Measurement module and robot arm

Abstract

To provide a measurement module capable of contributing to measurement of viscosity of an object by a simpler structure.SOLUTION: A measurement module 10 contributing to measurement of viscosity of an object includes a contact part 11b coming in contact with the object, and a detection part 11c which is distorted according to force applied to the contact part 11b, wherein the detection part 11c has a circuit CB which contains resin, is integrally formed with the resin, and outputs an electric signal changing corresponding to strain of the detection part 11c.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present disclosure relates to a measurement module 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. In addition, technologies related to end effectors, including robot hands and robot grippers, that are attached to the tips of robot arms are also known.

[0003] For example, Patent Document 1 describes that the kneading condition of a viscous material is an important quality index that determines the quality of a final product in industries that handle viscous materials, including the food industry, pharmaceuticals, chemicals, and construction industries. Patent Document 1 discloses a device that acts as a sensor having a stirring motion so that the average kneading condition in a viscous material can be measured. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2010-151705 A Summary of the Invention [Problem to be solved by the invention]

[0005] For end effectors used as such measurement modules, there is a demand for a reduction in the number of parts, a reduction in size, and a reduction in weight due to the weight limit of the robot arm. In addition, there is a demand for the end effector to be waterproof and water resistant so that the end effector can be washed for the purpose of preventing the spread of infectious diseases and other hygienic aspects. In general, end effectors are made of metal, and have the problem of being heavy and rusting when washed.

[0006] End effectors generally require sensor components to operate. For example, when an end effector is intended to contribute to measuring the viscosity of an object while stirring the object, a sensor component such as a strain gauge is additionally mounted on the end effector, as in the conventional technology described in Patent Document 1. This makes it difficult to reduce the size and weight of the end effector.

[0007] The present disclosure aims to provide a measurement module and a robot arm that can contribute to measuring the viscosity of an object with a simpler configuration. [Means for solving the problem]

[0008] A measurement module according to a first aspect for solving the above problems comprises: A measurement module contributing to the measurement of the viscosity of an object, comprising: A contact portion that comes into contact with an object; A detection portion that is distorted in response to a force applied to the contact portion; Equipped with The detection unit is Contains resin, The sensor includes a circuit that is formed integrally with the resin and outputs an electrical signal that changes in response to the distortion of the detection portion.

[0009] The robot arm according to the second aspect is The device is provided with the above-mentioned measurement module. Effect of the Invention

[0010] According to the present disclosure, it is possible to provide a measurement module and a robot arm that can contribute to measuring the viscosity of an object with a simpler configuration. [Brief description of the drawings]

[0011] [Figure 1] FIG. 1 is an external perspective view illustrating an example of a robot arm according to a first 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] FIG. 2 is a front view showing an example of an end effector of the robot arm of FIG. [Figure 4] FIG. 4 is a rear view of the end effector of FIG. 3. [Diagram 5] 4 is a front view showing a part of the configuration of the end effector of FIG. 3. [Figure 6] FIG. 11 is a block diagram showing an example of a configuration of a robot arm according to a second embodiment of the present disclosure. [Figure 7] FIG. 7 is a front view showing a part of the configuration of the end effector of the robot arm of FIG. 6. 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] (First embodiment) FIG. 1 is an external perspective view showing an example of a robot arm 1 according to a first embodiment of the present disclosure. FIG. 2 is a block diagram showing an example of a configuration of the robot arm 1 of FIG. 1. FIG. 3 is a front view showing an example of an end effector 10 of the robot arm 1 of FIG. 1. FIG. 4 is a rear view of the end effector 10 of FIG. 3. FIG. 5 is a front view showing a part of the configuration of the end effector 10 of FIG. 3. An example of the configuration of a robot arm 1 including an end effector 10 according to the first embodiment as a measurement module will be mainly described with reference to FIGS. 1 to 5.

[0014] As shown in FIG. 1 and FIG. 3, 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 effector 10 corresponds to a measurement module described in the claims. The end effector 10 is supported by the housing 1a by attaching an end portion opposite to a contact portion 11b (described later) for stirring an object in the end effector 10. The end effector 10 is driven while supported by the housing 1a, and stirs the object while moving along a predetermined trajectory. The end effector 10 contributes to measuring the viscosity of the object while stirring the object.

