Determination device, determination method, and method for manufacturing electric device

Abstract

This determination device comprises: a calculation unit that calculates a first evaluation value indicating an electrical characteristic of a target line subjected to an attachment step on the basis of an electrical signal of the target line; an acquisition unit that acquires a second evaluation value indicating an electrical characteristic of the target line before the attachment step; and a determination unit that determines a mechanical load generated in the target line during the attachment step on the basis of a result of comparison between the first evaluation value and the second evaluation value.

Description

Determination Device, Determination Method, and Method for Manufacturing an Electrical Device

[0001] The present disclosure relates to a determination device, a determination method, and a method for manufacturing an electrical device. This application claims priority based on Japanese Application No. 2024-187864 filed on October 25, 2024, and incorporates all the descriptions described in the above Japanese application.

[0002] Conventionally, wiring methods for preventing disconnection of cables and the like have been proposed. For example, Patent Document 1 (Japanese Unexamined Patent Application Publication No. 2010-280273) discloses the following cable wiring method. That is, in the cable wiring method, when a moving body collides with an object, in order to prevent disconnection of the cable installed on the moving body, the cable has a slack portion, and the slack portion faces the central direction of the moving body so that the moving body does not disconnect when it collides with the object.

[0003] Japanese Unexamined Patent Application Publication No. 2010-280273

[0004] The determination device of the present disclosure includes a calculation unit that calculates a first evaluation value indicating the electrical characteristics of the target line based on the electrical signal of the target line in which the attachment process has been performed, an acquisition unit that acquires a second evaluation value indicating the electrical characteristics of the target line before the attachment process is performed, and a determination unit that determines the mechanical load generated in the target line in the attachment process based on the comparison result between the first evaluation value and the second evaluation value.

[0005] Figure 1 shows the configuration of a communication system according to an embodiment of this disclosure. Figure 2 shows an example of a transmission line used in the communication system according to an embodiment of this disclosure. Figure 3 shows an example of the configuration of a determination device according to an embodiment of this disclosure. Figure 4 shows an example of the calculation of the reflection coefficient before wiring starts by the determination device according to an embodiment of this disclosure. Figure 5 shows an example of the calculation of the reflection coefficient after wiring starts by the determination device according to an embodiment of this disclosure. Figure 6 shows an example of the average value of the reflection coefficient calculated by the determination processing unit in the determination device according to an embodiment of this disclosure. Figure 7 shows an example of the absolute value of the difference calculated by the determination processing unit in the determination device according to an embodiment of this disclosure. Figure 8 shows an example of a determination result notification screen displayed by the determination processing unit in the determination device according to an embodiment of this disclosure. Figure 9 shows an example of the average value of the reflection coefficient calculated by the determination processing unit in the determination device according to an embodiment of this disclosure. Figure 10 shows an example of the absolute value of the difference calculated by the determination processing unit in the determination device according to an embodiment of this disclosure. Figure 11 shows an example of a determination result notification screen displayed by the determination processing unit in the determination device according to an embodiment of this disclosure. Figure 12 shows an example of the calculation of the reflection coefficient after the start of cable routing by the determination device according to the embodiment of this disclosure. Figure 13 shows an example of the calculation of the reflection coefficient after the start of cable routing by the determination device according to the embodiment of this disclosure. Figure 14 is a flowchart that defines an example of the operation procedure when the determination device according to the embodiment of this disclosure performs determination processing. Figure 15 is a flowchart that defines an example of the operation procedure when manufacturing a robot arm according to the embodiment of this disclosure.

[0006] Beyond the technology described in Patent Document 1, there is a need for a technology that can route target wires in a cable while taking into account the mechanical loads that occur on those target wires.

[0007] This disclosure has been made to solve the above-mentioned problems, and its purpose is to provide a determination device, a determination method, and a method for manufacturing an electrical device that can route a target line while taking into account the mechanical load generated in the target line.

[0008] According to this disclosure, the target line can be routed while taking into account the mechanical load that occurs along the target line.

[0009] First, embodiments of the present disclosure will be listed and described. (1) A determination device according to an embodiment of the present disclosure includes: a calculation unit that calculates a first evaluation value indicating the electrical characteristics of a target line based on the electrical signal of the target line on which the installation process has been performed; an acquisition unit that acquires a second evaluation value indicating the electrical characteristics of the target line before the installation process has been performed; and a determination unit that determines the mechanical load generated in the target line during the installation process based on a comparison result of the first evaluation value and the second evaluation value.

[0010] Thus, the determination unit is configured to determine the mechanical load generated in the target wire based on a comparison between the second evaluation value of the target wire after the installation process and the first evaluation value of the target wire before the installation process. This allows for accurate determination of the mechanical load generated in the target wire due to the installation process, based on the changes in the electrical characteristics of the target wire during the installation process. Therefore, by making adjustments such as changing the fixing position of the target wire based on the determination result of the mechanical load, the mechanical load generated in the target wire can be reduced. Consequently, the target wire can be routed taking into consideration the mechanical load generated in the target wire.

[0011] (2) In the determination device described in (1) above, when the mounting process is performed once, the acquisition unit may acquire an evaluation value as the second evaluation value that shows the electrical characteristics of the target line when the mounting process has not been performed (initial state).

[0012] With this configuration, the determination unit can accurately determine the mechanical load generated on the target line by the installation process based on the comparison result between the second evaluation value of the target line in its initial state and the first evaluation value of the target line after the installation process has been performed.

[0013] (3) In the determination device described in (1) above, if the installation process is performed multiple times, the calculation unit may calculate an evaluation value indicating the electrical characteristics of the target line as the first evaluation value based on the electrical signal of the target line after the nth (where n is an integer of 2 or more)th installation process, and the acquisition unit may acquire an evaluation value indicating the electrical characteristics of the target line before the nth installation process is performed as the second evaluation value.

[0014] (4) In the determination device described in (3) above, if the mounting process is performed multiple times, the acquisition unit may acquire an evaluation value indicating the electrical characteristics of the target line for which the (n-1)th mounting process has been performed as the second evaluation value.

[0015] In this way, the determination unit determines the mechanical load generated in the target line based on the comparison result between the second evaluation value of the target line after the (n-1)th installation process and the first evaluation value of the target line after the nth installation process. Thus, the determination unit can more accurately determine the mechanical load generated in the target line by the nth installation process based on the change in the electrical characteristics of the target line before and after the nth installation process.

[0016] (5) The determination device according to any one of (1) 1 to (4) above further comprises a measuring unit. The measuring unit measures at least one of the amplitude and phase of the electrical signal received from the target line, and the calculation unit may calculate the first evaluation value based on the measurement result of at least one of the amplitude and phase. In this way, the determination unit can more accurately determine the mechanical load generated in the target line by the installation process based on the change in at least one of the amplitude and phase in the target line.

[0017] (6) The determination device according to any one of the above items (1) 1 to (5) further comprises a storage unit. The second evaluation value may be stored in the storage unit, and the acquisition unit may acquire the second evaluation value from the storage unit.

[0018] (7) In the determination device according to any one of the above items (1) 1 to (6), there may be a plurality of target lines, and the mechanical load may be determined for each of the target lines.

[0019] (8) In the determination device according to any one of the above items (1) 1 to (7), the determination unit may identify the target line in which the absolute value of the difference between the first evaluation value and the second evaluation value exceeds a predetermined reference value.

