End effector and robot arm

Abstract

The end effector 10 according to the present disclosure is an end effector 10 used in a robot, and includes a gripping portion 11b that performs opening and closing operations, and a drive mechanism 11c that drives the gripping portion 11b to realize the opening and closing operations of the gripping portion 11b, and at least one of the gripping portion 11b and the drive mechanism 11c includes a circuit 11d that contains resin and is formed integrally with the resin, and the circuit 11d contributes to limit control of the opening and closing operations of the gripping portion 11b.

Description

[Technical field]

[0001] The present disclosure relates to an end effector and a robot arm. This application claims priority to Japanese Patent Application No. 2023-075105 filed on April 28, 2023, the entire disclosure of which is incorporated herein by reference. [Background technology]

[0002] Conventionally, robot arms for various applications, such as industrial robots used in manufacturing sites, medical robots, and nursing care robots, are known. In addition, technologies related to end effectors including robot hands and robot grippers attached to the ends of robot arms are known. For example, Patent Document 1 discloses a robot hand that can grasp an expanded range of objects, is miniaturized, has easy claw replacement work, and is capable of fine control of gripping force. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-091084 Summary of the Invention [Problem to be solved by the invention]

[0004] For such end effectors, there is a demand for a reduction in the number of parts, a reduction in size, and a reduction in weight due to the weight limit of the robot arm. In addition, there is a demand for the end effector to be waterproof and water resistant so that the end effector can be washed for the purpose of preventing the spread of infectious diseases and other hygienic purposes. In general, end effectors are made of metal, and have the problem of being heavy and rusting when washed.

[0005] In general, end effectors require sensor components to control their operation. For example, to control the opening and closing operation of the end effector, sensor components such as a proximity sensor, a TOF (Time Of Flight) sensor, and a limit sensor are mounted on the end effector. This makes it difficult to make the end effector smaller and lighter. A method has been considered in which the opening and closing operation of the end effector is controlled by controlling the rotation angle using a stepping motor, but this causes problems such as heat generation, vibration, and noise due to the stepping motor.

[0006] An object of the present disclosure is to provide an end effector and a robot arm that can control the opening and closing operations of the end effector with a simpler configuration. [Means for solving the problem]

[0007] The present invention provides an end effector according to a first aspect for solving the above problems, An end effector for use in a robot, comprising: A gripping part that performs an opening and closing operation; a drive mechanism for driving the gripping portion to realize an opening and closing operation of the gripping portion; Equipped with At least one of the gripping portion and the drive mechanism includes a circuit that contains resin and is formed integrally with the resin, the circuit contributing to limit control of the opening and closing operation of the gripping portion.

[0008] The robot arm according to the second aspect is The end effector is as described above. Effect of the Invention

[0009] According to the present disclosure, it is possible to provide an end effector and a robot arm that can control the opening and closing operation of the end effector with a simpler configuration. [Brief description of the drawings]

[0010] [Figure 1]FIG. 1 is a schematic diagram illustrating an example of an appearance of a robot arm according to an embodiment of the present disclosure. [Diagram 2] 2 is a schematic diagram showing an example of the appearance of an end effector of the robot arm of FIG. 1. [Diagram 3] FIG. 2 is a block diagram showing an example of the configuration of the robot arm of FIG. 1. [Figure 4] FIG. 1 is a first diagram for explaining a first example of limit control. [Diagram 5] FIG. 2 is a second diagram for explaining the first example of the limit control. [Figure 6] FIG. 11 is a first diagram for explaining a second example of limit control. [Figure 7] FIG. 2 is a second diagram for explaining the second example of the limit control. [Figure 8] FIG. 3 is a third diagram for explaining a second example of the limit control. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] An embodiment of the present disclosure will be mainly described below with reference to the accompanying drawings.

[0012] 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 an example of the appearance of an end effector 10 of the robot arm 1 of Fig. 1. Fig. 3 is a block diagram showing an example of the configuration of the robot arm 1 of Fig. 1. An example of the configuration of the robot arm 1 including the end effector 10 will be mainly described with reference to Figs. 1 to 3.

[0013] 1 and 2, the robot arm 1 has a housing 1a constituting a main body, and an end effector 10 attached to the housing 1a at the tip of the robot arm 1. The end of the end effector 10 opposite to a gripping portion 11b (described later) for gripping an object is attached to the housing 1a, so that the end effector 10 is supported by the housing 1a. The end effector 10 is driven while supported by the housing 1a, and grips the object in accordance with the opening and closing movement of the gripping portion 11b.

[0014] The end effector 10 is used in a robot. For example, the end effector 10 functions as a part of a robot having a robot arm 1. In the present disclosure, the "robot" includes, for example, an industrial robot, a nursing robot, a marine robot, a medical robot, and a moving body such as a vehicle and a drone that moves by making autonomous decisions. The "industrial robot" includes, for example, a collaborative robot that can work together with a worker in the same space and other robots that work in a state isolated from the worker. The end effector 10 is configured as a robot hand or a robot gripper in such a robot. The end effector 10 has a main body 11 that contains resin.

[0015] The main body 11 constitutes the entire outer shape of the end effector 10. The main body 11 has an attachment portion 11a that is attached to the housing 1a of the robot arm 1. The main body 11 has a gripping portion 11b that protrudes from an end of the attachment portion 11a that is located on the opposite side to the housing 1a. The gripping portion 11b is composed of, for example, a pair of claws. The gripping portion 11b performs opening and closing operations. The gripping portion 11b grips an object by reducing the distance between the pair of claws to be approximately the same as the width of the object. The main body 11 has a drive mechanism 11c that drives the gripping portion 11b to realize the opening and closing operations of the gripping portion 11b. The drive mechanism 11c includes, for example, a plurality of gears and a motor for rotating the gears.

[0016] As described below, in the present disclosure, the "resin" includes, for example, a thermoplastic resin. The "thermoplastic resin" includes, for example, at least one selected from the group consisting of engineering plastics and super engineering plastics. The thermoplastic resin is, for example, a polyarylene sulfide resin. More specifically, the thermoplastic resin includes a polyarylene sulfide resin such as a polyphenylene sulfide resin.

[0017] 3, the robot arm 1 has, in addition to the end effector 10 having a main body 11, a storage unit 20, a drive unit 30, and a control unit 40. The storage unit 20, the drive unit 30, and the control unit 40 are housed in a housing 1a of the robot arm 1.

[0018] The storage unit 20 includes, for example, a semiconductor memory, a magnetic memory, an optical memory, or any combination thereof. The storage unit 20 functions, for example, as a main storage device, an auxiliary storage device, or a cache memory. The storage unit 20 stores information used in the operation of the robot arm 1 and information obtained by the operation of the robot arm 1. For example, the storage unit 20 stores system programs, application programs, and various data acquired by any means such as communication.

[0019] The driving unit 30 includes, for example, any module for controlling the driving mechanism 11c of the end effector 10 to drive the gripper 11b. The driving unit 30 drives the gripper 11b of the end effector 10 in accordance with a control signal from the control unit 40. The driving unit 30 drives the gripper 11b in accordance with a control signal from the control unit 40, for example, so that the gripper 11b of the main body 11 of the end effector 10 grips an object.

[0020] The control unit 40 includes a microcontroller, a processor, a programmable circuit, a dedicated circuit, or any combination thereof. The processor is a general-purpose processor such as a CPU or a GPU, or a dedicated processor specialized for a specific process. "CPU" is an abbreviation for Central Processing Unit. "GPU" is an abbreviation for Graphics Processing Unit. The programmable circuit is, for example, an FPGA. "FPGA" is an abbreviation for Field-Programmable Gate Array. The dedicated circuit is, for example, an ASIC. "ASIC" is an abbreviation for Application Specific Integrated Circuit. The control unit 40 is communicably connected to each component that constitutes the robot arm 1, and executes various processes related to the operation of the robot arm 1 while controlling each component.

