CN217292407U - Multi-electrode separation type electronic skin, mechanical arm and robot - Google Patents
Multi-electrode separation type electronic skin, mechanical arm and robot Download PDFInfo
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- CN217292407U CN217292407U CN202220432993.XU CN202220432993U CN217292407U CN 217292407 U CN217292407 U CN 217292407U CN 202220432993 U CN202220432993 U CN 202220432993U CN 217292407 U CN217292407 U CN 217292407U
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Abstract
The utility model discloses a multi-electrode zone separated electronic skin, an mechanical arm and a robot, wherein the multi-electrode zone separated electronic skin comprises a first protective layer, an electrode layer and a second protective layer which are sequentially stacked; the electrode layer comprises a plurality of electrode regions, the electrode regions are mutually spaced, and the electrode regions can form capacitance with an approaching object. The utility model discloses multi-electrode zone partition formula electron skin can realize that monolithic electron skin detects and is close the concrete position in object place.
Description
Technical Field
The utility model relates to a sensing technology field, in particular to cellular-type electron skin, arm and robot are distinguished to multielectrode.
Background
With the rapid development of sensing technology, electronic skins are gradually appearing in the public vision and are applied to numerous fields such as medical treatment, wearable equipment, robots and the like.
The electronic skin can be attached to the surface of the robot, so that the electronic skin has a sensing system similar to human skin, and the electronic skin is helped to acquire external environment information so as to make a corresponding response action. At present, because the electronic skin can only detect the object and the distance thereof in the right direction, and the detection of the specific direction of the object has the problem of larger limitation, the application provides a novel electronic skin structure capable of realizing the specific direction of the single-sheet skin detection object.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a multiple-electrode separation formula electron skin, aim at solving the technical problem that electron skin has great limitation to the detection in the concrete position of object on the present arm.
In order to achieve the above object, the utility model provides a cellular electrode separates formula electron skin, this cellular electrode separates formula electron skin includes:
the first protective layer, the electrode layer and the second protective layer are sequentially stacked;
the electrode layer comprises a plurality of electrode regions, the electrode regions are mutually spaced, and the electrode regions can form capacitance with a close object.
The multi-electrode separation type electronic skin further comprises a detection circuit board, each electrode area is provided with an electric connection point, the electric connection points are used for being connected with the detection circuit board, and the detection circuit board can generate electric signals representing capacitance or variation of the capacitance.
The electrode area comprises electrode bodies, each electrode body is provided with a lug-shaped connecting area, and one end, far away from the electrode body, of each connecting area is provided with an electric connecting point.
Wherein, the electrode body is square or fan-shaped.
The number of the electrode regions is two, and the electric connection points on the two electrode regions are correspondingly positioned at the adjacent positions of the two electrode regions.
The number of the electrode areas is at least three, and the electric connection points on the electrode areas are positioned in the center of the pattern formed by the electrode areas.
The multi-electrode separation type electronic skin further comprises a control circuit board, the control circuit board is electrically connected with the detection circuit board, and a power module, a communication interface and/or a wireless communication module are/is arranged on the control circuit board.
The area of the first protective layer and the area of the second protective layer are larger than the area of the electrode layer, and the first protective layer and the second protective layer are attached to form independent sealing of each electrode area.
The present invention also provides a robot arm, including the above-mentioned multi-electrode zone separation type electronic skin, the multi-electrode zone separation type electronic skin includes:
the first protective layer, the electrode layer and the second protective layer are sequentially stacked;
the electrode layer comprises a plurality of electrode regions, the electrode regions are mutually spaced, and the electrode regions can form capacitance with an approaching object.
The present invention also provides a robot including the robot arm described above, the robot arm including the multi-electrode zone separation type electron skin described above, the multi-electrode zone separation type electron skin including:
the first protective layer, the electrode layer and the second protective layer are sequentially stacked;
the electrode layer comprises a plurality of electrode regions, the electrode regions are mutually spaced, and the electrode regions can form capacitance with an approaching object.
