End effector, robot arm, and manufacturing system

Abstract

To provide an end effector capable of more accurately gripping an object.SOLUTION: An end effector 10 according to the present invention is an end effector 10 used for a robot, the end effector 10 including a main body 11 containing a plastic, and a circuit unit 12 including a circuit formed integrally with the plastic in the main body 11 and contributing to a predetermined function, wherein a flexural modulus of the plastic is included in a range of 1 to 60GPa.SELECTED DRAWING: Figure 2

Description

[Technical Field]

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

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

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

[0004] For example, in the prior art described in Patent Document 1, the tactile sensor body is a film-like object attached to the outer surface of the housing that forms the finger portion. In the prior art, it was necessary to separately arrange the sheet or film for the sensor and the board that forms the electrical circuit as separate components for the end effector.

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

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

[0007] The end effector to solve the above problems is as follows: An end effector for use in a robot, a main body containing a resin; a circuit portion including a circuit formed integrally with the resin in the main body portion and contributing to a predetermined function; Equipped with The flexural modulus of the resin falls within the range of 1 to 60 GPa.

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

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

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

[0011] [Figure 1] FIG. 1 is a schematic diagram illustrating an appearance of a robot arm according to an embodiment of the present disclosure. [Figure 2] FIG. 2 is a schematic diagram showing the appearance of an end effector of the robot arm of FIG. 1. [Figure 3] FIG. 2 is a block diagram showing a schematic configuration of the robot arm of FIG. 1. [Figure 4] 3 is a schematic diagram showing a first pattern of wiring of the first circuit of FIG. 2. FIG. [Figure 5] 3 is a schematic diagram showing a second pattern of wiring of the second circuit of FIG. 2. FIG. [Figure 6A] 3 is a schematic diagram showing a third pattern of wiring of the third circuit in FIG. 2. FIG. [Figure 6B] FIG. 6B is a schematic diagram of each component shown in FIG. 6A viewed from the side. [Figure 7] 2. FIG. 4 is a schematic diagram showing a fourth pattern of wiring of the fourth circuit of FIG. [Figure 8] FIG. 10 is a schematic diagram showing a first pattern of wiring of a first circuit according to a modified example of the present disclosure. [Figure 9] FIG. 10 is a schematic diagram showing a second pattern of wiring of a second circuit according to a modified example of the present disclosure. [Figure 10] FIG. 10 is a schematic diagram showing the appearance of an end effector according to a modified example of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

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

[0013] Fig. 1 is a schematic diagram showing the appearance of a robot arm 1 according to an embodiment of the present disclosure. Fig. 2 is a schematic diagram showing the appearance of an end effector 10 of the robot arm 1 of Fig. 1. Fig. 3 is a block diagram showing a schematic configuration of the robot arm 1 of Fig. 1. The general configuration of the robot arm 1 including the end effector 10 will be mainly described with reference to Figs. 1 to 3.

[0014] 1 and 2, the robot arm 1 has a housing 1a that constitutes a main body, and an end effector 10 attached to the housing 1a at the tip of the robot arm 1. The end of the end effector 10 opposite the portion for gripping an object is attached to the housing 1a, so that the end effector 10 is supported by the housing 1a. The end effector 10 is driven while supported by the housing 1a and grips the object. For example, the end effector 10 may grip an object in a low load range where the load applied to the object when gripping the object is 1 N or less.

[0015] The end effector 10 is used in a robot. For example, the end effector 10 functions as part of a robot having a robot arm 1. In this disclosure, the term "robot" includes, for example, industrial robots, nursing robots, marine robots, medical robots, and mobile objects such as vehicles and drones that move by making autonomous decisions. The term "industrial robot" includes, for example, collaborative robots that can work together with workers in the same space and other robots that work separately from workers. The end effector 10 is configured as a robot hand or robot gripper for such a robot. The end effector 10 has a main body 11 containing resin and a circuit portion 12 that includes a circuit formed integrally with the resin in the main body 11.

[0016] The main body 11 constitutes the entire external shape of the end effector 10. The main body 11 has an attachment portion 11a that is attached to the housing 1a of the robot arm 1. The main body 11 has a pair of claws 11b that protrude from the end of the attachment portion 11a that is located on the opposite side from the housing 1a. The pair of claws 11b grasp an object, for example, by shortening the distance between them so that it is approximately the same as the width of the object. As an example, the entire main body 11, including the attachment portion 11a and the claws 11b, is formed from resin.

[0017] As described below, in the present disclosure, the term "resin" includes, for example, a thermoplastic resin. The term "thermoplastic resin" includes, for example, at least one selected from the group consisting of engineering plastics and super engineering plastics. The thermoplastic resin is, for example, a polyarylene sulfide resin. More specifically, the thermoplastic resin includes a polyarylene sulfide resin such as a polyphenylene sulfide resin.

[0018] The flexural modulus of the resin forming the main body 11 is within the range of 1 to 60 GPa. The lower limit of the flexural modulus of the resin may be, for example, 1 GPa, and more preferably 2 GPa. The upper limit of the flexural modulus of the resin may be, for example, 60 GPa, and preferably 30 GPa, more preferably 20 GPa, and even more preferably 10 GPa.

[0019] 3, the robot arm 1 has an end effector 10 having a main body 11 and a circuit 12, 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.

[0020] 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.

[0021] The drive unit 30 includes, for example, any drive mechanism for driving the end effector 10. The drive mechanism includes, for example, a plurality of gears and a motor for rotating the gears. The drive unit 30 drives the end effector 10 in accordance with a control signal from the control unit 40. The drive unit 30 drives the claw portion 11b of the main body 11 of the end effector 10 in accordance with the control signal from the control unit 40, for example, so that the claw portion 11b grips an object.

[0022] The control unit 40 includes a microcontroller, a processor, a programmable circuit, a dedicated circuit, or any combination thereof. The processor is a general-purpose processor such as a CPU or GPU, or a dedicated processor specialized for specific processing. "CPU" is an abbreviation for Central Processing Unit. "GPU" is an abbreviation for Graphics Processing Unit. An example of the programmable circuit is an FPGA. "FPGA" is an abbreviation for Field-Programmable Gate Array. An example of the dedicated circuit is an ASIC. "ASIC" is an abbreviation for Application Specific Integrated Circuit. The control unit 40 is communicatively connected to each component of the robot arm 1, and executes various processes related to the operation of the robot arm 1 while controlling each component.

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

[0024] The circuit unit 12 of the end effector 10 contributes to a predetermined function. In the present disclosure, the "predetermined function" includes, for example, a first function, a second function, a third function, and a fourth function. The first function is a function of detecting that the main body unit 11 has come into contact with a first object. The second function is a function of detecting the height of a second object. The third function is a function of detecting the magnitude of pressure generated when the end effector 10 grasps a third object. The fourth function is a function of generating a magnetic field to transmit power to a fourth object. The first object, second object, third object, and fourth object may be the same as or different from one another.

[0025] As shown in FIG. 2, the circuit of the circuit unit 12 is formed, for example, by being directly drawn on the surface of the resin that forms the claw portion 11b of the main body 11. In the circuit of the circuit unit 12, wiring and electrodes are formed in each area of ​​the surface of the resin that forms the claw portion 11b. The circuit of the circuit unit 12 is formed, for example, as a molded circuit using LDS, a type of MID. "MID" is an abbreviation for Molded Interconnect Device. "LDS" is an abbreviation for Laser Direct Structuring. The circuit of the circuit unit 12 is formed by plating by directly irradiating a laser onto the surface of the main body 11, which is a molded product.