[0015] In this disclosure, the term "object" includes, for example, non-Newtonian liquids, but is not limited to, any other liquids, other fluids, etc. that are subject to agitation by the end effector 10.

[0016] 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.

[0017] As shown in Figs. 2 to 4, the end effector 10 has a main body 11. The main body 11 constitutes the entire outer shape of the end effector 10. The main body 11 has an attachment portion 11a, a contact portion 11b, and a detection portion 11c. The attachment portion 11a is attached to the housing 1a of the robot arm 1. The contact portion 11b is located at the tip of the main body 11 opposite to the attachment portion 11a. The detection portion 11c is formed in the main body 11 such that one end of the detection portion 11c is attached to the attachment portion 11a and the other end is continuous with the contact portion 11b.

[0018] The end effector 10 is driven while being supported by the housing 1a, and mixes an object by moving a contact part 11b located at the tip of the end effector 10 in a predetermined trajectory. The end effector 10 contributes to measuring the viscosity of the object based on the distortion of the detection part 11c caused by the mixing of the object by the contact part 11b.

[0019] Fig. 5 shows only the contact portion 11b and the detection portion 11c, excluding the mounting portion 11a of the main body portion 11. As can be seen from Fig. 1 and Fig. 5, the portion of the main body portion 11 excluding the mounting portion 11a is formed in a flat plate shape. The contact portion 11b and the detection portion 11c are continuously connected to each other with the same width in the main body portion 11, and form a single flat plate having a uniform width.

[0020] The contact portion 11b is formed on one half of the plate. The contact portion 11b performs an action of stirring the object. At this time, the contact portion 11b comes into contact with the object. For example, during the action of stirring the object, the surface A of the contact portion 11b in a direction perpendicular to the plate thickness direction continues to contact the object while facing the moving direction of the end effector 10. At this time, the contact portion 11b receives fluid resistance at the surface A associated with stirring the object. At the surface A of the contact portion 11b, a force facing in the opposite direction to the moving direction of the end effector 10 acts as the contact portion 11b moves in the object.

[0021] The detection unit 11c is formed in the other half of the above-mentioned flat plate. The detection unit 11c contributes to the measurement of the viscosity of the object. For example, the detection unit 11c is distorted in response to the above-mentioned force applied to the contact portion 11b when the contact portion 11b comes into contact with the object during the stirring operation. The detection unit 11c outputs an electric signal that changes in response to the distortion of the detection unit 11c to the control unit 40, which will be described later. In this way, the detection unit 11c contributes to the measurement of the viscosity of the object by the control unit 40.

[0022] The main body 11 contains resin. As an example, the entire main body 11 including the attachment portion 11a, the contact portion 11b, and the detection portion 11c is formed of resin. That is, the detection portion 11c that contributes to measuring the viscosity of the object also contains resin.

[0023] 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.

[0024] 2, the robot arm 1 has, in addition to the end effector 10 having a main body 11, 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.

[0025] 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.

[0026] The driving unit 30 includes, for example, any module that drives the end effector 10. For example, the driving unit 30 moves the end effector 10 along a predetermined trajectory when the contact portion 11b of the end effector 10 stirs an object. The driving unit 30 drives the end effector 10 in accordance with a control signal from the control unit 40.

[0027] 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.

[0028] As shown in Fig. 5, the detection unit 11c is formed integrally with resin and has a circuit CB that outputs an electric signal that changes according to the distortion of the detection unit 11c. The circuit CB is formed on a surface B of the detection unit 11c that is formed on the same side as the surface A of the contact unit 11b. As also shown in Figs. 3 and 4, the detection unit 11c has a pair of circuits CB on both sides that intersect with the moving direction of the contact unit 11b when the end effector 10 stirs the target object with the contact unit 11b. That is, the circuit CB is formed on both the front surface B and the back surface B of the detection unit 11c that is formed on the other half of the flat plate shown in Fig. 5.

[0029] The circuit CB is formed, for example, by being directly drawn on the surface B of the resin that forms the detection unit 11c of the main body 11. In the circuit CB, wiring and electrodes are formed in each area of ​​the surface B of the resin that forms the detection unit 11c. The circuit CB is formed, for example, as a molded circuit using LDS, which is one of MIDs. "MID" is an abbreviation for Molded Interconnect Device. "LDS" is an abbreviation for Laser Direct Structuring. The circuit CB is formed by plating by directly irradiating a laser onto the surface B of the detection unit 11c as a molded product.