Compared with the prior art, the utility model discloses technical scheme's beneficial effect lies in:
when an approaching object approaches to the multi-electrode separated electronic skin, the corresponding electrode area in the electrode layer and the approaching object form capacitance, so that the approaching of the approaching object is sensed; this application is through dividing a plurality of electrode regions with the electrode on the single-chip electron skin, and a plurality of electrode regions correspond and form into a plurality of induction areas, and to the sensing of being close to the object through the induction area of difference, and obtain the specific position of being close to the object in electron skin detection space, consequently can improve the obstacle avoidance precision of arm.
Drawings
Fig. 1 is a schematic structural view of a multi-electrode separated electronic skin according to an embodiment of the present invention;
FIG. 2 is a schematic diagram showing the arrangement of electrode regions of the electrode layer of the multi-electrode zone separation type electron skin in the embodiment of FIG. 1;
fig. 3 is a schematic view of an electrode area layout of an electrode layer of a multi-electrode separated electron skin according to an embodiment of the present invention;
fig. 4 is a schematic diagram illustrating an electrode area arrangement of an electrode layer of a multi-electrode area separation type electronic skin according to an embodiment of the present invention;
fig. 5 is a schematic diagram illustrating an electrode area arrangement of an electrode layer of a multi-electrode area separation type electronic skin according to an embodiment of the present invention;
fig. 6 is a schematic diagram illustrating an electrode area arrangement of an electrode layer of a multi-electrode area separation type electronic skin according to an embodiment of the present invention;
fig. 7 is a schematic view of an electrode area layout of an electrode layer of a multi-electrode separated electron skin according to an embodiment of the present invention;
fig. 8 is a schematic diagram of an electrode area arrangement of an electrode layer of a multi-electrode area separation type electronic skin according to an embodiment of the present invention.
Detailed Description
In the following, the embodiments of the present invention will be described in detail with reference to the accompanying drawings, and obviously, the described embodiments are only some embodiments, not all embodiments, of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
Embodiments herein relate generally to an electronic skin for proximity sensing with an object that is in proximity or in contact with it using self-capacitance sensing principles (mutual capacitance sensing principles are also applicable to the present invention), and further applications thereof, such as: the robot comprises a mechanical arm provided with an electronic skin and a robot provided with the mechanical arm provided with the electronic skin. In the present invention, the electronic skin is mainly used to be disposed on the mechanical arm as a sensing element of an object close to or in contact with the mechanical arm.
Referring to fig. 1 and fig. 2, fig. 1 is a schematic structural view of a multi-electrode separation type electronic skin according to an embodiment of the present invention, and fig. 2 is a schematic electrode area layout view of an electrode layer of the multi-electrode separation type electronic skin according to the embodiment of fig. 1:
the utility model provides a cellular electrode separates formula electron skin, this cellular electrode separates formula electron skin includes:
the electrode structure comprises a first protective layer 1, an electrode layer 2 and a second protective layer 3 which are sequentially stacked;
the electrode layer 2 includes a plurality of electrode regions 21, the electrode regions 21 being spaced apart from each other, the electrode regions 21 being configured to form a capacitance with an approaching object.
In this embodiment, the first protective layer 1 and the second protective layer 3 are made of an insulating material, such as a material formed by polyimide or polyethylene terephthalate, so as to form an insulating isolation for the electrode layer 2 located therebetween, and can function as a physical barrier to prevent the electrodes from being damaged. The electrode layer 2 may be formed on the first protective layer 1 by electrodeposition or vapor deposition or printing or pasting a conductive sheet, etc., that is: the electrode layer 2 may be formed on the first protective layer 1 by physical or chemical means, or may be a preformed conductive sheet disposed on the first protective layer 1, thereby forming the electrode layer 2. The electrode layer 2 can be made of a metal or non-metal conductive material such as copper, gold, etc. The second protective layer 3 may be disposed on the electrode layer 2 by means of pasting or the like.
