End effectors and robotic arms

Abstract

To provide an end effector that can contribute to functionality with a simpler configuration. [Solution] The end effector 10 according to the present disclosure is an end effector 10 used in a robot, comprising a main body 11 containing resin, a piezoelectric sensor 13 disposed on the main body 11 and containing piezoelectric material, and a first wiring 15 integrally formed with the resin in the main body 11, wherein the first wiring 15 is electrically connected to the piezoelectric sensor 13 and transmits a first output signal S1 of the piezoelectric sensor 13.

Description

[Technical Field]

[0001] This disclosure relates to an end effector and a robotic arm. [Background technology]

[0002] Conventionally, robot arms for various applications have been known, including industrial robots used in manufacturing sites, medical robots, and robotic robots used for nursing care. In addition, technologies related to end effectors, including robot hands and robot grippers that are attached to the tip of a robot arm, are known. For example, Patent Document 1 discloses a tactile sensor that has a simple structure and can simultaneously recognize the surface hardness and surface roughness of an object by stroking it like a human finger. [Prior art documents] [Patent Documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2004-077346 [Overview of the Initiative] [Problems that the invention aims to solve]

[0004] Compared to conventional end effectors, robot arms are required to reduce the number of parts, miniaturize, and lighten in order to meet payload limitations. On the other hand, end effectors generally have the function of grasping objects. For example, it is known that sensing functions can be added to a part of the end effector, but this required the separate placement of wiring for sensors such as lead wires. As a result, the configuration of the electrical circuits used in end effectors was complex.

[0005] This disclosure aims to provide end effectors and robotic arms that can contribute to functionality with a simpler configuration. [Means for solving the problem]

[0006] The end effector for solving the above problems is an end effector used for a robot, a main body portion containing a resin, a piezoelectric sensor disposed with respect to the main body portion and including a piezoelectric material, a first wiring integrally formed with the resin in the main body portion, and includes The first wiring is electrically connected to the piezoelectric sensor and transmits a first output signal of the piezoelectric sensor.

[0007] The robot arm for solving the above problems is the above end effector, a control unit that controls the end effector, and includes The control unit detects the moment when the end effector grips the fourth object based on the first output signal, and controls the gripping force when the end effector continues to grip the fourth object based on a second output signal.

Advantages of the Invention

[0008] According to the present disclosure, it is possible to provide an end effector and a robot arm that can contribute to functions with a simpler configuration.

Brief Description of the Drawings

[0009] [Figure 1] It is a schematic diagram showing an example of the appearance of a robot arm according to an embodiment of the present disclosure. [Figure 2] It is a schematic diagram showing a first example of the appearance of the end effector of the robot arm of FIG. 1. [Figure 3] It is a block diagram showing an example of the configuration of the robot arm of FIG. 1. [Figure 4] It is a schematic diagram showing an example of the arrangement of the piezoelectric sensor of FIG. 2. [Figure 5]It is a schematic diagram showing an example of the arrangement of the strain gauges in FIG. 3. [Figure 6] It is a schematic diagram showing a second example of the appearance of the end effector of the robot arm in FIG. 1. [Figure 7] It is a schematic diagram showing the first pattern of the second wiring of the first circuit in FIG. 2 or FIG. 6. [Figure 8] It is a schematic diagram showing the second pattern of the second wiring of the second circuit in FIG. 2 or FIG. 6. [Figure 9A] It is a schematic diagram showing the third pattern of the second wiring of the third circuit in FIG. 6. [Figure 9B] It is a schematic diagram when viewing each configuration shown in FIG. 9A from the side direction. [Figure 10] It is a graph for explaining the first example of the operation of the robot arm in FIG. 3. [Figure 11] It is a graph for explaining the second example of the operation of the robot arm in FIG. 3. [Figure 12] It is a schematic diagram showing the first pattern of the second wiring of the first circuit according to a modification example of the present disclosure. [Figure 13] It is a schematic diagram showing the second pattern of the second wiring of the second circuit according to a modification example of the present disclosure. [Figure 14] It is a schematic diagram showing an example of the appearance of the end effector according to a modification example of the present disclosure.

Mode for Carrying Out the Invention

[0010] Hereinafter, an embodiment of the present disclosure will be mainly described with reference to the accompanying drawings.

[0011] FIG. 1 is a schematic diagram showing an example of the appearance of a robot arm 1 according to an embodiment of the present disclosure. FIG. 2 is a schematic diagram showing a first example of the appearance of an end effector 10 of the robot arm 1 in FIG. 1. FIG. 3 is a block diagram showing an example of the configuration of the robot arm 1 in FIG. 1. With reference to FIGS. 1 to 3, a first example of the configuration of the robot arm 1 including the end effector 10 will be mainly described.

[0012] As shown in Figures 1 and 2, the robot arm 1 comprises a housing 1a that constitutes the main body and an end effector 10 attached to the housing 1a at the tip of the robot arm 1. The end of the end effector 10 opposite to the part 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 an object.

[0013] 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, “robot” includes, for example, industrial robots, care robots, marine robots, medical robots, and mobile devices such as vehicles and drones that make autonomous decisions and move. “Industrial robot” includes, for example, collaborative robots that can work with a worker in the same space and other robots that work in isolation from the worker. The end effector 10 is configured as a robot hand or robot gripper in such a robot.

[0014] As shown in Figure 3, the end effector 10 has a main body 11 containing resin and a circuit section 12 including a circuit integrally formed with the resin in the main body 11. The end effector 10 has a piezoelectric sensor 13 containing piezoelectric material and positioned relative to the main body 11, and a strain gauge 14 positioned relative to the main body 11. In addition to the end effector 10, the robot arm 1 has a storage unit 20, a drive unit 30, and a control unit 40. The storage unit 20, the drive unit 30, and the control unit 40 are housed, for example, in the housing 1a of the robot arm 1.

[0015] The storage unit 20 includes, for example, semiconductor memory, magnetic memory, optical memory, or any combination thereof. The storage unit 20 functions, for example, as main memory, auxiliary memory, or cache memory. The storage unit 20 stores information used for 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 obtained by any means such as communication.

[0016] The drive unit 30 includes, for example, an arbitrary 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 according to a control signal from the control unit 40. The drive unit 30 drives the claw portion 11b of the main body portion 11 of the end effector 10, as described later, according to a control signal from the control unit 40, so that the claw portion 11b grips an object.

[0017] 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 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 communicated with each component constituting the robot arm 1 and executes various processes related to the operation of the robot arm 1 while controlling each component.

[0018] The following section will primarily describe the configuration and functions of the end effector 10.

[0019] The main body portion 11 constitutes the entire outer shape of the end effector 10. The main body portion 11 has a mounting portion 11a that is attached to the housing 1a of the robot arm 1. The main body portion 11 has a pair of claw portions 11b that protrude from the end of the mounting portion 11a that is on the opposite side from the housing 1a. The pair of claw portions 11b grip an object by, for example, reducing the distance between them to be approximately the same as the width of the object. The claw portions 11b include a first claw portion 11b1 located on one side in the separation direction D1 and a second claw portion 11b2 located on the other side in the separation direction D1. As an example, the entire main body portion 11, including the mounting portion 11a and the claw portions 11b, is formed of resin.

[0020] As described later, in this disclosure, “resin” includes, for example, thermoplastic resins. “Thermoplastic resin” includes, for example, at least one selected from the group consisting of engineering plastics or super engineering plastics. Thermoplastic resin is, for example, a polyarylene sulfide resin. More specifically, thermoplastic resin includes a polyarylene sulfide resin such as a polyphenylene sulfide resin.

[0021] The circuit section 12 of the end effector 10 contributes to a predetermined function. In this disclosure, the "predetermined function" includes, for example, a first function, a second function, and a third function. The first function is to detect when the main body 11 comes into contact with a first object. The second function is to detect the height of the second object. The third function is to detect the magnitude of the pressure generated when the end effector 10 grips the third object. The first object, the second object, and the third object may be the same as each other or may be different from each other.

[0022] As shown in Figure 2, the circuit of the circuit section 12 is formed, for example, by directly drawing on the surface of the resin that forms the claw portion 11b of the main body 11. In the circuit of the circuit section 12, the second wiring and electrodes are formed in each region of the resin surface that forms the claw portion 11b. The circuit of the circuit section 12 is formed, for example, as a molded circuit using LDS among MIDs. "MID" is an abbreviation for Molded Interconnect Device. "LDS" is an abbreviation for Laser Direct Structuring. The circuit of the circuit section 12 is formed by plating by directly irradiating the surface of the main body 11, which is a molded product, with a laser.

