CN114571504A - Flexible electrode, electronic skin, shell of device, mechanical arm and robot - Google Patents
Flexible electrode, electronic skin, shell of device, mechanical arm and robot Download PDFInfo
- Publication number
- CN114571504A CN114571504A CN202210190433.2A CN202210190433A CN114571504A CN 114571504 A CN114571504 A CN 114571504A CN 202210190433 A CN202210190433 A CN 202210190433A CN 114571504 A CN114571504 A CN 114571504A
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- electrode
- layer
- flexible
- shielding layer
- electronic skin
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- 238000001514 detection method Methods 0.000 claims abstract description 41
- 239000000463 material Substances 0.000 claims abstract description 21
- 239000004020 conductor Substances 0.000 claims abstract description 17
- 239000010410 layer Substances 0.000 claims description 116
- 239000000758 substrate Substances 0.000 claims description 20
- 239000011241 protective layer Substances 0.000 claims description 8
- 125000006850 spacer group Chemical group 0.000 claims description 6
- 239000004642 Polyimide Substances 0.000 claims description 4
- -1 polyethylene terephthalate Polymers 0.000 claims description 4
- 229920000139 polyethylene terephthalate Polymers 0.000 claims description 4
- 239000005020 polyethylene terephthalate Substances 0.000 claims description 4
- 229920001721 polyimide Polymers 0.000 claims description 4
- 230000000694 effects Effects 0.000 abstract description 7
- 238000010586 diagram Methods 0.000 description 24
- 238000000034 method Methods 0.000 description 5
- 230000009286 beneficial effect Effects 0.000 description 4
- 239000002184 metal Substances 0.000 description 4
- 229910052751 metal Inorganic materials 0.000 description 4
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 3
- 229910052802 copper Inorganic materials 0.000 description 3
- 239000010949 copper Substances 0.000 description 3
- 238000004070 electrodeposition Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000007639 printing Methods 0.000 description 2
- 238000007740 vapor deposition Methods 0.000 description 2
- BQCADISMDOOEFD-UHFFFAOYSA-N Silver Chemical compound [Ag] BQCADISMDOOEFD-UHFFFAOYSA-N 0.000 description 1
- 230000003321 amplification Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 description 1
- 229910052737 gold Inorganic materials 0.000 description 1
- 239000010931 gold Substances 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 239000011810 insulating material Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 230000003647 oxidation Effects 0.000 description 1
- 238000007254 oxidation reaction Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 229920003023 plastic Polymers 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 229910052709 silver Inorganic materials 0.000 description 1
- 239000004332 silver Substances 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Shielding Devices Or Components To Electric Or Magnetic Fields (AREA)
Abstract
The invention discloses a flexible electrode, an electronic skin, a shell of a device, a mechanical arm and a robot, wherein the flexible electrode comprises an insulating base material layer, an electrode and a shielding layer, the insulating base material layer is made of a flexible material, the electrode is arranged on one side of the insulating base material layer, and the shielding layer is arranged on the other side of the insulating base material layer; the electrodes can form a capacitance with the proximate conductor. The flexible electrode can shield electromagnetic interference signals generated by devices in the shell, and ensures the detection effect of the electronic skin on the approaching conductor.
Description
Technical Field
The invention relates to the technical field of electronic skins, in particular to a flexible electrode, an electronic skin, a shell of a device, a mechanical arm and a robot.
Background
Currently, the main method for mechanical devices to detect an approaching object is through physical contact between the housing and the object. Taking a contact type resistance-type shell as an example, the resistance-type shell causes the deformation of the shell after depending on a proximity object to contact with the robot, and sends a contact signal representing the deformation. However, if the approaching object does not directly contact the electronic skin, the mechanical device cannot detect the distance of the approaching object in a non-contact manner, and when the mechanical device is in a moving state, the mechanical device and the object are in contact, which may easily damage the object.
The method comprises the following steps: 201980041854.5, and 201980041894.X, and a sensing circuit, a logic circuit board, a joint control board, a main control board and a robot, and provides an electronic skin and a working method thereof based on a self-capacitance induction principle, wherein, the electrodes of the electronic skin are formed by conductive metal sheets arranged on the shell or copper paste coated on the shell; when the mechanical equipment runs, the device inside the shell can generate interference signals to cause electromagnetic interference on the electrode of the electronic skin, so that the detection effect of the electronic skin on the close conductor is influenced.