[0020] (9) The determination device described in (8) above may further include a display unit that performs processing to display the first evaluation value and the second evaluation value, the absolute value of the difference between the first evaluation value and the second evaluation value, or the first evaluation value, the second evaluation value, and the absolute value of the difference between the first evaluation value and the second evaluation value. With such a configuration, the user can visually confirm the first evaluation value and the second evaluation value and make adjustments such as changing the mounting position of the target line.

[0021] (10) A determination method according to the embodiment of the present disclosure includes the steps of: measuring the amplitude and phase of an electrical signal of a target line on which an installation process has been performed; calculating a first evaluation value indicating the electrical characteristics of the target line based on the measurement results of the amplitude and the phase; obtaining a second evaluation value indicating the electrical characteristics of the target line before the installation process is performed; and determining the mechanical load generated in the target line during the installation process based on the comparison result of the first evaluation value and the second evaluation value.

[0022] In this way, by determining the mechanical load generated in the target wire based on a comparison between the second evaluation value of the target wire after the installation process and the first evaluation value of the target wire before the installation process, the mechanical load generated in the target wire due to the installation process can be accurately determined based on the change in the electrical characteristics of the target wire during the installation process. Therefore, by making adjustments such as changing the fixing position of the target wire based on the determination result of the mechanical load, the mechanical load generated in the target wire can be reduced. Thus, the target wire can be routed taking into consideration the mechanical load generated in the target wire.

[0023] (11) The determination method in (10) above may further include the step of adjusting the mounting position of the target line in the mounting process if the absolute value of the difference between the first evaluation value and the second evaluation value exceeds a predetermined standard value. By making adjustments such as changing the fixed position of the target line in this way, the mechanical load generated on the target line can be reliably reduced.

[0024] (12) A method for manufacturing an electrical device according to an embodiment of the present disclosure is a method for manufacturing an electrical device comprising a target wire on which an installation process is performed. The method for manufacturing the electrical device includes the steps of: performing the installation process on the target wire; measuring at least one of the amplitude and phase of the electrical signal of the target wire on which the installation process has been performed; calculating a first evaluation value indicating the electrical characteristics of the target wire based on the measurement results of at least one of the amplitude and phase; obtaining a second evaluation value indicating the electrical characteristics of the target wire before the installation process is performed; determining the mechanical load generated in the target wire by performing the installation process based on the comparison result of the first evaluation value and the second evaluation value; and adjusting the installation position of the target wire in the installation process according to the determination result of the mechanical load. In this way, by determining the mechanical load generated in the target wire based on the comparison result of the second evaluation value of the target wire on which the installation process has been performed and the first evaluation value of the target wire before the installation process is performed, the mechanical load generated in the target wire by the installation process can be accurately determined based on the change in the electrical characteristics of the target wire before and after the installation process. Furthermore, by adjusting the fixing position of the target wire during the installation process according to the judgment result, the mechanical load on the target wire can be reduced, making it possible to manufacture electrical equipment with reduced mechanical load on the target wire. Therefore, the target wire can be routed while taking into consideration the mechanical load on the target wire.

[0025] (13) In the method for manufacturing the electrical device described in (12) above, the mechanical load may be determined by comparing the absolute value of the difference between the first evaluation value and the second evaluation value with a predetermined reference value.

[0026] Embodiments of this disclosure will be described below with reference to the drawings. In the drawings, the same or corresponding parts are denoted by the same reference numerals, and their descriptions will not be repeated. Furthermore, at least some of the embodiments described below may be combined in any way.

[0027] [Configuration and Basic Operation] Figure 1 is a diagram showing the configuration of a communication system according to an embodiment of the present disclosure. Referring to Figure 1, the communication system 301 comprises communication devices 111 and 121. The communication devices 111 and 121 are connected to each other via a communication transmission line 151. More specifically, for example, the transmission line 151 includes a cable portion and connector portions (not shown) provided at a first end and a second end of the cable portion, respectively. The connector portion provided at the first end of the cable portion is connected to the communication device 111. The connector portion provided at the second end of the cable portion is connected to the communication device 121. The transmission line 151 is, for example, an Ethernet® cable.

[0028] For example, the communication system 301 is used in the robot arm 201 of an industrial robot in factory automation. The robot arm 201 is an example of an electrical device. More specifically, the communication device 111 is located at the tip of the robot arm 201. In Figure 1, the communication device 121 is located outside the robot arm 201. The communication device 121 may also be located inside the robot arm 201. The transmission line 151 is routed inside the robot arm 201. The transmission line 151 may also be routed outside, i.e., on the surface, of the robot arm 201.

[0029] The communication device 121 transmits control signals via the transmission line 151 to a motor (not shown) mounted on the robot arm 201, causing the joints of the robot arm 201 to operate. The transmission line 151 is bent or twisted in accordance with the operation of the joints of the robot arm 201. The communication device 121 transmits communication signals to the communication device 111 via the transmission line 151. The communication device 111 controls the operation of the end effector 202 provided at the tip of the robot arm 201 according to the communication signals received from the communication device 121. The communication system 301 may be used, for example, in robots other than industrial robots, in-vehicle networks, or machine tools. That is, the transmission line 151 may be routed in devices other than the robot arm 201. The transmission line 151 does not need to be bent and twisted in accordance with the operation of the device to which it is routed, and it may be routed in devices that do not have mechanically operating mechanisms.

[0030] Figure 2 shows an example of a transmission line used in a communication system according to an embodiment of the present disclosure. Figure 2 shows a cross-sectional view of the transmission line 151 when the transmission line 151 is cut by a plane perpendicular to the longitudinal direction of the transmission line 151.

[0031] Referring to Figure 2, the transmission line 151 includes a plurality of core wires 1 and a sheath 2. A core wire 1 is an example of a symmetrical wire. A core wire 1 is covered with a coating layer (not shown) and insulated from other core wires 1. The conductor portion of a core wire 1 may be a single core or a plurality of bundled strands. The plurality of core wires 1 are bundled together by the sheath 2. The sheath 2 is a tubular tube that covers the plurality of core wires 1. The space between the core wires 1 and the sheath 2 may be filled with an insulator. For example, the transmission line 151 is a cable that includes a plurality of twisted pairs in which two core wires 1 are twisted together.

[0032] The transmission line 151 may be a cable that includes a plurality of parallel lines in which two core wires 1 are arranged parallel to each other. The plurality of parallel lines may be parallel to each other or not. The transmission line 151 may include a spiral tube instead of a sheath 2, or it may include a plurality of cable ties provided at intervals along the length of the core wires 1.

[0033] Referring again to Figure 1, the core wire 1 is routed in the robot arm 201 by performing one or more attachment steps for the core wire 1 in the robot arm 201. More specifically, the manufacturer of the robot arm 201 routes the transmission wire 151 in the robot arm 201 by performing an attachment step that fixes the position of the transmission wire 151 in the body of the robot arm 201, for example, using fixing members 51A, 51B, 51C. Instead of fixing the position of the transmission wire 151 in the body of the robot arm 201, the manufacturer may restrain the transmission wire 151 so as to limit its range of motion. Hereinafter, each of the fixing members 51A, 51B, 51C will also be referred to as fixing member 51. The transmission wire 151 may be fixed by one, two, or four or more fixing members 51. The transmission wire 151 may also be fixed in the body of the robot arm 201 without using fixing members 51.

[0034] A technology is desired that allows for the routing of the core wire 1 while taking into account the mechanical load generated in the core wire 1. For example, in the manufacturing process of a robot arm 201, a large mechanical load may be generated in the core wire 1 when routing the transmission line 151. A core wire 1 subjected to a large mechanical load may break before the transmission line 151 reaches its service life. Therefore, it is desirable to route the transmission line 151 while taking into account the mechanical load generated in the core wire 1.

