CN216389770U - Connection structure of detection circuit board and electrode, electronic skin, shell and mechanical arm - Google Patents

Abstract

The utility model discloses a connection structure between a detection circuit board and an electrode, comprising: a first connecting piece, wherein a welding end and an output end are arranged on the first connecting piece, and the welding end is used for welding with the electrode and electrically connected with the output end. The first connector proposed by the embodiment of the present invention includes a welding end and an output end, and the welding end and the electrode are in surface contact, and the contact surface of the first connector is compared with the contact directly welded on the electrode through the wire in the existing solution. The surface is multiplied, thereby improving the connection strength and ensuring that the electronic skin will not fail due to frequent vibration and other problems due to desoldering during use. In addition, the utility model also discloses an electronic skin, a casing and a mechanical arm.

Description

Detect the connection structure of circuit board and electrode, electronic skin, shell and robotic arm

technical field

The utility model relates to the field of electronic skin, in particular to a connection structure of a detection circuit board and an electrode, an electronic skin, a casing and a mechanical arm.

Background technique

Electronic skin is a sensing device used to detect approaching conductors. It can be applied to robotic arms to determine whether there is an object on its travel route through electronic skin, so as to achieve the purpose of obstacle avoidance, such as application number: PCT/ The housing, housing assembly, mechanical arm and robot of mechanical equipment disclosed in CN2019/106043.

The electronic skin in the prior art includes a detection circuit board and electrodes, and the detection circuit board and the electrodes are electrically connected by wires. Specifically, the two ends of the wire are respectively connected to the detection circuit board and the electrode by welding, and the capacitance signal of the capacitance formed by the electrode and the adjacent conductor will be transmitted to the detection circuit board through the wire.

However, when the wire and electrode fixing solution is assembled on the robot arm by welding, because the robot arm will generate frequent small vibrations during operation, it is easy to cause the wire and the electrode to be de-soldered due to vibration and other factors. Causes the electronic skin to fail.

Utility model content

The main purpose of the utility model is to propose a connection structure between the detection circuit board and the electrode, which aims to solve the technical problem that the connection between the existing electronic skin and the electrode through the wire may not be firm.

In order to achieve the above purpose, the present utility model provides a connection structure between a detection circuit board and an electrode, and the connection structure between the detection circuit board and the electrode includes:

A first connecting piece, the first connecting piece is provided with a welding end and an output end, the welding end is used for welding with an electrode and is electrically connected with the output end.

Wherein, the cross section of the welding end is circular, oval or rectangular.

Wherein, the outer edge of the welding end is configured with several protruding structures for increasing the contact area of the electrode during welding.

Wherein, the cross section of the welding end is larger than the cross section of the output end.

Wherein, the cross-sectional area of the welded end is greater than 0.05 square centimeters.

Wherein, the connection structure of the detection circuit board and the electrode also includes:

A second connection piece, the second connection piece is configured with a first connection end for connecting with the output end and a second connection end for electrical connection with the detection circuit board, the first connection end and the The second connection end is electrically connected.

Wherein, both the first connector and the second connector are made of conductive material.

Wherein, the output end is configured as a cylindrical structure with threads on the inside, the first connection end is configured as a cylindrical structure with threads on the outside, and the output end and the first connection end can be threadedly connected.

Wherein, the output end is configured as a cylindrical structure with threads on the outside, the first connection end is configured as a cylindrical structure with threads on the inside, and the output end and the first connection end can be threadedly connected.

The output end is a plug-in terminal, the first connection end is a plug-in port, the output end and the welding end are connected by a wire, and the output end is inserted into the first connection end and passed through Snap-fit connection.

The output end is a plug-in port, the first connection end is a plug-in terminal, the first connection end and the second connection end are connected by a wire, and the output end is inserted into the first connection end Secure the connection after connecting the end.

The utility model also proposes an electronic skin, the electronic skin comprises:

electrode;

detection circuit board;

Wherein, the electrodes and the detection circuit board are connected and conducted through the connection structure described above, so that the electrodes and the detection circuit of the detection circuit board are electrically connected.