Disclosure of Invention
The invention mainly solves the technical problem that the electrode of the electronic skin is interfered by an electromagnetic interference signal in the shell, so that the detection effect of the electronic skin on the close conductor is influenced.
In order to achieve the above object, the present invention provides a flexible electrode for electronic skin, comprising:
the insulating base material layer is made of a flexible material;
the electrode is arranged on one side of the insulating base material layer;
the shielding layer is arranged on the other side of the insulating base material layer;
the electrodes can form a capacitance with the proximate conductor.
Wherein the electrode and the shielding layer are flexible or the electrode and the shielding layer are formed on the insulating substrate layer.
Wherein, the orthographic projection of the electrode on the plane of the shielding layer falls on the shielding layer.
The shielding layer is provided with folded edges, and the electrodes are positioned in a shielding frame formed by enclosing a plurality of folded edges.
The electrode comprises a first electrode layer and a second electrode layer which are stacked, and an insulating spacer layer is arranged between the first electrode layer and the second electrode layer.
The shielding layer is arranged on the electrode, and the shielding layer is arranged on the electrode.
Wherein, the insulating substrate layer is made of a material formed by polyimide or polyethylene terephthalate, and the electrode and the shielding layer are made of conductive materials.
The invention further provides the electronic skin which comprises a detection circuit and the flexible electrode, wherein the detection circuit is electrically connected with the electrode and the shielding layer.
The detection end of the detection circuit is electrically connected with the electrode, and the detection end of the detection circuit is also electrically connected with the shielding layer through the operational amplifier.
The invention further proposes a housing for a device comprising:
a housing and the electronic skin;
the electronic skin is arranged on the shell.
Wherein the housing comprises a flexible layer inside and/or outside the e-skin.
The invention further provides a mechanical arm, comprising:
a body;
a control panel; and
the shell of the device is arranged on the outer surface of the body, and the control board is electrically connected with the detection circuit.
The invention further provides a robot which comprises the mechanical arm.
According to the technical scheme of the flexible electrode, the shielding layer is arranged on the side, opposite to the electrode, of the insulating base material layer, when the electronic skin adopting the flexible electrode is installed on the equipment shell for use, electromagnetic interference signals generated by devices in the equipment shell are shielded and blocked by the shielding layer and cannot reach the electrode, so that the electrode cannot be interfered by the electromagnetic interference signals generated by the devices in the shell, and the detection effect of the electronic skin on the close conductor is ensured.
Drawings
FIG. 1 is a schematic structural diagram of a flexible electrode according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a flexible electrode according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a flexible electrode according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a flexible electrode according to an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a flexible electrode according to an embodiment of the present invention;
FIG. 6 is a schematic structural diagram of a flexible electrode according to an embodiment of the present invention;
FIG. 7 is a schematic structural diagram of a flexible electrode according to an embodiment of the present invention;
FIG. 8 is a schematic structural diagram of a flexible electrode according to an embodiment of the present invention;
FIG. 9 is a schematic structural diagram of a flexible electrode according to an embodiment of the present invention;
FIG. 10 is a schematic diagram of a flexible electrode according to an embodiment of the present invention;
FIG. 11 is a diagram illustrating the electrical connection between the electronic skin detection circuitry and the flexible electrodes in accordance with one embodiment of the present invention;
fig. 12 is a diagram illustrating an electrical connection between the electronic skin detection circuit and the flexible electrode according to an embodiment of the invention.
FIG. 13 is a schematic view of a robotic arm according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be illustrative of the present invention and should not be construed as limiting the present invention, and all other embodiments that can be obtained by one skilled in the art based on the embodiments of the present invention without inventive efforts shall fall within the scope of protection of the present invention.
The invention provides a flexible electrode of electronic skin.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a flexible electrode according to an embodiment of the invention.
In the embodiment, the flexible electrode of the electronic skin comprises an insulating substrate layer 10, an electrode 20 and a shielding layer 30, wherein the insulating substrate layer 10 is made of a flexible material, the electrode 20 is arranged on one side of the insulating substrate layer 10, and the shielding layer 30 is arranged on the other side of the insulating substrate layer 10; the electrode 20 can form a capacitance with the approaching conductor, and the electronic skin circuit detects the capacitance value or the capacitance value variation of the capacitance formed by the electrode 20 and the approaching conductor to obtain the approaching distance and the approaching speed of the approaching conductor and the electronic skin.
