CN112605998A - Electronic skin main module, sub-module, system, mechanical arm and robot - Google Patents
Electronic skin main module, sub-module, system, mechanical arm and robot Download PDFInfo
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- CN112605998A CN112605998A CN202011525037.8A CN202011525037A CN112605998A CN 112605998 A CN112605998 A CN 112605998A CN 202011525037 A CN202011525037 A CN 202011525037A CN 112605998 A CN112605998 A CN 112605998A
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- 239000004020 conductor Substances 0.000 claims abstract description 97
- 238000001514 detection method Methods 0.000 claims description 149
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- 238000012360 testing method Methods 0.000 claims description 9
- 238000000034 method Methods 0.000 claims description 3
- 230000008569 process Effects 0.000 claims description 2
- 238000013459 approach Methods 0.000 abstract description 22
- 238000004891 communication Methods 0.000 description 15
- 230000010355 oscillation Effects 0.000 description 10
- 239000003990 capacitor Substances 0.000 description 7
- 238000010586 diagram Methods 0.000 description 7
- 230000006378 damage Effects 0.000 description 6
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- 208000027418 Wounds and injury Diseases 0.000 description 5
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- 230000009471 action Effects 0.000 description 4
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- 239000000463 material Substances 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
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Abstract
The invention relates to an electronic skin main module, a sub-module, a system, a mechanical arm and a robot. The main module interface part enables the electronic skin main module to form a modularized electronic skin device, the standardized main module interface part can be conveniently detachably mounted with an external device, the electronic skin device can be conveniently formed into an independent device and mounted at a certain position of the external device, the external device has a function of detecting the approach of a conductor, and active avoidance measures are taken according to electric signals of the approach of the conductor and the external device. Thereby avoiding interference of the external equipment with the conductor at the position during operation.
Description
Technical Field
The invention relates to an electronic skin main module, a sub-module, a system, a mechanical arm and a robot, and belongs to the technical field of robot control.
Background
At present, some mechanical equipment such as robots, floor sweepers, balance cars, bumper cars or gantry cranes are increasingly provided with electronic skins, so that when a human body such as a human hand is detected to approach or contact the surface of the mechanical equipment, an active avoiding action is taken to avoid action interference of the human body and avoid injury to the human body. When some mechanical equipment works, some exposed parts of the mechanical equipment are limited by traditional electronic skin installation and are not provided with electronic skin, for example, when a robot works, the tail end of a tool such as a clamping jaw is not provided with the electronic skin, and the parts have the chance of contacting a human body, so that the problems of human interference or human body injury are also caused.
Disclosure of Invention
The invention aims to solve the technical problem that the electronic skin of the existing robot is only arranged on the surface of a mechanical arm, and the tail end of the robot is not provided with the electronic skin, so that the robot is interfered with a human body and is damaged.
Specifically, the invention discloses a modular electronic skin primary module, comprising:
the electrode can form a capacitor with an external conductor which is close to the electrode;
the detection circuit board is electrically connected with the electrode so as to detect the distance between the electrode and the external conductor or the change of the distance by utilizing the capacitance between the electrode and the external conductor or the change of the capacitance, and obtain an electric signal representing the distance between the electrode and the external conductor or the change of the distance;
and the first interface part of the main module is electrically connected with the detection circuit board so as to transmit an electric signal with external equipment and supply power for the work of the detection circuit board.
Optionally, the main module further comprises a main module second interface part, and the main module second interface part is connected with the detection circuit board, so that the detection circuit board is connected with the other electrode, so that the detection circuit board detects the distance between the other electrode and the external conductor or the changed electric signal thereof.
Optionally, the electronic skin main module further includes a housing for accommodating the detection circuit board, the main module first interface portion and the main module second interface portion are disposed on a wall surface of the housing, and the electrode is disposed on an outer side wall surface of the housing.
Optionally, the electronic skin main module further includes a base, the base is disposed on a bottom surface of the detection circuit board, and the detection circuit board is fixed in the housing through a fixing member.
Optionally, the main module further includes a main module third interface portion, and the main module third interface portion is connected to the detection circuit board, so that the detection circuit board is connected to the further electrode, so that the detection circuit board detects a distance between the further electrode and the external conductor or an electrical signal of a change of the distance.
The invention also discloses a modular electronic skin primary module, comprising:
the electrode can form a capacitor with an external conductor which is close to the electrode;
the detection circuit board is electrically connected with the electrode so as to detect the distance between the electrode and the external conductor or the change of the distance by utilizing the capacitance between the electrode and the external conductor or the change of the capacitance, and obtain an electric signal representing the distance between the electrode and the external conductor or the change of the distance;
the logic control board is electrically connected with the detection circuit board so as to process according to the electric signal output by the detection circuit board and output parameter information representing the proximity degree of the electrode and an external conductor;
and the first interface part of the main module is electrically connected with the logic control board so as to transmit parameter information with external equipment and supply power for the work of the logic control board and the detection circuit board.
Optionally, the main module further comprises a main module second interface part, and the main module second interface part is connected with the detection circuit board, so that the detection circuit board is connected with the other electrode, so that the detection circuit board detects the distance between the other electrode and the external conductor or the changed electric signal thereof.
Optionally, the main module further includes a main module third interface portion, and the main module third interface portion is connected to the detection circuit board, so that the detection circuit board is connected to the further electrode, so that the detection circuit board detects a distance between the further electrode and the external conductor or an electrical signal of a change of the distance.
Optionally, the main module further comprises a main module fourth interface part, which is connected to the logic control board, so that the logic control board is connected to the other detection circuit board, so that the logic control board obtains an electrical signal indicative of a distance between the other electrode and the external conductor or a change thereof, of the other detection current output.
Optionally, the main module further includes a fifth interface of the main module, and the fifth interface of the main module is connected to the logic control board, so that the logic control board is connected to the another detection circuit board, so that the logic control board obtains an electrical signal indicative of a distance between the another electrode and the external conductor or a change thereof, which is outputted by the another detection current.