[0021] At least one of the gripping portion 11b and the driving mechanism 11c of the main body 11 of the end effector 10 contains resin. At least one of the gripping portion 11b and the driving mechanism 11c has a circuit 11d formed integrally with the resin, the circuit 11d contributing to limit control of the opening and closing operation of the gripping portion 11b. In the present disclosure, the "limit control" includes, for example, control for limiting excessive movement of the gripping portion 11b in the opening and closing operation. The limit control includes a first control for limiting excessive movement of the gripping portion 11b in the opening direction in the opening operation of the gripping portion 11b. The limit control includes a second control for limiting excessive movement of the gripping portion 11b in the closing direction in the closing operation of the gripping portion 11b.

[0022] In the following, a first example of limit control of the opening and closing operation of the gripper 11b, which is realized by using the circuit 11d of the end effector 10, will be mainly described.

[0023] Fig. 4 is a first diagram for explaining a first example of limit control. Fig. 4 is a perspective view of the end effector 10 of Fig. 2 as viewed from the top side. Fig. 4 shows, as an example, an example of the end effector 10 in a state in which the gripping portion 11b is completely closed. At this time, the pair of claws of the gripping portion 11b have a first positional relationship. In the present disclosure, the "first positional relationship" includes, for example, a relationship in which the pair of claws are slightly spaced from each other but are closest to each other during the opening and closing operation.

[0024] In a first example of limit control, the drive mechanism 11c includes a rack and pinion. The gripper 11b slides along the sliding direction D1 shown in Fig. 4 by the rack and pinion of the drive mechanism 11c attached to the gripper 11b. More specifically, the pair of claws of the gripper 11b move linearly while shortening and widening the distance between them along the sliding direction D1 by the rack and pinion of the drive mechanism 11c attached to the gripper 11b.

[0025] In a first example of limit control, the grip portion 11b of the end effector 10 contains resin. As an example, the entire mounting portion 11a and grip portion 11b of the main body 11 are formed from resin. The grip portion 11b has a circuit 11d that is integrally formed with the resin and contributes to limit control of the opening and closing operation of the grip portion 11b. The circuit 11d is formed at the end of the grip portion 11b on the mounting portion 11a side. The circuit 11d is formed at the base portion of the grip portion 11b.

[0026] The circuit 11d of the gripper 11b is formed on a surface S of the gripper 11b in the sliding direction D1, which is slid by the rack and pinion of the drive mechanism 11c. The surface S is the outer surface in the direction in which the gripper 11b opens. In this disclosure, the "outer surface" corresponds to a surface facing away from the center in a predetermined direction of the end effector 10. For example, the outer surface in the sliding direction D1 corresponds to a surface facing away from the center in the sliding direction D1 of the end effector 10. The outer surface in the sliding direction D1 is the outer surface in the direction in which the gripper 11b opens. Not limited to this, the outer surface does not have to be a surface facing completely away from the center in a predetermined direction, and may correspond to a surface facing away from the center along a slight diagonal. The "inner surface" is the opposite of the outer surface.

[0027] As shown in FIG. 4, the circuit 11d of the gripping portion 11b is formed, for example, by drawing directly on the surface of the resin that forms the gripping portion 11b of the main body 11. In the circuit 11d, wiring and electrodes are formed in each area of ​​the surface of the resin that forms the gripping portion 11b. The circuit 11d is formed, for example, as a molded circuit using LDS, which is one of MID. "MID" is an abbreviation for Molded Interconnect Device. "LDS" is an abbreviation for Laser Direct Structuring. The circuit 11d is formed by plating by directly irradiating a laser onto the surface of the gripping portion 11b as a molded product.

[0028] The circuit 11d has wiring W formed on the resin surface of the gripping portion 11b, for example, on the surface S. The circuit 11d has an input electrode E1 and an output electrode E2 formed on the resin surface of the gripping portion 11b, for example, on the surface S. The input electrode E1 and the output electrode E2 are formed in parallel to each other. The wiring W of the circuit 11d includes at least one straight line connecting the input electrode E1 and the output electrode E2 which are formed integrally with the resin.

[0029] For example, the wiring W includes three straight lines: a first straight line L1 extending from the input electrode E1, a second straight line L2 bending at 90° from the first straight line L1, and a third straight line L3 bending at 90° from the second straight line L2 and extending to the output electrode E2. The wiring W is formed in a U-shape on the surface S of the gripping portion 11b.

[0030] Fig. 5 is a second diagram for explaining a first example of limit control. Fig. 5 is a perspective view seen from above corresponding to Fig. 4. Fig. 5 shows, as an example, an example of the end effector 10 in a state in which the gripping portion 11b is fully opened. At this time, the pair of claws of the gripping portion 11b have a second positional relationship. In the present disclosure, the "second positional relationship" includes, for example, a relationship in which the pair of claws are furthest apart from each other during the opening and closing operation.

[0031] The gripper 11b slides in one direction along the sliding direction D1 from a first positional relationship shown in Fig. 4 to a second positional relationship shown in Fig. 5 by the rack and pinion of the drive mechanism 11c attached to the gripper 11b. More specifically, the pair of claws of the gripper 11b move linearly from the first positional relationship to the second positional relationship while increasing the distance between them along the sliding direction D1 by the rack and pinion of the drive mechanism 11c attached to the gripper 11b.

[0032] The circuit 11d formed on the surface S of the gripping portion 11b contributes to the limit control based on the wiring W itself formed on the resin surface of the gripping portion 11b. More specifically, the circuit 11d on the surface S contributes to the first control of the limit control for restricting excessive movement of the gripping portion 11b in the opening direction. For example, the circuit 11d on the surface S contacts a conductive member M arranged at the sliding position of the gripping portion 11b. The circuit 11d on the surface S contacts the member M when the gripping portion 11b is fully opened. The member M includes a metal frame formed to completely surround the base portion of the gripping portion 11b that slides along the sliding direction D1.

[0033] When the conductive member M comes into contact with the wiring W formed as at least one straight line connecting the input electrode E1 and the output electrode E2, a current leak occurs at the contact point, and the resistance of the wiring W 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 detects this voltage change and determines that the gripping portion 11b of the main body 11 of the end effector 10 has been fully opened. Therefore, the end effector 10 contributes to limit control by outputting this voltage change as a signal to the control unit 40 of the robot arm 1.

[0034] When the control unit 40 detects contact and the gripping portion 11b of the end effector 10 comes into contact with the member M, the robot arm 1 stops the opening operation of the gripping portion 11b. This prevents the gripping portion 11b from opening further toward the outside of the member M.

[0035] In the following, a second example of limit control of the opening and closing operation of the gripper 11b, which is realized by using the circuit 11d of the end effector 10, will be mainly described.

[0036] FIG. 6 is a first diagram for explaining a second example of limit control. FIG. 6 shows only a part of the gripper 11b and a part of the drive mechanism 11c of the main body 11 of the end effector 10 used in the second example of limit control. In the main body 11, as an example, the gripper 11b has a pair of claws. The drive mechanism 11c is disposed for each of the pair of claws. However, in FIG. 6, for ease of explanation, only one of the pair of claws of the gripper 11b is illustrated, and only the drive mechanism 11c disposed for one of the claws is illustrated.