In the flexible electrode of the embodiment, the shielding layer 30 is arranged on the side of the insulating substrate layer 10 opposite to the electrode 20, when the electronic skin adopting the flexible electrode is installed on a casing of a device (for example, a mechanical arm) for use, an electromagnetic interference signal generated by a device inside the casing of the device is shielded and blocked by the shielding layer 30 and cannot reach the electrode 20, so that the electrode 20 is not interfered by the electromagnetic interference signal generated by the device inside the casing, the detection effect of the electronic skin on a proximity conductor is ensured, the detection distance and the detection precision of the electronic skin are improved, and the condition that the detection distance is inaccurate or the detection misjudgment is avoided.
In one embodiment, the insulating substrate layer 10 is made of a material formed of polyimide or polyethylene terephthalate.
In some embodiments, electrode 20 and shield layer 30 are made of a conductive material. The electrode 20 may be a flexible conductive sheet, and is bonded to the insulating substrate layer 10 by means of pasting or the like, or the electrode 20 may be formed directly on the substrate by means of electrodeposition, vapor deposition, printing or the like; the shielding layer 30 may be a flexible conductive sheet, and is bonded to the insulating substrate layer 10 by means of pasting, or the like, or the shielding layer 30 may be formed directly on the substrate by means of electrodeposition, vapor deposition, printing, or the like.
In some embodiments, the electrode 20 and the shield layer 30 are made of a metallic material (e.g., copper, gold, silver, etc.). Under macroscopic conditions, the metal layer is poor in flexibility and difficult to deform, but when the thickness of the metal layer is reduced to a certain degree, the metal layer has flexibility and also has certain toughness, such as: the electrode 20 and the shielding layer 30 are made of copper, and have high toughness and poor flexibility when the thickness is between 100 micrometers and 500 micrometers, and have high flexibility and are easy to deform in a non-plastic manner when the thickness is between 10 micrometers and 70 micrometers.
The flexible electrode is easily disposed (easily disposed in a case of a device having a complex curved surface) due to its flexibility and flexibility, and particularly, is easily processed into a specific shape and is flexibly disposed along with a shape, so that it is very easily disposed, can be disposed along with a shape, can be attached to, and can be sandwiched between two layers of shells in a specific deployment environment.
Referring to fig. 2, fig. 2 is a schematic structural diagram of a flexible electrode according to an embodiment of the invention.
In the present embodiment, the orthographic projection of the electrode 20 on the plane of the shielding layer 30 falls on the shielding layer 30, that is, the area of the shielding layer 30 is larger than the area of the electrode 20, and each edge of the electrode 20 is inside the edge of the shielding layer 30. Thus, it is ensured that a small amount of interference signals from the side of the shielding layer 30 can not pass through the edge of the shielding layer 30 to reach the electrode 20, and a better shielding effect is achieved.
Referring to fig. 3 and 4, fig. 3 is a schematic structural diagram of a flexible electrode according to an embodiment of the present invention, and fig. 4 is a schematic structural diagram of a flexible electrode according to an embodiment of the present invention.
In this embodiment, the shielding layer 30 has a folded edge 31, and the electrode 20 is located in a shielding frame surrounded by several folded edges 31. When the electronic skin is mounted on a shell of the equipment for use, other joints or components of the equipment may move to the peripheral side of the electronic skin during the operation of the equipment, and a small amount of interference signals may be transmitted to the direction of the electronic skin; in the embodiment, the shielding frame is formed by surrounding the shielding layer 30 to shield and block the interference signal from the periphery of the electronic skin, so as to further ensure the detection effect of the electronic skin in the operation process of the device. The folding edge 31 in the drawing of the embodiment is illustrated as being bent by approximately 90 degrees, which is only to make the boundary between the folding edge 31 and the shielding layer 30 in the drawing better seen, and does not limit the bending angle of the folding edge 31; in fact, the angle at which the folded edge 31 is folded toward the insulating base material layer 10 this time may be any angle (for example, 20 °, 30 °, 45 °, 60 °) from 0 to 90 °; in addition, the bent part of the folded edge 31 can also be a transitional cambered surface.