[0035] However, with the conventional technology described in Patent Document 1, it is not easy to determine the mechanical load generated in the core wire 1 by the wiring.

[0036] Therefore, the determination device 101 according to the embodiment of this disclosure can arrange the core wire 1 while taking into account the mechanical load generated in the core wire 1, with the following configuration.

[0037] (Determination Device) Figure 3 is a diagram showing an example of the configuration of a determination device according to an embodiment of the present disclosure. Referring to Figure 3, the determination device 101 comprises a calculation processing unit 13 and a determination processing unit 14. The determination device 101 may further comprise a control unit 11, a signal processing unit 12, a storage unit 15, and a communication port 16. The signal processing unit 12 is an example of a receiving unit or an example of a measurement unit. The calculation processing unit 13 is an example of a calculation unit or an example of an acquisition unit. The determination processing unit 14 is an example of a determination unit or an example of a display unit. Parts or all of the control unit 11, signal processing unit 12, calculation processing unit 13, and determination processing unit 14 are configured by a processing circuit (Circuitry) including, for example, one or more processors. The storage unit 15 is, for example, a non-volatile memory included in the processing circuit. The communication port 16 is, for example, a connector or terminal. The connector portion of the transmission line 151 is connected to the communication port 16. The determination device 101 performs a determination process to determine the mechanical load on the core wire 1 during the manufacturing process of the robot arm 201.

[0038] The control unit 11 receives user input from the manufacturer of the robot arm 201 for the purpose of performing a judgment process, and outputs a judgment instruction to the signal processing unit 12.

[0039] (Signal Processing Unit) The signal processing unit 12 receives a determination instruction from the control unit 11 and outputs a measurement signal having frequency components to the core wire 1 in the transmission line 151. For example, the signal processing unit 12 outputs a measurement signal to core wires 1A, 1B, and 1C, which are predetermined core wires 1 in the transmission line 151. The signal processing unit 12 may output an AC signal, a pulse signal, or a frequency sweep signal as the measurement signal.

[0040] For example, the memory unit 15 stores a digital signal with N samples, obtained by digitally converting a sine wave for M periods. M is an integer greater than or equal to 1. N is an integer greater than or equal to 2, for example, an integer multiple of M.

[0041] The signal processing unit 12 receives a determination instruction from the control unit 11, and outputs measurement signals for M cycles in parallel to the core wires 1A, 1B, and 1C using N digital signals in the storage unit 15 during a measurement period T of a predetermined length. More specifically, the signal processing unit 12 includes a DA (Digital to Analog) conversion unit. The signal processing unit 12 acquires digital signals from the storage unit 15 at output timings according to the period of the operation clock of the DA conversion unit, and outputs the measurement signals generated by analog-converting the digital signals using the DA conversion unit to the core wires 1A, 1B, and 1C via the communication port 16.

[0042] The signal processing unit 12 may include a signal generation unit such as a DDS (Direct Digital Synthesizer), and output the measurement signals generated by the signal generation unit to the core wires 1A, 1B, and 1C via the communication port 16. The signal processing unit 12 may output measurement signals to the core wires 1A, 1B, and 1C in a time-division manner.

[0043] The signal processing unit 12 receives a response signal based on the measurement signal from the core wires 1A, 1B, and 1C, and measures the amplitude or phase of the received response signal. The response signal is an example of an electrical signal.

[0044] For example, during the measurement period T, the signal processing unit 12 receives, via the communication port 16, a response signal including the measurement signal output to each core wire 1 and a reflected signal that is the reflected measurement signal from each core wire 1. The signal processing unit 12 measures, for example, the amplitude or phase of the reflected signal. The signal processing unit 12 may measure both the amplitude and phase of the reflected signal.

[0045] More specifically, the signal processing unit 12 includes an AD (Analog to Digital) conversion unit that operates according to sampling timings according to the period of the operation clock. The signal processing unit 12 generates a digital response signal, which is time-series data consisting of N sample values, by sampling the response signal using the AD conversion unit for each core wire 1.

[0046] The signal processing unit 12 generates a digital reflection signal, which is time-series data indicating the reflection signal from the core wire 1, by subtracting, for each sample, the digital signal acquired from the storage unit 15 from the generated digital response signal for each core wire 1. Based on the generated digital reflection signal for each core wire 1, the signal processing unit 12 generates, for example, amplitude data, which is time-series data of the amplitude of the reflection signal, or phase data, which is time-series data of the phase of the reflection signal.

[0047] For example, in accordance with the determination instruction received from the control unit 11, the signal processing unit 12 outputs the measurement signal and receives the response signal during k measurement periods T, and generates k amplitude data or k phase data, each corresponding to the k measurement periods T. k is an integer of 2 or more. Hereinafter, the k amplitude data are simply referred to as k amplitude data, and the k phase data are simply referred to as k phase data. The signal processing unit 12 outputs the generated k amplitude data or k phase data to the calculation processing unit 13. The signal processing unit 12 may generate both the k phase data and the k phase data and output them to the calculation processing unit 13.

[0048] Based on the digital signal acquired from the storage unit 15, the signal processing unit 12 generates first amplitude data, which is time-series data of the amplitude of the measurement signal, or first phase data, which is time-series data of the phase of the measurement signal, and outputs the generated first amplitude data or first phase data to the calculation processing unit 13. The signal processing unit 12 may generate both the first amplitude data and the first phase data and output them to the calculation processing unit 13.

[0049] (Calculation Processing Unit) The calculation processing unit 13 calculates an evaluation value indicating the electrical characteristics of the core wire 1 based on the measurement result by the signal processing unit 12. For example, the calculation processing unit 13 calculates an evaluation value corresponding to each core wire 1. As an example, the calculation processing unit 13 calculates the reflection coefficient of the core wire 1 as the evaluation value. The reflection coefficient is the absolute value of the amplitude ratio or phase difference between the measurement signal and the reflection signal. The reflection coefficient may include the absolute value of the amplitude ratio and the phase difference between the measurement signal and the reflection signal.

[0050] The following describes in detail an example in which the calculation processing unit 13 uses the amplitude ratio between the measured signal and the reflected signal as the evaluation value. For example, for each core wire, the calculation processing unit 13 calculates k reflection coefficients based on the k amplitude data of the reflected signal received by the signal processing unit 12 and the first amplitude data of the measured signal. Hereinafter, each of the k reflection coefficients will also be simply referred to as the k reflection coefficients.

[0051] More specifically, the calculation processing unit 13 calculates a value obtained by dividing the average of N sample values ​​of the amplitude data of the reflected signal by the average of N sample values ​​of the first amplitude data of the measured signal for each core wire 1. Over k measurement periods T, the calculation processing unit 13 calculates k values ​​corresponding to each of the k amplitude data, and calculates k reflection coefficients based on the calculated k values.

[0052] The calculation processing unit 13 stores the calculated data, which represents the k reflection coefficients, in the storage unit 15.

[0053] (Determination Processing Unit) The determination processing unit 14 determines the mechanical load generated in the core wire 1 by fixing the core wire 1, based on the reflection coefficient calculated by the calculation processing unit 13. More specifically, the electrical characteristics of the core wire 1 change when a mechanical load is applied to the core wire 1. The determination processing unit 14 determines the mechanical load generated in the core wire 1 by the installation process, based on the change in the reflection coefficient before and after the installation process of the core wire 1.