[0037] 6 is a diagram showing, as an example, the state of the gripper 11b and the drive mechanism 11c when the gripper 11b is in an intermediate state between a fully open state and a fully closed state. At this time, the pair of claws of the gripper 11b have a reference relationship. In the present disclosure, the "reference relationship" includes, for example, a relationship in which the pair of claws are disposed approximately parallel to each other along the extension direction.

[0038] In the second example of the limit control, the drive mechanism 11c includes a worm gear. The worm gear has a conductive worm 11c1 and a worm wheel 11c2 containing resin. The worm wheel 11c2 has a fan shape. The gripper 11b rotates along the circumferential direction D2 shown in FIG. 6 by the worm gear of the drive mechanism 11c attached to the gripper 11b. More specifically, the tips of the pair of claws of the gripper 11b move along the circumferential direction D2 while shortening or widening the distance between them along the circumferential direction D2 by the worm gear of the drive mechanism 11c attached to the gripper 11b.

[0039] In a second example of limit control, the drive mechanism 11c of the end effector 10 contains resin. As an example, the worm wheel 11c2 and the gripper 11b of the drive mechanism 11c of the main body 11 are entirely made of resin. The drive mechanism 11c has a circuit 11d that is integrally formed with the resin and contributes to limit control of the opening and closing operation of the gripper 11b. The circuit 11d is formed on the first tooth T1 and the second tooth T2 of the worm wheel 11c2.

[0040] The first tooth T1 corresponds to the first tooth among the multiple teeth arranged in the circumferential direction of the worm wheel 11c2 when moving clockwise around the outer periphery of the worm wheel 11c2 in Fig. 6. The second tooth T2 corresponds to the last tooth among the multiple teeth arranged in the circumferential direction of the worm wheel 11c2 when moving clockwise around the outer periphery of the worm wheel 11c2 in Fig. 6.

[0041] As shown in FIG. 6, the circuit 11d of the driving mechanism 11c is formed, for example, by drawing directly on the surface of the resin. In the circuit 11d, wiring and electrodes are formed in each area of ​​the surface of the resin. The circuit 11d is formed, for example, as a molded circuit using LDS of MID. The circuit 11d is formed by plating by directly irradiating the surface of the worm wheel 11c2 and the surface of the gripping part 11b as a molded product with a laser. The circuit 11d has a first circuit 11d1 formed on the first tooth T1 and a second circuit 11d2 formed on the second tooth T2.

[0042] The first circuit 11d1 has a first wiring W1. The first wiring W1 has a first contact end W11 formed on the entire inner surface of the first tooth T1 in the circumferential direction. The first circuit 11d1 has a first input electrode E11 and a first output electrode E21 formed on the resin surface of the gripping portion 11b. The first input electrode E11 and the first output electrode E21 are formed in parallel with each other.

[0043] The first wiring W1 has a first connection line W12 formed on the resin surface of the worm wheel 11c2 and the resin surface of the gripping portion 11b. The first connection line W12 is formed from the first contact end W11 formed on the inner surface in the circumferential direction of the first tooth T1 through the circumferential surface of the worm wheel 11c2 to the side surface of the gripping portion 11b. The first connection line W12 includes one straight line connecting the first input electrode E11 and the first contact end W11 formed integrally with the resin. The first connection line W12 includes one straight line connecting the first output electrode E21 and the first contact end W11 formed integrally with the resin.

[0044] The second circuit 11d2 has a second wiring W2. The second wiring W2 has a second contact end W21 formed on the entire inner surface of the second tooth T2 in the circumferential direction. The second circuit 11d2 has a second input electrode E12 and a second output electrode E22 formed on the resin surface of the gripping portion 11b. The second input electrode E12 and the second output electrode E22 are formed in parallel with each other.

[0045] The second wiring W2 has a second connection line W22 formed on the resin surface of the worm wheel 11c2 and the resin surface of the gripping portion 11b. The second connection line W22 is formed from the second contact end W21 formed on the inner surface in the circumferential direction of the second tooth T2 through the circumferential surface of the worm wheel 11c2 to the side surface of the gripping portion 11b. The second connection line W22 includes one straight line connecting the second input electrode E12 and the second contact end W21, which are formed integrally with the resin, to each other. The second connection line W22 includes one straight line connecting the second output electrode E22 and the second contact end W21, which are formed integrally with the resin, to each other.

[0046] Fig. 7 is a second diagram for explaining a second example of the limit control. Fig. 7 is a diagram corresponding to Fig. 6. Fig. 7 shows, as an example, an example of the end effector 10 in a state in which the gripping portion 11b is fully opened. At this time, the pair of claws of the gripping portion 11b have a second positional relationship.

[0047] The gripper 11b rotates in one direction along the circumferential direction D2 by a worm gear of the drive mechanism 11c attached to the gripper 11b from the reference position shown in Fig. 6 to the second positional relationship shown in Fig. 7. More specifically, the tips of the pair of claws of the gripper 11b move in an arc from the reference positional relationship to the second positional relationship while increasing the distance between them along the circumferential direction D2 by the worm gear of the drive mechanism 11c attached to the gripper 11b.

[0048] The first circuit 11d1 formed on the first tooth T1 of the worm wheel 11c2 of the drive mechanism 11c contributes to the limit control based on the first wiring W1 itself formed on the surface of the resin. More specifically, the first circuit 11d1 of the first tooth T1 contributes to the first control for restricting the excessive movement of the gripper 11b in the opening direction, which is one of the limit controls. For example, the first circuit 11d1 of the first tooth T1 contacts the conductive worm 11c1 when the gripper 11b is fully opened. The first contact end W11 of the first wiring W1 of the first circuit 11d1 contacts the conductive worm 11c1 when the gripper 11b is fully opened.

[0049] When the conductive worm 11c1 comes into contact with the first wiring W1, which is formed as at least one straight line connecting the first input electrode E11 and the first output electrode E21, current leaks at the contact point, causing a change in the resistance of the first wiring W1. This causes a change in voltage between the first input electrode E11 and the first output electrode E21. For example, the control unit 40 of the robot arm 1 detects such a voltage change and determines that the gripping portion 11b of the main body 11 of the end effector 10 has fully opened. Therefore, the end effector 10 contributes to limit control by outputting such a voltage change to the control unit 40 of the robot arm 1 as a signal.

[0050] The robot arm 1 stops the opening operation of the gripper 11b when the first wiring W1 of the end effector 10 comes into contact with the worm 11c1 through contact detection by the control unit 40. This prevents the gripper 11b from attempting to open further outward in the circumferential direction D2.

[0051] Fig. 8 is a third diagram for explaining a second example of limit control. Fig. 8 is a diagram corresponding to Fig. 6. Fig. 8 shows, as an example, an example of the end effector 10 in a state in which the gripping portion 11b is completely closed. At this time, the pair of claws of the gripping portion 11b have a first positional relationship.

[0052] The gripper 11b rotates in one direction along the circumferential direction D2 by a worm gear of the drive mechanism 11c attached to the gripper 11b from the reference position shown in Fig. 6 to the first positional relationship shown in Fig. 8. More specifically, the tips of the pair of claws of the gripper 11b move in an arc from the reference positional relationship to the first positional relationship while decreasing the distance between them along the circumferential direction D2 by the worm gear of the drive mechanism 11c attached to the gripper 11b.

[0053] The second circuit 11d2 formed on the second tooth T2 of the worm wheel 11c2 of the drive mechanism 11c contributes to the limit control based on the second wiring W2 itself formed on the surface of the resin. More specifically, the second circuit 11d2 of the second tooth T2 contributes to the second control for restricting the excessive movement of the gripper 11b in the closing direction, which is part of the limit control. For example, the second circuit 11d2 of the second tooth T2 contacts the conductive worm 11c1 when the gripper 11b is completely closed. The second contact end W21 of the second wiring W2 of the second circuit 11d2 contacts the conductive worm 11c1 when the gripper 11b is completely closed.