In some embodiments, the folded edge 31 is disposed through the insulating substrate layer 10 (see fig. 3), that is, a slit is disposed on the insulating substrate layer 10 for the folded edge 31 to pass through, and the folded edge 31 is inserted into the slit.
In some embodiments, the insulating substrate layer 10 is completely within the shield frame enclosed by the flap 31 (see fig. 4).
Referring to fig. 5 and 6, fig. 5 is a schematic structural diagram of a flexible electrode according to an embodiment of the invention.
In the present embodiment, the electrode 20 includes a first electrode layer 21 and a second electrode layer 22 which are stacked, and an insulating spacer layer 40 is disposed between the first electrode layer 21 and the second electrode layer 22.
According to the flexible electrode provided by the embodiment, by arranging the first electrode layer 21 and the second electrode layer 22 which are laminated, when one of the first electrode layer 21 or the second electrode layer 22 is damaged or fails, the other one can be continuously used for normal work detection, so that the service life of the flexible electrode is prolonged, and the maintenance and replacement frequency of the flexible electrode of the electronic skin using the flexible electrode is reduced. Alternatively, the first electrode layer 21 and the second electrode layer 22 may be used to detect the conductors in proximity to each other, and the accuracy and precision of the detection results may be ensured by mutual authentication based on the detection of the first electrode layer 21 and the second electrode layer 22.
Referring to fig. 6, fig. 6 is a schematic structural diagram of a flexible electrode according to an embodiment of the invention.
In the present embodiment, the folded edge 31 of the shielding layer 30 penetrates through the insulating substrate layer 10 and the insulating spacer layer 40, and the first electrode layer 21 and the second electrode layer 22 are both located in a shielding frame surrounded by the folded edges 31 of the shielding layer 30; gaps for the folding edges 31 to penetrate through are correspondingly arranged on the insulating base material layer 10 and the insulating spacing layer 40, and the folding edges 31 are inserted in the gaps.
In some embodiments, the insulating substrate layer 10 and the insulating spacer layer 40 may be located in a shielding frame surrounded by the folded edge 31 of the shielding layer 30; one of the insulating substrate layer 10 and the insulating spacer layer 40 may be located in a shielding frame surrounded by the folded edge 31 of the shielding layer 30, and the other may be provided with a gap through which the folded edge 31 passes.
Referring to fig. 7, fig. 7 is a schematic structural diagram of a flexible electrode according to an embodiment of the invention.
In this embodiment, the flexible electrode for electronic skin further includes two insulating protective layers 50, and the two insulating protective layers 50 are respectively covered on the electrode 20 and the shielding layer 30. The electrode 20 and the shielding layer 30 are covered by two insulating protective layers 50, respectively, so as to protect the electrode 20 and the shielding layer 30 (including physical protection and oxidation protection).
In some embodiments, the outer edges of the two insulating protective layers 50 are combined to hermetically cover the electrode 20, the insulating protective layer 50 and the shielding layer 30, and of course, a window is further formed on the insulating protective layer 50 to expose at least one of the electrode 20 and the shielding layer 30 for electrical connection with an external circuit.
Referring to fig. 8, fig. 8 is a schematic structural diagram of a flexible electrode in an embodiment of the invention.
In the present embodiment, both of the insulating protective layers 50 are made of a flexible insulating material, for example, a material formed of polyimide or polyethylene terephthalate. Each layer structure of the flexible electrode is flexible, so that the flexible electrode can be bent and deformed to be suitable for various complex curved surfaces, and can be arranged along with the shape during installation, and the installation is easier.
Referring to fig. 9, fig. 9 is a schematic structural diagram of a flexible electrode according to an embodiment of the present invention.
The scheme of the embodiment is a combination of the embodiment of fig. 3 and the embodiment of fig. 7.
Referring to fig. 10, fig. 10 is a schematic structural diagram of a flexible electrode according to an embodiment of the present invention.
The scheme of the embodiment is a combination of the embodiment of fig. 6 and the embodiment of fig. 7.
The invention further provides the electronic skin.
Referring to fig. 11, fig. 11 is a diagram illustrating an electrical connection relationship between the electronic skin detection circuit 01 and the flexible electrode according to an embodiment of the present invention.