[0054] (Determination process) The signal processing unit 12 receives response signals from each of the core wires 1 that have undergone the mounting process, and measures the amplitude or phase of the received response signals. The signal processing unit 12 may also measure both the amplitude and phase of the received response signals.

[0055] The calculation processing unit 13 calculates the reflection coefficient of each core wire 1 that has undergone the installation process based on the measurement results from the signal processing unit 12 by performing the above-described process. The calculation processing unit 13 obtains the reflection coefficient of each core wire before the installation process from, for example, the storage unit 15.

[0056] The determination processing unit 14 determines the mechanical load generated in the core wire 1 by fixing it during the installation process, based on a comparison between the reflection coefficient of the core wire 1 after the installation process, calculated by the calculation processing unit 13, and the reflection coefficient of the core wire 1 before the installation process, obtained by the calculation processing unit 13. For example, the determination processing unit 14 determines the mechanical load generated in the corresponding core wire 1 based on the comparison result for each core wire 1. For example, the determination processing unit 14 identifies the core wire 1 among core wires 1A, 1B, and 1C that has the largest absolute difference between the reflection coefficient of the core wire after the installation process and the reflection coefficient of the core wire before the installation process. The details of the determination process and the manufacturing process of the robot arm 201 will be described below.

[0057] (1) Calculation of the reflection coefficient before wiring Figure 4 is a diagram showing an example of calculating the reflection coefficient before wiring begins using a determination device according to an embodiment of the present disclosure. Referring to Figure 4, the manufacturer of the robot arm 201 connects the second end of the transmission line 151 to the determination device 101 before wiring the transmission line 151. The transmission line 151 is stored in such a way that its electrical characteristics do not change before wiring. For example, the transmission line 151 before wiring is stored wound on a bobbin having a radius of a predetermined value or greater. The transmission line 151 before wiring may also be stored in a straight, extended state.

[0058] The first end of the transmission line 151 is impedance-matched by the termination circuit 131. The first end of the transmission line 151 is connected to the termination circuit 131. For example, if the characteristic impedance of the transmission line 151 is 50Ω, the termination circuit 131 is a 50Ω resistor equal to the characteristic impedance of the transmission line 151. The characteristic impedance of the transmission line 151 may be other than 50Ω. The termination circuit 131 may be a load other than a 50Ω resistor. The first end of the transmission line 151 does not necessarily have to be precisely impedance-matched by the termination circuit 131. The first end of the transmission line 151 does not have to be connected to the termination circuit 131, and may be an open end.

[0059] The manufacturer of the robot arm 201 connects the second end of the transmission line 151 to the determination device 101 and provides the determination device 101 with user input to determine the mechanical load on the core wire 1.

[0060] The control unit 11 receives user input from the manufacturer and outputs a judgment instruction to the signal processing unit 12.

[0061] The signal processing unit 12 receives a determination instruction from the control unit 11 and outputs a measurement signal to the core wire 1 before routing it to the robot arm 201, and receives a response signal. The signal processing unit 12 then outputs k amplitude data and k phase data to the calculation processing unit 13, respectively.

[0062] The calculation processing unit 13 calculates the reflection coefficient of each core wire 1 after the zeroth mounting process. That is, the calculation processing unit 13 calculates the reflection coefficient of each core wire 1 in its initial state before any mounting process has been performed on the robot arm 201. More specifically, the calculation processing unit 13 receives k amplitude data or k phase data from the signal processing unit 12 and calculates k reflection coefficients as described above. The calculation processing unit 13 stores the calculated data M0, which represents the k reflection coefficients, in the storage unit 15. The reflection coefficient of the core wire 1 in its initial state is an example of a second evaluation value. The calculation processing unit 13 may also receive k amplitude data and k phase data from the signal processing unit 12, respectively, and calculate k reflection coefficients as described above.

[0063] (2) Calculation of the reflection coefficient after the first installation process Figure 5 shows an example of calculating the reflection coefficient after the start of wiring by the determination device according to the embodiment of this disclosure. Referring to Figure 5, the manufacturer of the robot arm 201 performs the first installation process of the core wires 1. More specifically, the manufacturer fixes the transmission line 151 using the fixing member 51A. After that, the manufacturer gives the determination device 101 user operations to determine the mechanical load of each core wire 1.

[0064] The control unit 11 receives user input from the manufacturer and outputs a judgment instruction to the signal processing unit 12.

[0065] The signal processing unit 12 receives a determination instruction from the control unit 11 and outputs a measurement signal to each core wire 1 that has undergone the first mounting process, and receives a response signal. The signal processing unit 12 then generates k amplitude data or k phase data and outputs them to the calculation processing unit 13.

[0066] The calculation processing unit 13 calculates the reflection coefficient of each core wire 1 that has undergone the first mounting process. More specifically, the calculation processing unit 13 receives k amplitude data and k phase data from the signal processing unit 12 and calculates k reflection coefficients as described above. The calculation processing unit 13 stores the calculated data M1, which represents the calculated k reflection coefficients, in the storage unit 15. The reflection coefficient of the core wire 1 that has undergone the first mounting process is an example of a first evaluation value or an example of a second evaluation value.

[0067] The calculation processing unit 13 may calculate the reflection coefficient of each core wire 1 after changing the posture of the robot arm 201. For example, the manufacturer sets the posture of the robot arm 201 to a predetermined number of postures and manually changes the posture of the robot arm 201. The control unit 11 outputs multiple judgment instructions to the signal processing unit 12 corresponding to each of the multiple postures. The signal processing unit 12 receives multiple judgment instructions from the control unit 11 and generates k amplitude data or k phase data for each of the multiple postures and outputs them to the calculation processing unit 13. The calculation processing unit 13 calculates k reflection coefficients for each of the multiple postures and stores them in the storage unit 15 as calculated data M1. Instead of the manufacturer manually setting the posture of the robot arm 201 to multiple postures, the judgment device 101 may automatically set the posture of the robot arm 201 to multiple postures. The calculation of the reflection coefficient after the second and subsequent mounting processes is the same.

[0068] (3) The first determination processing unit 13 obtains the calculated data M0 and M1 from the storage unit 15 and outputs the obtained calculated data M0 and M1 to the determination processing unit 14.

[0069] The determination processing unit 14 receives the calculated data M0 and M1 from the calculation processing unit 13 and, based on the comparison result between the reflection coefficient of the core wire 1 in its initial state and the reflection coefficient of the core wire 1 after the first installation process, determines the mechanical load generated in the core wire 1 by fixing the core wire 1 in the first installation process.

[0070] For example, the determination processing unit 14 identifies a core wire 1 among the core wires 1A, 1B, and 1C whose absolute difference between the reflection coefficient shown by calculated data M0 and the reflection coefficient shown by calculated data M1 exceeds a predetermined reference value.

[0071] More specifically, the determination processing unit 14 calculates the average value of the k reflection coefficients shown by the calculated data M0 and the average value of the k reflection coefficients shown by the calculated data M1 for each core wire 1. The determination processing unit 14 calculates the absolute value of the difference between the average value of the k reflection coefficients shown by the calculated data M0 and the average value of the k reflection coefficients shown by the calculated data M1 (hereinafter sometimes abbreviated as "absolute value of the difference") as an indicator of the mechanical load generated in each core wire 1.

[0072] For example, the determination processing unit 14 may identify the core wire 1 among the core wires 1A, 1B, and 1C whose absolute difference value exceeds a predetermined reference value, or whose absolute difference value is the largest.