Optionally, the electronic skin main module further comprises a housing for accommodating the detection circuit board and the logic control board, the interface portion of the main module is disposed on a wall surface of the housing, and the electrodes are disposed on an outer side wall surface of the housing.
The invention also discloses a modular electronic skin sub-module comprising:
the electrode can form a capacitor with an external conductor which is close to the electrode;
and the interface part is electrically connected with the electrodes so that the electrodes are electrically connected with the detection circuit board of the electronic skin main module.
Optionally, the electronic skin sub-module further includes a housing, the interface portion is disposed on a wall surface of the housing, and the electrode is disposed on an outer side wall surface of the housing.
The invention also discloses a modular electronic skin sub-module comprising:
the electrode can form a capacitor with an external conductor which is close to the electrode;
the detection circuit board is electrically connected with the electrode so as to detect the distance between the electrode and the external conductor or the change of the distance by utilizing the capacitance between the electrode and the external conductor or the change of the capacitance, and obtain an electric signal representing the distance between the electrode and the external conductor or the change of the distance;
an interface section electrically connected with the detection circuit board so that the detection circuit board is electrically connected with the logic control board of the electronic skin main module according to claim 7.
Optionally, the electronic skin sub-module further includes a housing for accommodating the detection circuit board, the interface portion is disposed on a wall surface of the housing, and the electrodes are disposed on an outer side wall surface of the housing.
The invention also discloses an electronic skin system, which comprises a main electronic skin and a sub-electronic skin which are used for external equipment and are mutually connected, wherein the main electronic skin is the modularized electronic skin main module, and the sub-electronic skin is the modularized electronic skin sub-module.
Optionally, the sub-electronic skin module is plural, and is connected to the main electronic skin module.
Optionally, the main electronic skin and/or the sub-electronic skin further comprises a fixing sheet disposed on a bottom surface of the housing, the fixing sheet being provided with a fixing portion to fix the housing to a surface of an external device.
Optionally, the external device is a robot, and the electronic skin system is fixed to a distal end of the robot.
Optionally, a reset key is further disposed on the housing of the main electronic skin module, and the reset key is electrically connected to the logic control board.
The invention also discloses a mechanical arm, and the electronic skin system is arranged on the mechanical arm.
The invention also discloses a robot, wherein the robot is provided with the electronic skin system, and the electronic skin system is arranged at the tail end of the tool of the robot.
The electronic skin main module of the invention adds the main module first interface part on the basis of the first electrode and the first detection circuit board which form the basic components of the electronic skin, so that the electric signal of the approaching distance or the distance change of the conductor and the first electrode detected by the first detection circuit board can be output to an external device such as a robot through the main module first interface part. The electronic skin main module is made to form modular electronic skin equipment through the first interface part of the main module, the first interface part of the standardized main module can be conveniently detachably mounted with external equipment, the electronic skin equipment can be conveniently formed into independent equipment to be mounted at a certain position of the external equipment, the external equipment has a function of detecting the approach of a conductor, and active avoidance measures are taken according to electric signals of the approach of the conductor and the external equipment. Thereby avoiding interference of the external equipment with the conductor at the position during operation.
Drawings
FIG. 1 is a schematic diagram of a robot according to an embodiment of the present invention;
fig. 2 and 3 are schematic structural views of an electronic skin master module according to an embodiment of the present invention;
FIG. 4 is an exploded view of the electronic skin master module of an embodiment of the present invention;
FIGS. 5 and 6 are schematic structural views of an electronic skin sub-module of an embodiment of the invention;
FIG. 7 is an exploded view of an electronic skin sub-module of an embodiment of the invention;
FIG. 8 is a block diagram of a first embodiment of an electronic skin system of an embodiment of the invention;
FIG. 9 is a block diagram of a second embodiment of an electronic skin system of an embodiment of the invention;
FIG. 10 is a block diagram of a third embodiment of an electronic skin system of an embodiment of the invention;
FIG. 11 is a block diagram of a fourth embodiment of an electronic skin system of an embodiment of the invention;
FIG. 12 is a block diagram of a fifth embodiment of an electronic dermatological system of an embodiment of the present invention;
fig. 13 is a block diagram of a sixth embodiment of an electronic skin system of an embodiment of the invention.
Reference numerals:
the e-skin main module 100, the main module first interface portion 111, the main module second interface portion 112, the main module third interface portion 113, the main module fourth interface portion 114, the main module fifth interface portion 115, the main module sixth interface portion 116, the main module electrodes 120, the main module test circuit board 130, the logic control board 140, the main module housing 150, the main module fixing plate 170, the main module fixing hole 171, the main module base 180, the reset button 190,
a first electronic skin sub-module 200, a first sub-module electrode 210, a first sub-module first interface part 221, a first sub-module second interface part 222, a first sub-module third interface part 223, a first sub-module test circuit board 230, a first sub-module housing 240, a first sub-module sub-mount 250,
a second electronic skin sub-module 300, a second sub-module electrode 310, a second sub-module first interface part 321, a second sub-module second interface part 322, a second sub-module detection circuit board 330,
Detailed Description
It is to be noted that the embodiments and features of the embodiments may be combined with each other without conflict in structure or function. The present invention will be described in detail below with reference to examples.
The present invention provides a modular electronic skin main module 100, as shown in fig. 1 to 3, the electronic skin main module 100 includes a main module electrode 120, a main module detection circuit board 130 and a main module first interface part 111. Wherein the main module electrode 120 can form a capacitance with an adjacent external conductor. The main module detection circuit board 130 is electrically connected to the main module electrode 120, so as to detect the distance between the main module electrode 120 and the external conductor or the change thereof by using the capacitance between the main module electrode 120 and the external conductor or the change thereof, and obtain an electrical signal representing the distance between the main module electrode 120 and the external conductor or the change thereof. The main module first interface part 111 is electrically connected to the main module detection circuit board 130 to transmit an electrical signal to an external device and supply power to the main module detection circuit board 130.