In this embodiment, the electronic skin includes a detection circuit 01 and a flexible electrode, and the specific structure of the flexible electrode refers to the above embodiments and is not described herein. Since the electronic skin of the present invention adopts all the technical solutions of the above flexible electrodes, at least all the beneficial effects brought by the technical solutions of the above embodiments are achieved, and no further description is given here. Wherein, the detection circuit 01 is electrically connected with the electrode 20 of the flexible electrode and the shielding layer 30; when the electrode 20 and the adjacent conductor form a capacitance, the detection circuit 01 detects the magnitude of the capacitance or the amount of change in the capacitance; the detection circuit 01 is electrically connected to the shielding layer 30 to form an active shield.
Referring to fig. 12, fig. 12 is a diagram illustrating an electrical connection relationship between the electronic skin detection circuit 01 and the flexible electrode according to an embodiment of the present invention.
In the present embodiment, the scheme of the electrical connection between the detection circuit 01 and the electrode 20 and the shielding layer 30 is as follows: the detection end of the detection circuit 01 is electrically connected to the electrode 20, and the detection end of the detection circuit 01 is also electrically connected to the shielding layer 30 via the operational amplifier 02. The specific connections of the operational amplifier 02 are: the detection end of the detection circuit 01 is electrically connected with the non-inverting input end of the operational amplifier 02, and the output end of the operational amplifier 02 is electrically connected with the shielding layer 30 and the inverting input end thereof; the amplification factor of the operational amplifier 02 is 1.
The invention further provides a shell of the device, which comprises a shell and the electronic skin, wherein the electronic skin is arranged on the shell. Because the housing of the device of the present invention adopts the scheme of the electronic skin, the device at least has all the beneficial effects brought by the electronic skin, and the detailed description is omitted.
In some embodiments, the housing includes a flexible layer inside and/or outside the e-skin. The shell is of a flexible structure and can deform to adapt to the shape of the shell of each piece of equipment, and the shell can be arranged on the shell of the equipment in a covering mode, a sleeving mode and the like.
The invention also provides a mechanical arm.
Referring to fig. 13, fig. 13 is a schematic structural view of a robot arm according to an embodiment of the present invention.
In this embodiment, the robot arm 100 includes a body 101, a control board, and a plurality of housings 102 of the above devices, the housings 102 of the devices are disposed on an outer surface of the body 101, and the control board is electrically connected to the detection circuit. The specific structure of the housing 102 of the device is described with reference to the above embodiments. The control board monitors whether conductors are approaching to each part of each body 101 according to detection signals fed back by the detection circuits of the shells 102 of the devices, so that collision is avoided, and the safety of the operation process of the mechanical arm 100 is protected.
Since the mechanical arm 100 of the present invention adopts all technical solutions of the housing 102 of the above-mentioned apparatus, at least all the beneficial effects brought by the housing 102 of the apparatus are provided, and are not described in detail herein.
The present invention further provides a robot, including a mechanical arm 100, and the specific structure of the mechanical arm 100 refers to the above embodiment, and since the robot of the present invention adopts the technical solution of the mechanical arm 100, the robot at least has all the beneficial effects of the mechanical arm 100, and details are not repeated herein.
The above description is only a part of or preferred embodiments of the present invention, and neither the text nor the drawings should be construed as limiting the scope of the present invention, and all equivalent structural changes made by using the contents of the present specification and the drawings or directly/indirectly applied to other related technical fields in the spirit of the present invention are included in the scope of the present invention.
Claims (13)
1. An electrodermal flexible electrode, comprising:
the insulating base material layer is made of a flexible material;
the electrode is arranged on one side of the insulating base material layer;
the shielding layer is arranged on the other side of the insulating base material layer;
the electrodes can form a capacitance with a proximate conductor.
2. The flexible electrode of claim 1, wherein the electrode and the shielding layer are flexible or formed on the insulating substrate layer.
3. The flexible electrode of claim 1, wherein an orthographic projection of the electrode on a plane of the shielding layer falls onto the shielding layer.
4. The flexible electrode of claim 3, wherein the shield layer has folds, and the electrode is positioned in a shield frame surrounded by the folds.