[0073] Figure 6 shows an example of the average value of the reflection coefficient calculated by the determination processing unit in the determination device according to the embodiment of this disclosure. In Figure 6, the vertical axis represents the average value of the reflection coefficient. In Figure 6, the average value of the k reflection coefficients shown by the calculation data M0 for each core wire 1 is shown as av0, and the average value of the k reflection coefficients shown by the calculation data M1 is shown as av1.

[0074] Figure 7 shows an example of the absolute value of the difference calculated by the determination processing unit in the determination device according to the embodiment of this disclosure for each core wire. In Figure 7, the vertical axis is the absolute value of the difference between the average value of k reflection coefficients shown by calculated data M0 and the average value of k reflection coefficients shown by calculated data M1. Figure 7 shows the absolute value of the difference between the average values ​​av0 and av1 for each core wire 1. Referring to Figure 7, the absolute value of the difference for core wire 1C is the largest. This indicates that among core wires 1A, 1B, and 1C, core wire 1C is the core wire 1 which experiences the greatest mechanical load when the transmission line 151 is fixed using the fixing member 51A.

[0075] Figure 8 shows an example of a determination result notification screen displayed by the determination processing unit in the determination device according to the present disclosure. Referring to Figure 8, the determination processing unit 14 performs a process to display the average value of the reflection coefficient shown by calculated data M0 and the reflection coefficient shown by calculated data M1, and the absolute value of the difference for each core wire. The determination processing unit 14 may also perform a process to display the average value of the reflection coefficient shown by calculated data M0 and the reflection coefficient shown by calculated data M1, or the absolute value of the difference for each core wire.

[0076] More specifically, the determination processing unit 14 creates a determination result notification screen G1 that includes graphs of the average values ​​av0 and av1 of the reflection coefficients of each core wire 1 shown in Figure 6, and a graph of the absolute difference between each core wire 1 shown in Figure 7, and displays the created determination result notification screen G1 on a display device (not shown). For example, the determination processing unit 14 may also perform the process of displaying a determination result notification screen G1 that further shows the core wire 1 with the largest absolute difference.

[0077] For example, the determination processing unit 14 creates graphs of the average values ​​av0 and av1 of the reflection coefficients of each core wire 1 and a graph of the absolute difference between each core wire 1 for each of the multiple orientations, and identifies the core wire 1 with the largest absolute difference. The determination processing unit 14 then processes to display the determination result notification screen G1 for each of the multiple orientations. Alternatively, the determination processing unit 14 may perform the process of displaying a single determination result notification screen G1 that aggregates the graphs and data indicating the core wire 1 with the largest absolute value for all orientations.

[0078] (4) Adjustment work and re-determination For example, the manufacturer of the robot arm 201 performs adjustment work to adjust the fixing position of the core wire 1 in the first installation process according to the determination result of the mechanical load generated in each core wire 1. For example, if the manufacturer refers to the determination result notification screen G1 and recognizes that the mechanical load generated in the core wire 1 is greater than or equal to a predetermined value in at least one of the multiple postures of the robot arm 201, the manufacturer changes the relative position of the fixing member 51A and the transmission line 151 so that the mechanical load generated in the core wire 1 does not exceed the predetermined value.

[0079] Specifically, the manufacturer changes the excess length of the transmission line 151 between the fixing member 51A and the termination circuit 131 during the adjustment process. For example, the manufacturer shifts the position in the longitudinal direction of the transmission line 151 where the fixing member 51A is used to fix the transmission line 151 to the robot arm 201. The manufacturer may also change the position of the fixing member 51 relative to the body of the robot arm 201 during the adjustment process without changing the excess length of the transmission line 151 between the fixing member 51A and the termination circuit 131. The manufacturer may also change the position in which the fixing member 51A contacts the circumferential surface of the transmission line 151 during the adjustment process by twisting the transmission line 151.

[0080] In this way, by changing the relative position between the fixing member 51A and the transmission line 151, the mechanical load generated in each core wire 1 of the transmission line 151 changes. Therefore, if a large mechanical load is occurring in a particular core wire 1, the mechanical load in that core wire 1 can be alleviated by performing an adjustment process.

[0081] The manufacturer may re-evaluate the mechanical load on each core wire 1 after completing the adjustment work. That is, the calculation processing unit 13 calculates the reflection coefficient of each core wire 1 after the adjustment work, as in the calculation of the reflection coefficient after the first installation process described above, and stores the calculated data M1x showing the k reflection coefficients in the storage unit 15. The reflection coefficient of each core wire 1 after the adjustment work is an example of a first evaluation value or an example of a second evaluation value. The determination processing unit 14 receives the calculated data M0 and M1x from the calculation processing unit 13, as in the first determination process described above, and determines the mechanical load generated in the core wire 1 after the adjustment work based on the comparison result between the reflection coefficient of each core wire 1 in the initial state and the reflection coefficient of the core wire 1 after the adjustment work.

[0082] Figure 9 shows an example of the average value of the reflection coefficient calculated by the determination processing unit in the determination device according to the present disclosure for each core wire 1 after the adjustment work. In Figure 9, the vertical axis represents the average value of the reflection coefficient. In Figure 9, the average value of the k reflection coefficients shown in the calculation data M0 for each core wire 1 is shown as av0, and the average value of the k reflection coefficients shown in the calculation data M1 for each core wire 1 after the adjustment work is shown as av1x.

[0083] Figure 10 shows an example of the absolute value of the difference calculated by the determination processing unit in the determination device according to the present disclosure for each core wire 1 after the adjustment work. In Figure 10, the vertical axis represents the absolute value of the difference. Referring to Figures 7 and 10, the absolute value of the difference of the core wire 1C after the adjustment work in Figure 10 is smaller than the absolute value of the difference of the core wire 1C in Figure 7. This indicates that the mechanical load applied to the core wire 1C has been reduced by the adjustment work.

[0084] Figure 11 is a diagram showing an example of a judgment result notification screen displayed by the judgment processing unit in the judgment device according to the embodiment of this disclosure. Referring to Figure 11, the judgment processing unit 14 performs the process of displaying a judgment result notification screen G1x that displays the average value of the reflection coefficient shown by the calculated data M0 and the average value of the reflection coefficient shown by the calculated data for each core wire 1 after the adjustment work, as shown in Figure 8 above. The judgment processing unit 14 may also perform the process of displaying a judgment result notification screen G1x that further shows the core wire 1 with the largest absolute value.

[0085] For example, the manufacturer of the robot arm 201, by referring to the judgment result notification screen G1x, recognizes that the mechanical load on the core wire 1C has been reduced to below a predetermined value in all orientations, and decides not to perform any further adjustment work on the fixing position using the fixing member 51A.

