Robot hand, robot apparatus, and method of producing electronic apparatus
A robot hand according to an embodiment of the present technology includes a finger unit and a guide member. The finger unit is capable of holding a flexible linear member such that the linear member is slidable in a longitudinal direction of the linear member, the linear member being a linear member whose one end is fixed. The guide member is mounted on the finger unit, and includes a guide section that guides the linear member to a predetermined position.
1. A robot hand, comprising:
a finger unit that is capable of holding a flexible linear member such that the linear member is slidable in a longitudinal direction of the linear member, the linear member being a linear member whose one end is fixed;
a guide member that is mounted on the finger unit, and includes a guide section that guides the linear member to a predetermined position; and
an elastic member that is mounted between the finger unit and the guide member, wherein the guide member is joined to the finger unit by the elastic member.
2. The robot hand according to claim 1 , further comprising:
a sensor that detects a deformation amount of the elastic member; and
a control section that outputs a control signal to the finger unit according to an output from the sensor, the control signal controlling a holding force of the finger unit with respect to the linear member.
3. The robot hand according to claim 1 , wherein the elastic member is formed of a plate spring.
4. The robot hand according to claim 1 , wherein the finger unit includes a first finger section and a second finger section, and wherein the finger unit is capable of holding the linear member between the first finger section and the second finger section.
5. The robot hand according to claim 4 , wherein the guide member is joined to the first finger section by the elastic member.
6. The robot hand according to claim 5 , wherein the guide section has a groove shape.
7. The robot hand according to claim 6 , wherein an opening of the groove shape is oriented towards the second finger section.
8. The robot hand according to claim 5 , wherein the elastic member is a plate spring member, wherein the first and second finger sections move relative to one another along an X-axis direction, and wherein the elastic member is displaceable along the X-axis direction.
9. The robot hand according to claim 4 , further comprising:
a drive mechanism, wherein the drive mechanism operates to open or close the first and second finger sections.
10. The robot hand according to claim 4 , further comprising:
a pair of pads, wherein a first one of the pads is fixed to an inner surface of the first finger section, and wherein a second one of the pads is fixed to an inner surface of the second finger section.
11. A robot hand, comprising:
a finger unit that is capable of holding a flexible linear member such that the linear member is slidable in a longitudinal direction of the linear member, the linear member being a linear member whose one end is fixed;
a guide member that is mounted on the finger unit, and includes a guide section that guides the linear member to a predetermined position;
an elastic member that is mounted between the finger unit and the guide member; and
a slide unit that supports the elastic member, and is capable of changing a relative distance between the finger unit and the guide member.
12. The robot hand according to claim 11 , further comprising:
a sensor that detects a deformation amount of the elastic member; and
a control section that outputs a control signal to the finger unit according to an output from the sensor, the control signal controlling a holding force of the finger unit with respect to the linear member.
13. The robot hand according to claim 11 , wherein
the elastic member is formed of a plate spring.
14. The robot hand according to claim 11 , wherein the finger unit includes a first finger section and a second finger section, and wherein the finger unit is capable of holding the linear member between the first finger section and the second finger section.
15. The robot hand according to claim 14 , further comprising:
a drive mechanism, wherein the drive mechanism operates to open or close the first and second finger sections.
16. The robot hand according to claim 14 , further comprising:
a pair of pads, wherein a first one of the pads is fixed to an inner surface of the first finger section, and wherein a second one of the pads is fixed to an inner surface of the second finger section.
17. The robot hand according to claim 14 , wherein the guide section has a groove shape.
18. The robot hand according to claim 17 , wherein an opening of the groove shape is oriented towards the second finger section.
19. A method of producing an electronic apparatus that includes a flexible linear member whose one end is fixed, and a plurality of hooking sections that is provided along a wiring route of the linear member to hook the linear member, the method comprising:
holding the linear member using a finger unit of a robot hand;
bringing a portion of the linear member into contact with a surface of the electronic apparatus, the portion of the linear member being supported by a guide member of the robot hand;
adjusting a holding force of the finger unit to a first holding force with which the linear member is slidable in a longitudinal direction of the linear member, and moving the guide member while feeding the linear member; and
adjusting the holding force of the finger unit to a second holding force that is stronger than the first holding force, and moving the guide member in a direction in which the linear member is hooked on a hooking section.