[0026] The circuit of the circuit unit 12 has wiring formed in a predetermined pattern on the resin surface of the main body 11, and contributes to a predetermined function based on the wiring itself. The circuit of the circuit unit 12 includes a first circuit 121, a second circuit 122, a third circuit 123, and a fourth circuit 124.

[0027] The first circuit 121 is formed, for example, on each of the outer surfaces of the pair of claws 11b in the separation direction D1 in which the pair of claws 11b are separated from each other. The outer surfaces of the claws 11b are surfaces located on the dorsal side opposite the ventral side of the claws 11b, which is the side on which the claws 11b grip an object. The first circuit 121 is formed on the entire outer surfaces of the claws 11b in the extension direction D2 of the main body 11, which is perpendicular to the separation direction D1, except for the tip portion. The first circuit 121 contributes to a first function.

[0028] Without being limited thereto, the first circuit 121 may be formed, for example, on at least one of the inner surfaces of the pair of claw portions 11b in the separation direction D1 in which the pair of claw portions 11b are separated from each other. The inner surface of the claw portion 11b is a surface located on the ventral side of the claw portion 11b, which is the side of the claw portion 11b that grips an object. The first circuit 121 may be formed on the inner surface of the claw portion 11b from the tip end in the extension direction D2 of the main body portion 11 that is perpendicular to the separation direction D1, over substantially the entire length of the claw portion 11b.

[0029] The second circuit 122 is formed, for example, on each of the inner surfaces of the pair of claw portions 11b in the separation direction D1. The inner surface of the claw portion 11b is a surface located on the ventral side of the claw portion 11b, which is the side of the claw portion 11b that grips an object. The second circuit 122 is located on the inner surface of the claw portion 11b in the central portion in the extension direction D2 of the main body portion 11. However, without being limited thereto, the second circuit 122 may be located on the inner surface of the claw portion 11b in the tip portion in the extension direction D2 of the main body portion 11. The second circuit 122 contributes to a second function.

[0030] The third circuit 123 is formed, for example, on each of the inner surfaces of the pair of claw portions 11b in the separation direction D1. The third circuit 123 is located at the tip end of the inner surface of the claw portion 11b in the extension direction D2 of the main body portion 11. Without being limited to this, the third circuit 123 may be located at the center of the inner surface of the claw portion 11b in the extension direction D2 of the main body portion 11. In other words, the third circuit 123 may be formed narrow and have a curved surface on the claw portion 11b, and may be located at the center of the claw portion 11b where the amount of deflection is greatest when the end effector 10 grips an object. The third circuit 123 contributes to a third function.

[0031] The fourth circuit 124 is formed, for example, on each of the outer surfaces of the pair of claws 11b in the separation direction D1. The fourth circuit 124 is located on the outer surfaces of the claws 11b at the tip ends in the extension direction D2 of the main body 11. The fourth circuit 124 contributes to a fourth function.

[0032] Fig. 4 is a schematic diagram showing the first pattern P1 of the wiring W1 of the first circuit 121 of Fig. 2. In Fig. 4, the first region R1 of Fig. 2 is enlarged to show only the first circuit 121 of the circuit section 12.

[0033] The first circuit 121 has an input electrode E1 and an output electrode E2 formed on the resin surface of the claw portion 11b. The input electrode E1 and the output electrode E2 are formed in parallel to each other. The first circuit 121 has wiring W1 formed in a first pattern P1 on the resin surface of the claw portion 11b, and contributes to a first function based on the wiring W1 itself. The first pattern P1 corresponding to the first function includes at least one straight line connecting the input electrode E1 and the output electrode E2 formed integrally with the resin in the main body 11.

[0034] For example, the first pattern P1 includes three straight lines: a first straight line L1 extending from the input electrode E1, a second straight line L2 bending at 90° from the first straight line L1, and a third straight line L3 bending at 90° from the second straight line L2 and extending to the output electrode E2. The first pattern P1 extends elongatedly along the extension direction D2 of the main body 11 across substantially the entire extension region of the claw portion 11b. The first pattern P1 corresponds to the shape of a U-shaped letter rotated 90° clockwise.

[0035] Fig. 5 is a schematic diagram showing the second pattern P2 of the wiring W2 of the second circuit 122 in Fig. 2. In Fig. 5, the second region R2 in Fig. 2 is enlarged to show only the second circuit 122 of the circuit section 12.

[0036] The second circuit 122 has four input electrodes E11, E12, E13, and E14 formed on the resin surface of the claw portion 11b. The second circuit 122 has four output electrodes E21, E22, E23, and E24 formed on the resin surface of the claw portion 11b. The input electrodes E11, E12, E13, and E14 and the output electrodes E21, E22, E23, and E24 are formed in parallel with one another.

[0037] The second circuit 122 has wiring W2 formed in a second pattern P2 on the resin surface of the claw portion 11b, and contributes to a second function based on the wiring W2 itself. The second pattern P2 corresponding to the second function includes a plurality of first patterns P1. In the second pattern P2, one straight line included in each of the plurality of first patterns P1 is arranged along the extension direction D2 of the main body 11. More specifically, the second straight line L2 included in each of the plurality of first patterns P1 is arranged along the extension direction D2 of the main body 11.

[0038] The input electrode E11 and the output electrode E21 are connected by a first pattern P11. The input electrode E12 and the output electrode E22 are connected by a first pattern P12. The input electrode E13 and the output electrode E23 are connected by a first pattern P13. The input electrode E14 and the output electrode E24 are connected by a first pattern P14.

[0039] The second straight line L21 of the first pattern P11, the second straight line L22 of the first pattern P12, the second straight line L23 of the first pattern P13, and the second straight line L24 of the first pattern P14 are arranged along the extension direction D2 of the main body portion 11. In the second pattern P2, the first pattern P11 is located at the innermost position, and the first patterns P12, P13, and P14 are located further outward from the first pattern P11, in this order. As a result, the second straight lines L21, L22, L23, and L24 are arranged discretely in order from the base of the claw portion 11b on the mounting portion 11a side toward the tip thereof along the extension direction D2 of the main body portion 11.

[0040] Fig. 6A is a schematic diagram showing the third pattern P3 of the wiring W3 of the third circuit 123 of Fig. 2. Fig. 6A enlarges the third region R3 of Fig. 2 to show the third circuit 123 of the circuit unit 12 as well as the tip of the claw portion 11b. In Fig. 6A, in addition to the third circuit 123 and the tip of the claw portion 11b, a resistor R and a third object S, which are not shown in Fig. 2, are also shown.

[0041] The third circuit 123 has an input electrode E1 and an output electrode E2 formed on the resin surface of the claw portion 11b. The input electrode E1 and the output electrode E2 are formed in parallel to each other. The third circuit 123 has wiring W3 formed in a third pattern P3 on the resin surface of the claw portion 11b, and the wiring W3 itself contributes to a third function. The third pattern P3 corresponding to the third function functions as a strain gauge. For example, the third pattern P3 is formed by repeatedly turning a straight line 180 degrees at one end and then turning the turned line again 180 degrees at the other end.

[0042] The third circuit 123 has two gauge leads L5 that connect one end and the other end of the wiring W3 formed by the third pattern P3 to the input electrode E1 and the output electrode E2, respectively. Like the input electrode E1, the output electrode E2, and the wiring W3, the gauge leads L5 are also formed, for example, on the resin surface of the claw portion 11b.