[0023] The circuit of the circuit section 12 has second wiring formed in a predetermined pattern on the resin surface of the main body section 11, and contributes to a predetermined function based on the second wiring itself. The circuit of the circuit section 12 includes, for example, a first circuit 121 and a second circuit 122.

[0024] The first circuit 121 is formed, for example, on each of the outer surfaces of a pair of claw portions 11b in the separation direction D1, where the pair of claw portions 11b are separated from each other. The outer surface of the claw portion 11b is the surface located on the dorsal side opposite to the ventral side of the claw portion 11b, which is the side that grips the object. The first circuit 121 is formed on the outer surface of the claw portion 11b over the entire portion except for the tip in the extending direction D2 of the main body portion 11, which is perpendicular to the separation direction D1. The first circuit 121 is located in the first region R1. The first circuit 121 contributes to the first function.

[0025] The second circuit 122 is formed, for example, on the inner surface of each of the pair of claw portions 11b in the separation direction D1. The inner surface of the claw portion 11b is the surface located on the ventral side of the claw portion 11b that grips the object. The second circuit 122 is located on the inner surface of the claw portion 11b in the central part in the extending direction D2 of the main body portion 11. The second circuit 122 is located in the second region R2. The second circuit 122 contributes to the second function.

[0026] The piezoelectric sensor 13 is arranged in a sheet-like manner on the inner surface of the first claw portion 11b1 in the separation direction D1. The piezoelectric sensor 13 is located at the tip in the extending direction D2 on the inner surface of the first claw portion 11b1. However, it is not limited to this, and the piezoelectric sensor 13 may be located at a position different from the tip in the extending direction D2 on the inner surface of the first claw portion 11b1, or it may be located on the outer surface of the first claw portion 11b1, or it may be located on the second claw portion 11b2.

[0027] The piezoelectric sensor 13 is integrally attached, for example, to the surface of the resin of the claw portion 11b. The piezoelectric sensor 13 is attached, for example, to the surface of the resin forming the main body portion 11 by adhesive or adhesive tape. In this disclosure, "adhesion" in the case of adhesive means, for example, an attachment method involving a chemical reaction. "Adhesion" in the case of adhesive tape means, for example, an attachment method that does not involve a chemical reaction.

[0028] The piezoelectric material constituting the piezoelectric sensor 13 may include a flexible piezoelectric material. For example, the piezoelectric sensor 13 including a flexible piezoelectric material includes at least one of a piezoelectric composite having a polymer electret, polylactic acid, PVDF, and inorganic piezoelectric particles. The inorganic piezoelectric particles mainly consist of sodium potassium niobate. "PVDF" is an abbreviation for Poly Vinylidene Fluoride.

[0029] Figure 4 is a schematic diagram showing an example of the arrangement of the piezoelectric sensor 13 in Figure 2. Figure 4 shows a magnified view of the inner surface of the first claw portion 11b1, centered on the third region R3 in Figure 2. As shown in Figure 4, the piezoelectric sensor 13, which is integrally attached to the resin surface of the first claw portion 11b1, is electrically connected to the first wiring 15. The first wiring 15 is electrically connected to the piezoelectric sensor 13 and transmits the first output signal of the piezoelectric sensor 13. The first wiring 15 is connected to the first electrode Ea and the second electrode Eb, which are formed on the resin surface of the first claw portion 11b1. The first electrode Ea and the second electrode Eb are formed in parallel with each other.

[0030] The circuit, including the first wiring 15 and the first electrode Ea and second electrode Eb, is integrally formed with the resin in the main body 11. The circuit is formed, for example, by directly drawing on the surface of the resin that forms the first claw portion 11b1 of the main body 11. The circuit is formed in the third region R3 of the resin surface that forms the first claw portion 11b1. The circuit is configured, for example, as a molded circuit using LDS among MIDs. The circuit is formed by plating by directly irradiating the surface of the main body 11 as a molded product with a laser.

[0031] The piezoelectric sensor 13 has a piezoelectric sheet 131 that constitutes its main body. The piezoelectric sensor 13 has a pair of electrodes 132 arranged on the front and back surfaces of the piezoelectric sheet 131, respectively. In Figure 4, only the electrode 132 arranged on the front surface of the piezoelectric sheet 131 is shown. The electrode 132 arranged on the back surface is hidden by the electrode 132 arranged on the front surface and the piezoelectric sheet 131. The piezoelectric sensor 13 has a first lead electrode 133a connected to the electrode 132 arranged on the front surface of the piezoelectric sheet 131 and a second lead electrode 133b connected to the electrode 132 arranged on the back surface of the piezoelectric sheet 131.

[0032] The piezoelectric sensor 13 has through vias 134 for extending a first lead electrode 133a, which is located on the surface of the piezoelectric sheet 131, to the back surface of the piezoelectric sheet 131. The piezoelectric sensor 13 has a first pad 135a connected to the first lead electrode 133a, which extends from the surface to the back surface of the piezoelectric sheet 131 via the through vias 134. The piezoelectric sensor 13 has a second pad 135b connected to a second lead electrode 133b. The first wiring 15 connects, for example, the first pad 135a to the first electrode Ea. The first wiring 15 connects, for example, the second pad 135b to the second electrode Eb.

[0033] The piezoelectric sensor 13 is not limited to a configuration in which through vias 134 and a pair of first pads 135a and second pads 135b are arranged and connected to the first wiring 15 on the back surface of the piezoelectric sheet 131. Instead of through vias 134 and a pair of first pads 135a and second pads 135b, the piezoelectric sensor 13 may have lead pins connected to each of the first lead electrodes 133a and second lead electrodes 133b. The piezoelectric sensor 13 may be electrically connected to a pair of first wiring 15 via a pair of lead pins. Furthermore, the piezoelectric sensor 13 is not limited to a configuration using through vias 134 and a pair of first pads 135a and second pads 135b or a configuration using a pair of lead pins, and may have any other configuration capable of outputting a first output signal.

[0034] The piezoelectric sheet 131 of the piezoelectric sensor 13 is itself an insulator and generates a voltage when it vibrates. For example, if a sinusoidal vibration or force is applied to the piezoelectric sheet 131, a sinusoidal voltage is generated. The piezoelectric sensor 13 may also function as a vibration power generation element. The piezoelectric sensor 13 does not read a signal by supplying a power voltage like a strain gauge 14, but generates a voltage by generating electricity through its own vibration. Therefore, either the first electrode Ea or the second electrode Eb may be the positive electrode and the other the negative electrode. The control unit 40 of the robot arm 1 reads the voltage between the positive electrode and the negative electrode.

[0035] Figure 5 is a schematic diagram showing an example of the arrangement of the strain gauge 14 in Figure 3. In Figure 5, the inner surface of the second claw portion 11b2 is shown magnified, focusing on the portion facing the third region R3 along the separation direction D1 in Figure 2.

[0036] The strain gauge 14 is, for example, located on the inner surface of the second claw portion 11b2 in the separation direction D1. The strain gauge 14 is located on the inner surface of the second claw portion 11b2 at the tip in the extension direction D2. However, it is not limited to this, and the strain gauge 14 may be located on the inner surface of the second claw portion 11b2 at a position different from the tip in the extension direction D2, or it may be located on the outer surface of the second claw portion 11b2, or it may be located on the first claw portion 11b1. The strain gauge 14 may be located on the same side of the pair of claw portions 11b as the claw portion 11b on which the piezoelectric sensor 13 is located, or it may be located on the opposite side.

[0037] The strain gauge 14 is, for example, integrally attached to the surface of the resin of the claw portion 11b. The strain gauge 14 is, for example, attached to the surface of the resin forming the main body portion 11 by adhesive or adhesive tape. The strain gauge 14 may be made of any material that can change its electrical resistance value by being deformed when subjected to an external force.

[0038] The strain gauge 14, integrally attached to the resin surface of the second claw portion 11b2, is electrically connected to the first wiring 15. The first wiring 15 is electrically connected to the strain gauge 14 and transmits the second output signal of the strain gauge 14. The first wiring 15 is connected to the input electrode E1 and the output electrode E2, respectively, which are formed on the resin surface of the second claw portion 11b2. The input electrode E1 and the output electrode E2 are formed in parallel with each other.

[0039] The circuit, including the first wiring 15 and the input electrode E1 and output electrode E2, is integrally formed with the resin in the main body 11. This circuit is formed, for example, by directly drawing on the surface of the resin that forms the second claw portion 11b2 of the main body 11. This circuit is formed in the portion of the resin surface that forms the second claw portion 11b2 facing the third region R3. This circuit is configured, for example, as a molded circuit using LDS among MIDs. This circuit is formed by plating by directly irradiating the surface of the main body 11 as a molded product with a laser.

