Robot hand, robot device and method of manufacturing robot hand
A robot hand includes a finger unit that is in contact with an object. The finger unit includes: a first member in which a tip portion and a base portion connected to the tip portion are formed as a single member; and a second member that covers a surface of the first member.
1. A robot hand comprising:
a finger unit that is in contact with an object,
wherein the finger unit includes:
a first member in which a tip portion and a base portion connected to the tip portion are formed as a single member;
a second member that covers a surface of the first member,
wherein the first member includes a first chamber that accommodates a predetermined functional element relating to a contact operation with the object, and the first chamber is sealed by the first member and the second member, and
wherein a through hole through which a wiring connected to the functional element passes is formed in the base portion, and
the through hole is covered with the second member.
2. The robot hand according to claim 1 ,
wherein the functional element is a pressure sensor that detects pressure that acts on the finger unit by contact with the object.
3. The robot hand according to claim 1 ,
wherein the second member is provided to be elastically deformable, and
a second chamber that communicates with the first chamber is provided between the second member and the first member.
4. The robot hand according to claim 1 ,
wherein the first member has rigidity with respect to at least pressure that acts on the finger unit by contact with the object.
5. The robot hand according to claim 1 , further comprising:
a support portion that supports a connection portion that connects the tip portion and the base portion of the finger unit so that the finger unit is rotatable in a predetermined direction; and
an elastic portion that connects the support portion and the base portion and gives an elastic force to the finger unit in a predetermined direction.
6. The robot hand according to claim 1 ,
wherein a plurality of finger units are provided, and
the plurality of finger units are capable of holding the object.
7. A robot device comprising:
a robot hand having a finger unit that is in contact with an object; and
a multi-axial arm that supports the robot hand,
wherein the finger unit includes:
a first member in which a tip portion and a base portion connected to the tip portion are formed as a single member,
a second member that covers a surface of the first member
wherein the first member includes a first chamber that accommodates a predetermined functional element relating to a contact operation with the object, and the first chamber is sealed by the first member and the second member, and
wherein a through hole through which a wiring connected to the functional element passes is formed in the base portion, and
the through hole is covered with the second member.
8. The robot device according to claim 7 ,
wherein a plurality of multi-axial arms are provided.
9. A robot device comprising:
a plurality of robot hands;
at least one of the plurality of robot hands includes a finger unit that is in contact with an object, the finger unit including
a first member in which a tip portion and a base portion connected to the tip portion are formed as a single member,
a second member that covers a surface of the first member,
wherein the first member includes a first chamber that accommodates a predetermined functional element relating to a contact operation with the object, and the first chamber is sealed by the first member and the second member; and
a plurality of multi-axial arms that support the plurality of robot hands, and
wherein a through hole through which a wiring connected to the functional element passes is formed in the base portion, and
the through hole is covered with the second member.
10. A method of manufacturing a robot hand, comprising:
molding a surface member that is provided on a surface of a finger unit that is in contact with an object;
arranging a first member inside the surface member so that the first member is covered with the molded surface member and a tip portion of the first member and a base portion thereof connected to the tip portion are formed as a single member; and
retaining a predetermined functional element relating to a holding operation of the object in the first member after the first member is arranged inside the surface member,
wherein a through hole through which a wiring connected to the functional element passes is formed in the base portion, and
the through hole is covered with the surface member.
11. The method according to claim 10 , further comprising:
sealing the first member after the functional element is retained.