[0043] Fig. 6B is a schematic diagram of the components shown in Fig. 6A when viewed from the side. As shown in Fig. 6B, a resistor R is attached to the wiring W3 of the third circuit 123 by any method, such as adhesive, on the surface of the wiring W3 opposite the claw portion 11b. Therefore, when the end effector 10 grips the third object S, the third object S comes into direct contact with the resistor R, not the wiring W3.

[0044] Fig. 7 is a schematic diagram showing a fourth pattern P4 of the wiring W4 of the fourth circuit 124 in Fig. 2. In Fig. 7, the fourth region R4 in Fig. 2 is enlarged to show only the fourth circuit 124 of the circuit section 12.

[0045] The fourth circuit 124 has an input electrode E1 and an output electrode E2 formed on the resin surface of the claw portion 11b. The input electrode E1 and the output electrode E2 are formed in positions significantly different from each other. The fourth circuit 124 has wiring W4 formed in a fourth pattern P4 on the resin surface of the claw portion 11b, and contributes to a fourth function based on the wiring W4 itself. The fourth pattern P4 corresponding to the fourth function is spiral. The wiring W4 is configured as a spiral coil.

[0046] In the fourth circuit 124, the input electrode E1 is directly connected to one end of the wiring W4 on the surface of the resin of the claw portion 11b, while the output electrode E2 is indirectly connected to the other end of the wiring W4 via a connection line (shown by a dotted line) disposed inside the resin of the claw portion 11b.

[0047] The resin used in one embodiment is preferably a thermoplastic resin. The thermoplastic resin is not particularly limited, but examples thereof include polyolefin resins such as polypropylene, polyethylene, and polybutene; polyester resins such as polyethylene terephthalate and polybutylene terephthalate; polyamide resins or aromatic polyamide resins such as nylon-6 and nylon 6,6; thermoplastic polyimide resins; polyamideimide resins; polystyrene resins such as polystyrene, syndiotactic polystyrene, acrylonitrile-styrene copolymer resin, and acrylonitrile-butadiene-styrene copolymer resin; polyarylene sulfide resins such as polyphenylene sulfide; polyphenylene ether resins; polyurethane resins; polylactic acid; polyether ether ketone resins; polyetherimide resins; polyketone resins; polyarylate resins such as amorphous polyarylate and liquid crystalline polyarylate; and liquid crystalline polyester resins.

[0048] Among these, the thermoplastic resin used in one embodiment is preferably a thermoplastic polyimide resin, a polyamideimide resin, a polyarylene sulfide resin, a polyphenylene ether resin, a polyether ether ketone resin, a polyetherimide resin, a polyketone resin, a polyarylate resin, or a liquid crystalline polyester resin, which are so-called engineering plastics or super engineering plastics that are excellent in heat resistance, mechanical properties, etc., and from the viewpoints of chemical resistance, heat resistance, and mechanical properties, a polyarylene sulfide resin is more preferred, and even among polyarylene sulfide resins (hereinafter also referred to as "PAS resins"), a polyphenylene sulfide resin (hereinafter also referred to as "PPS resins") is particularly preferred.

[0049] In one embodiment, the resin may be used alone, or a plurality of the resins may be mixed and used in the form of a polymer alloy. The resin according to one embodiment may also contain a filler. The filler-containing resin may contain the filler described below and the resin described above, and may be in the form of a composition containing any of the optional additives described below (colorants, antistatic agents, antioxidants, heat stabilizers, UV stabilizers, UV absorbers, foaming agents, flame retardants, flame retardant assistants, rust inhibitors, coupling agents, silane coupling agents, thermoplastic elastomers, or synthetic resins) as needed.

[0050] The polyarylene sulfide resin has a resin structure in which a repeating unit is a structure in which an aromatic ring and a sulfur atom are bonded. Specifically, the polyarylene sulfide resin is a resin in which a repeating unit is a structural moiety represented by the following general formula (1) and, if necessary, a trifunctional structural moiety represented by the following general formula (2).

[0051] [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.

[0052] [ka] The trifunctional structural moiety represented by formula (2) is preferably contained in an amount of 0.001 to 3 mol %, particularly preferably 0.01 to 1 mol %, based on the total number of moles including other structural moieties.

[0053] Here, the structural moiety represented by the general formula (1) is, in particular, R 1 and R 2 is preferably a hydrogen atom from the viewpoint of the mechanical strength of the PAS resin, and in that case, examples include those bonded at the para position represented by the following formula (3) and those bonded at the meta position represented by the following formula (4).

[0054] [ka] Among these, a structure in which the sulfur atom is bonded to the aromatic ring in the repeating unit at the para position represented by the general formula (3) is particularly preferred in terms of the heat resistance and crystallinity of the PAS resin.

[0055] Furthermore, the PAS resin may contain not only the structural moieties represented by the general formulas (1) and (2) but also the structural moieties represented by the following structural formulas (5) to (8) in an amount of 30 mol % or less of the total of the structural moieties represented by the general formulas (1) and (2).

[0056] [ka] In one embodiment, the structural moieties represented by the general formulae (5) to (8) preferably account for 10 mol % or less in terms of the heat resistance and mechanical strength of the PAS resin. When the structural moieties represented by the general formulae (5) to (8) are contained in the PAS resin, the bonding mode thereof may be either a random copolymer or a block copolymer.

[0057] Furthermore, the PAS resin may have naphthyl sulfide bonds or the like in its molecular structure, but the amount is preferably 3 mol % or less, and particularly preferably 1 mol % or less, of the total number of moles including other structural moieties.

[0058] 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.

[0059] (melt viscosity) The melt viscosity of the PAS resin is not particularly limited, but in order to obtain a good balance between fluidity and mechanical strength, the melt viscosity (V6) measured at 300°C is preferably in the range of 2 Pa·s or more, preferably in the range of 1000 Pa·s or less, more preferably in the range of 500 Pa·s or less, and even more preferably in the range of 200 Pa·s or less. The melt viscosity (V6) is measured using a Shimadzu CFT-500D flow tester for the polyarylene sulfide resin at 300°C under a load of 1.96×10. 6 The melt viscosity is measured after holding the sample at a pressure of 10 Pa and L / D=10 (mm) / 1 (mm) for 6 minutes.

[0060] (Non-Newtonian exponents) The non-Newtonian index of the PAS resin is not particularly limited, but is preferably in the range of 0.90 or more to 2.00 or less. When a linear polyarylene sulfide resin is used, the non-Newtonian index is preferably in the range of 0.90 or more, more preferably 0.95 or more, and preferably 1.50 or less, more preferably 1.20 or less. Such polyarylene sulfide resins have excellent mechanical properties, fluidity, and abrasion resistance. However, in one embodiment, the non-Newtonian index (N value) is a value calculated using the following formula after measuring the shear rate (SR) and shear stress (SS) using a capillograph under conditions of a melting point of +20°C and an orifice length (L) to orifice diameter (D) ratio of L / D = 40. The closer the non-Newtonian index (N value) is to 1, the more linear the structure, and the higher the non-Newtonian index (N value), the more branched the structure.