[0040] Figure 6 is a schematic diagram showing a second example of the appearance of the end effector 10 of the robot arm 1 shown in Figure 1. The second example of the configuration of the robot arm 1, including the end effector 10, will be mainly described with reference to Figure 6.

[0041] In the first example shown in Figure 2, the end effector 10 has a piezoelectric sensor 13 on the first claw portion 11b1 and a strain gauge 14 on the second claw portion 11b2, but is not limited thereto. For example, instead of the strain gauge 14, the end effector 10 may have a third circuit 123 on the first claw portion 11b1 that contributes to a third function, functioning as a strain gauge, as part of the circuit of the circuit portion 12. In this case, the end effector 10 may have the piezoelectric sensor 13 on the second claw portion 11b2 in the same arrangement as shown in Figure 4.

[0042] The third circuit 123 is formed, for example, on the inner surface of the first claw portion 11b1 of a pair of claw portions 11b arranged in the separation direction D1. The third circuit 123 is located on the inner surface of the first claw portion 11b1 at the tip in the extending direction D2 of the main body portion 11. However, it is not limited to this, and the third circuit 123 may be located on the inner surface of the first claw portion 11b1 at a position different from the tip in the extending direction D2, or it may be located on the outer surface of the first claw portion 11b1, or it may be located on the second claw portion 11b2. The third circuit 123 may be located on the same side as the claw portion 11b on which the piezoelectric sensor 13 is located, or it may be located on the opposite side. The third circuit 123 contributes to the third function.

[0043] Figure 7 is a schematic diagram showing the first pattern P1 of the second wiring W1 of the first circuit 121 in Figure 2 or Figure 6. In Figure 7, the first region R1 in Figure 2 or Figure 6 is enlarged, and only the first circuit 121 of the circuit section 12 is shown.

[0044] 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 with each other. The first circuit 121 has a second wiring W1 formed in a first pattern P1 on the resin surface of the claw portion 11b, and contributes to the first function based on the second 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 which are integrally formed with the resin in the main body portion 11.

[0045] For example, the first pattern P1 includes three straight lines. 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 at another 90° from the second straight line L2 and extending to the output electrode E2. The first pattern P1 extends elongated along the extending direction D2 of the main body 11, covering almost the entire extending region of the claw portion 11b. The first pattern P1 corresponds to the shape of the Japanese character "コ" rotated 90° clockwise.

[0046] Figure 8 is a schematic diagram showing the second pattern P2 of the second wiring W2 of the second circuit 122 in Figure 2 or Figure 6. In Figure 8, the second region R2 of Figure 2 or Figure 6 is enlarged, and only the second circuit 122 of the circuit section 12 is shown.

[0047] 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 also 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 each other.

[0048] The second circuit 122 has a second 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 second wiring W2 itself. The second pattern P2 corresponding to the second function includes multiple first patterns P1. In the second pattern P2, one straight line included in each of the multiple first patterns P1 is arranged along the extending direction D2 of the main body portion 11. More specifically, a second straight line L2 included in each of the multiple first patterns P1 is arranged along the extending direction D2 of the main body portion 11.

[0049] The input electrode E11 and the output electrode E21 are connected by the first pattern P11. The input electrode E12 and the output electrode E22 are connected by the first pattern P12. The input electrode E13 and the output electrode E23 are connected by the first pattern P13. The input electrode E14 and the output electrode E24 are connected by the first pattern P14.

[0050] 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 extending direction D2 of the main body 11. In the second pattern P2, the first pattern P11 is located furthest inward, and the first patterns P12, P13, and P14 are located further out from the first pattern P11 in this order. As a result, the second straight lines L21, L22, L23, and L24 are discretely arranged along the extending direction D2 of the main body 11, from the base of the mounting portion 11a of the claw portion 11b to the tip.

[0051] Figure 9A is a schematic diagram showing the third pattern P3 of the second wiring W3 of the third circuit 123 in Figure 6. In Figure 9A, the third region R3 of Figure 6 is enlarged to show the tip of the claw portion 11b along with the third circuit 123 of the circuit portion 12. In addition to the third circuit 123 and the tip of the claw portion 11b, the resistor R and the third object S, which are not shown in Figure 6, are also shown in Figure 9A.

[0052] 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 with each other. The third circuit 123 has a second wiring W3 formed in a third pattern P3 on the resin surface of the claw portion 11b, and contributes to the third function based on the second wiring W3 itself. The third pattern P3 corresponding to the third function functions as a strain gauge. For example, the third pattern P3 repeatedly folds a straight line 180° at one end and then folds the folded straight line another 180° at the other end.

[0053] The third circuit 123 has two gauge leads L5 that connect one end and the other end of the second wiring W3, which is formed in the third pattern P3, to the input electrode E1 and the output electrode E2, respectively. The gauge leads L5 are also formed on the surface of the resin of the claw portion 11b, for example, similar to the input electrode E1, the output electrode E2, and the second wiring W3.

[0054] Figure 9B is a schematic diagram of each configuration shown in Figure 9A viewed from the side. As shown in Figure 9B, a resistor R is attached to the second wiring W3 in the third circuit 123 on the side opposite to the claw portion 11b of the second wiring W3 by any method such as adhesive. Therefore, when the end effector 10 grips the third object S, the third object S makes direct contact with the resistor R rather than the second wiring W3.

[0055] Figure 10 is a graph illustrating a first example of the operation of the robot arm 1 shown in Figure 3. Referring to Figure 10, a first example of the control of the end effector 10 by the control unit 40 of the robot arm 1 will be mainly described. The control unit 40 controls the end effector 10.

[0056] The left vertical axis of Figure 10 shows, for example, the voltage value of the first output signal S1 output from the piezoelectric sensor 13 in Figure 3. The right vertical axis of Figure 10 shows, for example, the resistance change rate of the strain gauge based on the strain gauge 14 in Figure 5 or the second output signal S2 output from the third circuit 123 in Figure 6. The resistance change rate of the strain gauge is, for example, the value obtained by dividing the resistance change amount Δr in the strain gauge by the resistance value r. The horizontal axis of Figure 10 shows, for example, time (seconds).

[0057] Figure 10 shows the time change of the signal when the end effector 10 grips a fourth object using a piezoelectric sensor 13 located on one side of a pair of claw portions 11b and a strain gauge 14 or third circuit 123 located on the other side. The fourth object includes, for example, a soft object such as a sponge.

[0058] The control unit 40 acquires the first output signal S1 output from the piezoelectric sensor 13 via the first wiring 15 and output electrode E2 in each of the first example of the configuration of the end effector 10 shown in Figure 2 and the second example of the configuration of the end effector 10 shown in Figure 6. The control unit 40 monitors the acquired first output signal S1 and identifies the time change of the first output signal S1 as shown in Figure 10.

[0059] The control unit 40 detects the moment when the end effector 10 grasps the fourth object based on the first output signal S1. For example, if the control unit 40 determines that the first output signal S1 satisfies a first predetermined condition, it determines that the end effector 10 has grasped the fourth object. In this disclosure, the "first predetermined condition" includes, for example, the magnitude of the voltage value of the first output signal S1 exceeding a first threshold or the rate of change of the magnitude of the voltage value of the first output signal S1 exceeding a second threshold.

[0060] As shown in Figure 10, the first output signal S1 changes rapidly in the direction of increasing voltage value, for example, around the midpoint between time 1 second and time 1.5 seconds. Unlike the second output signal S2, the first output signal S1 from the piezoelectric sensor 13 has a fast response. Even when gripping a soft object that is not easily subjected to force when the end effector 10 makes contact, such as the fourth object, the first output signal S1 changes about 250 milliseconds faster than the second output signal S2. The control unit 40 identifies the rapid, instantaneous change in the timing of the first output signal S1 and detects the moment when the end effector 10 grips the fourth object.

[0061] The control unit 40 acquires the second output signal S2 output from the strain gauge 14 via the first wiring 15 and output electrode E2, for example, in the first example of the configuration of the end effector 10 shown in Figure 2. The control unit 40 acquires the second output signal S2 output from the third circuit 123, for example, in the second example of the configuration of the end effector 10 shown in Figure 6. The control unit 40 monitors the resistance change rate of the strain gauge based on the acquired second output signal S2 and identifies the time change in the resistance change rate as shown in Figure 10.