The utility model also proposes an electronic skin, the electronic skin comprises:

electrode;

detection circuit board;

Wherein, the electrode and the detection circuit board are connected and conducted through the screw connection structure described above, so that the electrode and the detection circuit of the detection circuit board are electrically connected.

Wherein, the electrode is configured with an electrode connection area, the detection circuit board is configured with a hollow pad electrically connected to the detection circuit, the electrode connection area is welded with the welding end, and the output end is connected with the first A connection end is threadedly connected, and the second connection end is connected to the hollow pad, so that the electrode is electrically connected to the detection circuit.

Wherein, the cross section of the second connection end is larger than that of the first connection end, so that after the first connection end passes through the hollow pad and is screwed with the output end, the second connection end can abutting the hollow pad.

The utility model also proposes an electronic skin, the electronic skin comprises:

electrode;

detection circuit board;

Wherein, the electrodes and the detection circuit board are connected and conducted through the terminal connection structure described above, so that the electrodes and the detection circuit of the detection circuit board are electrically connected.

Wherein, the electrode is configured with an electrode connection area, the detection circuit board is configured with a circuit connection area electrically connected with the detection circuit, the electrode connection area is welded with the welding end, and the output end is connected with the first A connecting end is inserted and then fixedly connected, and the second connecting end is welded with the circuit connection area, so that the electrode is electrically connected with the detection circuit.

Wherein, the electrode can form a capacitance with an adjacent conductor, and through the connection structure, the electrical signal used to characterize the capacitance or its variation is transmitted to the detection circuit of the detection circuit board, and the detection circuit board has an electrical signal. The detection circuit is used to convert the electrical signal representing the capacitance or its variation into an electrical signal of the capacitance value or its variation.

The utility model also proposes a casing of the device, the casing of the device comprises:

the shell; and the electronic skin described above,

Wherein, the electronic skin is arranged on the casing.

The utility model also proposes a mechanical arm, which comprises:

ontology;

control panel; and

A plurality of housings of the devices described above, the housings of the devices are arranged on the outer surface of the body, and the control board is electrically connected to the detection circuit board.

Compared with the prior art, the beneficial technical effects of the embodiments of the present utility model are:

The connection structure between the detection circuit board and the electrode proposed by the embodiment of the present invention includes a first connecting piece, the first connecting piece is configured with a welding end and an output end, the welding end is electrically connected with the output end, and the welding end is used for connecting with the electrode The output terminal is used for electrical connection with the detection circuit board, and the electrode is electrically connected with the detection circuit board through the welding terminal and the output terminal. There is surface contact between the welding end and the electrode, and the contact surface is many times larger than the contact surface directly welded to the electrode through the wire in the existing solution, thereby improving the connection strength and ensuring that the electronic skin will not be frequently affected during use. Vibration and other problems lead to failure due to desoldering.

Description of drawings

1 is a schematic structural diagram of an embodiment of an electronic skin of the present invention;

Fig. 2 is the exploded view of electronic skin shown in Fig. 1;

FIG. 3 is a schematic structural diagram of the first connecting piece of the connecting structure of the detection circuit board and the electrode of the present invention;

FIG. 4 is a schematic structural diagram of the second connecting member of the connection structure of the detection circuit board and the electrode of the present invention;

FIG. 5 is a schematic structural diagram of an embodiment of the plug-in terminal and the plug-in port for detecting the connection structure between the circuit board and the electrode;

FIG. 6 is a schematic structural diagram of the plug-in terminal and the plug-in port shown in FIG. 5 in a state of being inserted;

7 is a schematic structural diagram of another embodiment of the plug-in terminal and the plug-in port of the utility model detecting the connection structure of the circuit board and the electrode;

FIG. 8 is a schematic structural diagram of the plug-in terminal and the plug-in port shown in FIG. 7 in a plugged state;

9 is a schematic structural diagram of an electrode connection region of an electrode;

FIG. 10 is a schematic structural diagram of a hollow pad of a detection circuit board.

