation of the gear 11c1, but is not limited thereto. The other gear 100 does not need to be entirely made of a metal having conductivity, and only the portion in contact with the contact end W2 may be formed to be conductive.

[0103] For example, instead of or in addition to the other gear 100 having conductivity, the gear 11c1 may contribute to a predetermined function based on contact with any other contact object having conductivity. For example, the gear 11c1 may contribute to a predetermined function by contacting the other contact object with a contact end W2 formed on the tooth surface S2 due to the rotation of the gear 11c1. For example, the gear 11c1 may contribute to a predetermined function by contacting the other contact object with a contact end W2 formed on the surface S1, not the tooth surface S2, due to the rotation of the gear 11c1. In this case, the other contact object may be always fixed at a certain position and disposed without rotating together with the surface S1 of the gear 11c1, for example.

[0104] In the above embodiment, the circuit 11d is described as being formed for only one tooth 11c4 among the multiple teeth 11c4, but this is not limited thereto. The circuit 11d may be formed for multiple teeth 11c4. In this case, the circuit 11d may be regularly arranged at equal intervals in the circumferential direction for the multiple teeth 11c4, or may be irregularly arranged instead of at equal intervals. For example, the circuit 11d may be formed for four teeth 11c4 at intervals of 90° from each other. In this case, the control unit 40 of the robot arm 1 can easily identify that the gear 11c1 has rotated 90° every time it acquires an electrical signal from the circuit 11d.

[0105] In the above embodiment, the contact end W2 is formed in the first pattern that extends continuously on the tooth surface S2 or the second pattern that functions as a strain gauge on the tooth surface S2, but is not limited thereto. The contact end W2 may be formed in any other pattern different from the first pattern and the second pattern according to a predetermined function.

[0106] In the above embodiment, the end effector 10 has been described as having a pair of claws, i.e., two claws, on the gripper 11b, but is not limited thereto. The end effector 10 may have three or more claws.

[0107] Some of the 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] A gear containing a resin, The resin is integrally formed with a circuit that contributes to a predetermined function. gear. [Appendix 2] 2. The gear according to claim 1, the circuit has wiring formed on the surface of the resin, and contributes to the predetermined function based on the wiring itself; gear. [Appendix 3] 2. The gear according to claim 1, the circuit has a substrate integrally molded with the resin and wiring formed on the substrate, and contributes to the predetermined function based on the wiring itself; gear. [Appendix 4] 4. A gear according to claim 2 or 3, The wiring has a contact end formed on at least a part of the tooth surface of the gear. gear. [Appendix 5] 5. The gear according to claim 4, the circuit includes a gear that is meshed with another gear having electrical conductivity, and the contact end of the gear comes into contact with the other gear due to rotation of the gear, thereby contributing to the predetermined function; gear. [Appendix 6] 6. A gear according to claim 4 or 5, the contact edge is formed in a first pattern that extends continuously across the tooth surface; The predetermined function includes a function of detecting at least one of the number of rotations, the rotation angle, and the wear of the gear, and a decrease in the amount of grease used for rotating the gear. gear. [Appendix 7] 6. A gear according to claim 4 or 5, the contact tip is formed with a second pattern that functions as a strain gauge on the tooth surface; The predetermined function includes a function of detecting a magnitude of torque corresponding to rotation of the gear. gear. [Appendix 8] 8. A gear according to any one of claims 1 to 7, The resin includes a thermoplastic resin. gear. [Appendix 9] 9. The gear according to claim 8, The thermoplastic resin includes at least one selected from the group consisting of engineering plastics and super engineering plastics, gear. [Appendix 10] 10. The gear according to claim 9, The thermoplastic resin is a polyarylene sulfide resin. gear. [Appendix 11] A gear according to any one of claims 1 to 10, The resin is formed by blending a metal oxide containing at least one of copper and chromium. gear. [Appendix 12] A drive mechanism that operates based on a gear according to any one of claims 1 to 11; A gripping portion that is driven to perform an opening and closing operation based on the driving mechanism; Equipped with End effector. [Appendix 13] 13. A robotic arm comprising an end effector according to claim 12. [Explanation of symbols]

[0108] 1. Robot Arm 1a Housing 10 End effector 11 Main body 11a Mounting part 11b Grip part 11c Drive mechanism 11c1 Gear 11c2 base 11c3 Bearing part 11c4 Teeth 11d Circuit 20 Memory section 30 Drive unit 40 Control section 100 other gear D1 Radial direction D2 Rotation direction E-electrode S1 surface S2 tooth surface S21 1st tooth surface S22 2nd tooth surface S3 tip surface W Wiring W1 Straight section W2 contact end

Claims

1. A gear containing a resin, The resin is integrally formed with a circuit that contributes to a predetermined function. gear.

2. 2. The gear of claim 1, the circuit has wiring formed on the surface of the resin, and contributes to the predetermined function based on the wiring itself; gear.

3. 2. The gear of claim 1, the circuit has a substrate integrally molded with the resin and wiring formed on the substrate, and contributes to the predetermined function based on the wiring itself; gear.

4. A gear according to claim 2 or 3, The wiring has a contact end formed on at least a part of the tooth surface of the gear. gear.

5. 5. A gear according to claim 4, the circuit includes a gear that is meshed with another gear having electrical conductivity, and the contact end of the gear comes into contact with the other gear due to rotation of the gear, thereby contributing to the predetermined function; gear.

6. 5. A gear according to claim 4, the contact edge is formed in a first pattern that extends continuously across the tooth surface; The predetermined function includes a function of detecting at least one of the number of rotations, the rotation angle, and the wear of the gear, and a decrease in the amount of grease used for rotating the gear. gear.

7. 5. A gear according to claim 4, the contact tip is formed with a second pattern that functions as a strain gauge on the tooth surface; The predetermined function includes a function of detecting a magnitude of torque corresponding to rotation of the gear. gear.

8. A gear according to any one of claims 1 to 3, The resin includes a thermoplastic resin. gear.

9. 9. A gear according to claim 8, The thermoplastic resin includes at least one selected from the group consisting of engineering plastics and super engineering plastics, gear.

10. 10. A gear according to claim 9, The thermoplastic resin is a polyarylene sulfide resin. gear.

11. A gear according to any one of claims 1 to 3, The resin is formed by blending a metal oxide containing at least one of copper and chromium. gear.

12. A drive mechanism operating on the basis of a gear according to any one of claims 1 to 3; A gripping portion that is driven to perform an opening and closing operation based on the driving mechanism; Equipped with End effector.

13. A robot arm comprising an end effector according to claim 12.

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