[0062] The control unit 40 controls the gripping force of the end effector 10 while it is continuing to grip the fourth object based on the second output signal S2. For example, the control unit 40 detects the static gripping force of the end effector 10 while it is continuing to grip the fourth object after detecting that it has gripped the fourth object based on the first output signal S1. The control unit 40 controls the end effector 10 so that the magnitude of the detected gripping force of the end effector 10 falls within a predetermined range.

[0063] As shown in Figure 10, the resistance change rate based on the second output signal S2 gradually increases, for example, from around 1.5 seconds. Unlike the first output signal S1, the second output signal S2 from the strain gauge 14 or the third circuit 123 is useful for detecting static gripping force. Even when gripping a soft object such as the fourth object, which is less susceptible to force even when the end effector 10 makes contact, the control unit 40 identifies the resistance change rate based on the second output signal S2 and controls the end effector 10 so that it grips the fourth object with an appropriate gripping force.

[0064] Figure 11 is a graph illustrating a second example of the operation of the robot arm 1 in Figure 3. Referring to Figure 11, we will mainly describe a second example of the control of the end effector 10 by the control unit 40 of the robot arm 1. The control unit 40 controls the end effector 10. The same explanation as in Figure 10 applies to each axis in Figure 11.

[0065] Figure 11 shows the time variation of the signal when the end effector 10 grips a fourth object, using a piezoelectric sensor 13 located on one side of a pair of claw portions 11b and a strain gauge 14 or third circuit 123 located on the other side. The fourth object includes, for example, small and fragile objects such as quail eggs.

[0066] The control unit 40 monitors the acquired first output signal S1 and identifies the time variation of the first output signal S1 as shown in Figure 11. The control unit 40 detects vibration of the robot arm 1 based on the first output signal S1. For example, if the control unit 40 determines that the first output signal S1 satisfies a second predetermined condition, it determines that the robot arm 1, including the end effector 10, is vibrating. In this disclosure, the "second predetermined condition" includes, for example, a large change in the voltage value of the first output signal S1 with a predetermined amplitude and period.

[0067] As shown in Figure 11, the first output signal S1 oscillates significantly, for example, starting around the midpoint between time 1 second and time 1.5 seconds. Unlike the second output signal S2, the first output signal S1 from the piezoelectric sensor 13 can also be used to detect acceleration when the end effector 10 moves or stops, for example. The control unit 40 detects the acceleration associated with the movement of the end effector 10 based on the first output signal S1 while the end effector 10 is transporting the fourth object after it has grasped it.

[0068] As a result, the control unit 40 may, for example, perform feedback control on the end effector 10 to reduce the detected acceleration. The control unit 40 may also operate the end effector 10 gradually, without suddenly moving or stopping it, while detecting the acceleration associated with the operation of the end effector 10.

[0069] In one embodiment, a thermoplastic resin is preferred as the resin used. The thermoplastic resin is not particularly limited, but examples include polyolefin resins such as polypropylene, polyethylene, and polybutene; polyester resins such as polyethylene terephthalate and polybutylene terephthalate; polyamide resins or aromatic polyamide resins such as nylon-6 and nylon 6,6; thermoplastic polyimide resins; polyamide-imide resins; polystyrene resins such as polystyrene, syndiotactic polystyrene, acrylonitrile-styrene copolymer resin, or acrylonitrile-butadiene-styrene copolymer resin; polyarylene sulfide resins such as polyphenylene sulfide; polyphenylene ether resins; polyurethane resins; polylactic acid; polyetheretherketone resins; polyetherimide resins; polyketone resins; polyarylate resins such as amorphous polyarylate and liquid crystalline polyarylate; and liquid crystalline polyester resins.

[0070] Among these, the thermoplastic resin used in one embodiment is preferably a thermoplastic polyimide resin, polyamide-imide resin, polyarylene sulfide resin, polyphenylene ether resin, polyetheretherketone resin, polyetherimide resin, polyketone resin, polyarylate resin, and liquid crystalline polyester resin, which are so-called engineering plastics or super engineering plastics that have excellent heat resistance and mechanical properties. From the viewpoint of chemical resistance, heat resistance, and mechanical properties, polyarylene sulfide resin is more preferred, and among polyarylene sulfide resins (hereinafter also referred to as "PAS resin"), polyphenylene sulfide resin (hereinafter also referred to as "PPS resin") is particularly preferred.

[0071] In one embodiment, the above resin may be used alone or in the form of a polymer alloy in which multiple resins are mixed. The resin according to one embodiment may contain a filler. The resin containing a filler may contain the filler described later and the above resin, and may be in the form of a composition containing any additive components described later (colorants, antistatic agents, antioxidants, heat stabilizers, ultraviolet stabilizers, ultraviolet absorbers, foaming agents, flame retardants, flame retardant additives, rust inhibitors, coupling agents, silane coupling agents, thermoplastic elastomers, or synthetic resins) as needed.

[0072] Polyarylene sulfide resins have a resin structure in which aromatic rings and sulfur atoms are bonded together as repeating units. Specifically, they are resins in which structural units represented by the following general formula (1) and, if necessary, trifunctional structural units represented by the following general formula (2) are repeated.

[0073] [ka] In formula (1), R 1 and R 2 Each of these independently represents a hydrogen atom, an alkyl group with 1 to 4 carbon atoms, a nitro group, an amino group, a phenyl group, a methoxy group, or an ethoxy group.

[0074] [ka] The trifunctional structural site represented by formula (2) is preferably in the range of 0.001 to 3 mol%, and particularly preferably in the range of 0.01 to 1 mol%, relative to the total number of moles of the other structural sites.

[0075] Here, the structural part represented by the general formula (1) above is, in particular, R in the formula 1 and R 2 From the viewpoint of the mechanical strength of the PAS resin, it is preferable that the atom is a hydrogen atom, 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).

[0076] [ka] Among these, the bond of the sulfur atom to the aromatic ring in the repeating unit is particularly preferable in terms of the heat resistance and crystallinity of the PAS resin if it is bonded at the para position as represented by the general formula (3) above.

[0077] The above-mentioned PAS resin may contain not only the structural parts represented by the above-mentioned general formulas (1) and (2), but also structural parts represented by the following structural formulas (5) to (8) in an amount of 30 mol% or less of the total of the structural parts represented by the above-mentioned general formulas (1) and (2).

[0078] [ka] In particular, in one embodiment, it is preferable that the structural parts represented by the above general formulas (5) to (8) be 10 mol% or less, from the viewpoint of heat resistance and mechanical strength of the PAS resin. When the above PAS resin contains structural parts represented by the above general formulas (5) to (8), the bonding mode may be either a random copolymer or a block copolymer.

[0079] The above-mentioned PAS resin may have naphthyl sulfide bonds or the like in its molecular structure, but it is preferable that the amount of naphthyl sulfide bonds is 3 mol% or less, and particularly preferable that it is 1 mol% or less, relative to the total number of moles of other structural parts.

[0080] 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.

[0081] (Melting viscosity) The melt viscosity of the PAS resin is not particularly limited, but in order to achieve 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. However, the melt viscosity (V6) is measured using a Shimadzu flow tester, CFT-500D, with polyarylene sulfide resin at 300°C and a load of 1.96 × 10⁻⁶. 6 The measured melt viscosity was obtained after holding the mixture at Pa and L / D = 10(mm) / 1(mm) for 6 minutes.

[0082] (Non-Newtonian exponents) The non-Newton index of the PAS resin is not particularly limited, but it is preferably in the range of 0.90 or higher and 2.00 or lower. When using a linear polyarylene sulfide resin, the non-Newton index is preferably in the range of 0.90 or higher, more preferably in the range of 0.95 or higher, more preferably in the range of 1.50 or lower, and more preferably in the range of 1.20 or lower. Such polyarylene sulfide resins have excellent mechanical properties, fluidity, and abrasion resistance. However, in one embodiment, the non-Newton 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 conditions of melting point +20°C and orifice length (L) to orifice diameter (D), L / D = 40. The closer the non-Newton index (N value) is to 1, the closer the structure is to linear, and the higher the non-Newton index (N value), the more branched the structure is.

[0083]

Number

[0084] The resin used in one embodiment is blended with 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 product, melts the resin, and has functions such as surface roughening of the molded product, and is activated by laser irradiation to selectively form a plating layer.

[0085] The metal oxide contains at least one of copper and chromium. The metal oxide may further contain other metals such as iron, aluminum, gallium, boron, molybdenum, tungsten, selenium, etc.

[0086] Specific examples of the metal oxide are not particularly limited, but include 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 B 0.5 O 2.5 , CuAl 0.5 B 0.5 O 2.5 are preferred, and CuCr2O4, CuFe 0.5 B 0.5 O 2.5 ​​​​​​It is more preferable that these metal oxides are used individually or in combination of two or more.