Detailed ways

The following describes in detail the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary, and are intended to be used to explain the present utility model, but should not be construed as a limitation of the present utility model. Based on the embodiments of the present utility model, those of ordinary skill in the art will All other embodiments obtained under the premise of creative work fall within the protection scope of the present invention.

Example 1

The present utility model proposes a connection structure between a detection circuit board and an electrode. Referring to FIGS. 1-3 , the connection structure between the detection circuit board and the electrode includes: a first connector 30 , and the first connector 30 is configured to be used for welding with the electrode 20 . The welding terminal 31 is connected to the welding terminal 31 , and the output terminal 32 is electrically connected to the welding terminal 31 .

The connection structure between the detection circuit board and the electrode proposed by the embodiment of the present invention includes a first connector 30 , the first connector 30 is used to connect the electrode 20 and the detection circuit board 10 , and includes a welding end 31 and an output end 32 , the welding terminal 31 is electrically connected to the electrode 20 by means of welding, and the output terminal 32 is electrically connected to the welding terminal 31 and is used for electrical connection with the detection circuit board 10 . There is surface contact between the welding end 31 and the electrode 20, and its contact surface is many times larger than the contact surface directly welded on the electrode 20 through a wire in the existing solution, thereby improving the connection strength and ensuring that the electronic skin will not be used during use. Failure due to desoldering due to frequent vibration and other problems.

In addition, the first connector 30 proposed in the embodiment of the present invention further includes a first conductive connection portion, and the first conductive connection portion is located between the welding end 31 and the output end 32 for connecting the welding end 31 and the output end 32 electrical connection. That is, the welding end 31 and the output end 32 are respectively located at the two ends of the first conductive connection part, the welding end 31 is welded on the electrode 20, and the capacitance change signal of the capacitance formed by the electrode 20 and the adjacent conductor will pass through the welding end 31, A conductive connection and the output terminal 32 are transmitted to the detection circuit board 10 .

Embodiment 2

The cross section of the welding end 31 proposed in the embodiment of the present invention is circular, oval or rectangular. In this embodiment, the cross section of the welding end 31 is configured as a circular, oval or rectangular structure, that is, the surface of the welding end 31 in contact with the electrode 20 is a circle, an ellipse or a rectangle. The contact between the welding end 31 and the electrode 20 is surface contact. Compared with the point contact between the existing wire and the electrode 20, it can greatly improve the connection strength between the first connector 30 and the electrode 20. The cross section of the welding end 31 The shape of the device is only exemplary and non-limiting, and those skilled in the art can design it according to the actual situation, for example, it can also be a triangle or a trapezoid and other shapes.

Embodiment 3

Referring to FIG. 3 , the outer edge of the welding end 31 proposed by the embodiment of the present invention is configured with several protruding structures 50 for increasing the contact area of the electrode 20 during welding. In this embodiment, the protruding structure 50 constructed on the outer edge of the welding end 31 is used to increase the contact area between the welding end 31 and the electrode 20 , thereby further enhancing the connection strength between the first connecting member 30 and the electrode 20 . The protruding structure 50 may be a whole convex plate, or may be several convex plates distributed at equal or non-equidistant intervals.

Embodiment 4

The cross-section of the welding end 31 proposed in the embodiment of the present invention is larger than the cross-section of the output end 32 . In this embodiment, the larger the cross-section of the welding end 31 is, the larger the contact surface between the welding end 31 and the electrode 20 is, and the connection between the first connecting member 30 and the electrode 20 is thus stronger. Since the output end 32 does not need to be welded with the electrode 20 , the cross-sectional area of the welding end 31 can be adaptively increased, and the cross-sectional area of the output end 32 can be reduced adaptively, so that the first connector 30 has the same weight. The contact surface between the welding end 31 and the electrode 20 is made as large as possible.