[0061]

number

[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, melting the resin and roughening 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 0.7 O2, CuMo 0.7 O3, CuMo 0.5 O 2.5 , CuMoO4, CuWO4, CuSeO4, CuCr2O4, etc. Among these, the metal oxides are CuCr2O4, CuFe 0.5 B 0.5 O 2.5 , CuAl 0.5 B 0.5 O 2.5 It is preferable that CuCr2O4, CuFe 0.5 B 0.5 O 2.5 It is more preferable that these metal oxides are 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. An average particle size of 0.01 μm or more is preferable because efficient and stable production is possible. On the other hand, an average particle size of 50 μm or less is preferable because material strength can be maintained. In this disclosure, the "average particle size of the metal oxide" refers to the number-average particle size, and the value measured by electron microscopy is used. Specifically, the particle sizes of 100 arbitrarily selected metal oxide particles in one field of view of an electron microscope are measured, and the average value is calculated.

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

[0068] As other fillers, known and commonly used materials can be used as long as they do not impair the effects of one embodiment, and examples include fillers of various shapes, such as fibrous ones and non-fibrous ones such as granular and plate-shaped ones. Specifically, fibrous fillers such as glass fiber, carbon fiber, silane glass fiber, ceramic fiber, aramid fiber, metal fiber, potassium titanate, silicon carbide, calcium silicate, wollastonite, and natural fibers can be used. Also usable are non-fibrous fillers such as glass beads, glass flakes, barium sulfate, clay, pyrophyllite, bentonite, sericite, mica, talc, kerolite, pimelite, pyrophyllite, hydrotalcite, kaolinite, attapulgite, ferrite, calcium silicate, calcium carbonate, glass beads, zeolite, milled fiber, and calcium sulfate.

[0069] In one embodiment, the content of the filler is not particularly limited as long as it does not impair the effects of the embodiment. The amount of filler to be blended is, for example, preferably 1 part by mass or more, more preferably 10 parts by mass or more, and preferably 600 parts by mass or less, more preferably 200 parts by mass or less, per 100 parts by mass of the resin. This range is preferable because the resin exhibits good mechanical strength and moldability.

[0070] The resin used in one embodiment can be blended with a silane coupling agent as an optional component as needed. The silane coupling agent is not particularly limited as long as it does not impair the effects of one embodiment, but preferred examples include silane coupling agents having a functional group that reacts with a carboxy group, such as an epoxy group, an isocyanato group, an amino group, or a hydroxyl group. Examples of such silane coupling agents include epoxy group-containing alkoxysilane compounds such as γ-glycidoxypropyltrimethoxysilane, γ-glycidoxypropyltriethoxysilane, and β-(3,4-epoxycyclohexyl)ethyltrimethoxysilane; isocyanato group-containing alkoxysilane compounds such as γ-isocyanatopropyltrimethoxysilane, γ-isocyanatopropyltriethoxysilane, γ-isocyanatopropylmethyldimethoxysilane, γ-isocyanatopropylmethyldiethoxysilane, γ-isocyanatopropylethyldimethoxysilane, γ-isocyanatopropylethyldiethoxysilane, and γ-isocyanatopropyltrichlorosilane; amino group-containing alkoxysilane compounds such as γ-(2-aminoethyl)aminopropylmethyldimethoxysilane, γ-(2-aminoethyl)aminopropyltrimethoxysilane, and γ-aminopropyltrimethoxysilane; and hydroxyl group-containing alkoxysilane compounds such as γ-hydroxypropyltrimethoxysilane and γ-hydroxypropyltriethoxysilane. In one embodiment, a silane coupling agent is not an essential component, but when used, its amount is not particularly limited as long as it does not impair the effects of the embodiment, and is preferably in the range of 0.01 parts by mass or more, more preferably 0.1 parts by mass or more, to preferably 10 parts by mass or less, more preferably 5 parts by mass or less, relative to 100 parts by mass of the resin. In this range, the resin has good corona resistance and moldability, particularly releasability, and the molded article exhibits excellent adhesion to the epoxy resin while also improving mechanical strength, which is preferable.

[0071] The resin used in one embodiment may optionally contain a thermoplastic elastomer. Examples of thermoplastic elastomers include polyolefin elastomers, fluorine elastomers, and silicone elastomers, with polyolefin elastomers being preferred. When these elastomers are added, their amount is not particularly limited as long as it does not impair the effects of the embodiment. However, it is preferably in the range of 0.01 parts by mass or more, more preferably 0.1 parts by mass or more, to 10 parts by mass or less, more preferably 5 parts by mass or less, per 100 parts by mass of resin (A). This range is preferred because it improves the impact resistance of the resulting resin.

[0072] Examples of the polyolefin elastomer include a homopolymer of an α-olefin, a copolymer of two or more α-olefins, and a copolymer of one or more α-olefins with a vinyl polymerizable compound having a functional group. Examples of the α-olefin include α-olefins having 2 to 8 carbon atoms, such as ethylene, propylene, and 1-butene. Examples of the functional group include a carboxy group, an acid anhydride group (—C(═O)OC(═O)—), an epoxy group, an amino group, a hydroxyl group, a mercapto group, an isocyanate group, and an oxazoline group. Examples of the vinyl polymerizable compound having the functional group include one or more of vinyl acetate; α,β-unsaturated carboxylic acids such as (meth)acrylic acid; alkyl esters of α,β-unsaturated carboxylic acids such as methyl acrylate, ethyl acrylate, and butyl acrylate; metal salts of α,β-unsaturated carboxylic acids such as ionomers (metals include alkali metals such as sodium, alkaline earth metals such as calcium, and zinc); glycidyl esters of α,β-unsaturated carboxylic acids such as glycidyl methacrylate; α,β-unsaturated dicarboxylic acids such as maleic acid, fumaric acid, and itaconic acid; and derivatives of the above α,β-unsaturated dicarboxylic acids (monoesters, diesters, and acid anhydrides). The above thermoplastic elastomers may be used alone or in combination of two or more.

[0073] Furthermore, in addition to the above components, the resin used in one embodiment may further contain, as appropriate depending on the application, synthetic resins such as polyester resin, polyamide resin, polyimide resin, polyetherimide resin, polycarbonate resin, polyphenylene ether resin, polysulfone resin, polyethersulfone resin, polyetheretherketone resin, polyetherketone resin, polyarylene resin, polyethylene resin, polypropylene resin, polyethylenetetrafluoroethylene resin, polyethylenedifluoroethylene resin, polystyrene resin, ABS resin, phenolic resin, urethane resin, and liquid crystal polymer (hereinafter simply referred to as synthetic resin) as optional components. Although the above synthetic resins are not essential components in one embodiment, when they are contained, their proportion is not particularly limited as long as it does not impair the effects of one embodiment. Furthermore, since the proportion varies depending on each purpose and cannot be generally defined, the proportion of synthetic resin contained in the resin according to one embodiment is, for example, in the range of 5 parts by mass or more and 15 parts by mass or less per 100 parts by mass of resin. In other words, the ratio of resin (A) to the total of resin (A) and synthetic resin is preferably in the range of (100 / 115) or more, more preferably (100 / 105) or more, on a mass basis.

[0074] The resin used in one embodiment may also contain, as optional components, known and commonly used additives such as colorants, antistatic agents, antioxidants, heat stabilizers, UV stabilizers, UV absorbers, foaming agents, flame retardants, flame retardant assistants, rust inhibitors, and coupling agents, as needed. These additives are not essential components, and may be used in amounts, for example, preferably 0.01 parts by mass or more and preferably 1,000 parts by mass or less per 100 parts by mass of the resin, adjusted appropriately depending on the purpose and application so as not to impair the effects of one embodiment.

[0075] A method for producing the resin used in one embodiment will be described in detail below.