[0086] (5) Calculation of the reflection coefficient after the second mounting process Figure 12 is a diagram showing an example of the calculation of the reflection coefficient after the start of wiring by the determination device according to the embodiment of this disclosure. Referring to Figure 12, the manufacturer of the robot arm 201 performs the second mounting process of the core wires 1. More specifically, the manufacturer fixes the transmission line 151 using the fixing member 51B. After that, the manufacturer determines the mechanical load of each core wire 1. That is, the calculation processing unit 13 calculates the reflection coefficient of each core wire 1 after the second mounting process, as in the calculation of the reflection coefficient after the first mounting process described above, and stores the calculated data M2 showing the k reflection coefficients in the storage unit 15. The reflection coefficient of each core wire 1 that has undergone the second mounting process is an example of a first evaluation value or an example of a second evaluation value. The determination processing unit 14 determines the mechanical load generated in the core wire 1 after the second installation process based on the comparison result between the reflection coefficient of each core wire 1 after the first installation process (or the reflection coefficient of each core wire 1 after readjustment if adjustment work was performed to adjust the fixed position in the first installation process) and the reflection coefficient of the core wire 1 after the second installation process, as described in the first determination process above. The determination processing unit 14 may also perform a process to display a determination result notification screen on a display device (not shown) that displays at least one of the reflection coefficients shown by calculated data M1 or M1x and the average value and absolute value of the difference between the reflection coefficients shown by calculated data M2. The manufacturer may, by referring to the determination result notification screen, recognize that the mechanical load generated in each core wire 1 is less than a predetermined value in all positions and decide not to perform the adjustment work. The manufacturer may, recognize that the mechanical load generated in each core wire 1 is greater than or equal to a predetermined value and perform adjustment work to adjust the fixed position of the core wire 1 in the second installation process, as described in the adjustment work and re-determination after the first installation process above, and re-determine the mechanical load generated in each core wire after the adjustment work.

[0087] (7) Calculation of the reflection coefficient after the third mounting process Figure 13 is a diagram showing an example of the calculation of the reflection coefficient after the start of wiring by the determination device according to the embodiment of this disclosure. Referring to Figure 13, the manufacturer of the robot arm 201 performs the third mounting process of the core wire 1. More specifically, the manufacturer fixes the transmission line 151 using the fixing member 51C. After that, the manufacturer determines the mechanical load of each core wire 1 after the third mounting process. That is, the calculation processing unit 13 calculates the reflection coefficient of each core wire 1 after the third mounting process, as in the calculation of the reflection coefficient after the first mounting process described above, and stores the calculated data M3 showing the k reflection coefficients in the storage unit 15. The reflection coefficient of each core wire 1 that has undergone the third mounting process is an example of a first evaluation value or an example of a second evaluation value. The determination processing unit 14 determines the mechanical load generated in the core wire 1 after the third installation process based on the comparison result between the reflection coefficient of each core wire 1 after the second installation process (or the reflection coefficient of each core wire 1 after readjustment if adjustment work was performed to adjust the fixed position in the second installation process) and the reflection coefficient of the core wire 1 after the third installation process, as in the first determination process described above. The determination processing unit 14 may also perform a process to display a determination result notification screen on a display device (not shown) that displays at least one of the average value and absolute value of the difference between the reflection coefficient shown by the calculated data for each core wire 1 after the second installation process (or the reflection coefficient of each core wire 1 after readjustment if adjustment work was performed to adjust the fixed position in the second installation process) and the reflection coefficient shown by the calculated data for each core wire 1 after the third installation process. The manufacturer may refer to the determination result notification screen and recognize that the mechanical load generated in each core wire 1 is less than a predetermined value in all positions, and decide not to perform the adjustment work. The manufacturer may recognize that the mechanical load generated in each core wire 1 is greater than or equal to a predetermined value, and perform adjustment work to adjust the fixing position of the core wire 1 in the third installation process, as described above for the adjustment work and re-evaluation after the first installation process, and re-evaluate the mechanical load generated in each core wire after the adjustment work.

[0088] In this disclosure, the determination processing unit 14 determines the mechanical load generated in the core wire 1 after the installation process based on a comparison between the reflection coefficient of the core wire 1 after the installation process and the reflection coefficient of the core wire 1 immediately before the installation process is performed, as described above. That is, when the installation process is performed once, the determination processing unit 14 determines the mechanical load generated in the core wire 1 after the installation process based on a comparison between the reflection coefficient of the core wire 1 before the installation process is performed (initial state) and the reflection coefficient of the core wire 1 after the installation process is performed. When the installation process is performed multiple times, the determination processing unit 14 determines the mechanical load generated in the core wire 1 after the installation process based on a comparison between the reflection coefficient of the core wire 1 after the nth (where n is an integer of 2 or more)th installation process and the reflection coefficient of the core wire 1 after the (n-1)th installation process. This disclosure is not limited thereto. For example, the determination processing unit 14 may determine the mechanical load generated in the core wire 1 after the second installation process based on a comparison between the reflection coefficient of each core wire 1 in the initial state and the reflection coefficient of the core wire 1 after the second installation process. For example, the determination processing unit 14 may determine the mechanical load generated in the core wire 1 after the third installation process based on a comparison between the reflection coefficient of each core wire 1 in its initial state, the reflection coefficient of each core wire 1 after the first installation process, or the reflection coefficient of each core wire 1 after adjustment of the fixing position in the first installation process, and the reflection coefficient of the core wire 1 after the third installation process. In other words, the determination processing unit 14 can determine the mechanical load generated in the core wire 1 after the installation process based on a comparison between the reflection coefficient of the core wire 1 after the installation process and the reflection coefficient of the core wire 1 before the installation process was performed.

[0089] In this disclosure, the determination processing unit 14 determines, as described above, the mechanical load generated in the core wire 1 during each installation process, but is not limited to this. For example, if the installation process is performed multiple times, the determination processing unit 14 may determine the mechanical load generated in the installed core wire 1 after all or some of the installation processes have been performed.

[0090] The manufacturer states that the transmission line 151 is fixed using fixing member 51A in the first installation step, fixed using fixing member 51B in the second installation step, and fixed using fixing member 51C in the third installation step, but is not limited to this. The manufacturer may fix the transmission line 151 using fixing member 51C in the first installation step, fixed using fixing member 51B in the second installation step, and fixed using fixing member 51A in the third installation step. In other words, instead of fixing the transmission line 151 from the part of the robot arm 201 closest to the end effector 202, manufacturer Mf may fix the transmission line 151 from the part of the robot arm 201 closest to the communication device 121. In this case, the transmission line 151 before routing may be stored wound on a bobbin. The manufacturer may fix the transmission line 151 using fixing member 51B in the first installation step, fix the transmission line 151 using fixing member 51A in the second installation step, and fix the transmission line 151 using fixing member 51C in the third installation step.

[0091] The manufacturer may route multiple transmission lines 151 to the robot arm 201. In this case, the manufacturer fixes the multiple transmission lines 151 together using a fixing member 51. The determination device 101 outputs measurement signals to multiple core wires 1 corresponding to each of the multiple transmission lines 151 and determines the mechanical load generated in the multiple core wires 1. For example, in adjustment work, the manufacturer may change the relative positions of the multiple transmission lines 151 in addition to, or instead of, changing the excess length of the transmission lines 151.

[0092] [Operation Flow] Figure 14 is a flowchart that shows an example of the operation procedure when the determination device according to the embodiment of this disclosure performs determination processing. For example, the determination device 101 receives a user operation for performing determination processing from the manufacturer of the robot arm 201 and executes the process shown in Figure 14.

[0093] Referring to Figure 14, first, the determination device 101 outputs measurement signals to the core wires 1A, 1B, and 1C that have undergone the mounting process for each of the multiple orientations (step S11).

[0094] Next, the determination device 101 receives response signals from the core wires 1A, 1B, and 1C that have undergone the mounting process for each orientation (step S12).

[0095] Next, the determination device 101 measures the amplitude or phase of the response signal for each posture. More specifically, the determination device 101 generates k amplitude data points of the reflected signal or k phase data points of the reflected signal for each posture (step S13). The determination device 101 may measure both the amplitude and phase of the response signal for each posture.