Embodiment 5

The cross-sectional area of the welding end 31 proposed in the embodiment of the present invention is greater than 0.05 square centimeters. In this embodiment, considering that the first connector 30 should not be too large, the cross-sectional area of the welding end 31 of the first connector 30 proposed in the embodiment of the present invention is 0.04-0.07 square centimeters. Those skilled in the art can Design according to the actual situation. Preferably, the cross-sectional area of the welding end 31 proposed in the embodiment of the present invention is 0.05 square centimeters, which is only exemplary and not limiting.

In some embodiments, the cross-sectional area of the welding end 31 can also be Square centimeter, 0.40 square centimeter, 0.50 square centimeter, 1 square centimeter.

Embodiment 6

Referring to FIG. 4 , the connection structure between the detection circuit board and the electrode proposed by the embodiment of the present invention further includes a second connection member 40 , and the second connection member 40 is configured with a first connection end 41 for connecting with the output end 32 and a connection for The second connection terminal 42 electrically connected to the detection circuit board 10 is electrically connected to the first connection terminal 41 and the second connection terminal 42 . In this embodiment, the cross-section of the second connection end 42 has a certain area, so that the contact surface between the second connection end 42 and the detection circuit board 10 can be increased, thereby increasing the gap between the second connection member 40 and the detection circuit board 10 The strong connection strength ensures the firmness of the connection between the second connector 40 and the detection circuit board 10, and prevents the second connector 40 from loosening or even falling off the detection circuit board 10 when subjected to external force.

Further, the second connector 40 proposed in the embodiment of the present invention further includes a second conductive connection portion, and the second conductive connection portion is located between the first connection end 41 and the second connection end 42 for connecting the first connection end 41 to the second connection end 42 . The connection end 41 is electrically connected to the second connection end 42 . That is, the first connection end 41 and the second connection end 42 are respectively located at two ends of the second conductive connection portion, the first connection end 41 is used for electrical connection with the output end 32 , and the second connection end 42 is welded to the detection circuit board 10 . On the other hand, the capacitance change signal of the capacitance formed by the adjacent conductor will be transmitted to the detection circuit through the welding terminal 31, the first conductive connection part, the output terminal 32, the first connection terminal 41, the second conductive connection part and the second connection terminal 42 in sequence. board 10.

Embodiment 7

Both the first connecting member 30 and the second connecting member 40 proposed in the embodiment of the present invention are made of conductive materials. In this embodiment, the output end 32 and the welding end 31 included in the first connector 30 are both made of conductive material, and the output end 32 is welded to the electrode 20 by welding. Since the welding end 31 is made of conductive material, Therefore, after the welding end 31 is welded to the electrode 20 , the welding end 31 is electrically connected to the electrode 20 . The first connection end 41 and the second connection end 42 included in the second connection member 40 are both made of conductive materials. Similarly, the second connection end 42 is welded to the detection circuit board 10 by welding. The terminal 42 is made of conductive material, so after the second connection terminal 42 is soldered on the detection circuit board 10 , the second connection terminal 42 is electrically connected to the detection circuit board 10 . Preferably, the first connector 30 and the second connector 40 proposed in the embodiment of the present invention are made of copper material with excellent electrical conductivity. Of course, this is only an example, not a limitation, in the art Technicians can design according to the actual situation, for example, it can also be made of iron, steel and other materials.

Embodiment 8

The output end 32 proposed in the embodiment of the present invention is configured as a cylindrical structure with threads on the inside, the first connection end 41 is configured as a cylindrical structure with threads on the outside, and the output end 32 and the first connection end 41 can be threadedly connected. In this embodiment, the output end 32 of the first connecting member 30 is configured as a cylindrical structure, the first connecting end 41 of the second connecting member 40 is configured as a columnar structure, and the first connecting member 30 and the second connecting member 40 pass through The output end 32 is inserted into the first connection end 41 for fixed connection. After the output end 32 is inserted into the first connection end 41 , the two can be connected by a clamping structure or by a thread segment. Preferably, the inner side of the output end 32 proposed in the embodiment of the present invention is configured with a first thread segment, and the outer side of the first connection end 41 is configured with a second thread segment, and the helix direction of the first thread segment and the second thread segment are opposite. , so as to fixedly connect the first connecting piece 30 and the second connecting piece 40 through the first threaded section and the second threaded section.