[0087] The average particle size of the metal oxide is preferably in the range of 0.01 μm or more, more preferably 0.05 μm or more, more preferably 50 μm or less, and more preferably 30 μm or less. An average particle size of 0.01 μm or more is preferable because it allows for efficient and stable production. On the other hand, an average particle size of 50 μm or less is preferable because it allows for the maintenance of material strength. In this disclosure, "average particle size of the metal oxide" means the number-average particle diameter, and the value measured by electron microscopy is adopted. 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.

[0088] The Mohs hardness of the metal oxide is preferably in the range of 4.0 or higher, preferably 6.5 or lower, and more preferably 6.0 or lower.

[0089] The amount of the metal oxide blended 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. When the amount of the metal oxide blended per 100 parts by mass of the PAS resin is 15 parts by mass or more, it is preferable from the viewpoint that the resulting molded product can undergo a high degree of surface roughening by laser irradiation and activation of the metal oxide, and has excellent plating properties. On the other hand, when the amount of the metal oxide blended per 100 parts by mass of the PAS resin is 90 parts by mass or less, it is preferable because the material strength can be maintained.

[0090] Other fillers may be known and commonly used materials as long as they do not impair the effect of one embodiment. Examples include fillers of various shapes, such as fibrous materials and non-fibrous materials such as granular or plate-shaped materials. Specifically, fibrous fillers such as glass fibers, carbon fibers, silane glass fibers, ceramic fibers, aramid fibers, metal fibers, potassium titanate, silicon carbide, calcium silicate, wollastonite, and natural fibers can be used. 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.

[0091] In one embodiment, the filler content is not particularly limited as long as it does not impair the effects of that embodiment. The amount of filler added is preferably in the range of 1 part by mass or more, more preferably 10 parts by mass or more, preferably 600 parts by mass or less, and more preferably 200 parts by mass or less, per 100 parts by mass of resin. This range is preferable because the resin exhibits good mechanical strength and moldability.

[0092] The resin used in one embodiment may optionally contain a silane coupling agent as an optional component. The silane coupling agent is not particularly limited as long as it does not impair the effects of the embodiment, but silane coupling agents having a functional group that reacts with a carboxyl group, such as an epoxy group, isocyanate group, amino group, or hydroxyl group, are preferred. 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 if it is included, the amount added 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, preferably 10 parts by mass or less, and more preferably 5 parts by mass or less, per 100 parts by mass of resin. This range is preferable because the resin has good corona resistance and moldability, especially release properties, and the molded product exhibits excellent adhesion to epoxy resin while also improving mechanical strength.

[0093] The resin used in one embodiment may optionally contain a thermoplastic elastomer as an optional component. Examples of thermoplastic elastomers include polyolefin-based elastomers, fluorine-based elastomers, or silicone-based elastomers, of which polyolefin-based elastomers are preferred. When these elastomers are added, the amount added is not particularly limited as long as it does not impair the effects of the embodiment, but is preferably in the range of 0.01 parts by mass or more, more preferably 0.1 parts by mass or more, preferably 10 parts by mass or less, and more preferably 5 parts by mass or less, per 100 parts by mass of resin (A). This range is preferable because it improves the impact resistance of the resulting resin.

[0094] For example, the polyolefin-based elastomers mentioned above include homopolymers of α-olefins, copolymers of two or more α-olefins, and copolymers of one or more α-olefins with a vinyl polymerizable compound having a functional group. In this case, the α-olefins include ethylene, propylene, 1-butene, and other α-olefins having 2 to 8 carbon atoms. The functional groups include carboxyl groups, acid anhydride groups (-C(=O)OC(=O)-), epoxy groups, amino groups, hydroxyl groups, mercapto groups, isocyanate groups, and oxazoline groups. Examples of vinyl polymerizable compounds having the above-mentioned functional groups include vinyl acetate; α,β-unsaturated carboxylic acids such as (meth)acrylic acid; alkyl esters of α,β-unsaturated carboxylic acids such as methyl acrylate, ethyl acrylate, and butyl acrylate; metal salts of α,β-unsaturated carboxylic acids such as ionomers (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-mentioned α,β-unsaturated dicarboxylic acids (monoesters, diesters, acid anhydrides), one or more of these. The above-mentioned thermoplastic elastomers may be used individually or in combination of two or more types.

[0095] Furthermore, in addition to the above components, the resin used in one embodiment may optionally contain synthetic resins (hereinafter simply referred to as "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, phenolic resin, urethane resin, and liquid crystal polymer, depending on the application. In one embodiment, the above synthetic resins are not essential components, but when they are included, the proportion of the synthetic resin is not particularly limited as long as it does not impair the effects of the embodiment, and it will vary depending on the purpose and cannot be defined in general terms. However, as an example of the proportion of synthetic resin to be included in the resin according to one embodiment, it may be 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, and more preferably in the range of (100 / 105) or more, on a mass basis.

[0096] The resin used in one embodiment may also contain, as necessary, other known and commonly used additives such as colorants, antistatic agents, antioxidants, heat stabilizers, UV stabilizers, UV absorbers, foaming agents, flame retardants, flame retardant aids, rust inhibitors, and coupling agents as optional components. These additives are not essential components, and for example, they may be used in an amount of preferably 0.01 parts by mass or more, and preferably 1000 parts by mass or less, per 100 parts by mass of resin, adjusted appropriately according to the purpose and application so as not to impair the effects of the embodiment.

[0097] The method for producing the resin used in one embodiment will be described in detail below.

[0098] The resin used in one embodiment is made by blending each essential component and, if necessary, other optional components. The method for producing the resin used in one embodiment is not particularly limited, but includes a method of blending the essential components and, if necessary, optional components and then melt-kneading them, or more specifically, a method of uniformly dry-mixing them in a tumbler or Henschel mixer as needed, and then feeding them into a twin-screw extruder and melt-kneading them.

[0099] Melt mixing can be carried out by heating the resin to a temperature range in which the resin temperature is above the melting point of the resin, preferably a temperature range in which the temperature is 10°C or higher above the melting point, more preferably 10°C or higher above the melting point, even more preferably from 20°C or higher above the melting point, preferably 100°C or lower above the melting point, and more preferably 50°C or lower below the melting point.

[0100] As the melting and mixing machine described above, a twin-screw extruder is preferred from the viewpoint of dispersibility and productivity. For example, it is preferable to melt and mix while appropriately adjusting the discharge rate 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 even more preferable to melt and mix under conditions in which the ratio of these (discharge rate / screw rotation speed) is in the range of 0.02 to 5 kg / hr / rpm. The addition and mixing of each component to the melting and mixing machine may be done simultaneously or in stages. For example, when adding an additive from the above components, it is preferable from the viewpoint of dispersibility to introduce it into the extruder from the side feeder of the twin-screw extruder. The position of such a side feeder is preferably such that the ratio of the distance from the resin input section (top feeder) of the extruder to the total length of the screw of the twin-screw extruder is 0.1 or more, and more preferably 0.3 or more. This ratio is preferably 0.9 or less, and more preferably 0.7 or less.

[0101] The resin obtained by melt-kneading in this manner according to one embodiment is a molten mixture containing the above-mentioned essential components, optional components to be added as needed, and their derived components. After melt-kneading, it is preferable to extrude the molten resin into strands using a known method, then process it into forms such as pellets, chips, granules, or powders, and then pre-dry it at a temperature range of 100 to 150°C as needed.

[0102] The molded article of one embodiment is made by molding resin. The manufacturing method of the molded article of one embodiment includes a step of melt-molding the above-mentioned resin. This will be described in detail below.

[0103] The resin used in one embodiment is subjected to injection molding. Various molding conditions are not particularly limited and can be molded using generally accepted methods. For example, the resin can be melted in an injection molding machine at a temperature range above the melting point of the resin, preferably at a temperature range of melting point + 10°C or higher, more preferably at a temperature range of melting point + 10°C to melting point + 100°C, and even more preferably at a temperature range of melting point + 20°C to melting point + 50°C, after which it can be injected into a mold from the resin discharge port for molding. In this case, the mold temperature can also be set to a known temperature range, for example, room temperature (23°C) to 300°C, preferably 120 to 180°C.

[0104] According to the end effector 10 of the above embodiment, it can contribute to functionality with a simpler configuration. The end effector 10 has a first wiring 15 integrally formed with resin in the main body 11. The first wiring 15 is electrically connected to the piezoelectric sensor 13 and transmits the first output signal S1 of the piezoelectric sensor 13. As a result, the end effector 10 can simplify the wiring structure for transmitting the first output signal S1 of the piezoelectric sensor 13. The end effector 10 can simplify the configuration of the electrical circuit used in the end effector 10 without requiring separate wiring for the sensor, such as lead wires, to output the first output signal S1 from the piezoelectric sensor 13.