[0096] Next, the determination device 101 calculates k reflection coefficients for each core wire 1 that has undergone the mounting process, for each orientation, based on the k amplitude data or k phase data generated. The determination device 101 stores the calculated data showing the reflection coefficients in the storage unit 15 (Step S14).

[0097] Next, the determination device 101 determines the mechanical load generated in the core wire 1 by fixing it during the installation process, based on a comparison between the reflection coefficient of each core wire 1 after the installation process and the reflection coefficient of each core wire 1 before the installation process for each orientation. More specifically, the determination device 101 calculates the absolute value of the difference between the average reflection coefficient after the installation process and the average reflection coefficient before the installation process for each core wire 1 as an indicator of the mechanical load generated in the core wire 1 (step S15).

[0098] Next, the determination device 101 performs a process to display the reflection coefficient of each core wire 1 that has undergone the mounting process and the reflection coefficient of each core wire 1 before the mounting process for each orientation (step S16). The determination device 101 may also perform a process to display at least one of the reflection coefficient of each core wire 1 that has undergone the mounting process and the average value and absolute difference of the reflection coefficients of each core wire 1 that has undergone the mounting process for each orientation.

[0099] Figure 15 is a flowchart showing an example of the operation procedure when manufacturing a robot arm according to the embodiment of this disclosure.

[0100] Referring to Figure 15, first, the manufacturer of the robot arm 201 performs the process of attaching the core wire 1. More specifically, the manufacturer fixes the transmission line 151 using the fixing member 51. Then, the manufacturer provides the determination device 101 with user input to determine the mechanical load on the core wires 1A, 1B, and 1C (step S31).

[0101] Next, the determination device 101 executes the determination process shown in Figure 14 according to the user's operation (step S32).

[0102] Next, if the mechanical load on each core wire 1 in all positions is less than a predetermined value (YES in step S33) and the routing of the core wires 1 is not complete (NO in step S35), the manufacturer repeats the process from step S31 to step S35.

[0103] On the other hand, if the mechanical load generated in the core wire 1 in at least one of the multiple positions is greater than or equal to a predetermined value (NO in step S33), the manufacturer performs an adjustment operation and gives the determination device 101 a user operation to re-determine the mechanical load of the core wires 1A, 1B, and 1C (step S34).

[0104] The manufacturer repeats the process from step S32 to step S34 in all positions until the mechanical load on the core wire 1 falls below a predetermined value.

[0105] The manufacturer terminates the operation when, in all positions, the mechanical load on the core wire 1 falls below a predetermined value (YES in step S33) and the routing of the core wire 1 is completed (YES in step S35).

[0106] In the determination device 101 according to the embodiment of this disclosure, the signal processing unit 12 receives a response signal from the core wire 1 that includes a measurement signal and a reflected signal which is the signal that has been reflected from the measurement signal, but is not limited thereto. The signal processing unit 12 may also receive a response signal that does not include a measurement signal. That is, the signal processing unit 12 may receive a reflected signal as a response signal. More specifically, for example, the signal processing unit 12 outputs a measurement signal to the core wire 1 via a directional coupler and a communication port 16. The signal processing unit 12 receives a response signal that does not include a measurement signal from the core wire 1 via the communication port 16 and the directional coupler.

[0107] In the determination device 101 according to the embodiment of this disclosure, the signal processing unit 12 generates a digital reflection signal indicating the reflection signal from each core wire 1 by subtracting a digital signal from a digital response signal, but is not limited to this. The signal processing unit 12 may generate an analog signal indicating the reflection signal by subtracting a measurement signal from the response signal, and then generate a digital reflection signal by converting the generated analog signal to digital.

[0108] In the determination device 101 according to the embodiment of this disclosure, the signal processing unit 12 receives a response signal from the core wire 1 that includes a signal reflected from the measurement signal output to the core wire 1, but is not limited thereto. The signal processing unit 12 may also be configured to receive a return signal of the measurement signal from another core wire 1 as a response signal.

[0109] In the determination device 101 according to the embodiment of this disclosure, the calculation processing unit 13 calculates the reflection coefficient as an evaluation value, but is not limited thereto. Instead of the reflection coefficient, the calculation processing unit 13 may calculate the impedance of each core wire 1, the reactance of each core wire 1, or the resistance of each core wire 1 as an evaluation value. The calculation processing unit 13 may use at least one of the above-described phase data and amplitude data to calculate at least one of the phase difference and amplitude difference between the measured signal and the reflected signal in each core wire 1. The calculation processing unit 13 may be a vector network analyzer or a digital multimeter, and may calculate the S-parameter of each core wire 1 as an evaluation value.

[0110] The calculation processing unit 13 may calculate the capacitance of each core wire 1 as an evaluation value if the second end of the transmission line 151 is open.

[0111] Furthermore, if the second end of the transmission line 151 is connected to a ground node, the calculation processing unit 13 may calculate the inductance of each core wire 1 as an evaluation value.

[0112] In the determination device 101 according to the embodiment of this disclosure, the signal processing unit 12 outputs a measurement signal to the core wire 1, but is not limited to this. The signal processing unit 12 does not have to output a measurement signal. In this case, instead of a response signal, the signal processing unit 12 receives a communication signal transmitted from a communication device connected to the transmission line 151 and measures the amplitude and phase of the received communication signal. The calculation processing unit 13 then calculates, for example, the amplitude of the communication signal as an evaluation value.

[0113] In the determination device 101 according to the embodiment of this disclosure, the calculation processing unit 13 calculates the reflection coefficient of each core wire 1 in its initial state, but is not limited to this. The calculation processing unit 13 does not have to calculate the reflection coefficient of each core wire 1 in its initial state. In this case, the determination processing unit 14 does not determine the mechanical load generated in the core wire 1 by fixing the core wire 1 in the first installation process, but determines the mechanical load generated in the core wire 1 by fixing the core wire 1 in the second and subsequent installation processes.

[0114] Instead of calculating the reflection coefficient of each core wire 1 in its initial state based on the first amplitude data and k amplitude data, the calculation processing unit 13 may accept the reflection coefficient of each core wire 1 in its initial state from the manufacturer. In this case, the calculation processing unit 13 may accept measured or theoretical values ​​of the reflection coefficient of the core wire 1 routed in the robot arm 201, or it may accept measured or theoretical values ​​of the reflection coefficient of a different core wire 1 of the same model number as the core wire 1.

[0115] In the determination device 101 according to the embodiment of this disclosure, the signal processing unit 12 outputs a measurement signal to the core wires 1A, 1B, and 1C, and receives response signals from the core wires 1A, 1B, and 1C, respectively, but is not limited to this. The signal processing unit 12 may output a measurement signal to a single core wire 1 and receive a response signal from the core wire 1. In this case, the calculation processing unit 13 calculates the reflection coefficient of the core wire 1. The determination processing unit 14 then determines the mechanical load generated in the core wire 1 by fixing the core wire 1.

[0116] In the determination device 101 according to the embodiment of this disclosure, the determination processing unit 14 calculates the average value of k reflection coefficients, but is not limited to this. Instead of the average value of the reflection coefficients, the determination processing unit 14 may calculate other statistical values ​​that show the distribution of the reflection coefficients, such as the variance of the k reflection coefficients, in addition to the average value. Alternatively, the determination processing unit 14 may perform the determination process using only one reflection coefficient without calculating statistical values ​​for the k reflection coefficients.

[0117] In the determination device 101 according to the embodiment of this disclosure, the determination processing unit 14 identifies, but is not limited to, a core wire 1 among the core wires 1A, 1B, and 1C whose absolute difference between the reflection coefficient of the core wire that has undergone the installation process and the reflection coefficient of the core wire before the installation process is performed exceeds a predetermined reference value. The determination processing unit 14 does not have to identify a core wire 1 whose absolute difference exceeds a predetermined reference value.