The external conductor includes a human body, a conductive metal body, and generally a human body, such as an arm, a finger, a head, and the like of a human body. The main module electrode 120 is disposed outside an external device, such as a robot, a sweeper, a balance car, a bumper car, or a gantry crane, and for example, the external device is the robot 10, which may be disposed outside a robot arm or a joint of the robot 10 to facilitate capacitance with an approaching conductor. The detection circuit is connected to the main module electrode 120, and the operation principle thereof may be based on the circuit structure of the detection oscillation circuit, when an external conductor such as a human body approaches the electronic skin main module 100, the main module electrode 120 and the human body form a capacitance, and the capacitance is connected to the oscillation circuit to change the oscillation frequency thereof, and the oscillation frequency is identified by the related circuit, and the change of the distance between the main module electrode 120 and the external conductor or the related parameter of the distance can be calculated by identifying the change of the oscillation frequency. For the specific detection circuit, reference may be made to related circuits in the prior art, and details thereof are not repeated herein.
The main module first interface part 111 has one end connected to the main module detection circuit board 130 and the other end connected to an external device such as the robot 10 to output an electric signal of a distance or a change in distance of the approach of the conductor to the main module electrode 120 to the robot 10.
The modular electronic skin main module 100 of the present invention adds the main module first interface part 111 to the main module electrodes 120 and the main module detection circuit board 130, which constitute the basic components of the electronic skin main module 100, so that an electric signal of a distance or a change in the distance of approach of a conductor detected by the main module detection circuit board 130 to the main module electrodes 120 can be output to an external device such as the robot 10 through the main module first interface part 111. The main module first interface part 111 enables the electronic skin main module 100 to form a modular electronic skin device, the standardized main module first interface part 111 can be conveniently and detachably mounted with an external device, the electronic skin device can be conveniently formed into an independent device to be mounted at a certain position of the external device, the external device has a function of detecting the approach of a conductor, and active avoidance measures are taken according to an electric signal of the approach of the conductor and the external device. Thereby avoiding interference of the external equipment with the conductor at the position during operation.
Specifically, when the external device is the robot 10, the e-skin main module 100 may be installed at a certain position, such as a terminal, of the robot 10, so that the terminal device may also sense the approach of a conductor, such as a human body, so that when a part of the human body, such as an arm or a finger, is too close to or in contact with the terminal device when the robot 10 is in operation, the e-skin thereof outputs approach information to the control device of the robot 10, so that the control device of the robot 10 performs an active avoidance action, thereby avoiding interference with the human body and avoiding injury to the human body. In the actual working scene of the robot 10, the probability that the terminal device, such as the clamping jaw 330, contacts the human body is higher than that of other parts of the robot 10, such as the mechanical arm, but the terminal of the robot 10 in the prior art is not provided with the electronic skin main module 100, and because the electronic skin is arranged on the surface of the mechanical arm in the prior art, the irregular shape of the terminal is not suitable for adopting the installation mode of the electronic skin in the prior art, the electronic skin main module 100 is arranged by the sampling modularized structural mode of the invention and the shell which can be detached from the terminal of the robot 10, so that the terminal of the robot 10 has the function of detecting the approach of the conductor and can correspondingly adopt the active avoidance measure, and the safety and the reliability of the operation of the robot 10 are enhanced.
In some embodiments of the present invention, as shown in fig. 2 and 3, the electronic skin main module 100 further includes a main module second interface part 112, the main module second interface part 112 is connected to the main module detection circuit board 130, so that the main module detection circuit board 130 is connected to another electrode, so that the main module detection circuit board 130 detects a distance between the another electrode and an external conductor or an electrical signal of a change thereof. In this embodiment, a main module second interface part 112 is added on the basis of the previous embodiment, one end of the main module second interface part 112 is connected to the main module detection circuit board 130, the other end is connected to another electrode, and the other electrode and the front main module electrode 120 can be arranged close to each other, so that a larger area of an area where an external conductor approaches can be detected. Specifically, the second interface may be multiple, so that this solution may be in a form of connecting multiple oscillation circuits configured with different main module electrodes 120 to the main module detection circuit board 130, for example, 2 to 4 oscillation circuits may be connected, each oscillation circuit is connected to a different other electrode through a different main module second interface part 112, and the other electrodes may be disposed close to each other, thereby effectively increasing the detection area.
In some embodiments of the present invention, the electronic skin main module 100 further includes a main module housing 150, the main module housing 150 is configured to accommodate the main module test circuit board 130, the main module first interface part 111 and the main module second interface part 112 are disposed on a wall surface of the main module housing 150, and the main module electrode 120 is disposed on an outer side wall surface of the main module housing 150. As shown in fig. 2 and 3, a mounting chamber for mounting the main module 100 is formed in the main module housing 150 to mount the main module 100, the main module housing 150 may be square, polygonal, etc., and is square in fig. 2, a main module first interface portion 111 and a main module second interface portion 112 are disposed on a wall surface of the main module housing 150, and their interfaces are set as corresponding terminals according to requirements for connection with other devices, for example, in fig. 2, the main module first interface portion 111 may be an aviation socket to connect an aviation plug to mate therewith, and in fig. 2, the main module second interface portion 112 is a serial port socket to connect a serial port plug to mate therewith. The main module electrode 120 may be attached to an outer wall surface of the main module case 150, preferably, an outer wall surface, which is a side of the main module case 150 facing the external conductor in the vicinity. By mounting the electronic skin main module 100 in the main module housing 150, a protected chamber is formed for the electronic skin main module 100, and after mounting the electronic skin main module 100 in the main module housing 150, it is more convenient to form a separate component and to be easily mounted to an external device.