Embodiment 9

The output end 32 proposed in the embodiment of the present invention is configured as a cylindrical structure with threads on the outside, and the first connection end 41 is configured as a cylindrical structure with threads on the inside. The output end 32 and the first connection end 41 can be threadedly connected. In this embodiment, the output end 32 of the first connecting member 30 is configured as a columnar structure, the first connecting end 41 of the second connecting member 40 is configured as a cylindrical structure, and the first connecting member 30 and the second connecting member 40 pass through The first connection end 41 is inserted into the output end 32 for fixed connection. After the first connection end 41 is inserted into the output end 32 , the two can be connected by a clamping structure or by a threaded segment. Preferably, the outer side of the output end 32 proposed in the embodiment of the present invention is configured with a first thread segment, and the inner side of the first connecting end 41 is configured with a second thread segment, and the helical directions of the first thread segment and the second thread segment are opposite to each other. , so as to fixedly connect the first connecting piece 30 and the second connecting piece 40 through the first threaded section and the second threaded section.

Embodiment ten

5-6, the output end 32 proposed in the embodiment of the present invention is a plug-in terminal 50, the first connection end 41 is a plug-in port 60, the output end 32 and the welding end 31 are connected by a wire, and the output end 32 After being inserted into the first connection end 41, it is fixedly connected by a buckle. In this embodiment, the output end 32 of the first connector 30 is configured as a plug-in terminal 50 , and the first connection end 41 of the second connector 40 is configured as a plug-in port 60 to be plugged into the plug-in terminal 50 through the plug-in terminal 50 . The first connector 30 and the second connector 40 are connected in the way of the plug-in port 60 . Specifically, the first connector 30 is electrically connected to the electrode 20 through the welding end 31 , the second connector 40 is electrically connected to the detection circuit board 10 through the second connection end 42 , and the first connector 30 and the second connector 40 pass through The output end 32 , which is configured as a patch cord terminal 50 , is electrically connected to the first connection end 41 , which is configured as a patch cord port 60 .

Embodiment 11

Referring to FIGS. 7-8 , the output end 32 proposed in the embodiment of the present invention is a plug-in port 60 , the first connection end 41 is a plug-in terminal 50 , and the first connection end 41 and the second connection end 42 are connected by wires , the output end 32 is inserted into the first connection end 41 and then fixedly connected. In this embodiment, the output end 32 of the first connector 30 is configured as a plug-in port 60 , and the first connection end 41 of the second connector 40 is configured as a plug-in terminal 50 to be plugged into the plug-in terminal 50 through the plug-in terminal 50 . The first connector 30 and the second connector 40 are connected in the way of the plug-in port 60 . Specifically, the first connector 30 is electrically connected to the electrode 20 through the welding end 31 , the second connector 40 is electrically connected to the detection circuit board 10 through the second connection end 42 , and the first connector 30 and the second connector 40 pass through The first connection end 41 , which is configured as a patch cord terminal 50 , and the output end 32 , which is configured as a patch cord port 60 , are electrically connected.

Embodiment 12

An electronic skin further proposed by the present invention includes an electrode 20, a detection circuit board 10, and the connection structure between the detection circuit board and the electrode described in the foregoing embodiments. The connection structure is connected and conducted, so that the electrode 20 and the detection circuit of the detection circuit board 10 are electrically connected. For the specific structure of the connection structure between the detection circuit board and the electrode, refer to the above-mentioned embodiments. Since the electronic skin adopts all the technical solutions of the above-mentioned embodiments, it has at least all the technical effects brought by the technical solutions of the above-mentioned embodiments. I won't repeat them one by one.