[0054] When the conductive worm 11c1 comes into contact with the second wiring W2, which is formed as at least one straight line connecting the second input electrode E12 and the second output electrode E22, current leaks at the contact point, causing a change in the resistance of the second wiring W2. This causes a change in voltage between the second input electrode E12 and the second output electrode E22. For example, the control unit 40 of the robot arm 1 detects such a voltage change and determines that the gripping portion 11b of the main body 11 of the end effector 10 is completely closed. Therefore, the end effector 10 contributes to limit control by outputting such a voltage change to the control unit 40 of the robot arm 1 as a signal.

[0055] The robot arm 1 stops the closing operation of the gripper 11b when the second wiring W2 of the end effector 10 comes into contact with the worm 11c1 through contact detection by the control unit 40. This prevents the gripper 11b from attempting to perform a further closing operation toward the inside in the circumferential direction D2.

[0056] The resin used in one embodiment is preferably a thermoplastic resin. The thermoplastic resin is not particularly limited, but examples thereof include polyolefin resins such as polypropylene, polyethylene, and polybutene; polyester resins such as polyethylene terephthalate and polybutylene terephthalate; polyamide resins or aromatic polyamide resins such as nylon-6 and nylon 6,6; thermoplastic polyimide resins; polyamideimide resins; polystyrene resins such as polystyrene, syndiotactic polystyrene, acrylonitrile-styrene copolymer resins, and acrylonitrile-butadiene-styrene copolymer resins; polyarylene sulfide resins such as polyphenylene sulfide; polyphenylene ether resins; polyurethane resins; polylactic acid; polyether ether ketone resins; polyetherimide resins; polyketone resins; polyarylate resins such as amorphous polyarylate and liquid crystal polyarylate; and liquid crystal polyester resins.

[0057] Among these, the thermoplastic resin used in one embodiment is preferably a thermoplastic polyimide resin, a polyamideimide resin, a polyarylene sulfide resin, a polyphenylene ether resin, a polyether ether ketone resin, a polyetherimide resin, a polyketone resin, a polyarylate resin, or a liquid crystal polyester resin, which are so-called engineering plastics or super engineering plastics excellent in heat resistance, mechanical properties, etc., and from the viewpoints of chemical resistance, heat resistance, and mechanical properties, a polyarylene sulfide resin is more preferable, and among polyarylene sulfide resins (hereinafter also referred to as "PAS resins"), a polyphenylene sulfide resin (hereinafter also referred to as "PPS resins") is particularly preferable.

[0058] In one embodiment, the above resin may be used alone, or may be used in the form of a polymer alloy in which a plurality of the above resins are mixed. The resin according to one embodiment may contain a filler. The resin containing a filler may contain the filler and the above resin described below, and may be in the form of a composition containing any additive component described below (colorant, antistatic agent, antioxidant, heat stabilizer, ultraviolet stabilizer, ultraviolet absorber, foaming agent, flame retardant, flame retardant assistant, rust inhibitor, coupling agent, silane coupling agent, thermoplastic elastomer, or synthetic resin) as necessary.

[0059] The polyarylene sulfide resin has a resin structure having a repeating unit in which an aromatic ring and a sulfur atom are bonded. Specifically, the polyarylene sulfide resin is a resin having a repeating unit of a structural portion represented by the following general formula (1) and, if necessary, a trifunctional structural portion represented by the following general formula (2).

[0060] [ka] In formula (1), R 1 and R 2 each independently represents a hydrogen atom, an alkyl group having 1 to 4 carbon atoms, a nitro group, an amino group, a phenyl group, a methoxy group, or an ethoxy group.

[0061] [ka] The trifunctional structural moiety represented by formula (2) is preferably present in an amount of 0.001 to 3 mol %, particularly preferably 0.01 to 1 mol %, based on the total number of moles including other structural moieties.

[0062] Here, the structural portion represented by the above general formula (1) is particularly R 1 and R 2 is preferably a hydrogen atom from the viewpoint of the mechanical strength of the PAS resin, and in that case, examples include those bonded at the para position represented by the following formula (3) and those bonded at the meta position represented by the following formula (4).

[0063] [ka] Among these, a structure in which the bond of the sulfur atom to the aromatic ring in the repeating unit is bonded at the para position represented by the above general formula (3) is particularly preferred in terms of the heat resistance and crystallinity of the PAS resin.

[0064] The PAS resin may contain not only the structural moieties represented by the above general formulas (1) and (2), but also the structural moieties represented by the following structural formulas (5) to (8) in an amount of 30 mol % or less of the total of the structural moieties represented by the above general formulas (1) and (2).

[0065] [ka] In one embodiment, the structural moieties represented by the general formulae (5) to (8) are preferably 10 mol % or less in terms of the heat resistance and mechanical strength of the PAS resin. When the structural moieties represented by the general formulae (5) to (8) are contained in the PAS resin, the bonding mode thereof may be either a random copolymer or a block copolymer.

[0066] The PAS resin may have naphthyl sulfide bonds or the like in its molecular structure, but the amount of such bonds is preferably 3 mol % or less, and particularly preferably 1 mol % or less, based on the total molar amount including other structural portions.

[0067] The physical properties of the PAS resin are not particularly limited as long as they do not impair the effects of one embodiment, and are as follows.

[0068] (Melt Viscosity) The melt viscosity of the PAS resin is not particularly limited, but in order to obtain a good balance between fluidity and mechanical strength, the melt viscosity (V6) measured at 300°C is preferably in the range of 2 Pa·s or more, preferably in the range of 1000 Pa·s or less, more preferably in the range of 500 Pa·s or less, and even more preferably in the range of 200 Pa·s or less. The melt viscosity (V6) is measured using a Shimadzu flow tester, CFT-500D, at 300°C, load: 1.96×10 6 The melt viscosity is measured after holding the sample for 6 minutes at a pressure of 1 Pa and L / D = 10 (mm) / 1 (mm).

[0069] (Non-Newtonian Exponents) The non-Newtonian index of the PAS resin is not particularly limited, but is preferably in the range of 0.90 or more to 2.00 or less. When a linear polyarylene sulfide resin is used, the non-Newtonian index is preferably in the range of 0.90 or more, more preferably in the range of 0.95 or more to preferably in the range of 1.50 or less, more preferably in the range of 1.20 or less. Such a polyarylene sulfide resin is excellent in mechanical properties, fluidity, and abrasion resistance. However, in one embodiment, the non-Newtonian index (N value) is a value calculated using the following formula by measuring the shear rate (SR) and shear stress (SS) using a capillograph under the conditions of melting point +20°C and the ratio of the orifice length (L) to the orifice diameter (D) L / D=40. The closer the non-Newtonian index (N value) is to 1, the closer the structure is to a linear structure, and the higher the non-Newtonian index (N value), the more branched the structure is.

[0070]

number

[0071] In one embodiment, the resin used contains a metal oxide containing at least one of copper and chromium for the purpose of forming a molded circuit using LDS. The metal oxide generates heat when irradiated with a laser in the resulting molded article, melts the resin, and roughens the surface of the molded article, and is activated by laser irradiation to selectively form a plating layer.

[0072] The metal oxide contains at least one of copper and chromium, and may further contain other metals such as iron, aluminum, gallium, boron, molybdenum, tungsten, and selenium.