Specifically, the main module detection circuit board 130 may be communicatively connected to an external device through the main module first interface 111, and may include four communication lines, for example, a power positive electrode, a power negative electrode, a data input line, and a data output line, where the power is supplied to the main module detection circuit board 130 through the power positive electrode and the power negative electrode, and the two-way communication is performed to the external device through the data input line and the data output line. The main module second interface portion 112 may be a single interface for electrically connecting, so that the first sub-module electrodes 210 are electrically connected to the main module detection circuit board 130 through the second interface via the electrical connection lines.
Further, as shown in fig. 2 and 3, the main module base 180 of the electronic skin module 100 further includes a main module base 180, wherein the main module base 180 is disposed on a bottom surface of the main module detection circuit board 130, and the main module detection circuit board 130 is fixed in the main module housing 150 by a fixing member. Mounting posts can be avoided in the main module housing 150, mounting holes are formed in the main module detection circuit board 130 and the main module base 180, the main module base 180 is sealed with an opening at one side of the main module housing 150 by a fixing member such as a screw, and the main module detection circuit board 130 is fixed between the main module base 180 and the inner wall surface of the main module housing 150, so that the main module detection circuit board 130 is fixed.
Further, as shown in fig. 2 and 3, the main module of electronic skin 100 further includes a main module fixing piece 170, the main module fixing piece 170 is fixed to a main module base 180, a mounting portion such as a main module fixing hole 171 is further provided on the main module fixing piece 170, and the main module fixing piece 170 is fixed to an end of an external device such as a robot arm of the robot 10 or other portion by a fixing member such as a screw passing through the main module fixing hole 171. Thereby facilitating the detachable fixing of the electronic skin main module 100 to an external device.
In some embodiments of the present invention, as shown in fig. 10, the electronic skin main module 100 further includes a main module third interface portion 113, the main module third interface portion 113 is connected to the main module detection circuit board 130, so that the main module detection circuit board 130 is connected to the further electrode, so that the detection circuit board detects a distance between the further electrode and the external conductor or an electrical signal of a change thereof. Therefore, the main module detection circuit board 130 can be connected with a plurality of electrodes, and the area where the external conductor with a larger area approaches can be detected.
The present invention further provides a modular electronic skin primary module 100, as shown in fig. 1 to 4, comprising the electronic skin primary module 100 including a primary module electrode 120, a primary module detection circuit board 130, a logic control board 140 and a primary module first interface part 111. Wherein the main module electrode 120 can form a capacitance with an adjacent external conductor. The main module detection circuit board 130 is electrically connected to the main module electrode 120, so as to detect the distance between the main module electrode 120 and the external conductor or the change thereof by using the capacitance between the main module electrode 120 and the external conductor or the change thereof, and obtain an electrical signal representing the distance between the main module electrode 120 and the external conductor or the change thereof. The main module first interface part 111 is electrically connected to the main module detection circuit board 130 to transmit an electrical signal to an external device and supply power to the main module detection circuit board 130. The logic control board 140 is electrically connected to the main module detection circuit board 130 to perform processing according to the electrical signal output by the main module detection circuit board 130, so as to output parameter information representing the proximity degree of the main module electrode 120 to an external conductor.
The difference from the electronic skin main module 100 of the previous embodiment is that a logic control board 140 is added, the logic control board 140 is provided with a processor, and according to the electric signal sent by the main module detection circuit board 130 and representing the distance between the main module electrode 120 and the external conductor or the change of the distance, the electric signal is analyzed according to preset software to determine the parameter information of the proximity degree between the main module electrode 120 and the external conductor, such as the information of the distance grade parameter or the distance parameter between the external conductor, such as a finger of a human body, and the main module electrode 120, and the like. Further, when the logic control board 140 is connected to an external device such as a terminal control board of the robot 10 through the main module first interface 111, it is further determined according to the distance class parameters or the distance parameters, so as to output the identification information of whether there is an obstacle to the robot 10, and when the identification information is set, the robot 10 controls the corresponding layout such as the arm to stop operating, and the robot 10 can continue operating only when the identification information is reset, so as to avoid interference and injury to the human body.
In some embodiments of the present invention, the electronic skin main module 100 further includes a main module second interface part 112, the main module second interface part 112 is connected to the main module detection circuit board 130, such that the main module detection circuit board 130 is connected to another electrode, such that the main module detection circuit board 130 detects a distance between the other electrode and an external conductor or an electrical signal thereof. In this embodiment, a main module second interface part 112 is added on the basis of the previous embodiment, one end of the main module second interface part 112 is connected to the main module detection circuit board 130, the other end is connected to another electrode, and the other electrode and the front main module electrode 120 can be arranged close to each other, so that a larger area of the area where the external conductor approaches can be detected. Specifically, the second interface may be multiple, so that this solution may connect, for the main module detection circuit board 130, a plurality of oscillation circuits configured with different additional electrodes, for example, 2 to 4 oscillation circuits, each of which is connected to a different other electrode through a different second interface, and the other electrodes may be disposed close to each other, thereby effectively increasing the detection area.
In some embodiments of the present invention, the main module fourth interface part 114 is further included in the electronic skin main module 100, as shown in fig. 12, the main module fourth interface part 114 is connected to the logic control board 140, so that the logic control board 140 is connected to another detection circuit board, so that the logic control board 140 acquires an electrical signal representing a distance between another electrode and an external conductor or a change thereof, of another detection current output. In contrast to the main module second interface part 112 of the previous embodiment, the main module fourth interface part 114 is connected to the logic control board 140 instead of the main module detection circuit board 130, so that the logic control board 140 is connected to at least two detection circuit boards, and the processing and the determination of the distances between the electrodes output by the plurality of detection circuit boards and the external conductor or the multiple electrical signals of the changes of the distances are realized. The main module fourth interface part 114 may be a serial communication interface such as a communication interface based on the I2C protocol or a communication interface based on the UART protocol. If the communication interface is the I2C protocol, the logic control board 140 can connect multiple master module test boards 130 in parallel through one communication line, so as to communicate with multiple master module test boards 130.