[0105] The end effector 10 further includes a strain gauge 14 positioned relative to the main body 11. This allows the end effector 10 to utilize the advantages of both the piezoelectric sensor 13 and the strain gauge 14 to enable stable gripping of the fourth object. The end effector 10 utilizes the difference in sensitivity behavior between the piezoelectric sensor 13 and the strain gauge 14 to enable stable gripping of the fourth object. For example, the end effector 10 can stably grip even fourth objects that require little gripping force, such as sponges or cakes.

[0106] In addition, the first wiring 15 is electrically connected to the strain gauge 14 and transmits the second output signal S2 of the strain gauge 14. This allows the end effector 10 to simplify the wiring structure for transmitting the second output signal S2 of the strain gauge 14. The end effector 10 can simplify the configuration of the electrical circuit used in the end effector 10 without requiring separate wiring for sensors such as lead wires to output the second output signal S2 from the strain gauge 14.

[0107] The end effector 10 includes a circuit integrally formed with the resin in the main body 11, and further has a circuit section 12 that contributes to a predetermined function. As a result, the end effector 10 can contribute not only to the basic function of gripping the fourth object, but also to the various functions described above. By integrally forming the circuit of the circuit section 12 with the resin, the end effector 10 does not require the separate placement of a sensor sheet or film, a substrate for forming an electrical circuit, etc., as in the conventional technology. The end effector 10 does not require the separate provision of joints or bonding parts for sheets, films, substrates, etc. The end effector 10 can also contribute to the simpler implementation of multiple functions.

[0108] As a result, the end effector 10 can achieve a reduction in the number of parts, miniaturization, and weight reduction, and can also meet the payload limit of the robot arm 1. The end effector 10 can also have a greater 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 cleaned for the purpose of preventing the spread of infectious diseases and other hygiene purposes. Unlike conventional metal end effectors, the end effector 10 is lightweight and rust can be suppressed during cleaning.

[0109] The circuit of the circuit section 12 has second wiring formed in a predetermined pattern on the resin surface of the main body section 11, and contributes to a predetermined function based on the second wiring itself. As a result, the end effector 10 becomes an integrated molded product that contributes to a predetermined function by directly drawing the circuit on the end effector 10. Since the drawn circuit itself serves as the means for transmitting electrical signals in the end effector 10, there is no need to additionally provide wiring such as harnesses and circuit boards. The end effector 10 does not require the shape and space to accommodate wired harnesses and circuit boards, thus avoiding complexity in shape and making its configuration simpler.

[0110] The end effector 10 tends to become charged due to the resin content of its main body 11, but even in such cases, static electricity can be easily discharged by the plated first and second wirings in the metal circuit formed on its surface. The end effector 10 can effectively discharge static electricity through the shape of the wiring paths drawn directly on its surface.

[0111] The end effector 10 can contribute to the first function by including at least one straight line connecting the input electrode E1 and the output electrode E2 in the first pattern P1. More specifically, when the first object comes into contact with the second wiring W1, which is formed as at least one straight line connecting the input electrode E1 and the output electrode E2, leakage current occurs at the contact point, changing the resistance of the second wiring W1. This causes a voltage change between the input electrode E1 and the output electrode E2. For example, the control unit 40 of the robot arm 1 detects such a 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 such a voltage change as information to the control unit 40 of the robot arm 1.

[0112] The robot arm 1 can stop the movement of the end effector 10 when it comes into contact with the first object, based on contact detection by the control unit 40, thereby preventing the end effector 10 from moving further toward the first object. Therefore, the robot arm 1 can prevent the end effector 10 from colliding violently with the first object, which could cause the end effector 10 to malfunction or the first object to be damaged. The end effector 10 can improve the safety of the robot arm 1's operation.

[0113] The end effector 10 can contribute to the second function because, in the second pattern P2, one straight line included in each of the multiple first patterns P1 is arranged along the extending direction D2 of the main body 11. More specifically, following the same principle as described above for contact detection, the control unit 40 of the robot arm 1 can determine which of the first patterns P11, P12, P13, and P14 the claw portion 11b of the end effector 10 is in contact with the second object.

[0114] Therefore, the control unit 40 can measure the distance from the tip of the claw portion 11b to the upper end of the contact point with the second object within a predetermined numerical range in the height direction parallel to the extending direction D2. At this time, the control unit 40 may use, for example, the distance from the tip of the claw portion 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.

[0115] 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 line L23 and the second line 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 line L22 and the second line 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 line L21 and the second line 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.

[0116] If the control unit 40 can obtain information on the current position in the height direction of the tip of the claw portion 11b measured from a reference surface such as the ground or floor surface using any method, it can calculate the height from the reference surface to the upper end of the contact point with the second object as a numerical range.

[0117] As an example, the control unit 40 can measure the water level or top surface height of the contents contained in the container. The control unit 40 controls the operation of the end effector 10 via the drive unit 30 so that the tip of the claw portion 11b of the end effector 10 contacts the bottom surface of the container. The control unit 40 aligns the tip position of the claw portion 11b of the end effector 10 with the bottom surface. In this state, the control unit 40 determines which of the first patterns P11, P12, P13, and P14 the contents are in contact with. Based on the determination result, the control unit 40 can measure the water level or top surface height of the contents within a predetermined numerical range.

[0118] The end effector 10 can contribute to a 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 folded 180° at one end and the folded straight line is folded again 180° at the other end. When the third object S comes into contact with the second wiring W3 formed by such a third pattern P3 via a resistor R, the amount of strain in the second wiring W3 changes according to the pressure at the contact point. As the amount of strain changes, the resistance of the second wiring W3 also changes. This causes a change in 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 second wiring W3 by measuring the amount of change in such voltage. In this case, the control unit 40 may use data that correlates the pressure generated when the end effector 10 grips the third object S with the amount of change in voltage. Such data may be stored in advance in the memory unit 20, for example.

[0119] As described above, the robot arm 1 can measure the pressure applied to the tip of the claw portion 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 portion 11b, the robot arm 1 can appropriately adjust the load applied to the third object S when gripping it. When gripping the third object S, the robot arm 1 can suppress the application of a large load to the third object S, thereby preventing damage to the third object S and failure of the end effector 10 itself.

[0120] The piezoelectric material of the piezoelectric sensor 13 includes a flexible piezoelectric material. This allows the end effector 10 to improve the flexibility of the piezoelectric sensor 13. The end effector 10 can stably position the piezoelectric sensor 13 not only on the flat portion of the claw portion 11b, but also on surfaces that are configured as curved surfaces.

[0121] The piezoelectric sensor 13, which includes a flexible piezoelectric material, comprises at least one of a polymer electret, polylactic acid, PVDF, and a piezoelectric composite having inorganic piezoelectric particles. The end effector 10 can also improve the sensitivity of the piezoelectric sensor 13 by, for example, including a piezoelectric composite having inorganic piezoelectric particles in the piezoelectric sensor 13.

[0122] The inorganic piezoelectric particles are primarily composed of sodium potassium niobate. This allows the end effector 10 to achieve lead-free piezoelectricity, contributing to environmental protection.

[0123] The robot arm 1 detects the moment the end effector 10 grasps the fourth object based on the first output signal S1, and controls the gripping force while continuing to grasp the fourth object based on the second output signal S2. As a result, even when the robot arm 1 grasps a soft fourth object that does not generate much force when the end effector 10 makes contact, the piezoelectric sensor 13 improves sensitivity and enables accurate detection of the moment of grasping. In addition, the robot arm 1 can accurately detect the static force during continuous grasping using strain gauges 14 or the like.

[0124] The robot arm 1 can also fine-tune the gripping force when gripping the fourth object using both the piezoelectric sensor 13 and the strain gauge 14. The robot arm 1 can also precisely control minute forces in the minute force range using both the piezoelectric sensor 13 and the strain gauge 14.

[0125] In conventional robots, torque sensors and the like are typically placed on the arm, and the idea of ​​controlling force with an end effector has been largely absent. The end effector 10 according to one embodiment of this disclosure can achieve delicate gripping that is difficult for conventional robots and is only possible for humans. The end effector 10 can also grip delicate fourth objects.