[0076] The resin used in one embodiment is a blend of the essential components and, if necessary, other optional components. The method for producing the resin used in one embodiment is not particularly limited, but examples thereof include a method in which the essential components and, if necessary, the optional components are blended and melt-kneaded, more specifically, a method in which, if necessary, the components are dry-mixed uniformly using a tumbler or a Henschel mixer, and then the mixture is charged into a twin-screw extruder and melt-kneaded.

[0077] Melt kneading can be carried out by heating to a temperature range in which the resin temperature is equal to or higher than the melting point of the resin, preferably equal to or higher than the melting point + 10°C, more preferably equal to or higher than the melting point + 10°C, even more preferably equal to or higher than the melting point + 20°C, to a temperature range in which the resin temperature is equal to or higher than the melting point + 100°C, more preferably equal to or lower than the melting point + 50°C.

[0078] From the viewpoints of dispersibility and productivity, the melt-kneading machine is preferably a twin-screw kneading extruder. For example, it is preferable to melt-knead while appropriately adjusting the resin component discharge rate in the range of 5 to 500 (kg / hr) and the screw rotation speed in the range of 50 to 500 (rpm). It is even more preferable to melt-knead under conditions where the ratio (discharge rate / screw rotation speed) is in the range of 0.02 to 5 (kg / hr / rpm). Furthermore, the components may be added and mixed simultaneously or in portions into the melt-kneading extruder. For example, when adding additives among the components, it is preferable from the viewpoint of dispersibility to feed them into the extruder through a side feeder of the twin-screw kneading extruder. The position of the side feeder is preferably such that the ratio of the distance from the extruder's resin input section (top feeder) to the side feeder to the total screw length of the twin-screw kneading extruder is 0.1 or more, more preferably 0.3 or more. Furthermore, this ratio is preferably 0.9 or less, more preferably 0.7 or less.

[0079] The resin according to one embodiment obtained by melt-kneading in this manner is a molten mixture containing the above-mentioned essential components, optional components added as needed, and components derived therefrom. After the melt-kneading, it is preferable to process the molten resin by a known method, for example, by extruding the resin in a strand shape, and then processing it into a form such as pellets, chips, granules, or powder, and then pre-drying it at a temperature in the range of 100 to 150°C as needed.

[0080] The molded article of one embodiment is formed by molding a resin. Also, a method for producing the molded article of one embodiment includes a step of melt-molding the resin. The method is described in detail below.

[0081] The resin used in one embodiment is subjected to injection molding. The molding conditions are not particularly limited, and molding can be performed using a typical method. For example, the resin may be melted in an injection molding machine at a temperature above the melting point of the resin, preferably within a temperature range of the melting point +10°C, more preferably within a temperature range of the melting point +10°C to the melting point +100°C, and even more preferably within a temperature range of the melting point +20°C to the melting point +50°C, and then injected into a mold through a resin discharge port for molding. The mold temperature may also be set within a known temperature range, for example, from room temperature (23°C) to 300°C, preferably 120 to 180°C.

[0082] The end effector 10 according to the embodiment described above can grasp an object with greater precision. The end effector 10 includes a circuit formed integrally with resin in the main body 11 and a circuit unit 12 that contributes to a predetermined function. This allows the end effector 10 to more directly transmit the effect of the main body 11 coming into contact with the object when grasping the object to the circuit in the circuit unit 12 formed integrally with the main body 11. Therefore, compared to conventional techniques that required the placement of a separate component such as a sensor, the end effector 10 can detect the object more accurately when grasping the object. In addition, the flexural modulus of the resin forming the main body 11 is in the range of 1 to 60 GPa. This allows the end effector 10 to more easily deflect the main body 11 when grasping an object. Therefore, the end effector 10 can deflect the main body 11 even when grasping an object with a small load, and can detect the object with greater sensitivity based on such deflection.

[0083] As described above, unlike conventional technologies that detect an object to be grasped by image processing using a vision sensor such as a camera, the end effector 10 can detect an object without using a camera. Therefore, the end effector 10 does not require the creation of a program required for image processing or the incorporation of artificial intelligence, and can therefore be relatively inexpensive.

[0084] The end effector 10 can grip objects with different conditions, such as shape, size, weight, hardness (softness), and other materials, using a single end effector 10. For example, the end effector 10 can grip both large and small objects. For example, the end effector 10 can grip both hard and soft objects. As a result, unlike conventional techniques, the end effector 10 does not require tasks such as creating a program and replacing the end effector or robot arm for each object with different conditions. As a result, the cost and labor required to manufacture the object as a manufactured product are reduced compared to conventional techniques.

[0085] Additionally, the end effector 10 can contribute to more functions with a simpler configuration. The end effector 10 has a circuit portion 12 that includes a circuit formed integrally with resin in the main body portion 11 and contributes to a predetermined function. The end effector 10 can contribute not only to the basic function of grasping an object but also to the various functions described above. By forming the circuit of the circuit portion 12 integrally with resin, the end effector 10 does not need to separately arrange, for example, a sheet or film for a sensor and a substrate for forming an electrical circuit, as in conventional technology. The end effector 10 does not need to separately provide a joint or bonding portion for the sheet, film, substrate, etc.

[0086] As a result, the end effector 10 can be made smaller and lighter, with fewer parts, and can also satisfy the weight capacity limit of the robot arm 1. The end effector 10 also allows for greater freedom in its shape design. In addition, the end effector 10 has improved waterproofing and water resistance because the main body 11 contains resin, making it possible to wash the end effector 10 to prevent the spread of infectious diseases and for other hygienic purposes. Unlike conventional metal end effectors, the end effector 10 is lighter and less likely to rust when washed.

[0087] The end effector 10 grasps an object in a low load range where the load applied to the object when grasping the object is, for example, 1 N or less. This allows the end effector 10 to reduce damage to the object when grasping, even if the object is soft and not sturdy, and suppresses grasping failures. The end effector 10 can also detect objects using weak signals, and can accurately grasp soft and light objects without damaging them.

[0088] The circuit of the circuit unit 12 has wiring formed in a predetermined pattern on the resin surface of the main body 11, and contributes to a predetermined function based on the wiring itself. As a result, the end effector 10 is an integrated molded product in which the circuit is directly drawn on the end effector 10 and contributes to a predetermined function. Therefore, when the end effector 10 grasps an object and the main body 11 comes into contact with the object, the effect can be more directly transmitted to the circuit of the circuit unit 12 that is directly drawn on the resin surface of the main body 11. Therefore, the end effector 10 can detect the object more accurately when grasping it, compared to conventional techniques that required the placement of a separate component such as a sensor.

[0089] In addition, since the drawn circuit itself serves as a means for transmitting electrical signals in the end effector 10, there is no need to provide additional wiring such as a harness or a board, etc. The end effector 10 does not require a shape or space to accommodate a wired harness or a board on which a circuit is formed, and therefore the end effector 10 can be simplified in configuration without requiring a complex shape.

[0090] The end effector 10 tends to become electrically charged due to the resin contained in the main body 11, but even in such cases, static electricity can be easily eliminated by the plated wiring in the metal circuit formed on the surface. The end effector 10 can effectively eliminate static electricity by the shape of the wiring path drawn directly on its surface.

[0091] The end effector 10 can contribute to the first function by including in the first pattern P1 at least one straight line connecting the input electrode E1 and the output electrode E2. More specifically, when a first object comes into contact with the wiring W1 formed as at least one straight line connecting the input electrode E1 and the output electrode E2, a current leak occurs at the contact point, changing the resistance of the wiring W1. This changes the voltage between the input electrode E1 and the output electrode E2. For example, the control unit 40 of the robot arm 1 detects this voltage change and determines that the main body 11 of the end effector 10 has come into contact with the first object. Therefore, the end effector 10 contributes to the first function by outputting this voltage change as information to the control unit 40 of the robot arm 1.