[0030] The circuit CB has wiring W formed on the surface B of the resin of the detection unit 11c. The circuit CB has an input electrode E1 and an output electrode E2 formed on the surface B of the resin of the detection unit 11c. The input electrode E1 and the output electrode E2 are formed in parallel to each other. The wiring W of the circuit CB includes a plurality of straight lines connecting the input electrode E1 and the output electrode E2 formed integrally with the resin.

[0031] For example, the wiring W has a connection line W1 extending linearly from each of the input electrode E1 and the output electrode E2. The wiring W has a gauge line W2 connecting two ends of the two connection lines W1 located on the opposite sides of the input electrode E1 and the output electrode E2. The gauge line W2 functions as a strain gauge. For example, the gauge line W2 is formed by repeatedly folding a straight line 180° at one end and folding the folded straight line again 180° at the other end.

[0032] The width d1 of the line of the wiring W, for example the gauge line W2, is not particularly limited, but is preferably 250 μm or less, more preferably 200 μm or less, more preferably 150 μm or less, and even more preferably 100 μm or less. The interval d2 between a pair of adjacent gauge lines W2 in the wiring W is not particularly limited, but is preferably 250 μm or less, more preferably 200 μm or less, more preferably 150 μm or less, and even more preferably 100 μm or less. As an example, each of the width d1 and the interval d2 may be narrowed to about 50 μm.

[0033] The circuit CB formed on the surface B of the detection unit 11c outputs an electric signal that changes according to the electric resistance of the wiring W itself to the control unit 40. As a result, the detection unit 11c contributes to the measurement of the viscosity of the object by the control unit 40 based on the wiring W itself. For example, the circuit CB includes a strain gauge. More specifically, the circuit CB functions as a strain gauge based on the configuration of the wiring W described above.

[0034] For example, when the detection unit 11c is distorted as the contact unit 11b stirs the target object, the wiring W formed as multiple straight lines connecting the input electrode E1 and the output electrode E2 is also distorted, and the electrical resistance of the wiring W changes depending on the degree of distortion. The amount of distortion in the detection unit 11c and the electrical resistance value of the wiring W are correlated with each other. As a result, the voltage between the input electrode E1 and the output electrode E2 changes depending on the distortion of the detection unit 11c. The circuit CB outputs a voltage signal corresponding to the electrical resistance of the wiring W itself, which changes depending on the distortion of the detection unit 11c, to the control unit 40 as an example of the above-mentioned electrical signal.

[0035] For example, the control unit 40 of the robot arm 1 calculates the viscosity of the object based on the electrical signal output from the circuit CB of the detection unit 11c. More specifically, the control unit 40 measures the viscosity of the object being stirred by the end effector 10 by measuring the voltage change between the input electrode E1 and the output electrode E2 based on such an electrical signal. The process of measuring the viscosity of the object executed by the control unit 40 of the robot arm 1 will be described.

[0036] First, the control unit 40 acquires actual measurement data, for example, in a preliminary calibration operation before actually measuring the viscosity of an object using the end effector 10 of the robot arm 1, and stores the data in the storage unit 20. In the present disclosure, the "actual measurement data" includes, for example, data in which the voltage value of the electric signal output from the detection unit 11c and the viscosity of the object are associated with each other. The control unit 40 calculates an approximation equation or the like that indicates the relationship between the voltage value and the viscosity of the object based on such actual measurement data, and stores the calculated data in the storage unit 20.

[0037] When measuring the viscosity of the object, the control unit 40 calculates the viscosity of the object corresponding to the voltage value of the electrical signal output from the detection unit 11c while referring to the above approximation formula based on past actual measurement data previously stored in the memory unit 20. As described above, the control unit 40 measures the viscosity of the object based on the past actual measurement data previously acquired by the calibration work.

[0038] Second embodiment Fig. 6 is a block diagram showing an example of a configuration of a robot arm 1 according to a second embodiment of the present disclosure. Fig. 7 is a front view showing a part of a configuration of an end effector 10 of the robot arm 1 in Fig. 6. Fig. 7 corresponds to Fig. 5 in the first embodiment. An example of a configuration of the end effector 10 according to the second embodiment will be mainly described with reference to Figs. 6 and 7.