The electrode layer 2 includes a plurality of electrode regions 21, the electrode regions 21 are spaced apart from each other, and the electrode regions 21 can form a capacitance with an approaching object. The electrode layers 2 are divided into a plurality of electrode regions 21, which are laid in the electrode layers 2, and one electrode region 21 is respectively equivalent to a single plate of a capacitor and can be connected with a detection circuit, i.e. the plurality of electrode regions 21 and the detection circuit are correspondingly combined to be equivalent to a plurality of capacitive sensors. The electrode area 21 of the electrode layer 2 in combination with the detection circuit meets both the capacitor condition and the condition for converting the physical or mechanical quantity to be measured into a change in capacitance for the detection circuit to actively detect by exciting LC oscillation or rapid charging and discharging. The capacitance sensor converts a change in the distance between the proximity object and the electrode regions 21 of the electrode layer 2 into a change in capacitance of the capacitor, and calculates the capacitance of the capacitor through the detection circuit, thereby obtaining the distance between the proximity object and the electrode regions 21 of the electrode layer 2. There is no limitation on the shape and number of the electrode regions 21, for example, the electrode regions 21 may be square, rectangular, fan-shaped, triangular or other shapes, and the electrode regions 21 may be two or more, as the case may be. When a proximity object approaches the multi-electrode separated electronic skin, the corresponding electrode area 21 in the electrode layer 2 forms a capacitor with the proximity object, so that the capacitance or capacitance change is detected, and the proximity of the proximity object is sensed.
This application is through dividing a plurality of electrode regions 21 with the electrode on the single piece electron skin, and a plurality of electrode regions 21 correspond and form into a plurality of induction areas, through the sensing of different induction areas to being close to the object, and obtain the specific position of being close to the object in electron skin detection space, consequently can improve the obstacle avoidance precision of arm.
In some embodiments, referring to fig. 2, the multi-electrode separated electronic skin further comprises a detection circuit board 4, each electrode region 21 is provided with an electrical connection point 211, the electrical connection points 211 are used for connecting the detection circuit board 4, and the detection circuit board 4 can generate an electrical signal representing capacitance or a variation thereof. The electrical connection point 211 of each electrode area 21 is used as an electrical contact point, and can be electrically connected to the detection circuit board 4 through a wire, or directly soldered to the detection circuit board 4, or rigidly connected by other means, such as a screw connection, a snap connection, and the like. When any electrode area 21 and the approaching object form capacitance or the capacitance value changes, the detection circuit board 4 correspondingly generates an electric signal representing the capacitance or the change amount thereof.
In some embodiments, referring to fig. 2, the electrode sections 21 comprise electrode bodies 212, each electrode body 212 being configured with a lug-shaped connection section 213 and an end of the connection section 213 remote from the electrode body 212 being provided with an electrical connection point 211. The connection region 213 protrudes from the outer edge of the electrode body 212, and may be located at any position of the outer edge of the electrode body 212. The electric connection point 211 is positioned at one end of the connection region 213 far away from the electrode body 212, so that wiring is convenient; the electrical connection point 211 extends beyond the electrode body 212 and is away from the electrode body 212, and does not affect the detection region of the electrode body 212. In addition, in actual installation, the installation area of the connection region 213 can be reduced to a large extent, so as to prevent the detection region of the electrode body 212 from being interfered by an excessive area of the connection region 213, and improve the detection effect.
Referring to fig. 3, fig. 3 is a schematic diagram of an electrode area arrangement of an electrode layer of a multi-electrode separated electronic skin according to an embodiment of the present invention:
in some embodiments, the electrode body 212 is square or fan-shaped.