[0092] The robot arm 1 can detect the presence or absence of a first object through contact detection by the control unit 40. When the end effector 10 comes into contact with the first object, the robot arm 1 can stop the movement of the end effector 10 and prevent the end effector 10 from moving further toward the first object. Therefore, the robot arm 1 can prevent a violent collision between the end effector 10 and the first object, which could result in the end effector 10 itself breaking down or the first object being damaged. The end effector 10 can improve the safety of the operation of the robot arm 1.

[0093] The end effector 10 can contribute to the second function by arranging, in the second pattern P2, one straight line included in each of the plurality of first patterns P1 along the extension direction D2 of the main body 11. More specifically, according to the same principle as described above regarding contact detection, the control unit 40 of the robot arm 1 can determine in which of the first patterns P11, P12, P13, and P14 the claw 11b of the end effector 10 is in contact with the second object.

[0094] Therefore, the control unit 40 can measure the distance from the tip of the claw 11b to the upper end of the contact point with the second object in the height direction parallel to the extension direction D2 as a predetermined numerical range. In this case, the control unit 40 may use, for example, the distance from the tip of the claw 11b to each of the second straight lines L21, L22, L23, and L24 as information. Such information may be stored in advance in the storage unit 20, for example.

[0095] For example, if the control unit 40 determines that the claw portion 11b is in contact with the second object only in the first pattern P14, it can determine the predetermined numerical range based on the range between the second lines L23 and L24. For example, if the control unit 40 determines that the claw portion 11b is in contact with the second object in the first pattern P14 and the first pattern P13, it can determine the predetermined numerical range based on the range between the second lines L22 and L23. For example, if the control unit 40 determines that the claw portion 11b is in contact with the second object in the first pattern P14, the first pattern P13, and the first pattern P12, it can determine the predetermined numerical range based on the range between the second lines L21 and L22. For example, if the control unit 40 determines that the claw portion 11b is in contact with the second object in all of the first patterns P1, it can determine the predetermined numerical range based on the range above the second line L21.

[0096] For example, if the control unit 40 can obtain information on the current height position of the tip of the claw portion 11b measured from a reference plane such as the ground or floor surface using any method, it can calculate the height from the reference plane to the top of the contact point with the second object as a numerical range.

[0097] As an example, the control unit 40 can measure the water level or the height of the upper surface of the contents contained in the container. The control unit 40 controls the operation of the end effector 10 via the drive unit 30 so that the tip of the claw portion 11b of the end effector 10 contacts the bottom surface of the container. The control unit 40 aligns the tip position of the claw portion 11b of the end effector 10 with the bottom surface. In this state, the control unit 40 determines in which of the first patterns P11, P12, P13, and P14 the contents are contacting. Based on the determination result, the control unit 40 can measure the water level or the height of the upper surface of the contents within a predetermined numerical range.

[0098] The first pattern P1 includes a first straight line L1 extending from the input electrode E1, a second straight line L2 bending at 90° from the first straight line L1, and a third straight line L3 bending again at 90° from the second straight line L2 and extending to the output electrode E2 formed in parallel with the input electrode E1. In the end effector 10, this first pattern P1 makes it easier for the wiring W1 of the claw portion 11b to come into contact with the first object. For example, as shown in FIG. 2, this effect is more pronounced when the wiring W1 is formed over the entire outer surface of the claw portion 11b in the extension direction D2, excluding the tip portion. The same explanation regarding the above effect also applies to the second pattern P2 including multiple first patterns P1.

[0099] The end effector 10 can contribute to the third function by having the third pattern P3 function as a strain gauge. More specifically, the third pattern P3 is a brush-like pattern in which a straight line is turned 180° at one end and then turned again 180° at the other end. When the third object S contacts the wiring W3 formed by the third pattern P3 via the resistor R, the amount of strain in the wiring W3 changes depending on the pressure at the contact point. The change in the amount of strain also changes the resistance of the wiring W3. This changes the voltage between the input electrode E1 and the output electrode E2. For example, the control unit 40 of the robot arm 1 can calculate the pressure applied to the wiring W3 by measuring the amount of change in this voltage change. In this case, the control unit 40 may use, for example, data correlating the amount of change in voltage with the pressure generated when the end effector 10 grips the third object S. Such data may be stored in advance in, for example, the storage unit 20.

[0100] As described above, the robot arm 1 can measure the pressure applied to the tip of the claw 11b when gripping the third object S using the third circuit 123 of the end effector 10. By detecting the magnitude of the pressure applied to the tip of the claw 11b, the robot arm 1 can appropriately adjust the load applied to the third object S when gripping the third object S. When gripping the third object S, the robot arm 1 can prevent a large load from being applied to the third object S, thereby preventing damage to the third object S and failure of the end effector 10 itself.

[0101] The fourth pattern P4 of the end effector 10 is spiral, which allows it to contribute to a fourth function. The wiring W4 formed by the spiral fourth pattern P4 can function as a coil. Therefore, when a current flows through the wiring W4, a magnetic field is generated, which makes it possible to transmit power to, for example, a fourth object near the tip of the claw portion 11b on which the wiring W4 is formed, based on the principle of electromagnetic induction. The end effector 10 can also be used for contactless charging of the fourth object.

[0102] The resin includes a thermoplastic resin, and the thermoplastic resin is a polyarylene sulfide resin, which allows the end effector 10 to have improved waterproof and water resistance. In addition, the excellent chemical resistance and heat resistance of the polyarylene sulfide resin allows the end effector 10 to have improved chemical resistance and heat resistance. This allows the end effector 10 to be used in chemicals and to grip high-temperature objects.

[0103] The resin is made by blending a metal oxide containing at least one of copper and chromium, and the end effector 10 facilitates the formation of molded circuits 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 functions such as melting the resin and roughening its surface, and being activated by laser irradiation to enable the selective formation of a plating layer.

[0104] It will be apparent to those skilled in the art that the present disclosure may be embodied in other specific forms other than the above-described embodiments without departing from the spirit or essential characteristics thereof. Therefore, the foregoing description is illustrative and not limiting. The scope of the disclosure is defined not by the foregoing description but by the appended claims. All modifications within the range of equivalents of any modifications are intended to be embraced therein.

[0105] For example, the shape, pattern, size, arrangement, orientation, type, and number of each of the above-described components are not limited to those shown in the above description and drawings. The shape, pattern, size, arrangement, orientation, type, and number of each component may be configured arbitrarily as long as the function can be realized. The components of the end effector 10 and robot arm 1 shown in the drawings are functional concepts, and the specific form of each component is not limited to those shown in the drawings.

[0106] In the above embodiment, the first function, the second function, the third function, and the fourth function are exemplified as the predetermined functions, but the types and number of functions are not limited thereto. The predetermined functions may include only some of the first function, the second function, the third function, and the fourth function. The predetermined functions may include at least one other type of function instead of or in addition to at least some of the first function, the second function, the third function, and the fourth function. For example, the predetermined functions may further include a function for detecting the pH of an object. For example, the end effector 10 may be configured to detect the pH of an object in response to the potential difference between the input electrode E1 and the output electrode E2.

[0107] In the above embodiment, the end effector 10 has been described as grasping an object in a low load range where the load applied to the object when grasping the object is 1 N or less, but the present invention is not limited to this. The end effector 10 may grasp an object in a load range where the load applied to the object when grasping the object is greater than 1 N.