[0039] The end effector 10 according to the second embodiment differs from the first embodiment in that the components of the main body 11, excluding the mounting portion 11a, have a shape as shown in Fig. 7. Other configurations, functions, effects, and modifications are the same as those of the first embodiment, and the corresponding explanations apply to the end effector 10 and robot arm 1 according to the second embodiment. In the following, the same components as those in the first embodiment are denoted by the same reference numerals, and the explanations thereof will be omitted. The differences from the first embodiment will be mainly explained.

[0040] 7 shows only the components of the main body 11 excluding the mounting portion 11a, as in FIG. 5. In the end effector 10 according to the second embodiment, the portion of the main body 11 excluding the mounting portion 11a is formed in a shape different from the flat plate shape in the first embodiment. For example, the detection portion 11c has a portion formed narrower than the contact portion 11b. The main body 11 of the end effector 10 further has a tapered portion 11d that connects the contact portion 11b and the detection portion 11c and gradually tapers from the contact portion 11b toward the detection portion 11c.

[0041] In the main body 11, the contact portion 11b, the tapered portion 11d, and the detection portion 11c are formed continuously in this order to form one plate having a non-uniform width. The contact portion 11b is formed at the bottom of the plate. The tapered portion 11d is formed continuously from the upper end of the contact portion 11b, and the width gradually narrows from the contact portion 11b toward the detection portion 11c so that the outer edge draws a gentle curve. The detection portion 11c is formed continuously from the upper end of the tapered portion 11d. The lower portion 11c1 of the detection portion 11c is formed narrower than the contact portion 11b. The central portion 11c2 of the detection portion 11c is formed continuously from the upper end of the lower portion 11c1 of the detection portion 11c, and the width gradually widens from the lower portion 11c1 of the detection portion 11c toward the upper portion 11c3 of the detection portion 11c so that the outer edge draws a gentle curve. An upper portion 11c3 of the detection portion 11c is formed to be as wide as the contact portion 11b.

[0042] The detection unit 11c has a circuit CB in a portion of the detection unit 11c that is formed narrower than the contact unit 11b. For example, in the circuit CB, the gauge line W2 of the wiring W is formed in the lower portion 11c1 of the detection unit 11c. Meanwhile, in the circuit CB, the connection line W1 of the wiring W is formed from the central portion 11c2 to the upper portion 11c3 of the detection unit 11c. In the circuit CB, the input electrode E1 and the output electrode E2 are formed in the upper portion 11c3 of the detection unit 11c.

[0043] (resin) The resin used in the embodiment including the first and second embodiments 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.

[0044] 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.

[0045] 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.

[0046] 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).

[0047] [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.

[0048] [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.

[0049] 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).

[0050] [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.

[0051] 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).

[0052] [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.

[0053] 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.

[0054] 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.

[0055] ((Melt Viscosity)) The melt viscosity of the PAS resin is not particularly limited, but in order to obtain a good balance between fluidity and mechanical strength, the melt viscosity (V6) measured at 300°C is preferably in the range of 2 Pa·s or more, preferably in the range of 1000 Pa·s or less, more preferably in the range of 500 Pa·s or less, and even more preferably in the range of 200 Pa·s or less. The melt viscosity (V6) is measured using a Shimadzu 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).

[0056] ((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.

[0057]

number

[0058] 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.

[0059] 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.

[0060] Specific examples of the metal oxide include, but are not limited to, CuFe 0.5 B 0.5 O 2.5 , CuAl 0.5 B 0.5 O 2.5 , CuGa 0.5 B 0.5 O 2.5 , CuB2O4, CuB 0.7 O2, CuMo 0.7 O3, CuMo 0.5 O 2.5 , CuMoO4, CuWO4, CuSeO4, CuCr2O4, etc. Among these, the metal 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.

[0061] 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.

[0062] 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.

[0063] 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.

[0064] As the other filler, known and commonly used materials can be used as long as they do 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.

[0065] 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.

[0066] 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.

[0067] 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.

[0068] 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.

[0069] 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.

[0070] 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.

[0071] A method for producing the resin used in one embodiment will be described in detail below.

[0072] 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.

[0073] 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.

[0074] 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.

[0075] 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.

[0076] 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.