[0118] In the determination device 101 according to the embodiment of this disclosure, the determination processing unit 14 performs the process of displaying a determination result notification screen, but is not limited to this. The determination processing unit 14 does not have to perform the process of displaying a determination result notification screen.

[0119] The embodiments described above should be considered in all respects to be illustrative and not restrictive. The scope of this disclosure is indicated by the claims rather than the above description, and all modifications within the meaning and scope of the claims are intended to be included.

[0120] Each process (each function) in the above-described embodiment is composed of a processing circuit (Circuitry) including one or more processors. The processing circuit may consist of an integrated circuit, etc., which combines one or more memories, various analog circuits, and various digital circuits in addition to the one or more processors. The one or more memories store programs (instructions) that cause the one or more processors to execute each of the above processes. The one or more processors may execute each of the above processes according to the programs read from the one or more memories, or they may execute each of the above processes according to logic circuits that have been designed in advance to execute each of the above processes. The above-mentioned processor may be various processors suitable for computer control, such as a CPU (Central Processing Unit), GPU (Graphics Processing Unit), DSP (Digital Signal Processor), FPGA (Field Programmable Gate Array), and ASIC (Application Specific Integrated Circuit). Furthermore, multiple physically separated processors may cooperate with each other to perform the above-mentioned processes. For example, processors installed in multiple physically separated computers may cooperate with each other via a network such as a LAN (Local Area Network), WAN (Wide Area Network), and the Internet to perform the above-mentioned processes. The above program may be installed on the above memory via the above network from an external server device, or it may be distributed on a recording medium such as a CD-ROM (Compact Disc Read Only Memory), DVD-ROM (Digital Versatile Disc Read Only Memory), or semiconductor memory, and then installed on the above memory from the above recording medium.

[0121] The above description includes the following features: [Addendum 1] A determination device comprising: a calculation unit that calculates a first evaluation value indicating the electrical characteristics of a target line based on the electrical signal of the target line on which the installation process has been performed; an acquisition unit that acquires a second evaluation value indicating the electrical characteristics of the target line before the installation process has been performed; and a determination unit that determines the mechanical load generated in the target line during the installation process based on a comparison result of the first evaluation value and the second evaluation value, wherein the determination unit determines the mechanical load based on a comparison result of the distribution of the first evaluation value and the distribution of the second evaluation value.

[0122] [Note 2] A determination device comprising a processing circuit, wherein the processing circuit calculates a first evaluation value indicating the electrical characteristics of the target line based on the electrical signal of the target line on which the installation process has been performed, obtains a second evaluation value indicating the electrical characteristics of the target line before the installation process has been performed, and determines the mechanical load generated in the target line during the installation process based on the comparison result of the first evaluation value and the second evaluation value.

[0123] This disclosure can be configured not only as a determination device equipped with the characteristic processing steps described above, but also as a program for causing a computer to execute the steps of such characteristic processing. Furthermore, this disclosure can be configured as a semiconductor integrated circuit that implements part or all of the determination device, or as a system including the determination device.

[0124] 1, 1A, 1B, 1C Core wire (target wire) 2 Sheath 11 Control unit 12 Signal processing unit (receiving unit, measurement unit) 13 Calculation processing unit (calculation unit, acquisition unit) 14 Judgment processing unit (judgment unit, display unit) 15 Storage unit 16 Communication port 51, 51A, 51B, 51C Fixing member 101 Judgment device 111, 121 Communication device 131 Termination circuit 151 Transmission line 201 Robot arm 202 End effector 301 Communication system G1, G1x Judgment result notification screen av0, av1, av1x Average value of reflection coefficient

Claims

1. A determination device comprising: a calculation unit that calculates a first evaluation value indicating the electrical characteristics of a target line based on the electrical signal of the target line on which the installation process has been performed; an acquisition unit that acquires a second evaluation value indicating the electrical characteristics of the target line before the installation process has been performed; and a determination unit that determines the mechanical load generated in the target line during the installation process based on the comparison result of the first evaluation value and the second evaluation value.

2. The determination device according to claim 1, wherein when the installation process is performed once, the acquisition unit acquires an evaluation value indicating the electrical characteristics of the target line for which the installation process has not been performed as the second evaluation value.

3. The determination device according to claim 1, wherein, when the installation process is performed multiple times, the calculation unit calculates an evaluation value indicating the electrical characteristics of the target line as the first evaluation value based on the electrical signal of the target line after the nth (where n is an integer of 2 or more) installation process, and the acquisition unit acquires an evaluation value indicating the electrical characteristics of the target line before the nth installation process is performed as the second evaluation value.

4. The determination device according to claim 3, wherein, when the installation process is performed multiple times, the acquisition unit acquires an evaluation value indicating the electrical characteristics of the target line for which the (n-1)th installation process has been performed as the second evaluation value.

5. The determination device according to any one of claims 1 to 4, wherein the determination device further comprises a measuring unit, the measuring unit measures at least one of the amplitude and phase of an electrical signal received from the target line, and the calculation unit calculates the first evaluation value based on the measurement result of at least one of the amplitude and phase.

6. The determination device according to any one of claims 1 to 5, further comprising a storage unit, wherein the second evaluation value is stored in the storage unit, and the acquisition unit acquires the second evaluation value from the storage unit.

7. The determination device according to any one of claims 1 to 6, wherein there are multiple target lines, and the mechanical load is determined for each of the target lines.

8. The determination device according to any one of claims 1 to 7, wherein the determination unit identifies the target line in which the absolute value of the difference between the first evaluation value and the second evaluation value exceeds a predetermined reference value.

9. The determination device according to claim 8, further comprising a display unit that performs processing to display the first evaluation value and the second evaluation value, the absolute value of the difference between the first evaluation value and the second evaluation value, or the first evaluation value, the second evaluation value, and the absolute value of the difference between the first evaluation value and the second evaluation value.

10. A determination method comprising: measuring at least one of the amplitude and phase of an electrical signal of a target line on which an installation process has been performed; calculating a first evaluation value indicating the electrical characteristics of the target line based on the measurement results of at least one of the amplitude and phase; obtaining a second evaluation value indicating the electrical characteristics of the target line before the installation process is performed; and determining the mechanical load generated in the target line during the installation process based on the comparison result of the first evaluation value and the second evaluation value.

11. The determination method according to claim 10, further comprising the step of adjusting the mounting position of the target line in the mounting process if the absolute value of the difference between the first evaluation value and the second evaluation value exceeds a predetermined reference value.

12. A method for manufacturing an electrical device comprising a target wire on which an installation process is performed, the method for manufacturing the electrical device comprising: performing the installation process on the target wire; measuring at least one of the amplitude and phase of the electrical signal of the target wire on which the installation process has been performed; calculating a first evaluation value indicating the electrical characteristics of the target wire based on the measurement results of at least one of the amplitude and phase; obtaining a second evaluation value indicating the electrical characteristics of the target wire before the installation process is performed; determining the mechanical load generated on the target wire by performing the installation process based on the comparison result of the first evaluation value and the second evaluation value; and adjusting the installation position of the target wire in the installation process according to the determination result of the mechanical load.

13. A method for manufacturing an electrical device according to claim 12, wherein the mechanical load is determined by comparing the absolute value of the difference between the first evaluation value and the second evaluation value with a predetermined reference value.

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