[0108] In the above embodiment, the circuit of circuit unit 12 has wiring formed in a predetermined pattern on the surface of the resin of main body 11, and is described as contributing to a predetermined function based on the wiring itself, but this is not limited to this. The circuit of circuit unit 12 may have a substrate integrally molded with the resin of main body 11 and wiring formed in a predetermined pattern on the substrate, and may contribute to a predetermined function based on the wiring itself.

[0109] The circuit of the circuit unit 12 may be configured based on a substrate that is integrally molded with resin by, for example, insert molding. In the circuit of the circuit unit 12, wiring and electrodes may be formed on the substrate. The circuit of the circuit unit 12 may be configured as a molded circuit using, for example, an IME, a type of MID. "IME" is an abbreviation for In-Mold Electronics. The circuit of the circuit unit 12 may be formed by inserting a flexible substrate or the like during injection molding. In this way, the end effector 10 becomes an integrated molded product that contributes to a predetermined function by integrally molding the substrate with resin.

[0110] In the above embodiment, the first pattern P1 is described as including three lines: the first line L1, the second line L2, and the third line L3. However, the first pattern P1 is not limited to this. The first pattern P1 may be any other pattern that can contribute to the first function.

[0111] 8 is a schematic diagram showing a first pattern P1 of the wiring W1 of the first circuit 121 according to a modified example of the present disclosure. Similar to FIG. 4, FIG. 8 shows only the first circuit 121 of the circuit unit 12 by enlarging the first region R1 of FIG. 2. As shown in FIG. 8, in the first circuit 121, the first pattern P1 may include only a fourth straight line L4 extending from the input electrode E1 to the output electrode E2. In the first circuit 121, the input electrode E1 and the output electrode E2 do not have to be formed in parallel with each other, and may be formed on one end side and the other end side of the fourth straight line L4, respectively.

[0112] In the above embodiment, the second pattern P2 is described as including four first patterns P11, P12, P13, and P14, but is not limited to this. The second pattern P2 may be any other pattern that can contribute to the second function, instead of the pattern shown in FIG. 5 . For example, the second pattern P2 may include more first patterns P1 and be formed at smaller intervals along the extension direction D2. This allows the end effector 10 to further narrow the predetermined numerical range for height measurement and improve resolution.

[0113] 9 is a schematic diagram showing a second pattern P2 of the wiring W2 of the second circuit 122 according to a modified example of the present disclosure. In FIG. 9, similar to FIG. 5, the second region R2 of FIG. 2 is enlarged to show only the second circuit 122 of the circuit unit 12. For example, the second pattern P2 may be configured as shown in FIG. 9 in accordance with the first pattern P1 shown in FIG. 8. For example, in the second pattern P2, one fourth straight line L4 included in each of the multiple first patterns P1 may be arranged along the extension direction D2 of the main body unit 11.

[0114] The fourth straight line L41 of the first pattern P11, the fourth straight line L42 of the first pattern P12, the fourth straight line L43 of the first pattern P13, and the fourth straight line L44 of the first pattern P14 are arranged along the extension direction D2 of the main body portion 11. In the second pattern P2, the first pattern P11 is located on the opposite side from the tip of the claw portion 11b, and the first patterns P12, P13, and P14 are located closer to the tip of the claw portion 11b, in this order. As a result, the fourth straight lines L41, L42, L43, and L44 are arranged discretely in order from the base of the claw portion 11b on the mounting portion 11a side toward the tip along the extension direction D2 of the main body portion 11.

[0115] In the above embodiment, the second pattern P2 has been described as contributing to the second function of detecting the height of the second object, but is not limited thereto. For example, the second pattern P2 may contribute to the function of detecting the position of the second object along the horizontal direction by the robot arm 1 moving the end effector 10 in the horizontal direction instead of the height direction.

[0116] In the above embodiment, the third pattern P3 is described as a straight line that is folded 180 degrees at one end and then folded again 180 degrees at the other end, but is not limited to this. The third pattern P3 may be any other pattern that can contribute to the third function.

[0117] In the above embodiment, the fourth pattern P4 is described as being spiral, but is not limited to this, and may be any other pattern that can contribute to the fourth function.

[0118] In the above embodiment, the circuit of the circuit unit 12 is described as contributing to a predetermined function based on the wiring itself, but this is not limited to this. Instead of or in addition to the wiring that contributes to the predetermined function, the circuit unit 12 may have a sensor element that is mounted to the circuit of the circuit unit 12 by soldering or the like and contributes to the predetermined function. In this disclosure, the "sensor element" may include, for example, a microphone, a proximity sensor, a vibration sensor, a pH sensor, a LiDAR (Light Detection and Ranging) sensor, an imaging element, etc. As a result, the end effector 10 can contribute to even more functions.

[0119] Additionally, the circuit unit 12 may have a control element that is mounted on the circuit of the circuit unit 12 by soldering or the like and that 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 enables the end effector 10 to execute the various processes described above that are executed by the control unit 40 of the robot arm 1 by itself. The end effector 10 can also execute determination processes, learning processes, and any other processes by itself.

[0120] In the above embodiment, the entire main body 11 including the attachment portion 11a and the claw portion 11b is made of resin, but this is not limited to this. It is sufficient that at least the portion of the main body 11 where the circuit is formed is made of resin, and other parts of the main body 11 may be made of any material other than resin.

[0121] In the above embodiment, the resin includes a thermoplastic resin, and the thermoplastic resin is described as a polyarylene sulfide resin, but is not limited to this. An appropriate resin may be selected depending on the usage conditions, such as the strength and chemical resistance of the object to be gripped by the end effector 10.

[0122] In the above embodiment, the circuits of the circuit unit 12 are described as including the first circuit 121, the second circuit 122, the third circuit 123, and the fourth circuit 124, but are not limited to this. The number, types, and arrangement of the circuits included in the circuit unit 12 in the main body 11 may be determined in any configuration that can contribute to each function. For example, if the predetermined function includes only some of the first function, the second function, the third function, and the fourth function, the circuits of the circuit unit 12 may include only those corresponding to those some. For example, if the predetermined function includes at least one other type of function instead of or in addition to at least some of the first function, the second function, the third function, and the fourth function, the circuits of the circuit unit 12 may include those corresponding to those functions.

[0123] In the above embodiment, each of the circuits of the circuit unit 12 is formed on the surface of the claw portion 11b and is configured to be entirely exposed to the outside, but this is not limited to this. Each of the circuits of the circuit unit 12 may be sealed with a resin such as PPS resin that has high chemical resistance, heat resistance, waterproofness, and water resistance, except for the portion that contributes to a predetermined function. This allows the end effector 10 to further improve its chemical resistance, heat resistance, waterproofness, and water resistance.

[0124] FIG. 10 is a schematic diagram showing the appearance of an end effector 10 according to a modified example of the present disclosure. In the above embodiment, the end effector 10 has been described as having a pair of claws 11b, i.e., two claws 11b, but this is not limited thereto. The end effector 10 may have three or more claws 11b. For example, as shown in FIG. 10, the end effector 10 may have three claws 11b.