The specific structures of the main module first interface part 111 and the main module second interface part 112 are the same as the main module first interface part 111 and the main module second interface part 112 in the previous embodiment, and are not described herein again.
In some embodiments of the present invention, as shown in fig. 12, the main module of electronic skin main module 100 further includes a main module fifth interface part 115, the main module fifth interface part 115 is connected with the logic control board 140, so that the logic control board 140 is connected with a further detection circuit board, so that the logic control board obtains an electrical signal representing the distance between the further electrode and the external conductor or the change thereof, of a further detection current output. Thus, the logic control board 140 can be connected to a plurality of detection circuit boards, so that the electrodes of the electronic skin main module 100 and other electrodes can be relatively disposed far without affecting the detection accuracy of the electronic skin while increasing the area for detecting the approach of the external conductor. Thereby further expanding the application scene.
In some embodiments of the present invention, the main module 100 may further include a main module housing 150, and further may include a main module base 180 and a main module fixing piece 170, which are the same as the main module housing 150 and the main module base 180 in the previous embodiment, and therefore, detailed description thereof is omitted.
The invention further provides a modular electronic skin sub-module, as shown in fig. 8 to 10, the first electronic skin sub-module 200 includes a first sub-module electrode 210 and a first sub-module first interface part 221, wherein the first sub-module electrode 210 can form a capacitor with an adjacent external conductor, one end of the first sub-module first interface part 221 is electrically connected to the first sub-module electrode 210, and the other end is electrically connected to the main module detection circuit board 130 of the electronic skin main module 100 in the above embodiment, specifically, the other end of the first sub-module first interface part 221 is connected to the main module second interface part 112 of the electronic skin main module 100 in the above embodiment, and then is connected to the main module detection circuit board 130 of the electronic skin main module 100 through the main module second interface part 112.
Further, in some embodiments of the present invention, as shown in fig. 5, the first electronic skin sub-module 200 may further include a first sub-module housing 240, the first sub-module housing 240 is used for disposing the first sub-module electrode 210, the first sub-module first interface part 221 is disposed on a wall surface of the first sub-module housing 240, and the first sub-module electrode 210 is disposed on an outer side wall surface of the first sub-module housing 240. And further may include a first sub-module sub-base 250 and a first sub-module fixing piece, the specific structure of which is the same as that of the main module housing 150 and the main module base 180 in the above embodiments, and the detailed description thereof is omitted.
In some embodiments of the present invention, the number of the electronic skin sub-modules may be multiple, as shown in fig. 10, and further includes a second electronic skin sub-module 300, which includes a second sub-module electrode 310 and a second sub-module first interface portion 321, as the same as the first electronic skin sub-module 200, so that the detection circuit board of the electronic skin main module 100 is connected to the second sub-module electrode 310 in addition to the main module electrode 120 and the first sub-module electrode 210, and these electrodes may be disposed close to each other, so that a larger area of the area where the external conductors approach can be detected.
Further, the second electronic skin sub-module 300 may further include a second sub-module housing 340, which is structurally similar to the first sub-module housing 240, and will not be described herein again.
The invention further provides a modular electronic skin sub-module, as shown in fig. 5 to 7 and 11 to 13, which includes a first sub-module electrode 210, a first sub-module detection circuit board 230 and a first sub-module second interface part 222, wherein the first sub-module electrode 210 can form a capacitor with an adjacent external conductor, the first sub-module detection circuit board 230 is electrically connected to the first sub-module electrode 210, so as to detect a distance between the first sub-module electrode 210 and the external conductor or a change thereof by using the capacitor between the first sub-module electrode 210 and the external conductor or the change thereof, and obtain an electrical signal representing the distance between the first sub-module electrode 210 and the external conductor or the change thereof. One end of the first sub-module second interface part 222 is connected to the first sub-module detection circuit board 230, and the other end is electrically connected to the logic control board 140 of the electronic skin main module 100 in the above embodiment, specifically, the other end of the first sub-module second interface part 222 is connected to the main module fourth interface part 114 of the electronic skin main module 100 in the above embodiment, and then is connected to the logic control board 140 of the electronic skin main module 100 through the main module fourth interface part 114.
The difference from the previous embodiment is that the first sub-module detection circuit board 230 is added in the present embodiment, and the first sub-module second interface part 222 is connected to the logic control board 140 of the electronic skin main module 100, so that the first electronic skin sub-module 200 can be disposed at a relatively far position relative to the electronic skin main module 100, whereas in the previous embodiment, if the connection lines of the electrodes of the first electronic skin sub-module 200 are too long, the expiration detection accuracy is affected. In the embodiment, the first electronic skin sub-module 200 is provided with the first sub-module detection circuit board 230, and the first sub-module detection circuit board 230 is connected with the electronic skin main module 100 and is used for outputting an electric signal line of the first sub-module detection circuit board 230 and supplying power to the first electronic skin sub-module 200, so that the connection distance between the two electronic skins can be relatively long without affecting the detection accuracy of the electronic skins. Thus facilitating practical application.
In some embodiments of the present invention, the number of the electronic skin sub-modules may be multiple, as shown in fig. 12, and further includes a second electronic skin sub-module 300, which includes a second sub-module electrode 310, a second sub-module first interface portion 321, and a second sub-module detection circuit board 330, as with the first electronic skin sub-module 200, so that the logic control board 140 of the electronic skin main module 100 is connected to the second sub-module detection circuit board 330 in addition to the main module detection circuit board 130 and the first sub-module detection circuit board 230, so that a larger area of an area where external conductors approach can be detected, and the connection distance between the three electronic skins can be relatively long without affecting the detection accuracy of the electronic skins.
Further, the first electronic skin sub-module 200 may further include a first sub-module housing 240, and the second electronic skin sub-module 300 may further include a second sub-module housing 340, which has the same structure as the housing of the above-mentioned embodiment, and therefore, the description thereof is omitted.