[0126] Human skin possesses tactile organs with functions similar to those of the piezoelectric sensor 13, which responds to dynamic stimuli, such as RA I, which terminates in Meissner corpuscles, or RA II, which terminates in Pacinian corpuscles. Human skin also possesses tactile sensations similar to those of strain gauges, which respond to static stimuli, such as SA I, produced by Merkel cells, or SA II, which terminates in Ruffini cells. The end effector 10 can easily grasp even soft fourth objects, similar to human fingers, where both functions work complementaryly to enable delicate movements. The robotic arm 1 can control the end effector 10 to enable delicate movements similar to those of a human, which can contribute to alleviating future labor shortages.

[0127] The robot arm 1 detects vibrations of the robot arm 1 based on the first output signal S1. This allows the robot arm 1 to detect acceleration associated with the movement of the end effector 10 based on the first output signal S1, for example, while the end effector 10 is transporting the fourth object after it has grasped it. The robot arm 1 can also operate the end effector 10 smoothly through feedback control, without suddenly moving or stopping it. Therefore, the robot arm 1 can reduce damage to the fourth object caused by vibrations after it has grasped it.

[0128] Because the resin contains a thermoplastic resin, and the thermoplastic resin is a polyarylene sulfide resin, the end effector 10 can have improved waterproofing 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 makes the end effector 10 usable in chemicals and for gripping high-temperature substances.

[0129] The end effector 10 facilitates the formation of a molded circuit using LDS by being composed of a resin containing a metal oxide that includes at least one of copper and chromium. The end effector 10 can provide functions such as generating heat when irradiated with a laser, melting the resin and roughening its surface, and being activated by laser irradiation, enabling the selective formation of a plating layer.

[0130] It will be apparent to those skilled in the art that this disclosure can be implemented in other predetermined forms besides the embodiments described above without deviating from its spirit or essential features. Therefore, the prior description is illustrative and not limiting. The scope of the disclosure is defined not by the prior description but by the added claims. Any modifications within their equivalent scope are included therein.

[0131] For example, the shape, pattern, size, arrangement, orientation, type, and number of each component described above 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 they can realize their function. The components of the end effector 10 and robot arm 1 shown are functional concepts, and the specific form of each component is not limited to those shown.

[0132] In the above embodiment, the end effector 10 was described as having a strain gauge 14 or a third circuit 123 in addition to the piezoelectric sensor 13, but is not limited thereto. The end effector 10 may have both the strain gauge 14 and the third circuit 123 in addition to the piezoelectric sensor 13, or it may have only the piezoelectric sensor 13 without either the strain gauge 14 or the third circuit 123.

[0133] In the above embodiment, the first wiring 15 was described as being electrically connected to the strain gauge 14 and transmitting the second output signal S2 of the strain gauge 14, but this is not limited to the above. The first wiring 15 does not have to be electrically connected to the strain gauge 14. In this case, the strain gauge 14 may be electrically connected to a separately arranged lead wire or the like and output the second output signal S2.

[0134] In the above embodiment, the end effector 10 was described as including a circuit integrally formed with the resin in the main body 11 and further having a circuit section 12 that contributes to a predetermined function, but it is not limited to this. The end effector 10 does not have to have a circuit section 12.

[0135] In the above embodiments, the first function, second function, and third function were given as examples of predetermined functions, but the types and number of functions are not limited to these. The predetermined functions may include only a portion of the first function, second function, and third function. The predetermined functions may include at least one other type of function in place of, or in addition to, at least a portion of the first function, second function, and third function.

[0136] In the above embodiment, the circuit of the circuit section 12 was described as having second wiring formed in a predetermined pattern on the surface of the resin of the main body 11, and contributing to a predetermined function based on the second wiring itself, but it is not limited to this. The circuit of the circuit section 12 may have a substrate integrally molded with the resin of the main body 11, and wiring formed in a predetermined pattern on the substrate, and contribute to a predetermined function based on the wiring itself.

[0137] The circuit of the circuit section 12 may be based on a substrate that is integrally molded with resin, for example, by insert molding. In the circuit of the circuit section 12, the wiring and electrodes may be formed on the substrate. The circuit of the circuit section 12 may be configured as a molded circuit using IME, a type of MID. "IME" is an abbreviation for In-Mold Electronics. The circuit of the circuit section 12 may be formed by inserting a flexible substrate or the like during injection molding. As a result, the end effector 10 becomes a single molded product that contributes to a predetermined function by integrally molding the substrate with resin.

[0138] The circuit of the circuit section 12 may be configured as a molded circuit using a MID technology other than LDS and IME. For example, the circuit of the circuit section 12 may be formed by a process of forming at least one plating layer on the surface of the resin molded product of the main body 11, using a mask corresponding to a predetermined pattern of the wiring of the circuit of the circuit section 12. In this case, the at least one plating layer may be formed as a layer made of metal and / or ceramics by electroless plating, electroplating, sputtering, or a combination thereof.

[0139] Accordingly, while it has been explained that the resin used in one embodiment is formulated with a metal oxide containing at least one of copper and chromium for the purpose of forming a molded circuit using LDS, it is not limited to this. The resin may also contain any other components capable of forming a molded circuit using other MID technologies.

[0140] In the above embodiment, the first pattern P1 was described as including three first lines L1, second lines L2, and third lines L3, but is not limited thereto. The first pattern P1 may be any other pattern that can contribute to the first function.

[0141] Figure 12 is a schematic diagram showing the first pattern P1 of the second wiring W1 of the first circuit 121 according to a modified example of the present disclosure. In Figure 12, as with Figure 7, only the first circuit 121 of the circuit section 12 is shown by enlarging the first region R1 of Figure 2 or Figure 6. As shown in Figure 12, in the first circuit 121, the first pattern P1 may include only the 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 and the other end of the fourth straight line L4, respectively.

[0142] In the above embodiment, the second pattern P2 was described as including four first patterns P11, P12, P13, and P14, but is not limited thereto. The second pattern P2 may be any other pattern that can contribute to the second function, instead of the pattern shown in Figure 8. For example, the second pattern P2 may include more first patterns P1 and be formed at finer intervals along the extending direction D2. This makes it possible for the end effector 10 to narrow the predetermined numerical range for height measurement and improve resolution.

[0143] Figure 13 is a schematic diagram showing the second pattern P2 of the second wiring W2 of the second circuit 122 according to a modified example of the present disclosure. In Figure 13, as with Figure 8, only the second circuit 122 of the circuit section 12 is shown by enlarging the second region R2 of Figure 2 or Figure 6. For example, the second pattern P2 may be configured as shown in Figure 13 to match the first pattern P1 shown in Figure 12. 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 extending direction D2 of the main body section 11.

[0144] 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 extending direction D2 of the main body 11. In the second pattern P2, the first pattern P11 is located furthest away from the tip of the claw portion 11b, and the first patterns P12, P13, and P14 are located in this order closer to the tip of the claw portion 11b. As a result, the fourth straight lines L41, L42, L43, and L44 are discretely arranged along the extending direction D2 of the main body 11, from the base of the claw portion 11b on the mounting portion 11a side toward the tip.

[0145] In the above embodiment, the second pattern P2 was described as contributing to a second function of detecting the height of a second object, but it is not limited to this. The second pattern P2 may also contribute to a function of detecting the position of a second object along the horizontal direction by having the robot arm 1 move the end effector 10 in the horizontal direction rather than the height direction.

[0146] In the above embodiment, the third pattern P3 was described as repeatedly folding a straight line 180° at one end and then folding the folded straight line another 180° at the other end, but it is not limited to this. The third pattern P3 may be any other pattern that can contribute to the third function.

[0147] In the above embodiment, the circuit of the circuit section 12 was described as contributing to a predetermined function based on the second wiring itself, but this is not limited to this. The circuit section 12 may have sensor elements that contribute to a predetermined function, which are mounted on the circuit of the circuit section 12 by soldering or the like, in place of or in addition to the second wiring that contributes to a predetermined function. In this disclosure, "sensor elements" may include, for example, microphones, proximity sensors, vibration sensors, PH sensors, LiDAR (Light Detection And Ranging) sensors, and image sensors. As a result, the end effector 10 can contribute to even more functions.

[0148] In addition, the circuit section 12 may have control elements that are mounted on the circuit of the circuit section 12 by soldering or the like and perform processing necessary to realize a predetermined function. In this disclosure, "control elements" may include, for example, a microcontroller, a processor, a programmable circuit, a dedicated circuit, or any combination thereof. This makes it possible for the end effector 10 to perform the various processing described above that is performed by the control unit 40 of the robot arm 1. The end effector 10 can also perform judgment processing, learning processing, and other arbitrary processing on its own.

[0149] In the embodiments described above, the piezoelectric material includes, but is not limited to, a flexible piezoelectric material. The piezoelectric material may include any other material different from a flexible piezoelectric material.