[0077] 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.

[0078] (effect) According to the end effector 10 and the robot arm 1 as the measurement module according to the embodiment described above, a simpler configuration can contribute to the measurement of the viscosity of an object. Since the end effector 10 has the circuit CB formed integrally with the resin in the main body 11, it is not necessary to additionally mount a sensor component such as a strain gauge when measuring the viscosity of an object, as in the conventional technology. The end effector 10 can also omit the arrangement of lead wires corresponding to the strain gauge. The end effector 10 does not need to separately arrange a sheet or film for the sensor component and a substrate forming an electric circuit. The end effector 10 does not need to separately provide a joint or bonding portion of the sheet, film, substrate, etc. The end effector 10 can contribute to the measurement of the viscosity of an object with the above-mentioned simpler configuration.

[0079] The end effector 10 can achieve a reduction in the number of parts, size, and weight, and can also satisfy the weight limit of the robot arm 1. The end effector 10 can also improve the degree of freedom in its shape design. In addition, the end effector 10 has improved waterproofing and water resistance because the main body 11 contains resin, and can be washed to prevent the spread of infectious diseases and for other hygienic purposes. Unlike conventional metal end effectors, the end effector 10 is light and rust during washing can be suppressed.

[0080] The end effector 10 has a contact portion 11b that contacts the object, and thus can measure the viscosity of the object and can also stir the object. Therefore, the end effector 10 can contribute to real-time measurement of the viscosity of the object while stirring the object. The user can continue stirring the object with the end effector 10 until the desired viscosity is reached while checking the measurement result of the viscosity of the object using the end effector 10 on an arbitrary monitor or the like. For example, for an object that requires viscosity adjustment, such as nursing food, the user can adjust the stirring of the object with the end effector 10 so that the object has a specified viscosity.

[0081] The circuit CB has wiring W formed on the surface B of the resin, and outputs an electrical signal that changes according to the electrical resistance of the wiring W itself. In this way, the end effector 10 becomes an integrated molded product that contributes to measuring the viscosity of an object by directly drawing the circuit CB on the end effector 10. Since the drawn circuit CB itself serves as a means for transmitting an electrical signal, the end effector 10 does not need to additionally provide wiring such as a harness and a board. The end effector 10 does not require a shape and space for accommodating a wired harness and a board on which a circuit is formed, and therefore can avoid a complicated shape and simplify its configuration.

[0082] The end effector 10 tends to become charged because the main body 11 contains resin, but even in such a case, static electricity can be easily removed by the plated wiring W in the metal circuit CB formed on the surface B. The end effector 10 can effectively remove static electricity due to the path shape of the wiring W that is directly drawn on its surface.

[0083] The detection unit 11c has a pair of circuits CB on both sides intersecting the moving direction of the contact unit 11b when stirring the object. This allows the end effector 10 to contribute to measuring the viscosity of the object in both reciprocating directions even when the contact unit 11b performs a reciprocating motion.

[0084] As shown in FIG. 7, the detection unit 11c has a circuit CB in a portion of the detection unit 11c that is narrower than the contact unit 11b. This allows the end effector 10 to increase the area of ​​the contact unit 11b that contacts the object to increase the force applied to the contact unit 11b, while narrowing the width of the detection unit 11c in the strain gauge portion of the circuit CB to make it easier to distort. Therefore, the end effector 10 can contribute to measuring the viscosity of the object even if the object has a low viscosity. The end effector 10 can distort the detection unit 11c even if the object has a low viscosity, and can function as a more sensitive strain gauge.

[0085] The main body 11 of the end effector 10 further has a tapered portion 11d that connects the contact portion 11b and the detection portion 11c and gradually tapers from the contact portion 11b toward the detection portion 11c, as shown in FIG. 7, for example. This allows the end effector 10 to smoothly connect the wide contact portion 11b and the narrow detection portion 11c, and can efficiently transmit the effect of the force applied to the contact portion 11b to the detection portion 11c. Therefore, the end effector 10 can more easily distort the detection portion 11c in response to the force applied to the contact portion 11b. Therefore, the end effector 10 can contribute to measuring the viscosity of the object even if the object has a low viscosity. The end effector 10 can more easily distort the detection portion 11c even if the object has a low viscosity, and can function as a more sensitive strain gauge.