Embodiment thirteen

An electronic skin further proposed by the present invention includes electrodes 20, a detection circuit board 10, and the connection structure of the detection circuit board and the electrodes described in the eighth or ninth embodiment. The detection circuit board 10 and the electrodes 20 are implemented by The connection structure described in the eighth embodiment or the ninth embodiment is connected and conducted, so that the electrode 20 and the detection circuit of the detection circuit board 10 are electrically connected. For the specific structure of the connection structure between the detection circuit board and the electrode, refer to the above-mentioned embodiments. Since the electronic skin adopts all the technical solutions of the above-mentioned embodiments, it has at least all the technical effects brought by the technical solutions of the above-mentioned embodiments. I won't repeat them one by one.

Embodiment 14

Referring to FIGS. 9-10 , the electrode 20 proposed in the embodiment of the present invention is constructed with an electrode connection area 70 , the detection circuit board 10 is constructed with a hollow pad 80 electrically connected to the detection circuit, and the electrode connection area 70 is welded with the welding end 31 . The output end 32 is screwed to the first connection end 41 , and the second connection end 42 is connected to the hollow pad 80 , so that the electrode 20 is electrically connected to the detection circuit. In this embodiment, the electrode 20 is configured with an electrode connection area 70 for welding with the welding end 31 , and the area defined by the electrode connection area 70 matches the size of the bottom surface of the welding end 31 . During connection, the bottom surface of the welding terminal 31 is in contact with the electrode connection area 70 . Further, the detection circuit board 10 is provided with a hollow pad 80, and the area defined by the hollow pad 80 matches the size of the bottom surface of the second connection end 42. When connecting the second connection end 42 to the detection circuit board 10, The bottom surface of the second connection terminal 42 is in contact with the hollow pad 80 . After the first connecting member 30 is connected to the electrode 20 and the second connecting member 40 is connected to the detection circuit board 10 , the first connecting member 30 and the second connecting member 40 are then threadedly connected to the first connecting end 41 through the output end 32 , thereby The electrical connection between the electrodes 20 and the detection circuit board 10 is achieved. Furthermore, the first connection end 41 proposed in the embodiment of the present invention is screwed to the output end 32 , and the second connection end 42 abuts on the hollow pad 80 , so as to achieve a fixed connection between the detection circuit board 10 and the electrode 20 . Therefore, since the detection circuit board 10 and the electrode 20 are fixed by means of screw connection, it has the effect of convenient installation and disassembly.

Embodiment fifteen

The cross section of the second connection end 42 proposed in the embodiment of the present invention is larger than that of the first connection end 41 , so that after the first connection end 41 passes through the hollow pad 80 and is threadedly connected to the output end 32 , the second connection end 42 The hollow pad 80 can be contacted. In this embodiment, since the cross section of the second connection end 42 is larger than that of the first connection end 41 , after the first connection end 41 passes through the hollow pad 80 and is threadedly connected with the output end 32 , the second connection end 42 will touch the Relying on the hollow pad 80 , the second connection end 42 forms an electrical connection with the hollow pad 80 . Further, the larger the cross-section of the second connection end 42 is, the larger the contact surface between the second connection end 42 and the detection circuit board 10 is, so the connection between the second connection member 40 and the detection circuit board 10 is more firm. . Since the first connection end 41 does not need to be welded with the detection circuit board 10, the cross-sectional area of the second connection end 42 can be adaptively increased, and the cross-sectional area of the first connection end 41 can be adaptively reduced, so that the Under the condition that the weights of the two connecting members 40 are the same, the contact surface between the second connecting end 42 and the detection circuit board 10 is made as large as possible.

Embodiment 16

An electronic skin further proposed by the present invention includes electrodes 20, a detection circuit board 10, and the connection structure of the detection circuit board and the electrodes described in the eighth or ninth embodiment. The detection circuit board 10 and the electrodes 20 are implemented by The connection structure described in the tenth or eleventh embodiment is connected and turned on, so that the electrode 20 and the detection circuit of the detection circuit board 10 are electrically connected. For the specific structure of the connection structure between the detection circuit board and the electrode, refer to the above-mentioned embodiments. Since the electronic skin adopts all the technical solutions of the above-mentioned embodiments, it has at least all the technical effects brought by the technical solutions of the above-mentioned embodiments. I won't repeat them one by one.