[0073] Specific examples of the metal oxide include, but are not limited to, CuFe 0.5 B 0.5 O 2.5 , CuAl 0.5 B 0.5 O 2.5 , CuGa 0.5 B 0.5 O 2.5 , CuB2O4, CuB 0.7 O2, CuMo 0.7 O3, CuMo 0.5 O 2.5 , CuMoO4, CuWO4, CuSeO4, CuCr2O4, etc. Among these, the metal oxide is CuCr2O4, CuFe 0.5 B 0.5 O 2.5 , CuAl 0.5 B 0.5 O 2.5 It is preferable that CuCr2O4, CuFe 0.5 B 0.5 O 2.5 These metal oxides may be used alone or in combination of two or more kinds.

[0074] The average particle size of the metal oxide is preferably 0.01 μm or more, more preferably 0.05 μm or more, and preferably 50 μm or less, more preferably 30 μm or less. When the average particle size of the metal oxide is 0.01 μm or more, it is preferable because efficient and stable production can be achieved. On the other hand, when the average particle size of the metal oxide is 50 μm or less, it is preferable because material strength can be maintained. In the present disclosure, the "average particle size of the metal oxide" means the number average particle size, and the value measured by electron microscopy is adopted. Specifically, the particle sizes of 100 arbitrarily selected metal oxide particles in one field of view of an electron microscope are measured, and the average value is calculated.

[0075] The Mohs hardness of the metal oxide preferably ranges from 4.0 or more to preferably 6.5 or less, more preferably 6.0 or less.

[0076] The amount of the metal oxide is preferably 15 parts by mass or more, more preferably 20 parts by mass or more, and even more preferably 25 parts by mass or more, and preferably 90 parts by mass or less, relative to 100 parts by mass of the PAS resin. When the amount of the metal oxide is 15 parts by mass or more relative to 100 parts by mass of the PAS resin, it is preferable from the viewpoints that the surface roughening and activation of the metal oxide by laser irradiation can be highly generated in the obtained molded product, and that the plating property is excellent. On the other hand, when the amount of the metal oxide is 90 parts by mass or less relative to 100 parts by mass of the PAS resin, it is preferable from the viewpoints that the material strength can be maintained.

[0077] As other fillers, known and commonly used materials can be used as long as they do not impair the effects of one embodiment, and examples of such fillers include fillers of various shapes, such as fibrous ones and non-fibrous ones such as granular and plate-shaped ones. Specifically, fibrous fillers such as glass fiber, carbon fiber, silane glass fiber, ceramic fiber, aramid fiber, metal fiber, potassium titanate, silicon carbide, calcium silicate, wollastonite, and natural fibers can be used, and non-fibrous fillers such as glass beads, glass flakes, barium sulfate, clay, pyrophyllite, bentonite, sericite, mica, talc, kerolite, pimelite, pyrophyllite, hydrotalcite, kaolinite, attapulgite, ferrite, calcium silicate, calcium carbonate, glass beads, zeolite, milled fiber, and calcium sulfate can also be used.

[0078] In one embodiment, the content of the filler is not particularly limited as long as it does not impair the effect of the embodiment. The amount of the filler to be blended is, for example, preferably 1 part by mass or more, more preferably 10 parts by mass or more, and preferably 600 parts by mass or less, more preferably 200 parts by mass or less, relative to 100 parts by mass of the resin. In this range, the resin exhibits good mechanical strength and moldability, which is preferable.

[0079] The resin used in one embodiment can be mixed with a silane coupling agent as an optional component as necessary. The silane coupling agent is not particularly limited as long as it does not impair the effect of one embodiment, but a silane coupling agent having a functional group that reacts with a carboxy group, such as an epoxy group, an isocyanato group, an amino group, or a hydroxyl group, is preferably mentioned. Examples of such silane coupling agents include epoxy group-containing alkoxysilane compounds such as γ-glycidoxypropyltrimethoxysilane, γ-glycidoxypropyltriethoxysilane, and β-(3,4-epoxycyclohexyl)ethyltrimethoxysilane; isocyanato group-containing alkoxysilane compounds such as γ-isocyanatopropyltrimethoxysilane, γ-isocyanatopropyltriethoxysilane, γ-isocyanatopropylmethyldimethoxysilane, γ-isocyanatopropylmethyldiethoxysilane, γ-isocyanatopropylethyldimethoxysilane, γ-isocyanatopropylethyldiethoxysilane, and γ-isocyanatopropyltrichlorosilane; amino group-containing alkoxysilane compounds such as γ-(2-aminoethyl)aminopropylmethyldimethoxysilane, γ-(2-aminoethyl)aminopropyltrimethoxysilane, and γ-aminopropyltrimethoxysilane; and hydroxyl group-containing alkoxysilane compounds such as γ-hydroxypropyltrimethoxysilane and γ-hydroxypropyltriethoxysilane. In one embodiment, the silane coupling agent is not an essential component, but when it is blended, the blending amount is not particularly limited as long as it does not impair the effect of the embodiment, and is preferably in the range of 0.01 parts by mass or more, more preferably 0.1 parts by mass or more, to preferably 10 parts by mass or less, more preferably 5 parts by mass or less, relative to 100 parts by mass of the resin. In such a range, the resin has good corona resistance and moldability, especially releasability, and the molded product exhibits excellent adhesion to the epoxy resin while further improving mechanical strength, which is preferable.

[0080] The resin used in one embodiment may contain a thermoplastic elastomer as an optional component, if necessary. Examples of the thermoplastic elastomer include polyolefin-based elastomers, fluorine-based elastomers, and silicone-based elastomers, among which polyolefin-based elastomers are preferred. When these elastomers are added, the amount of the elastomers is not particularly limited as long as it does not impair the effects of one embodiment, but is preferably in the range of 0.01 parts by mass or more, more preferably 0.1 parts by mass or more, to preferably 10 parts by mass or less, more preferably 5 parts by mass or less, based on 100 parts by mass of resin (A). In this range, the impact resistance of the resulting resin is improved, which is preferable.

[0081] For example, the polyolefin-based elastomer may be a homopolymer of an α-olefin, a copolymer of two or more α-olefins, or a copolymer of one or more α-olefins and a vinyl polymerizable compound having a functional group. In this case, the α-olefin may be an α-olefin having 2 or more to 8 or less carbon atoms, such as ethylene, propylene, or 1-butene. The functional group may be a carboxy group, an acid anhydride group (-C(=O)OC(=O)-), an epoxy group, an amino group, a hydroxyl group, a mercapto group, an isocyanate group, or an oxazoline group. Examples of the vinyl polymerizable compound having the functional group include one or more of vinyl acetate, α,β-unsaturated carboxylic acids such as (meth)acrylic acid, alkyl esters of α,β-unsaturated carboxylic acids such as methyl acrylate, ethyl acrylate, and butyl acrylate, metal salts of α,β-unsaturated carboxylic acids such as ionomers (metals include alkali metals such as sodium, alkaline earth metals such as calcium, and zinc), glycidyl esters of α,β-unsaturated carboxylic acids such as glycidyl methacrylate, α,β-unsaturated dicarboxylic acids such as maleic acid, fumaric acid, and itaconic acid, and derivatives of the above α,β-unsaturated dicarboxylic acids (monoesters, diesters, and acid anhydrides). The above-mentioned thermoplastic elastomers may be used alone or in combination of two or more.