[0086] Since the circuit CB includes a strain gauge, the end effector 10 can output a voltage signal corresponding to the force applied to the contact portion 11b in association with stirring of the object to the control unit 40. This allows the end effector 10 to contribute to the measurement process of the viscosity of the object by the control unit 40. The control unit 40 can accurately calculate the viscosity of the object based on the voltage signal obtained from the end effector 10.

[0087] The end effector 10 can also contribute to measuring the viscosity of an object containing a non-Newtonian liquid. Since the end effector 10 can move at any speed under the control of the control unit 40 of the robot arm 1, it is also possible to change the moving speed of the end effector 10, i.e., the moving speed of the contact part 11b during stirring. Therefore, the end effector 10 can also contribute to measuring the viscosity of an object according to the moving speed of the contact part 11b during stirring. The end effector 10 can also contribute to measuring the viscosity characteristics of an object relative to the stirring speed, i.e., the moving speed of the contact part 11b. The end effector 10 can also contribute to measuring the viscosity characteristics of a non-Newtonian liquid whose viscosity changes depending on the stirring speed.

[0088] Since the resin contains a thermoplastic resin and the thermoplastic resin is a polyarylene sulfide resin, the end effector 10 can have improved waterproof and water resistance. In addition, due to the excellent chemical resistance and heat resistance of the polyarylene sulfide resin, the end effector 10 can also have improved chemical resistance and heat resistance. This allows the end effector 10 to be used in chemicals and high-temperature substances. For example, the end effector 10 can also mix objects such as hydrochloric acid that require chemical resistance.

[0089] Since the resin is made by blending metal oxide containing at least one of copper and chromium, the end effector 10 facilitates the formation of a molded circuit using LDS. The end effector 10 generates heat when irradiated with a laser due to the metal oxide containing at least one of copper and chromium, and can provide a function of melting the resin and roughening its surface, and a function of being activated by laser irradiation to selectively form a plating layer.

[0090] The end effector 10 can more easily cause a change in the electrical resistance of the wiring W itself due to the strain of the detection unit 11c by, for example, having the wiring W of the circuit CB having a pattern as shown in Figures 5 and 7. Therefore, the end effector 10 can contribute to measuring the viscosity of an object even if the object has a low viscosity. The end effector 10 can more easily cause a change in the electrical resistance of the wiring W itself even if the object has a low viscosity, and can cause the detection unit 11c to function as a more sensitive strain gauge.

[0091] The end effector 10 can more easily cause a change in the electrical resistance of the wiring W itself even in response to a minute strain in the detection unit 11c by narrowing the width d1 and the interval d2 to about 50 μm. Therefore, the end effector 10 can contribute to measuring the viscosity of an object even if the object has a low viscosity. The end effector 10 can more easily cause a change in the electrical resistance of the wiring W itself even if the object has a low viscosity, and can cause the detection unit 11c to function as a more sensitive strain gauge.

[0092] 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.

[0093] 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 component may be configured arbitrarily as long as the function can be realized. Each component of the end effector 10 and the robot arm 1 illustrated is a functional concept, and the specific form of each component is not limited to that illustrated.

[0094] In the above embodiment, the measurement module is described as including the end effector 10, but is not limited thereto. The measurement module may include any other module. For example, the measurement module is not limited to a module for a robot such as the end effector 10 used in the robot arm 1. The measurement module may include a module attached to the tip of a viscometer in a stirring device, or the like.

[0095] In the above embodiment, the circuit CB has the wiring W formed on the surface B of the resin, and outputs an electrical signal that changes according to the electrical resistance of the wiring W itself, but the present invention is not limited to this. The circuit CB may have a substrate that is integrally molded with the resin of the main body 11 and wiring formed on the substrate, and may output an electrical signal that changes according to the electrical resistance of the wiring itself.

[0096] The circuit CB may be configured based on a substrate that is molded integrally with resin by insert molding or the like. In the circuit CB, wiring and electrodes may be formed on the substrate. The circuit CB may be configured as a molded circuit using an IME, for example, among MIDs. "IME" is an abbreviation for In-Mold Electronics. The circuit CB may be formed by inserting a flexible substrate or the like during injection molding. In this way, the end effector 10 becomes an integral molded product that contributes to measuring the viscosity of an object by molding the substrate integrally with resin.