Embodiment seventeen

The electrode 20 proposed in the embodiment of the present invention is configured with an electrode connection area 70, the detection circuit board 10 is configured with a circuit connection area electrically connected to the detection circuit, the electrode connection area 70 is welded with the welding end 31, and the output end 32 is connected with the first connection The terminal 41 is fixedly connected after being inserted, and the second connection terminal 42 is welded to the circuit connection area, so that the electrode 20 is electrically connected to the detection circuit. In this embodiment, the electrode 20 is configured with an electrode connection area 70 for welding with the welding end 31 , and the area defined by the electrode connection area 70 matches the size of the bottom surface of the welding end 31 . During connection, the bottom surface of the welding terminal 31 is in contact with the electrode connection area 70 . Further, the detection circuit board 10 is constructed with a circuit connection area, and the area defined by the circuit connection area matches the size of the bottom surface of the second connection end 42. When connecting the second connection end 42 to the detection circuit board 10, the second connection The bottom surface of the connection terminal 42 is in contact with the circuit connection area. After the first connector 30 is connected to the electrode 20 and the second connector 40 is connected to the detection circuit board 10, the first connector 30 and the second connector 40 are then plugged and connected to the first connector 41 through the output end 32, Thus, the electrical connection between the electrode 20 and the detection circuit board 10 is realized. Further, the plug-in terminal 50 and the plug-in port 60 are used for plugging and fixing between the electrode 20 and the detection circuit board 10 proposed in the embodiment of the present invention, and the plug-in terminal 50 only needs to be removed from the plug-in port during disassembly and assembly. Pulling out or inserting the plug-in terminal 50 into the plug-in port 60 has the advantage of easy installation and removal.

Embodiment 18

The electrode 20 proposed in the embodiment of the present invention can form a capacitor with an adjacent conductor, and through the connection structure, the electrical signal used to characterize the capacitance or its variation is transmitted to the detection circuit of the detection circuit board 10, and the detection circuit board 10 detects The circuit is used to convert the electrical signal representing the capacitance or its variation into an electrical signal of the capacitance value or its variation. In this embodiment, the electrode 20 may be copper foil coated on the surface of the joint of the manipulator, which is only exemplary and not limiting, and may also be made of silver, aluminum or ITO material. The electrode 20-air-conductor constitutes a capacitor. The change in the distance between the electrode 20 and the conductor will cause the capacitance formed by the two to change. The electrode 20 can pass the electrical signal used to characterize the capacitance or its variation through the connection structure. It is transmitted to the detection circuit to be converted by the detection circuit into an electrical signal characterizing the capacitance value or its variation.

Example 19

The utility model further proposes a casing comprising a casing and any electronic skin described in the foregoing embodiments, the electronic skin is arranged on the casing, and the specific structure of the electronic skin refers to the above-mentioned embodiments. All the technical solutions of the above-mentioned embodiments have at least all the technical effects brought by the technical solutions of the above-mentioned embodiments, and will not be repeated here.

Embodiment 20

The utility model further proposes a robotic arm comprising a main body, a control board, and several casings described in the foregoing embodiments, the casings are arranged on the outer surface of the main body, and the control board is electrically connected to the detection circuit board 10 . The specific structure of the casing refers to the above-mentioned embodiments. Since the robotic arm adopts all the technical solutions of the above-mentioned embodiments, it has at least all the technical effects brought by the technical solutions of the above-mentioned embodiments, and will not be repeated here.

The above are only some or preferred embodiments of the present utility model, neither the text nor the accompanying drawings can therefore limit the scope of protection of the present utility model. Equivalent structural transformations made by the contents of the drawings, or direct/indirect applications in other related technical fields are all included in the protection scope of the present invention.

Claims (20)

1. A connection structure of a detection circuit board and an electrode, comprising:

a first connector configured with a weld end for welding with an electrode, and an output end electrically connected with the weld end.