[0082] Furthermore, in addition to the above components, the resin used in one embodiment may further contain synthetic resins such as polyester resin, polyamide resin, polyimide resin, polyetherimide resin, polycarbonate resin, polyphenylene ether resin, polysulfone resin, polyethersulfone resin, polyetheretherketone resin, polyetherketone resin, polyarylene resin, polyethylene resin, polypropylene resin, polytetrafluoroethylene resin, polydifluoroethylene resin, polystyrene resin, ABS resin, phenol resin, urethane resin, and liquid crystal polymer as optional components depending on the application. Although the above synthetic resin is not an essential component in one embodiment, when it is added, the ratio of the synthetic resin to be added is not particularly limited as long as it does not impair the effect of one embodiment, and it differs depending on each purpose and cannot be generally defined, but the ratio of the synthetic resin to be added in the resin according to one embodiment is, for example, in the range of 5 parts by mass or more and 15 parts by mass or less per 100 parts by mass of the resin. In other words, the ratio of resin (A) to the total of resin (A) and the synthetic resin is preferably in the range of (100 / 115) or more, and more preferably in the range of (100 / 105) or more, on a mass basis.

[0083] The resin used in one embodiment may contain, as necessary, known and commonly used additives as optional components, such as colorants, antistatic agents, antioxidants, heat stabilizers, UV stabilizers, UV absorbers, foaming agents, flame retardants, flame retardant assistants, rust inhibitors, and coupling agents. These additives are not essential components, and may be used, for example, in an amount of preferably 0.01 parts by mass or more and preferably 1000 parts by mass or less relative to 100 parts by mass of the resin, with appropriate adjustment depending on the purpose and application so as not to impair the effects of one embodiment.

[0084] A method for producing the resin used in one embodiment will be described in detail below.

[0085] The resin used in one embodiment is a mixture of each essential component and other optional components as required. The method for producing the resin used in one embodiment is not particularly limited, but includes a method of blending the essential components and optional components as required and melt-kneading them, more specifically, a method of uniformly dry-mixing them as required using a tumbler or Henschel mixer, and then feeding them into a twin-screw extruder and melt-kneading them.

[0086] The melt kneading can be carried out by heating the resin to a temperature range in which the resin temperature is equal to or higher than the melting point of the resin, preferably equal to or higher than the melting point + 10°C, more preferably equal to or higher than the melting point + 10°C, even more preferably equal to or higher than the melting point + 20°C, preferably equal to or lower than the melting point + 100°C, more preferably equal to or lower than the melting point + 50°C.

[0087] The melt kneader is preferably a twin-screw kneading extruder from the viewpoint of dispersibility and productivity. For example, it is preferable to melt knead while appropriately adjusting the resin component discharge amount in the range of 5 to 500 (kg / hr) and the screw rotation speed in the range of 50 to 500 (rpm), and it is more preferable to melt knead under the condition that the ratio (discharge amount / screw rotation speed) is in the range of 0.02 to 5 (kg / hr / rpm). The addition and mixing of each component to the melt kneader may be performed simultaneously or in portions. For example, when an additive is added among the above components, it is preferable to feed the additive into the twin-screw kneading extruder from a side feeder from the viewpoint of dispersibility. The position of the side feeder is preferably such that the ratio of the distance from the extruder resin input part (top feeder) to the side feeder to the total screw length of the twin-screw kneading extruder is 0.1 or more, more preferably 0.3 or more. The ratio is preferably 0.9 or less, more preferably 0.7 or less.

[0088] The resin according to one embodiment obtained by melt kneading in this manner is a molten mixture containing the above-mentioned essential components, optional components added as necessary, and components derived therefrom. After the melt kneading, it is preferable to process the molten resin by a known method, for example, by extruding the resin in a strand shape, and then processing it into a form such as pellets, chips, granules, or powder, and then pre-drying it at a temperature range of 100 to 150° C. as necessary.

[0089] The molded article of one embodiment is produced by molding a resin. A method for producing the molded article of one embodiment includes a step of melt-molding the resin. The method is described in detail below.

[0090] The resin used in one embodiment is subjected to injection molding. The various molding conditions are not particularly limited, and molding can be performed by a general method. For example, in an injection molding machine, the resin is melted at a temperature range of the melting point of the resin or higher, preferably at a temperature range of the melting point +10°C or higher, more preferably at a temperature range of the melting point +10°C to the melting point +100°C, and even more preferably at a temperature range of the melting point +20 to the melting point +50°C, and then the resin is injected into a mold from a resin discharge port and molded. At that time, the mold temperature may be set to a known temperature range, for example, room temperature (23°C) to 300°C, preferably 120 to 180°C.

[0091] According to the end effector 10 according to the embodiment as described above, the opening and closing operations of the end effector 10 can be controlled with a simpler configuration. Since the end effector 10 has the circuit 11d formed integrally with the resin in the main body 11, it is not necessary to mount sensor components such as a proximity sensor, a TOF sensor, and a limit sensor to control the opening and closing operations as in the conventional technology. The end effector 10 does not need to separately arrange a sheet or film for the sensor components and a board forming an electric circuit. The end effector 10 does not need to separately provide a joint or bonding part of the sheet, film, board, etc. The end effector 10 can contribute to limit control of the opening and closing operations of the gripping part 11b with the above-mentioned simpler configuration.

[0092] The end effector 10 can achieve a reduction in the number of parts, size, and weight, and can also satisfy the weight capacity limit of the robot arm 1. The end effector 10 can also improve the degree of freedom in its shape design. In addition, the end effector 10 has improved waterproofing and water resistance because the main body 11 contains resin, and can be washed to prevent the spread of infectious diseases and for other hygienic purposes. Unlike conventional metal end effectors, the end effector 10 is light and rust during washing can be suppressed.

[0093] The end effector 10 can contribute to limit control of the opening and closing operation of the gripper 11b without requiring a special motor such as a stepping motor. Therefore, the end effector 10 can eliminate problems such as heat generation, vibration, and noise caused by a stepping motor that have conventionally occurred. The end effector 10 can also use a general motor such as a DC (Direct Current) motor in the drive mechanism 11c.

[0094] The circuit 11d has wiring W formed on the surface of the resin of the main body 11, and contributes to limit control based on the wiring W itself. As a result, the end effector 10 is an integrated molded product that contributes to limit control by directly drawing the circuit 11d on the end effector 10. Since the drawn circuit 11d itself serves as a means for transmitting electrical signals, the end effector 10 does not need to additionally provide wiring such as a harness and a board. The end effector 10 does not require a shape and space for accommodating a wired harness and a board on which a circuit is formed, and therefore it is possible to simplify the configuration without complicating the shape.

[0095] The end effector 10 tends to become charged because the main body 11 contains resin, but even in such a case, the charge can be easily removed by the plating wiring W in the metal circuit 11d formed on the surface. The end effector 10 can effectively remove the charged static electricity due to the path shape of the wiring W drawn directly on its surface.

[0096] The end effector 10 includes a worm gear having a conductive worm 11c1 and a worm wheel 11c2 containing resin in the drive mechanism 11c, and thus the end effector 10 can contribute to limit control based on the rotational movement of the gripper 11b along the circumferential direction D2. The end effector 10 can contribute to limit control based on an electrical signal resulting from contact between the conductive worm 11c1 and a circuit 11d formed on the worm wheel 11c2 side.

[0097] The end effector 10 can contribute to the first control of the limit control by contacting the first circuit 11d1 of the first tooth T1 with the worm 11c1 when the gripper 11b is fully opened. The robot arm 1 stops the opening operation of the gripper 11b when the first circuit 11d1 contacts the worm 11c1 by contact detection by the control unit 40. This allows the robot arm 1 to suppress the gripper 11b from attempting to open further outward in the circumferential direction D2. Therefore, the robot arm 1 can suppress the gripper 11b of the end effector 10 from opening excessively, causing the end effector 10 itself to break down or surrounding obstacles to be damaged. The end effector 10 can improve the safety of the operation of the robot arm 1.