When the electrode body 212 is square, the connection region 213 may be located at any one of four corners of the electrode body 212, as shown in fig. 3; when the electrode body 212 has a fan shape, the connection region 213 may be located at a central angle of the electrode body 212.
Referring to fig. 4 and 5, fig. 4 is a schematic diagram of an electrode area arrangement of an electrode layer of the multi-electrode separating type electronic skin according to an embodiment of the present invention, and fig. 5 is a schematic diagram of an electrode area arrangement of an electrode layer of the multi-electrode separating type electronic skin according to an embodiment of the present invention:
in some embodiments, there are two electrode regions 21, and the electrical connection points 211 on two electrode regions 21 are correspondingly located at adjacent positions of the two electrode regions 21. When only two electrode regions 21 are provided, the number of the electrical connection points 211 is two, and the two electrical connection points 211 are correspondingly located at adjacent positions of the two electrode regions 21, as shown in fig. 4 and 5, that is, the electrical connection points 211 on the two electrode regions 21 are close to each other, which facilitates the wiring of the detection circuit board and the two electrode regions 21.
Referring to fig. 6 to 8, fig. 6 is the electrode area of the electrode layer of the multi-electrode separation type electronic skin in an embodiment of the present invention arranges the schematic diagram, fig. 7 is the electrode area of the electrode layer of the multi-electrode separation type electronic skin in an embodiment of the present invention arranges the schematic diagram, fig. 8 is the electrode area of the electrode layer of the multi-electrode separation type electronic skin in an embodiment of the present invention arranges the schematic diagram:
in some embodiments, there are at least three electrode regions 21, and the electrical connection point 211 on the plurality of electrode regions 21 is located at the center of the pattern formed by the plurality of electrode regions 21. When three or more electrode regions 21 are provided, the number of the electrical connection points 211 is three or more. For example, the electrode layer 21 shown in fig. 6 is provided with three fan-shaped electrode regions 21, the electrode layer 21 shown in fig. 7 is provided with four fan-shaped electrode regions 21, the electrode layer 21 shown in fig. 8 is provided with four square electrode regions 21, and the electrical connection points 211 on the plurality of electrode regions 21 are correspondingly located at the central positions of the pattern formed by the plurality of electrode regions 21, that is, the electrical connection points 211 on the plurality of electrode regions 21 are close to each other, so that the detection circuit board and the plurality of electrode regions 21 are convenient to wire and route.
In some embodiments, referring to fig. 2, the multi-electrode area 21 divided electronic skin further includes a control circuit board 5, the control circuit board 5 is electrically connected to the detection circuit board 4, and the control circuit board 5 is provided with a power module, a communication interface and/or a wireless communication module. The detection circuit board 4 transmits the electric signal which represents the capacitance or the variation thereof and is generated by the detection circuit board 4 to the control circuit board 5, and the control circuit board 5 can process the electric signal to determine the information of the electrode area 21 of the proximity object, so as to obtain the specific azimuth information of the proximity object. Alternatively, the detection circuit board 4 and the control circuit board 5 may be integrated on a single PCB. The control circuit board 5 can establish communication connection with the main control module of the mechanical arm through the communication interface and/or the wireless communication module so as to transmit the orientation information of the approaching object to the main control module of the mechanical arm, and the main control module of the mechanical arm can conveniently make a next control strategy according to the received orientation information of the approaching object. Of course, the control circuit board 5 in this embodiment may also be a component of the main control module of the robot arm. Besides, the control circuit board 5 can also establish communication connection with an intelligent terminal through a communication interface and/or a wireless communication module, for example, the intelligent terminal is a demonstrator.
In some embodiments, referring to fig. 1, the areas of the first protective layer 1 and the second protective layer 3 are larger than the area of the electrode layer 2, and the first protective layer 1 and the second protective layer 3 are attached to form an independent seal for each electrode region 21. The first protective layer 1 and the second protective layer 3 are directly attached to the outer edge of each electrode region 21 at the interval between any two adjacent electrode regions 21, so that each electrode region 21 is independently sealed, and the functions of insulating electrodes and protecting electrodes are achieved.