[0097] In the above embodiment, the circuit CB has been described as contributing to the measurement of the viscosity of the object based on the wiring W itself, but this is not limited thereto. The circuit CB may have a sensor component that is mounted on the circuit CB by soldering or the like and contributes to the measurement of the viscosity of the object, instead of or in addition to the wiring W that contributes to the measurement of the viscosity of the object.

[0098] In addition, the circuit CB may have a control element that is mounted on the circuit CB by soldering or the like and executes processes necessary to realize measurement of the viscosity of the target object. 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.

[0099] In the above embodiment, the detection unit 11c has a pair of circuits CB on both sides intersecting with the moving direction of the contact part 11b when stirring the object, but the present invention is not limited to this. The detection unit 11c may have a circuit CB on only one of the both sides intersecting with the moving direction of the contact part 11b.

[0100] In the above-described second embodiment, the detection unit 11c has the circuit CB in a portion of the detection unit 11c that is narrower than the contact portion 11b, but this is not limited to the above. The detection unit 11c may have the circuit CB in any other portion as long as it can detect the distortion of the detection unit 11c. The detection unit 11c may not have a portion that is narrower than the contact portion 11b, as in the first embodiment.

[0101] In the above second embodiment, the main body 11 of the end effector 10 is described as further having a tapered portion 11d that connects the contact portion 11b and the detection portion 11c and gradually tapers from the contact portion 11b toward the detection portion 11c, but is not limited thereto. The main body 11 does not have to have such a tapered portion 11d. In this case, the wide rectangular contact portion 11b and the narrow rectangular detection portion 11c may be directly connected to each other.

[0102] In the above embodiment, the circuit CB is described as including a strain gauge, but is not limited thereto, and may include any other components that enable the end effector 10 to contribute to measuring the viscosity of an object.

[0103] In the above embodiment, the end effector 10 is described as being formed in a plate shape except for the mounting portion 11a, but the present invention is not limited to this. The part may be formed in a rod shape instead of a plate shape. Such a rod may have, for example, a cylindrical shape or a prismatic shape such as a triangular prism or a rectangular prism. In addition, the inside of the rod may be entirely filled with a material such as resin, or may be partially hollow. For example, the part may be formed as a cylinder obtained by hollowing out the center of a cylindrical rod.

[0104] In the above embodiment, each of the contact portion 11b and the detection portion 11c is formed in a rectangular shape, but is not limited thereto. At least one of the contact portion 11b and the detection portion 11c may be formed in any other shape. For example, at least one of the contact portion 11b and the detection portion 11c may be formed in a circular or elliptical shape instead of a rectangular shape.

[0105] In the above embodiment, the entire body 11 is made of resin, but this is not limited to this. It is sufficient that at least the part of the body 11 where the circuit CB is formed is made of resin, and other parts of the body 11 may be made of any material other than resin.

[0106] In the above embodiment, the end effector 10 has only one pair of the contact portion 11b and the detection portion 11c, but is not limited thereto. The end effector 10 may have two or more pairs of the contact portion 11b and the detection portion 11c.

[0107] In the above embodiment, the control unit 40 of the robot arm 1 measures the viscosity of the object based on past actual measurement data acquired in advance by a calibration operation, but the present invention is not limited to this. The control unit 40 may calculate the viscosity of the object without using such past actual measurement data. For example, if the control unit 40 can refer to information such as a theoretical formula for viscosity calculation including a voltage value of an electric signal output from the circuit CB of the detection unit 11c as a parameter, the control unit 40 may calculate the viscosity of the object based on the theoretical formula.