[0098] The end effector 10 can contribute to the second control of the limit control by contacting the second circuit 11d2 of the second tooth T2 with the worm 11c1 when the gripper 11b is completely closed. The robot arm 1 stops the closing operation of the gripper 11b when the second circuit 11d2 contacts the worm 11c1 by contact detection by the control unit 40. This allows the robot arm 1 to suppress the gripper 11b from attempting to perform a further closing operation toward the inside in the circumferential direction D2. Therefore, the robot arm 1 can suppress the gripper 11b of the end effector 10 from closing excessively, causing the end effector 10 itself to break down. The end effector 10 can improve the safety of the operation of the robot arm 1.

[0099] Since the drive mechanism 11c includes a rack and pinion, the end effector 10 can contribute to limit control based on the sliding movement of the gripper 11b along the sliding direction D1. The end effector 10 can contribute to limit control based on an electrical signal resulting from contact between a circuit 11d formed on a surface S of the gripper 11b performing the sliding movement in the sliding direction D1 and a conductive member M arranged at the sliding position of the gripper 11b.

[0100] When the gripper 11b is fully opened, the circuit 11d formed on the outer surface in the opening direction of the gripper 11b comes into contact with the conductive member M, and the end effector 10 can contribute to the first control of the limit control. The robot arm 1 stops the opening operation of the gripper 11b when the circuit 11d comes into contact with the member M by contact detection by the control unit 40. This allows the robot arm 1 to suppress the gripper 11b from attempting to open further toward the outside in the sliding direction D1. Therefore, the robot arm 1 can suppress the gripper 11b of the end effector 10 from opening excessively, causing the end effector 10 itself to break down or surrounding obstacles to be damaged. The end effector 10 can improve the safety of the operation of the robot arm 1.

[0101] Since the resin contains a thermoplastic resin and the thermoplastic resin is a polyarylene sulfide resin, the end effector 10 can have improved waterproof and water resistance. In addition, due to the excellent chemical resistance and heat resistance of the polyarylene sulfide resin, the end effector 10 can have improved chemical resistance and heat resistance. This enables the end effector 10 to be used in chemicals and to grip high-temperature materials.

[0102] Since the resin is made by blending metal oxide containing at least one of copper and chromium, the end effector 10 facilitates the formation of a molded circuit using LDS. The end effector 10 generates heat when irradiated with a laser due to the metal oxide containing at least one of copper and chromium, and can provide a function of melting the resin and roughening its surface, and a function of being activated by laser irradiation to selectively form a plating layer.

[0103] It is obvious to those skilled in the art that the present disclosure can be realized in other specific forms other than the above-described embodiments without departing from the spirit or essential characteristics thereof. Therefore, the above description is illustrative and not limiting. The scope of the disclosure is defined by the appended claims, not by the above description. Any modifications within the scope of the equivalents of all modifications are intended to be included therein.

[0104] For example, the shape, pattern, size, arrangement, orientation, type, number, etc. of each of the above-mentioned components are not limited to the above description and the contents illustrated in the drawings. The shape, pattern, size, arrangement, orientation, type, number, etc. of each component may be configured arbitrarily as long as the function can be realized. Each component of the end effector 10 and the robot arm 1 illustrated is a functional concept, and the specific form of each component is not limited to that illustrated.

[0105] In the above embodiment, in the first example of the limit control of the opening and closing operation of the gripper 11b, only the gripper 11b has the circuit 11d formed integrally with resin, but this is not limited to this. At least one of the gripper 11b and the driving mechanism 11c may contain resin and have the circuit 11d formed integrally with resin. For example, the end effector 10 may have the driving mechanism 11c containing resin and having the circuit 11d formed integrally with resin in addition to or instead of the gripper 11b.

[0106] For example, the rack and pinion of the drive mechanism 11c may have a conductive rack and a pinion containing resin. The end effector 10 may contribute to limit control of the opening and closing operation of the gripper 11b based on the drive mechanism 11c having such a rack and pinion in a manner similar to the second example of limit control.

[0107] In the above embodiment, in the second example of the limit control of the opening and closing operation of the gripper 11b, the drive mechanism 11c mainly has the circuit 11d formed integrally with resin and contributes to the limit control, but this is not limited to the above. At least one of the gripper 11b and the drive mechanism 11c may contain resin and have the circuit 11d formed integrally with resin to contribute to the limit control. For example, in the end effector 10, in addition to or instead of the drive mechanism 11c, the gripper 11b may have the circuit 11d formed integrally with resin to contribute to the limit control.

[0108] For example, gripper 11b may have a resin first protrusion that contacts worm 11c1 when gripper 11b is fully open, and may have first circuit 11d1 on the surface of the first protrusion. First circuit 11d1 formed on the surface of the first protrusion may contact worm 11c1 when gripper 11b is fully open.

[0109] For example, gripper 11b may have a second projection made of resin that contacts worm 11c1 when gripper 11b is completely closed, and may have second circuit 11d2 on the surface of the second projection. Second circuit 11d2 formed on the surface of the second projection may contact worm 11c1 when gripper 11b is completely closed.

[0110] In the above embodiment, the circuit 11d has the wiring W formed on the surface of the resin, and has been described as contributing to the limit control based on the wiring W itself, but is not limited to this. The circuit 11d may have a substrate integrally molded with the resin of the main body 11 and wiring formed on the substrate, and may contribute to the limit control based on the wiring itself.

[0111] The circuit 11d may be configured based on a substrate that is molded integrally with resin by insert molding or the like. In the circuit 11d, wiring and electrodes may be formed on the substrate. The circuit 11d may be configured as a molded circuit using, for example, an IME of MID. "IME" is an abbreviation for In-Mold Electronics. The circuit 11d may be formed by inserting a flexible substrate or the like during injection molding. In this way, the end effector 10 becomes an integral molded product that contributes to limit control by molding the substrate integrally with resin.

[0112] In the above embodiment, the circuit 11d has been described as contributing to the limit control based on the wiring W itself, but this is not limited thereto. The circuit 11d may have a sensor component that contributes to the limit control and is mounted on the circuit 11d by soldering or the like instead of or in addition to the wiring W that contributes to the limit control. In the present disclosure, the "sensor component" may include, for example, a proximity sensor, a TOF sensor, a limit sensor, a LiDAR (Light Detection And Ranging) sensor, and an imaging element.

[0113] In addition, the circuit 11d may have a control element that is mounted on the circuit 11d by soldering or the like and executes processes necessary to realize limit control. In the present disclosure, the "control element" may include, for example, a microcontroller, a processor, a programmable circuit, a dedicated circuit, or any combination thereof. This allows the end effector 10 to execute the above-mentioned various processes performed by the control unit 40 of the robot arm 1 by itself. The end effector 10 can also execute the judgment process, learning process, and any other process by itself.

[0114] In the above embodiment, the driving mechanism 11c is described as including a worm gear having a conductive worm 11c1 and a worm wheel 11c2 containing resin, but is not limited thereto. The worm gear of the driving mechanism 11c may have a worm 11c1 containing resin and a worm wheel 11c2 having conductivity. The worm gear of the driving mechanism 11c may have a worm 11c1 containing resin and a worm wheel 11c2 containing resin.

[0115] In the above embodiment, the first circuit 11d1 is formed on the first tooth T1 of the worm wheel 11c2, but is not limited thereto. The first circuit 11d1 may be formed on the worm 11c1 instead of or in addition to the worm wheel 11c2 in accordance with the above modified example of the drive mechanism 11c.

[0116] On the other hand, the end effector 10 does not have to have the first circuit 11d1 and does not have to contribute to the limit control regarding the opening operation of the gripping portion 11b.