The present invention further provides an electronic skin system, which includes the electronic skin main module 100 and the first electronic skin sub-module 200 connected to each other in the above embodiments, and since there are different architecture schemes for the main electronic skin module and the sub-electronic skin module in the above embodiments, there are different combinations for the electronic skin system.
In a first embodiment, as shown in fig. 8, the electronic skin main module 100 of the electronic skin system comprises a main module electrode 120, a main module test circuit board 130, a main module first interface part 111 and a main module second interface part 112, the first electronic skin sub-module 200 of the electronic skin system comprises a first sub-module electrode 210 and a first sub-module first interface part 221, wherein the main module first interface part 111 is connected with a control board, such as an end control board, of an external device, such as a robot 10, and the main module second interface part 112 and the first sub-module first interface part 221 are electrically connected, wherein the electrical connection may be based on some or wireless connection, preferably wired connection, such that the main module test circuit board 130 connects the main module electrode 120 with the first sub-module electrode 210, the electronic skin main module 100 and the first electronic skin sub-module 200 are preferably arranged close to each other, such that the main module electrode 120, therefore, the electronic skin system effectively increases the area of the electrode, so that the area of the detection conductor approaching is effectively increased.
The main electronic skin module 100 and the first electronic skin sub-module 200 may further be mounted at a terminal of a component of the robot 10, such as a robot arm, through the housing, and the control board of the robot 10 obtains electrical signals of the distance between the main module electrode 120 or the first sub-module electrode 210 and the external conductor or the change thereof from the first interface 111 of the main module, so as to perform a judgment according to the electrical signals, and when it is recognized that the distance between the external conductor, such as a human body, and the robot 10 is smaller than a first preset distance threshold, an active avoidance measure, such as suspending a current action or controlling the robot arm to move toward a direction opposite to the moving direction of the human body and the robot 10, so as to avoid interfering with and damaging the human body.
For some circuits of the main module detection circuit board 130, it can connect multiple electrodes simultaneously, so that one electronic skin main module 100 can connect multiple first electronic skin sub-modules 200 correspondingly, thereby further increasing the area of detection conductor access. In this case, the main module second interface part 112 may include a plurality of identical sub-main module second interface parts, and each sub-main module second interface part is connected to one first electronic skin sub-module 200.
In a second embodiment, as shown in fig. 9, the electronic skin main module 100 of the electronic skin system comprises a main module electrode 120, a main module test circuit board 130, a main module first interface part 111, a logic control board 140 and a main module second interface part 112, and the first electronic skin sub-module 200 of the electronic skin system comprises a first sub-module electrode 210 and a first sub-module first interface part 221, wherein the main module first interface part 111 is connected with a control board, such as an end control board, of an external device, such as the robot 10, and the main module second interface part 112 and the first sub-module first interface part 221 are electrically connected. The logic control board 140 is connected to an external device through the first interface unit 111 of the main module, and when the external device is the robot 10, for example, it is possible to directly output identification information as to whether there is an obstacle to the robot 10, and when the identification information is set, the robot 10 controls a corresponding layout such as a robot arm to stop operating, and only when the identification information is reset, the robot 10 can continue operating, thereby avoiding interference and damage to the human body. The specific structure of the first electronic skin sub-module 200 is the same as the first electronic skin sub-module 200 in the electronic skin system of the first embodiment, and is not described herein again.
In the third embodiment, as shown in fig. 10, on the basis of the previous embodiment, the main module third interface 113 is further added to the electronic skin main module 100, so as to connect another electronic skin sub-module, i.e. the second electronic skin sub-module 300, so that the main module detection circuit board 130 connects three electrodes. Thereby increasing the area for detecting the approach of the external conductor. It should be noted that, the main module may be added to the electronic skin main module 100, and an additional interface may be added, so that the main module detection circuit board 130 is connected to an additional electronic skin sub-module. And will not be described in detail herein.
In the fourth embodiment, as shown in fig. 11, the electronic skin main module 100 of the electronic skin system includes a main module electrode 120, a main module detection circuit board 130, a main module first interface part 111, a logic control board 140 and a main module fourth interface part 114, and the first electronic skin sub-module 200 of the electronic skin system includes a first sub-module electrode 210, a first sub-module detection circuit board 230 and a first sub-module second interface part 222. The logic control board 140 is connected to an external device through the main module first interface part 111, and the logic control board 140 is further connected to the first sub-module detection circuit board 230 through the main module fourth interface part 114, specifically, one end of the main module fourth interface part 114 is connected to the logic control board 140, the other end is connected to the first sub-module second interface part 222, and the first sub-module second interface part 222 is further connected to the first sub-module detection circuit board 230. The first electronic skin sub-module 200 outputs an electrical signal representing the distance between the first sub-module electrode 210 and the external conductor or the change thereof to the logic control board 140, and the logic control board 140 further receives an electrical signal representing the distance between the main module electrode 120 and the external conductor or the change thereof output by the main module detection circuit board 130, so as to follow up the electrical signal and directly output identification information whether an obstacle exists or not to an external device such as the robot 10, when the identification information is set, the robot 10 controls a corresponding layout such as a mechanical arm to stop acting, and the robot 10 can continue to act only when the identification information is reset, so as to avoid interference and injury to a human body. Compared with the solution of the second embodiment, the electronic skin main module 100 and the first electronic skin sub-module 200 can be relatively far away without affecting the detection accuracy of the electronic skin. Thereby further expanding the application scene.