2. The connection structure according to claim 1,

the cross section of the welding end is circular, elliptical or rectangular.

3. The connection structure according to claim 2,

the outer edge of the welding end is provided with a plurality of protruding structures used for increasing the contact area when the electrode is welded.

4. The connection structure according to claim 1,

the cross section of the welding end is larger than that of the output end.

5. The connection structure according to claim 1,

the cross-sectional area of the welding end is greater than 0.05 square centimeters.

6. The connection structure according to any one of claims 1 to 5, further comprising:

a second connector configured with a first connection end for connection with the output end and a second connection end for electrical connection with the detection circuit board, the first connection end and the second connection end being electrically connected.

7. The connection structure according to claim 6,

the first connecting piece and the second connecting piece are both made of conductive materials.

8. The connection structure according to claim 6,

the output end is of a cylindrical structure with threads on the inner side, the first connecting end is of a cylindrical structure with threads on the outer side, and the output end and the first connecting end can be in threaded connection.

9. The connection structure according to claim 6,

the output end is of a cylindrical structure with threads on the outer side, the first connecting end is of a cylindrical structure with threads on the inner side, and the output end and the first connecting end can be in threaded connection.

10. The connection structure according to claim 6,

the output end is a plug wire terminal, the first connecting end is a plug wire port, the output end is connected with the welding end through a wire, and the output end is fixedly connected with the first connecting end through a buckle after being inserted into the first connecting end.

11. The connection structure according to claim 6,

the output end is a plug wire port, the first connecting end is a plug wire terminal, the first connecting end and the second connecting end are connected through a conducting wire, and the output end is fixedly connected after being inserted into the first connecting end.

12. An electronic skin, comprising:

an electrode;

detecting the circuit board;

wherein the electrode and the detection circuit board are connected and conducted by the connection structure according to any one of claims 1 to 11, so that the electrode and the detection circuit of the detection circuit board are electrically connected.

13. An electronic skin, comprising:

an electrode;

detecting the circuit board;

wherein the electrode and the detection circuit board are connected and conducted by the connection structure according to claim 8 or 9, so that the electrode and the detection circuit of the detection circuit board are electrically connected.

14. The electronic skin of claim 13,

the electrode is provided with an electrode connecting area, the detection circuit board is provided with a hollow welding disc electrically connected with the detection circuit, the electrode connecting area is welded with the welding end, the output end is in threaded connection with the first connecting end, and the second connecting end is connected with the hollow welding disc, so that the electrode is electrically connected with the detection circuit.

15. The electronic skin of claim 14,

the cross section of the second connecting end is larger than that of the first connecting end, so that the second connecting end can be abutted against the hollow welding disc after the first connecting end penetrates through the hollow welding disc and is in threaded connection with the output end.

16. An electronic skin, comprising:

an electrode;

detecting the circuit board;

wherein the electrode and the detection circuit board are connected and conducted by the connection structure according to claim 10 or 11, so that the electrode and the detection circuit of the detection circuit board are electrically connected.

17. The electronic skin of claim 16,

the electrode is provided with an electrode connecting area, the detection circuit board is provided with a circuit connecting area electrically connected with the detection circuit, the electrode connecting area is welded with the welding end, the output end is fixedly connected with the first connecting end after being inserted, and the second connecting end is welded with the circuit connecting area, so that the electrode is electrically connected with the detection circuit.

18. The electronic skin according to any one of claims 12 to 17,

the electrode can constitute the electric capacity with the conductor that is close to pass through connection structure will be used for the representation the electric signal transmission of capacitance or its variation reaches detection circuit of detection circuit board, detection circuit of detection circuit board is used for will representing the electric signal conversion of capacitance or its variation is the electric signal of capacitance or its variation.

19. An enclosure, comprising:

a housing; and an electronic skin as in claim 18,

wherein the electronic skin is disposed over the housing.

20. A robot arm, comprising:

a body;

a control panel; and

a plurality of housings as claimed in claim 19, the housings being disposed on an outer surface of the body, the control board being electrically connected to the detection circuit board.

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