The utility model discloses still provide a mechanical arm, this mechanical arm include that the multielectrode of aforementioned record distinguishes separated electron skin, and the concrete structure that this multielectrode distinguished separated electron skin refers to above-mentioned embodiment, because this mechanical arm has adopted all technical scheme of above-mentioned all embodiments, consequently has all technical effect that the technical scheme of above-mentioned embodiment brought at least, no longer gives unnecessary detail here.
The utility model discloses still provide a robot, this robot includes the arm of aforementioned record, and the concrete structure of this arm refers to above-mentioned embodiment, because this robot has adopted all technical scheme of above-mentioned all embodiments, consequently has all technical effects that the technical scheme of above-mentioned embodiment brought at least, no longer gives unnecessary detail here.
What just go up be the utility model discloses a part or preferred embodiment, no matter be characters or the drawing can not consequently restrict the utility model discloses the scope of protection, all with the utility model discloses a holistic thought down, utilize the equivalent structure transform that the contents of the description and the drawing do, or direct/indirect application all includes in other relevant technical field the utility model discloses the within range of protection.
Claims (10)
1. A multi-electrode zone divided electronic skin, comprising:
the first protective layer, the electrode layer and the second protective layer are sequentially stacked;
the electrode layer comprises a plurality of electrode regions, the electrode regions are mutually spaced, and the electrode regions can form capacitance with an approaching object.
2. A multi-electrode-zone separation-type electronic skin as claimed in claim 1, further comprising a detection circuit board, each electrode zone being provided with an electrical connection point for connecting to the detection circuit board, the detection circuit board being capable of generating an electrical signal representing the capacitance or the variation thereof.
3. A multi-electrode-zone divided electronic skin according to claim 2, wherein the electrode zones comprise electrode bodies, each of which is configured with a lug-like connection zone and an end of the connection zone remote from the electrode body is provided with the electrical connection point.
4. The multi-electrode zone separated electronic skin of claim 3, wherein the electrode body is square or fan-shaped.
5. The multiple-electrode-region separated electronic skin of claim 2, wherein there are two electrode regions, and the electrical connection points on the two electrode regions are correspondingly located at adjacent positions of the two electrode regions.
6. A multi-electrode zone separation type electronic skin as claimed in claim 2, wherein the number of said electrode zones is at least three, and said electric connection points on a plurality of said electrode zones are located at the center of the pattern formed by a plurality of said electrode zones.
7. The multi-electrode zone separated electronic skin according to any one of claims 2-6, further comprising a control circuit board electrically connected with the detection circuit board, wherein a power module, a communication interface and/or a wireless communication module are arranged on the control circuit board.
8. A multi-electrode zone divided e-skin according to claim 1, wherein the first protective layer and the second protective layer each have an area greater than the area of the electrode layer, the first protective layer and the second protective layer being attached to form an independent seal to each of the electrode zones.
9. A robotic arm comprising a multi-electrode zone separated e-skin according to any of claims 1-8.
10. A robot comprising a robot arm according to claim 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220432993.XU CN217292407U (en) | 2022-02-28 | 2022-02-28 | Multi-electrode separation type electronic skin, mechanical arm and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220432993.XU CN217292407U (en) | 2022-02-28 | 2022-02-28 | Multi-electrode separation type electronic skin, mechanical arm and robot |
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| Publication Number | Publication Date |
|---|---|
| CN217292407U true CN217292407U (en) | 2022-08-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202220432993.XU Active CN217292407U (en) | 2022-02-28 | 2022-02-28 | Multi-electrode separation type electronic skin, mechanical arm and robot |
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|---|---|
| CN (1) | CN217292407U (en) |
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- 2022-02-28 CN CN202220432993.XU patent/CN217292407U/en active Active
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