5. The flexible electrode of claim 1, wherein the electrode comprises a first electrode layer and a second electrode layer stacked on each other with an insulating spacer layer disposed therebetween.
6. The flexible electrode of claim 1, further comprising two insulating protective layers covering the electrode and the shielding layer, respectively.
7. The flexible electrode of claim 1, wherein the insulating substrate layer is made of a material formed of polyimide or polyethylene terephthalate, and the electrode and the shielding layer are made of a conductive material.
8. An electronic skin comprising a flexible electrode according to any one of claims 1 to 7 and a detection circuit, the detection circuit being electrically connected to the electrode and the shielding layer.
9. The electronic skin of claim 8, wherein the sensing terminal of the sensing circuit is electrically connected to the electrode, and the sensing terminal of the sensing circuit is further electrically connected to the shielding layer via an operational amplifier.
10. A housing for a device, comprising:
a housing; and
the electronic skin of claim 8 or 9;
wherein the electronic skin is disposed over the housing.
11. A housing according to claim 10, characterized in that the housing comprises a flexible layer inside and/or outside the electronic skin.
12. A robot arm, comprising:
a body;
a control panel; and
a plurality of housings according to claim 10 or 11, the housings being disposed on an outer surface of the body, the control board being electrically connected to the detection circuit.
13. A robot comprising a robot arm according to claim 12.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210190433.2A CN114571504A (en) | 2022-02-28 | 2022-02-28 | Flexible electrode, electronic skin, shell of device, mechanical arm and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210190433.2A CN114571504A (en) | 2022-02-28 | 2022-02-28 | Flexible electrode, electronic skin, shell of device, mechanical arm and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114571504A true CN114571504A (en) | 2022-06-03 |
Family
ID=81771818
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210190433.2A Pending CN114571504A (en) | 2022-02-28 | 2022-02-28 | Flexible electrode, electronic skin, shell of device, mechanical arm and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114571504A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003168862A (en) * | 2001-12-03 | 2003-06-13 | Fujikura Ltd | Copper-clad laminate, flexible printed circuit, and its manufacturing method |
| CN106382997A (en) * | 2016-09-18 | 2017-02-08 | 北京科技大学 | Electronic skin of friction electrostatic induction type |
| CN211916890U (en) * | 2019-09-17 | 2020-11-13 | 深圳市越疆科技有限公司 | Mechanical equipment shell and robot |
| CN212072013U (en) * | 2019-09-17 | 2020-12-04 | 深圳市越疆科技有限公司 | Device shell, shell assembly, mechanical arm and robot |
| CN113263512A (en) * | 2021-05-17 | 2021-08-17 | 浙江大学 | Bionic luminous interactive flexible robot skin |
| CN113319822A (en) * | 2021-05-22 | 2021-08-31 | 深圳市越疆科技有限公司 | Flexible device housing, mechanical arm and robot |
| CN217292406U (en) * | 2022-02-28 | 2022-08-26 | 深圳市越疆科技有限公司 | Flexible electrode, electronic skin, shell of device, mechanical arm and robot |
-
2022
- 2022-02-28 CN CN202210190433.2A patent/CN114571504A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003168862A (en) * | 2001-12-03 | 2003-06-13 | Fujikura Ltd | Copper-clad laminate, flexible printed circuit, and its manufacturing method |
| CN106382997A (en) * | 2016-09-18 | 2017-02-08 | 北京科技大学 | Electronic skin of friction electrostatic induction type |
| CN211916890U (en) * | 2019-09-17 | 2020-11-13 | 深圳市越疆科技有限公司 | Mechanical equipment shell and robot |
| CN212072013U (en) * | 2019-09-17 | 2020-12-04 | 深圳市越疆科技有限公司 | Device shell, shell assembly, mechanical arm and robot |
| CN113263512A (en) * | 2021-05-17 | 2021-08-17 | 浙江大学 | Bionic luminous interactive flexible robot skin |
| CN113319822A (en) * | 2021-05-22 | 2021-08-31 | 深圳市越疆科技有限公司 | Flexible device housing, mechanical arm and robot |
| CN217292406U (en) * | 2022-02-28 | 2022-08-26 | 深圳市越疆科技有限公司 | Flexible electrode, electronic skin, shell of device, mechanical arm and robot |
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