[0125] The robot arm 1 having the end effector 10 described above may constitute part of a manufacturing system having a production line for manufacturing products. In this case, the robot arm 1 may operate so that the end effector 10 grasps a product in a predetermined environment on the production line as an object. In this disclosure, the "predetermined environment" includes, for example, a cold-hot environment and a harsh environment such as an acid-base environment. The robot arm 1 can also grasp, with the end effector 10, an object heated to a high temperature, an object submerged in a high-temperature liquid, or an object submerged in an acidic solution, for example. The predetermined environment is not limited to the above environments and may further include any other environment. The robot arm 1 having the end effector 10 can be used in a wide range of environments.

[0126] Some embodiments of the present disclosure will be described below as examples, however, it should be noted that the embodiments of the present disclosure are not limited to these examples. [Appendix 1] An end effector for use in a robot, a main body containing a resin; a circuit portion including a circuit formed integrally with the resin in the main body portion and contributing to a predetermined function; Equipped with The flexural modulus of the resin is in the range of 1 to 60 GPa. End effector. [Appendix 2] 10. The end effector of claim 1, The object is grasped in a low load region in which a load applied to the object when grasping the object is 1 N or less. End effector. [Appendix 3] 3. The end effector according to claim 1 or 2, the circuit has wiring formed in a predetermined pattern on the surface of the resin of the main body portion, and contributes to the predetermined function based on the wiring itself; End effector. [Appendix 4] 3. The end effector according to claim 1 or 2, the circuit has a substrate integrally molded with the resin of the main body portion and wiring formed in a predetermined pattern on the substrate, and contributes to the predetermined function based on the wiring itself; End effector. [Appendix 5] 5. The end effector according to claim 3 or 4, the functions include a first function of detecting that the main body portion has come into contact with a first object; the pattern corresponding to the first function includes a first pattern including at least one straight line connecting an input electrode and an output electrode formed integrally with the resin in the main body portion; End effector. [Appendix 6] 6. The end effector of claim 5, the functions include a second function for detecting a height of a second object; the pattern corresponding to the second function includes a second pattern including a plurality of the first patterns; In the second pattern, one straight line included in each of the plurality of first patterns is arranged along the extension direction of the main body portion. End effector. [Appendix 7] 7. The end effector according to claim 5 or 6, the first pattern includes a first straight line extending from the input electrode, a second straight line bending at 90° from the first straight line, and a third straight line bending at 90° from the second straight line and extending to the output electrode formed in parallel with the input electrode, End effector. [Appendix 8] 7. The end effector according to claim 5 or 6, the first pattern includes only a fourth straight line extending from the input electrode to the output electrode; End effector. [Appendix 9] 9. The end effector of claim 3, further comprising: the functions include a third function that detects a magnitude of pressure generated when the end effector grasps a third object; The pattern corresponding to the third function includes a third pattern that functions as a strain gauge. End effector. [Appendix 10] 10. The end effector of claim 9, The third pattern is a pattern in which a straight line is folded 180° at one end, and the folded straight line is then folded again 180° at the other end, and the folded straight line is then repeatedly folded. End effector. [Appendix 11] 11. The end effector of claim 3, further comprising: the functions include a fourth function of generating a magnetic field to transfer power to a fourth object; the pattern corresponding to the fourth function includes a fourth spiral pattern; End effector. [Appendix 12] 12. The end effector of claim 1, The resin includes a thermoplastic resin. End effector. [Appendix 13] 13. The end effector of claim 12, The thermoplastic resin includes at least one selected from the group consisting of engineering plastics and super engineering plastics, End effector. [Appendix 14] 14. The end effector of claim 13, The thermoplastic resin is a polyarylene sulfide resin. End effector. [Appendix 15] A robot arm comprising an end effector according to any one of appendixes 1 to 14. [Appendix 16] a production line for producing manufactured products; 16. The robot arm according to claim 15, wherein the end effector grasps the manufactured product in a predetermined environment in the manufacturing line as an object; Equipped with Manufacturing system. [Explanation of symbols]

[0127] 1. Robotic Arm 1a Housing 10 End Effector 11 Main body 11a Mounting part 11b Claw part 12 Circuit section 121 1st circuit 122 2nd circuit 123 3rd circuit 124 4th circuit 20 Memory section 30 Drive unit 40 Control Unit D1 Separation direction D2 Extending direction E1, E11, E12, E13, E14 input electrodes E2, E21, E22, E23, E24 output electrode L1 1st straight line L2, L21, L22, L23, L24 2nd straight line L3 3rd straight line L4, L41, L42, L43, L44 4th straight line L5 Gauge Lead P1, P11, P12, P13, P14 First pattern P2 Second pattern P3 3rd pattern P4 4th pattern R resistor R1 1st area R2 2nd area R3 3rd area R4 4th area S Third Object W1, W2, W3, W4 wiring

Claims

1. An end effector for use in a robot, a main body containing a resin; a circuit portion including a circuit formed integrally with the resin in the main body portion and contributing to a predetermined function; Equipped with The flexural modulus of the resin is in the range of 1 to 60 GPa. End effector.

2. The end effector of claim 1 , The object is grasped in a low load region in which a load applied to the object when grasping the object is 1 N or less. End effector.

3. The end effector of claim 1 , the circuit has wiring formed in a predetermined pattern on the surface of the resin of the main body portion, and contributes to the predetermined function based on the wiring itself; End effector.

4. The end effector of claim 1 , the circuit has a substrate integrally molded with the resin of the main body portion and wiring formed in a predetermined pattern on the substrate, and contributes to the predetermined function based on the wiring itself; End effector.

5. The end effector according to claim 3 or 4, the functions include a first function of detecting that the main body portion has come into contact with a first object; the pattern corresponding to the first function includes a first pattern including at least one straight line connecting an input electrode and an output electrode formed integrally with the resin in the main body portion; End effector.

6. 6. The end effector of claim 5, the functions include a second function for detecting a height of a second object; the pattern corresponding to the second function includes a second pattern including a plurality of the first patterns; In the second pattern, one straight line included in each of the plurality of first patterns is arranged along the extension direction of the main body portion. End effector.

7. 6. The end effector of claim 5, the first pattern includes a first straight line extending from the input electrode, a second straight line bending at 90° from the first straight line, and a third straight line bending at 90° from the second straight line and extending to the output electrode formed in parallel with the input electrode; End effector.

8. 6. The end effector of claim 5, the first pattern includes only a fourth straight line extending from the input electrode to the output electrode; End effector.

9. The end effector according to claim 3 or 4, the functions include a third function that detects a magnitude of pressure generated when the end effector grasps a third object; the pattern corresponding to the third function includes a third pattern functioning as a strain gauge; End effector.

10. 10. The end effector of claim 9, The third pattern is a pattern in which a straight line is folded back 180 degrees at one end, and the folded straight line is then folded back again 180 degrees at the other end, and the folded straight line is then repeatedly folded back 180 degrees at the other end. End effector.

11. The end effector according to claim 3 or 4, the functions include a fourth function of generating a magnetic field to transfer power to a fourth object; the pattern corresponding to the fourth function includes a fourth spiral pattern. End effector.

12. The end effector according to any one of claims 1 to 4, The resin includes a thermoplastic resin. End effector.

13. 13. The end effector of claim 12, The thermoplastic resin includes at least one selected from the group consisting of engineering plastics and super engineering plastics. End effector.

14. 14. The end effector of claim 13, The thermoplastic resin is a polyarylene sulfide resin. End effector.

15. A robot arm comprising the end effector according to any one of claims 1 to 4.

16. a production line for producing manufactured products; 16. The robot arm according to claim 15, wherein the end effector grasps the manufactured product that is in a predetermined environment in the manufacturing line as an object; Equipped with Manufacturing system.

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