In the fourth embodiment of the present invention, a reset key 190 is further disposed on the housing of the main electronic skin module, and the reset key 190 is electrically connected to the logic control board 140. As shown in fig. 4 and 11, the reset button 190 is electrically connected to the logic control board 140, and the logic control board 140 determines that the distance between the human body and the robot 10 is very close to or has contacted with each other according to the distance between the electrode and the external conductor or the changed electrical signal thereof, for example, the distance between the human body and the robot 10 is smaller than the second predetermined distance threshold, where the second predetermined distance is smaller than the first predetermined distance mentioned in the above embodiments, for example, the first predetermined distance may be set to a value between 6 and 10 cm, and the second predetermined distance is set to a value between 0.5 and 1 mm, so that the second predetermined distance is much smaller than the first predetermined distance. At this time, the logic control board 140 outputs identification information of the obstacle to the robot 10 so that the robot 10 performs the avoidance operation. At this time, the resetting of the identification information must be performed only after receiving the reset instruction of the reset key 190, that is, under the condition that the human body is very close to or in contact with the robot 10, if the robot 10 needs to continue to resume operation after performing the avoidance operation, the avoidance operation can be released only by manually pressing the reset key 190. Thereby improving the safety of the robot 10.
In the fifth embodiment, as shown in fig. 12, on the basis of the previous embodiment, the main module fifth interface 115 is further added to the electronic skin main module 100, so as to connect another electronic skin sub-module, i.e. the second electronic skin sub-module 300, so that the logic control board 140 is connected to the three detection circuit boards. Therefore, the area for detecting the approach of the external conductor is enlarged, and meanwhile, the electronic skin main module 100 and other electronic skin sub-modules can be arranged relatively far without affecting the detection precision of the electronic skin, so that the application scene is further expanded. It should be noted that the addition of the main module to the electronic skin main module 100 may also add another interface, so that the logic control board 140 is connected to another electronic skin sub-module. And will not be described in detail herein.
It should be noted that, when the logic control board 140 is connected to the main module detection circuit board 130, the first sub-module detection circuit board 230, and the second sub-module detection circuit board 330, the communication lines of the detection circuit boards may be connected in parallel to the logic control board 140 by selecting a suitable communication mode, such as an I2C communication protocol. Thus, only one set of communication interfaces is required to be arranged on the logic control board 140, as shown in fig. 11 and 12, thereby saving communication interfaces.
In the sixth embodiment, as shown in fig. 13, the difference from the fifth embodiment is that the second electronic skin sub-module 300 is not connected to the electronic skin main module 100, but is connected to the first electronic skin sub-module 200 by adding the first sub-module third interface part 223 to the first electronic skin sub-module 200, and is connected to the logic control board 140 of the electronic skin main module 100 through the first electronic skin sub-module 200. Since the communication between the logic control board 140 and the detection circuit boards is performed by the I2C communication method, the communication is performed in parallel as in the fifth embodiment.
The invention also provides a mechanical arm, as shown in fig. 1, the mechanical arm is arranged on a robot 3, and the electronic skin system in the embodiment is mounted on the mechanical arm. The electronic skin system is different from the prior art that the electronic skin is arranged on the surface of the joint arm 11 or the joint part 12 of the mechanical arm, at the moment, the electronic skin is combined with the internal structure of the mechanical arm, and the electronic skin system adopts a modular structure, so that the electronic skin system can be conveniently arranged and detachably arranged on other positions of the mechanical arm, such as the tail end clamping jaw 13. However, the structure of the electronic skin in the prior art is not suitable for being installed at the tail end, so that the mechanical arm of the invention realizes the detection of the approach of the human body at the tail end through an electronic skin system, and can correspondingly take active avoidance measures, thereby enhancing the safety and reliability of the operation of the robot 10.
The invention also proposes a robot 10, the robot 10 being equipped with the electronic skin system of the above described embodiment. Wherein the electronic skin system is mounted with the tool tip of the robot 10, such as the jaw 13. The robot 10 is mainly composed of a base 14 to which the robot arms are connected, and safety and reliability of the operation of the robot 10 are enhanced by installing an electronic skin system.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (22)
1. A modular electronic skin master module, comprising:
an electrode capable of forming a capacitance with an external conductor in proximity;
the detection circuit board is electrically connected with the electrode so as to detect the distance between the electrode and an external conductor or the change of the distance by utilizing the capacitance between the electrode and the external conductor or the change of the capacitance, and obtain an electric signal representing the distance between the electrode and the external conductor or the change of the distance;
the first interface part of the main module is electrically connected with the detection circuit board so as to transmit the electric signal with external equipment and supply power for the work of the detection circuit board.
2. The electronic skin master module according to claim 1, further comprising a master module second interface portion, the master module second interface portion being connected to the detection circuit board such that the detection circuit board is connected to another electrode such that the detection circuit board detects a distance between the other electrode and an external conductor or an electrical signal varying therefrom.
3. The electronic skin master module according to claim 2, further comprising a housing for accommodating the detection circuit board, wherein the first and second main module interface portions are provided on a wall surface of the housing, and wherein the electrodes are provided on an outer side wall surface of the housing.
4. The electronic skin master module according to claim 3, further comprising a base, wherein the base is disposed on a bottom surface of the detection circuit board, and the detection circuit board is fixed in the housing by a fixing member.
5. The electronic skin master module according to claim 2, further comprising a master module third interface portion, the master module third interface portion being connected to the detection circuit board such that the detection circuit board is connected to the further electrode such that the detection circuit board detects the distance between the further electrode and the external conductor or the electrical signal thereof varying.
6. A modular electronic skin master module, comprising:
an electrode capable of forming a capacitance with an external conductor in proximity;
the detection circuit board is electrically connected with the electrode so as to detect the distance between the electrode and an external conductor or the change of the distance by utilizing the capacitance between the electrode and the external conductor or the change of the capacitance, and obtain an electric signal representing the distance between the electrode and the external conductor or the change of the distance;
the logic control board is electrically connected with the detection circuit board so as to process according to the electric signal output by the detection circuit board and output parameter information representing the proximity degree of the electrode and the external conductor;
and the first interface part of the main module is electrically connected with the logic control board so as to transmit the parameter information with external equipment and supply power for the work of the logic control board and the detection circuit board.
7. The electronic skin master module according to claim 6, further comprising a master module second interface portion, the master module second interface portion being connected to the detection circuit board such that the detection circuit board is connected to another electrode such that the detection circuit board detects a distance between the other electrode and an external conductor or an electrical signal varying therefrom.