[0150] In the embodiments described above, the piezoelectric sensor 13 including the flexible piezoelectric material includes, but is not limited to, at least one of a polymer electret, polylactic acid, PVDF, and a piezoelectric composite having inorganic piezoelectric particles. The piezoelectric sensor 13 including the flexible piezoelectric material may include any other sensors in place of, or in addition to, at least some of these sensors.

[0151] In the above embodiment, the inorganic piezoelectric particles were described as having potassium sodium niobate as the main component, but are not limited to this. The inorganic piezoelectric particles may have any other component as the main component.

[0152] In the above embodiment, the control unit 40 of the robot arm 1 was described as detecting the moment when the end effector 10 grasps the fourth object based on the first output signal S1 and controlling the gripping force when the end effector 10 continues to grasp the fourth object based on the second output signal S2, but it is not limited to this. The control unit 40 may perform only the detection process based on the first output signal S1 and not perform the gripping force control process based on the second output signal S2.

[0153] In the above embodiment, the control unit 40 of the robot arm 1 was described as detecting vibrations of the robot arm 1 based on the first output signal S1, but it is not limited to this. The control unit 40 does not have to perform vibration detection processing based on the first output signal S1.

[0154] In the above embodiment, it was explained that the entire main body portion 11, including the mounting 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 portion 11 in which the circuit is formed is made of resin, and other parts of the main body portion 11 may be made of any material other than resin.

[0155] In the above embodiment, the circuits of the circuit section 12 were described as including a first circuit 121, a second circuit 122, and a third circuit 123, but are not limited thereto. The number, types, and arrangement of the circuits included in the circuit section 12 in the main body 11 may be determined in any configuration that can contribute to each function. For example, if a predetermined function includes only a part of the first, second, and third functions, the circuits of the circuit section 12 may include only those corresponding to that part. For example, if a predetermined function includes at least one other type of function in place of or in addition to at least a part of the first, second, and third functions, the circuits of the circuit section 12 may include those corresponding to these functions.

[0156] In the above embodiment, each circuit of the circuit section 12 is formed on the surface of the claw section 11b and is configured to be entirely exposed to the outside, but is not limited to this. Each circuit of the circuit section 12 may be sealed with a resin that has high waterproof and water-resistant properties, such as PPS resin, except for the part that contributes to a predetermined function. This can further improve the waterproof and water-resistant properties of the end effector 10.

[0157] Figure 14 is a schematic diagram showing an example of 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 claw portions 11b, i.e., two claw portions 11b, but is not limited thereto. The end effector 10 may have three or more claw portions 11b. For example, as shown in Figure 14, the end effector 10 may have three claw portions 11b.

[0158] Some embodiments of the present disclosure are described below. However, it should be noted that the embodiments of the present disclosure are not limited to these. [Note 1] An end effector used in robots, The main body contains resin, A piezoelectric sensor, which includes a piezoelectric material, is positioned relative to the main body, The main body portion includes a first wiring integrally formed with the resin, Equipped with, The first wiring is electrically connected to the piezoelectric sensor and transmits the first output signal of the piezoelectric sensor. End effector. [Note 2] The end effector described in Appendix 1, The device further comprises strain gauges positioned relative to the main body, The first wiring is electrically connected to the strain gauge and transmits the second output signal of the strain gauge. End effector. [Note 3] The end effector described in Appendix 2, The main body includes a circuit integrally formed with the resin, and further comprises a circuit section that contributes to a predetermined function, The circuit has a second wiring formed in a predetermined pattern on the surface of the resin of the main body, and contributes to the predetermined function based on the second wiring itself. End effector. [Note 4] The end effector described in Appendix 3, The aforementioned function includes a first function that detects when the main body comes into contact with a first object. The pattern corresponding to the first function includes a first pattern that includes at least one straight line connecting the input electrode and the output electrode, which are integrally formed with the resin in the main body. End effector. [Note 5] The end effector described in Appendix 4, The aforementioned function includes a second function for detecting the height of a second object, The pattern corresponding to the second function includes a second pattern which includes multiple first patterns. In the second pattern, one straight line included in each of the multiple first patterns is arranged along the extending direction of the main body. End effector. [Note 6] An end effector as described in any one of the appendices 3 to 5, The aforementioned function includes a third function that detects the magnitude of the pressure generated when the end effector grips the third object, The pattern corresponding to the third function includes a third pattern that functions as a strain gauge. End effector. [Note 7] An end effector as described in any one of the appendices 2 to 6, The piezoelectric material includes a flexible piezoelectric material. End effector. [Note 8] The end effector described in Appendix 7, The piezoelectric sensor, which includes the flexible piezoelectric material, comprises at least one of a polymer electret, polylactic acid, PVDF, and a piezoelectric composite having inorganic piezoelectric particles. End effector. [Note 9] The end effector described in Appendix 8, The inorganic piezoelectric particles mainly consist of sodium potassium niobate, End effector. [Note 10] An end effector as described in any one of the appendices 2 through 9, A control unit for controlling the end effector, Equipped with, The control unit, The moment the end effector grasps the fourth object is detected based on the first output signal. The gripping force when the end effector continues to grip the fourth object is controlled based on the second output signal. Robot arm. [Note 11] The robot arm described in Appendix 10, The control unit detects the vibration of the robot arm based on the first output signal. Robot arm. [Explanation of Symbols]

[0159] 1. Robot arm 1a Enclosure 10 End Effectors 11 Main body 11a Mounting part 11b Claw part 11b1 1st claw part 11b2 2nd claw part 12 Circuit section 121 1st circuit 122 2nd circuit 123 3rd circuit 13. Piezoelectric sensor 131 Piezoelectric Sheet 132 Electrode 133a First extraction electrode 133b Second extraction electrode 134 Through Via 135a First pad 135b Second pad 14 Strain Gauges 15 1st wiring 20 Memory section 30 Drive unit 40 Control Unit D1 Separation direction D2 Extending direction Ea 1st electrode Eb 2nd electrode 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 Third Pattern R resistor R1 1st area R2 2nd area R3 3rd area S Third object S1 First output signal S2 Second output signal W1, W2, W3 Second Wiring

Claims

1. An end effector used in robots, The main body contains resin, A piezoelectric sensor, which includes a piezoelectric material, is positioned relative to the main body, The main body portion includes a first wiring integrally formed with the resin, Equipped with, The first wiring is electrically connected to the piezoelectric sensor and transmits the first output signal of the piezoelectric sensor. End effector.

2. The end effector according to claim 1, The device further comprises strain gauges positioned relative to the main body, The first wiring is electrically connected to the strain gauge and transmits the second output signal of the strain gauge. End effector.

3. The end effector according to claim 2, The main body includes a circuit integrally formed with the resin, and further comprises a circuit section that contributes to a predetermined function, The circuit has a second wiring formed in a predetermined pattern on the surface of the resin of the main body, and the second wiring itself contributes to the predetermined function. End effector.

4. The end effector according to claim 3, The aforementioned function includes a first function that detects when the main body comes into contact with a first object. The pattern corresponding to the first function includes a first pattern that includes at least one straight line connecting the input electrode and the output electrode, which are integrally formed with the resin in the main body. End effector.

5. The end effector according to claim 4, The aforementioned function includes a second function for detecting the height of a second object, The pattern corresponding to the second function includes a second pattern which includes multiple first patterns. In the second pattern, one straight line included in each of the multiple first patterns is arranged along the extending direction of the main body. End effector.

6. An end effector according to any one of claims 3 to 5, The aforementioned function includes a third function that detects the magnitude of the pressure generated when the end effector grips a third object, The pattern corresponding to the third function includes a third pattern that functions as a strain gauge. End effector.

7. An end effector according to any one of claims 2 to 5, The piezoelectric material includes a flexible piezoelectric material. End effector.

8. The end effector according to claim 7, The piezoelectric sensor, which includes the flexible piezoelectric material, comprises at least one of a piezoelectric composite having polymer electrets, polylactic acid, PVDF, and inorganic piezoelectric particles. End effector.

9. The end effector according to claim 8, The inorganic piezoelectric particles mainly consist of sodium potassium niobate, End effector.

10. An end effector according to any one of claims 2 to 5, A control unit for controlling the end effector, Equipped with, The control unit, The moment the end effector grasps the fourth object is detected based on the first output signal. The gripping force when the end effector continues to grip the fourth object is controlled based on the second output signal. Robot arm.

11. A robot arm according to claim 10, The control unit detects the vibration of the robot arm based on the first output signal. Robot arm.

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