[0117] In the above embodiment, the second circuit 11d2 is formed on the second tooth T2 of the worm wheel 11c2, but is not limited thereto. The second circuit 11d2 may be formed on the worm 11c1 instead of or in addition to the worm wheel 11c2 in accordance with the above modified example of the drive mechanism 11c.

[0118] On the other hand, the end effector 10 does not have to have the second circuit 11d2 and does not have to contribute to the limit control regarding the closing operation of the gripping portion 11b.

[0119] The first tooth T1 on which the first circuit 11d1 is formed and the second tooth T2 on which the second circuit 11d2 is formed may be teeth at any position on the worm wheel 11c2. This allows the end effector 10 to arbitrarily adjust the opening and closing angle of the pair of claws of the gripping portion 11b.

[0120] In the above embodiment, the circuit 11d is formed on the surface S of the gripper 11b in the sliding direction D1, which is slid by the rack and pinion of the drive mechanism 11c, but the present invention is not limited to this. The circuit 11d may be formed at any position of the gripper 11b where the end effector 10 can contribute to limit control.

[0121] In the above embodiment, the circuit 11d on the surface S is described as being in contact with the conductive member M arranged at the slide position of the gripping portion 11b, but this is not limited thereto. The member M may contain resin. In this case, a circuit corresponding to the circuit 11d on the surface S may be formed on the resin surface of the member M. The end effector 10 may contribute to limit control by the circuit 11d on the surface S and the corresponding circuit formed on the resin surface of the member M coming into contact with each other.

[0122] In the above embodiment, the surface S is described as the outer surface in the direction in which the grip portion 11b opens, but is not limited thereto. Instead of or in addition to the outer surface in the direction in which the grip portion 11b opens, the grip portion 11b may have the circuit 11d on the inner surface in the direction in which the grip portion 11b closes. The circuit 11d on the inner surface may come into contact with the conductive member M when the grip portion 11b is completely closed.

[0123] In the above embodiment, the mounting portion 11a and the gripping portion 11b are entirely made of resin, but this is not limiting. At least the portion of the main body 11 where the circuit 11d is formed may be made of resin, and other parts of the main body 11 may be made of any material other than resin.

[0124] In the above embodiment, the end effector 10 has been described as having a pair of claws, i.e., two claws, on the gripper 11b, but is not limited thereto. The end effector 10 may have three or more claws.

[0125] Some of the embodiments of the present disclosure will be described below as examples. However, it should be noted that the embodiments of the present disclosure are not limited to these examples. [Appendix 1] An end effector for use in a robot, comprising: A gripping part that performs an opening and closing operation; a drive mechanism for driving the gripping portion to realize an opening and closing operation of the gripping portion; Equipped with At least one of the gripping portion and the driving mechanism contains a resin and has a circuit formed integrally with the resin, the circuit contributing to limit control of the opening and closing operation of the gripping portion. End effector. [Appendix 2] 2. The end effector of claim 1, The circuit has wiring formed on the surface of the resin, and contributes to the limit control based on the wiring itself. End effector. [Appendix 3] 2. The end effector of claim 1, The circuit has a substrate integrally molded with the resin and wiring formed on the substrate, and contributes to the limit control based on the wiring itself. End effector. [Appendix 4] 4. An end effector according to any one of claims 1 to 3, The drive mechanism includes a worm gear having a conductive worm and a worm wheel containing the resin. End effector. [Appendix 5] 5. The end effector of claim 4, The circuit is formed in a first tooth of the worm wheel, The circuit of the first tooth contacts the worm when the gripping portion is fully opened. End effector. [Appendix 6] 6. The end effector according to claim 4 or 5, The circuit is formed in a second tooth of the worm wheel, The circuit of the second tooth contacts the worm when the gripper is fully closed. End effector. [Appendix 7] 4. An end effector according to any one of claims 1 to 3, The grip portion contains the resin, The circuit is formed on a surface of the gripping part in a sliding direction where the gripping part performs a sliding operation, and is in contact with a conductive member disposed at a sliding position of the gripping part. End effector. [Appendix 8] The end effector according to claim 7, The surface is an outer surface in a direction in which the gripping portion opens, The circuit on the outer surface contacts the member when the gripping portion is fully opened. End effector. [Appendix 9] 9. An end effector according to any one of claims 1 to 8, The resin includes a thermoplastic resin. End effector. [Appendix 10] 10. The end effector of claim 9, The thermoplastic resin includes at least one selected from the group consisting of engineering plastics and super engineering plastics, End effector. [Appendix 11] 11. The end effector of claim 10, The thermoplastic resin is a polyarylene sulfide resin. End effector. [Appendix 12] 12. An end effector according to any one of claims 1 to 11, The resin is formed by blending a metal oxide containing at least one of copper and chromium. End effector. [Appendix 13] A robot arm comprising an end effector according to any one of claims 1 to 12. [Explanation of symbols]

[0126] 1. Robot Arm 1a Housing 10 End effector 11 Main body 11a Mounting part 11b Grip part 11c Drive mechanism 11c1 Warm 11c2 worm wheel 11d Circuit 11d1 1st circuit 11d2 2nd circuit 20 Memory section 30 Drive unit 40 Control section D1 Slide direction D2 Circumferential direction E1 input electrode E11 First input electrode E12 Second input electrode E2 output electrode E21 1st output electrode E22 Second output electrode L1 1st straight line L2 2nd straight line L3 3rd straight line M Parts S side T1 First tooth T2 2nd tooth W Wiring W1 First wiring W11 1st contact end W12 First connecting line W2 Second wiring W21 2nd contact end W22 2nd connecting line

Claims

1. An end effector for use in a robot, comprising: A gripping part that performs an opening and closing operation; a drive mechanism for driving the gripping portion to realize an opening and closing operation of the gripping portion; Equipped with At least one of the gripping portion and the driving mechanism includes a circuit that contains a resin and is integrally formed with the resin, the circuit contributing to limit control of an opening and closing operation of the gripping portion; the drive mechanism includes a worm gear having a conductive worm and a worm wheel containing the resin, the circuit is formed in a first tooth of the worm wheel, the circuit of the first tooth contacting the worm when the gripping parts are fully open; and / or The circuit is formed on a second tooth of the worm wheel, and the circuit of the second tooth contacts the worm when the gripping portion is fully closed. End effector.

2. 2. The end effector of claim 1, The circuit has wiring formed on the surface of the resin, and contributes to the limit control based on the wiring itself. End effector.

3. 2. The end effector of claim 1, The circuit has a substrate integrally molded with the resin and wiring formed on the substrate, and contributes to the limit control based on the wiring itself. End effector.

4. An end effector for use in a robot, comprising: A gripping part that performs an opening and closing operation; a drive mechanism for driving the gripping portion to realize an opening and closing operation of the gripping portion; Equipped with At least one of the gripping portion and the driving mechanism includes a circuit that contains a resin and is integrally formed with the resin, the circuit contributing to limit control of an opening and closing operation of the gripping portion; The grip portion contains the resin, The circuit is formed on a surface of the gripping part in a sliding direction, the surface being in contact with a conductive member disposed at a sliding position of the gripping part, The surface is an outer surface in a direction in which the gripping portion opens, The circuit on the outer surface contacts the member when the gripping portion is fully opened. End effector.

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

6. 6. The end effector of claim 5, The thermoplastic resin includes at least one selected from the group consisting of engineering plastics and super engineering plastics, End effector.

7. 7. The end effector of claim 6, The thermoplastic resin is a polyarylene sulfide resin. End effector.

8. The end effector according to any one of claims 1 to 4, The resin is formed by blending a metal oxide containing at least one of copper and chromium. End effector.

9. A robot arm comprising an end effector according to any one of claims 1 to 4.

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