8. The electronic skin master module according to claim 7, further comprising a master module third interface portion, the master module third interface portion being connected to the detection circuit board such that the detection circuit board is connected to a further electrode such that the detection circuit board detects a distance between the further electrode and an external conductor or an electrical signal varying therefrom.
9. The electronic skin master module according to claim 6, further comprising a master module fourth interface portion, the master module fourth interface portion being connected to the logic control board such that the logic control board is connected to another sensing circuit board such that the logic control board acquires an electrical signal indicative of a distance between another electrode and an external conductor or a change thereof to the another sensing current output.
10. The electronic skin master module according to claim 9, further comprising a master module fifth interface portion, the master module fifth interface portion being connected to the logic control board such that the logic control board is connected to a further detection circuit board such that the logic control board acquires an electrical signal indicative of a distance between the further electrode and an external conductor or a change thereof, of the further detection current output.
11. The electronic skin master module according to any one of claims 6 to 10, further comprising a housing for accommodating the detection circuit board and the logic control board, wherein the interface portion of the master module is disposed on a wall surface of the housing, and the electrodes are disposed on an outer side wall surface of the housing.
12. A modular electronic skin sub-module, comprising:
an electrode capable of forming a capacitance with an external conductor in proximity;
a connector part electrically connected with the electrode so that the electrode is electrically connected with the detection circuit board of the electronic skin main module according to any one of claims 2 to 5, 7 and 8.
13. The electronic skin sub-module of claim 12, further comprising a housing, wherein the interface portion is disposed on a wall of the housing, and wherein the electrodes are disposed on an outer wall of the housing.
14. A modular electronic skin sub-module, comprising:
an electrode capable of forming a capacitance with an external conductor in proximity;
the detection circuit board is electrically connected with the electrode so as to detect the distance between the electrode and an external conductor or the change of the distance by utilizing the capacitance between the electrode and the external conductor or the change of the capacitance, and obtain an electric signal representing the distance between the electrode and the external conductor or the change of the distance;
an interface section electrically connected with the detection circuit board so that the detection circuit board is electrically connected with the logic control board of the electronic skin main module according to claim 9 or 10.
15. The electronic skin sub-module of claim 14, further comprising a housing for receiving the test circuit board, wherein the interface portion is disposed on a wall of the housing, and wherein the electrodes are disposed on an outer wall of the housing.
16. An electronic skin system, characterized in that it comprises a main electronic skin module and a sub-electronic skin module for interconnection of external devices, wherein the main electronic skin is a modular electronic skin main module according to any one of claims 2 to 5, 7 and 8, and the sub-electronic skin is a modular electronic skin sub-module according to claim 12 or 13; or the main electronic skin is a modular electronic skin main module according to claim 9 or 10, and the sub electronic skin is a modular electronic skin sub-module according to claim 14 or 15.
17. The electronic skin system of claim 16, wherein the sub-electronic skin module is plural and is connected to the main electronic skin module.
18. The electronic skin system of claim 16, wherein the main electronic skin and/or the sub-electronic skin further comprises a fixing sheet provided on a bottom surface of the housing, the fixing sheet being provided with a fixing portion to fix the housing to a surface of the external device.
19. The electronic skin system of claim 16, wherein the external device is a robot, the electronic skin system being secured to a distal end of the robot.
20. The electronic skin system of claim 16, wherein a reset key is further disposed on the housing of the main electronic skin module, the reset key being electrically connected to the logic control board.
21. A robotic arm having mounted thereon an electronic skin system according to any of claims 16 to 20.
22. A robot, characterized in that the robot is equipped with an electronic skin system according to any of claims 16-20, which is mounted at the tool tip of the robot.
Priority Applications (2)
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| CN202011525037.8A CN112605998A (en) | 2020-12-21 | 2020-12-21 | Electronic skin main module, sub-module, system, mechanical arm and robot |
| PCT/CN2021/134875 WO2022135091A1 (en) | 2020-12-21 | 2021-12-01 | Electronic skin master module, sub-module, system, robotic arm, and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011525037.8A CN112605998A (en) | 2020-12-21 | 2020-12-21 | Electronic skin main module, sub-module, system, mechanical arm and robot |
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| CN112605998A true CN112605998A (en) | 2021-04-06 |
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| CN202011525037.8A Pending CN112605998A (en) | 2020-12-21 | 2020-12-21 | Electronic skin main module, sub-module, system, mechanical arm and robot |
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| CN (1) | CN112605998A (en) |
| WO (1) | WO2022135091A1 (en) |
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| CN113252084A (en) * | 2021-05-17 | 2021-08-13 | 浙江大学 | Expandable and globally independently reconfigurable interactive flexible robot skin |
| CN113451791B (en) * | 2021-05-22 | 2024-01-05 | 深圳市越疆科技股份有限公司 | Connection structure, electronic skin, shell and mechanical arm of detection circuit board and electrode |
| CN113451791A (en) * | 2021-05-22 | 2021-09-28 | 深圳市越疆科技有限公司 | Connection structure of detection circuit board and electrode, electronic skin, shell and mechanical arm |
| CN113570952A (en) * | 2021-06-28 | 2021-10-29 | 深圳市越疆科技有限公司 | Portable display device based on electronic skin |
| CN114571493A (en) * | 2022-02-28 | 2022-06-03 | 深圳市越疆科技有限公司 | Sensing device for end of mechanical arm or end effector, mechanical arm and equipment |
| CN115229772B (en) * | 2022-08-23 | 2023-07-18 | 深圳市越疆科技股份有限公司 | Robot, control method, control device, control equipment, storage medium and mechanical arm thereof |
| CN115229772A (en) * | 2022-08-23 | 2022-10-25 | 深圳市越疆科技有限公司 | Robot, robot control method, robot control device, robot control equipment, storage medium and mechanical arm |
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| WO2022135091A1 (en) | 2022-06-30 |
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