[0108] 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 measurement module contributing to the measurement of the viscosity of an object, comprising: A contact portion that comes into contact with an object; A detection portion that is distorted in response to a force applied to the contact portion; Equipped with The detection unit is Contains resin, a circuit formed integrally with the resin and outputting an electrical signal that changes in response to the distortion of the detection portion; Measurement module. [Appendix 2] 2. The measurement module of claim 1, the circuit has wiring formed on the surface of the resin, and outputs the electrical signal that changes depending on the electrical resistance of the wiring itself. Measurement module. [Appendix 3] 2. The measurement module of claim 1, the circuit has a substrate integrally molded with the resin and wiring formed on the substrate, and outputs the electrical signal that changes in accordance with the electrical resistance of the wiring itself; Measurement module. [Appendix 4] 4. A measurement module according to any one of claims 1 to 3, The detection unit has a pair of the circuits on both sides intersecting with a moving direction of the contact portion when stirring the object, Measurement module. [Appendix 5] 5. A measurement module according to any one of claims 1 to 4, the detection portion has the circuit in a portion of the detection portion that is formed narrower than the contact portion, Measurement module. [Appendix 6] 6. The measurement module according to claim 5, a tapered portion that connects the contact portion and the detection portion and gradually tapers from the contact portion toward the detection portion; Measurement module. [Appendix 7] 7. A measurement module according to any one of claims 1 to 6, the circuit includes a strain gauge; Measurement module. [Appendix 8] 8. A measurement module according to any one of claims 1 to 7, The object includes a non-Newtonian liquid. Measurement module. [Appendix 9] 9. A measurement module according to any one of claims 1 to 8, The resin includes a thermoplastic resin. Measurement module. [Appendix 10] 10. The measurement module of claim 9, The thermoplastic resin includes at least one selected from the group consisting of engineering plastics and super engineering plastics, Measurement module. [Appendix 11] 11. The measurement module of claim 10, The thermoplastic resin is a polyarylene sulfide resin. Measurement module. [Appendix 12] 12. A measurement module according to any one of claims 1 to 11, The resin is formed by blending a metal oxide containing at least one of copper and chromium. Measurement module. [Appendix 13] 13. A robot arm comprising a measuring module according to any one of claims 1 to 12 as an end effector. [Appendix 14] 14. The robotic arm of claim 13, a control unit that calculates the viscosity of the object based on the electrical signal output from the circuit of the detection unit, Robot arm. [Explanation of symbols]

[0109] 1. Robot Arm 1a Housing 10 End effector (measurement module) 11 Main body 11a Mounting part 11b Contact part 11c Detection section 11c1 lower part 11c2 central part 11c3 Upper 11d Tapered section 20 Memory section 30 Drive unit 40 Control section A surface B surface CB circuit E1 input electrode E2 output electrode W Wiring W1 Connection wire W2 gauge wire d1 width d2 interval

Claims

1. A measurement module contributing to the measurement of the viscosity of an object, comprising: A contact portion that comes into contact with an object; A detection portion that is distorted in response to a force applied to the contact portion; Equipped with The detection unit is Contains resin, a circuit formed integrally with the resin and outputting an electrical signal that changes in response to the distortion of the detection portion; Measurement module.

2. 2. The measurement module of claim 1, the circuit has wiring formed on the surface of the resin, and outputs the electrical signal that changes depending on the electrical resistance of the wiring itself. Measurement module.

3. 2. The measurement module of claim 1, the circuit has a substrate integrally molded with the resin and wiring formed on the substrate, and outputs the electrical signal that changes in accordance with the electrical resistance of the wiring itself; Measurement module.

4. A measuring module according to any one of claims 1 to 3, The detection unit has a pair of the circuits on both sides intersecting with a moving direction of the contact portion when stirring the object, Measurement module.

5. A measuring module according to any one of claims 1 to 3, the detection portion has the circuit in a portion of the detection portion that is formed narrower than the contact portion, Measurement module.

6. 6. A measurement module according to claim 5, a tapered portion that connects the contact portion and the detection portion and gradually tapers from the contact portion toward the detection portion; Measurement module.

7. A measuring module according to any one of claims 1 to 3, the circuit includes a strain gauge; Measurement module.

8. A measuring module according to any one of claims 1 to 3, The object includes a non-Newtonian liquid. Measurement module.

9. A measuring module according to any one of claims 1 to 3, The resin includes a thermoplastic resin. Measurement module.

10. 10. The measurement module of claim 9, The thermoplastic resin includes at least one selected from the group consisting of engineering plastics and super engineering plastics, Measurement module.

11. 11. The measurement module of claim 10, The thermoplastic resin is a polyarylene sulfide resin. Measurement module.

12. A measuring module 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. Measurement module.

13. A robot arm comprising a measuring module according to any one of claims 1 to 3 as an end effector.

14. 14. A robotic arm according to claim 13, a control unit that calculates the viscosity of the object based on the electrical signal output from the circuit of the detection unit, Robot arm.

Images