CN217494281U - Sensing device for end of mechanical arm or end effector, mechanical arm and equipment - Google Patents

Abstract

The utility model discloses a sensing device, arm and equipment for terminal or end effector of arm, this sensing device includes: the electronic skin module comprises at least one electrode plate and a detection circuit; the electrode plate covers the surface of the bracket, and a mounting part which can be connected with the tail end of the mechanical arm or the end effector is arranged on one side of the bracket; each electrode plate is electrically connected with different detection channels of the detection circuit respectively, each electrode plate can form a capacitor with an adjacent external conductor, and the detection circuit is used for detecting the capacitance value of each electrode plate. The utility model provides an electrode slice setting is on the bracket, when treating needs to use, through the string carry the piece with its with the arm end or end effector be connected can, and need not to set up electron skin on its surface, consequently no matter what kind of specification or shape's robot, it sets up all very convenient, simple, the commonality is high.

Description

Sensing device for end of mechanical arm or end effector, mechanical arm and equipment

Technical Field

The utility model relates to an arm field, concretely relates to a sensing device, arm and equipment for arm end or end effector.

Background

The electronic skin is a sensing device for detecting the approaching conductor, and can be applied to the mechanical arm to judge whether an object exists on the traveling route of the mechanical arm through the electronic skin, so that the purpose of avoiding obstacles is achieved.

The electronic skin comprises electrode plates and a detection circuit, wherein the electrode plates are arranged on the surface of the robot, such as the surface of a mechanical arm, the detection circuit is electrically connected with the electrode plates, and the detection circuit detects the distance between the electrode plates and an external conductor or the change of the electrode plates by using the capacitance between the electrode plates and the external conductor or the change of the capacitance to obtain an electric signal representing the distance between the electrode plates and the external conductor or the change of the distance.

In the prior art, copper paint is generally sprayed on the outer surface of the mechanical arm to form an electrode, such as a joint or an articulated arm, and a detection circuit board is mounted on the inner surface of the mechanical arm through screws which are used as electrical connectors to connect the detection circuit board and the electrode. However, some of the robot arms are limited in size and shape, and if they are installed in the conventional electronic skin attachment method, they may be difficult or impossible to install.

SUMMERY OF THE UTILITY MODEL

The main object of the present invention is to provide a sensor device for the end of a mechanical arm or an end effector, which aims to solve the technical problems in the prior art.

To achieve the above object, the present invention provides a sensor device for an end of arm or an end effector, the sensor device comprising:

the electronic skin module comprises at least one electrode plate and a detection circuit;

the electrode covers the surface of the bracket, and a mounting part which can be connected with the tail end of the mechanical arm or the end effector is arranged on one side of the bracket;

each electrode plate is electrically connected with different detection channels of the detection circuit respectively, each electrode plate can form a capacitor with an external conductor close to the electrode plate, and the detection circuit is used for detecting the capacitor of each electrode plate.

The bracket comprises a plurality of supporting parts, two adjacent supporting parts are arranged in an intersecting manner, and each supporting part is covered with an electrode plate.

The electrode plate is covered on the outer surface of the bracket, and the hanging piece is arranged on the inner surface of the bracket.

Wherein, one side of bracket is provided with the control box of being connected with the electrode slice electricity, and detection circuitry sets up in the control box, and the piece that carries sets up on the control box.

Wherein, the control box can be dismantled with the bracket and be connected.

Wherein, the hanging part is a hoop, a bandage or a magnetic block.

The electronic skin module further comprises a main control circuit, the main control circuit is arranged in the control box and electrically connected with the detection circuit, and the main control circuit and the detection circuit are arranged on the same board and used for calculating the degree of approach of the electrode plate and the approaching conductor according to the electric signals.

The electronic skin module also comprises a port, the port is electrically connected with the detection circuit and is used for communication and/or electric energy transmission, and the output end of the port is exposed outside the control box; or

The electronic skin module also comprises a port which is electrically connected with the main control circuit and used for communication and/or transmission of electric energy, and the output end of the port is exposed outside the control box.

Wherein the electronic skin module further comprises: a wireless communication module, and a battery module;

the wireless communication module and the battery module are respectively electrically connected with the main control circuit.

The electronic skin module comprises a plurality of electrode plates, and the electrode plates are stacked and are respectively electrically connected with different detection channels of the detection circuit.

The electronic skin module comprises a plurality of electrode plates, and the plurality of electrode plates are arranged in an array and are respectively electrically connected with different detection channels of the detection circuit.

The electronic skin module further comprises a flexible anti-collision layer, the flexible anti-collision layer covers the surface of the electrode plate, and the flexible anti-collision layer is made of silica gel, rubber or foam materials.

The utility model discloses still provide a robotic arm, including a plurality of sensing device of control circuit and aforementioned record, control circuit is connected with every sensing device electricity respectively.

The utility model discloses still provide an equipment, including a plurality of sensing device of control circuit and aforementioned record, control circuit is connected with every sensing device electricity respectively.

The utility model provides an electrode slice setting is on the bracket, when treating to use, through the hanging load with its with the arm end or end effector be connected can, and need not to set up electron skin on its surface, consequently no matter what kind of specification or shape's robot, it sets up all very convenient, simple, the commonality is high. In addition, since the electrode pads are provided on the carriage, not directly on the surface of the end of the robot arm or the end effector, the size of the electrode pads is not limited by the end of the robot arm or the end effector, and the electrode pads can be arbitrarily provided in a large direction and a large size, and thus, a flexible detection space can be provided.

Drawings

Fig. 1 is a schematic structural diagram of a sensing device for an end of a robotic arm or end effector according to an embodiment of the present invention;

fig. 2 is a schematic structural view of a sensing device for an end of a robotic arm or end effector according to an embodiment of the present invention;

fig. 3 is a schematic structural view of a sensing device for an end of a robotic arm or end effector according to an embodiment of the present invention;

fig. 4 is a schematic structural view of a sensing device for an end of a robotic arm or end effector according to an embodiment of the present invention;

fig. 5 is a schematic view of a sensing device for an end of a robotic arm or end effector according to an embodiment of the present invention;

fig. 6 is a schematic structural view of a sensing device for an end of a robotic arm or end effector according to an embodiment of the present invention;

fig. 7 is a schematic structural view of a sensing device for an end of a robotic arm or end effector according to an embodiment of the present invention;

fig. 8 is a schematic structural view of a sensing device for an end of a robotic arm or end effector in an embodiment of the present invention;

fig. 9 is a schematic structural view of a sensing device for an end of a robotic arm or end effector in an embodiment of the present invention;

fig. 10 is a schematic diagram of a sensing device for an end of arm or end effector according to an embodiment of the present invention.

Detailed Description

Embodiments herein relate generally to an electronic skin for proximity sensing using self-capacitance sensing principles (mutual capacitance sensing principles are also applicable to the provision of the present invention) with an object that is in proximity or in contact therewith, and further applications thereof, such as: the robot is provided with a mechanical arm with 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.

Reference will now be made in detail to the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like 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 drawings are exemplary and intended to be used for explaining the present invention, and should not be construed as limiting the present invention, and all other embodiments obtained by those skilled in the art without creative efforts based on the embodiments of the present invention belong to the protection scope of the present invention.

Referring to fig. 1, fig. 1 is a schematic structural diagram of a sensing device according to an embodiment of the present invention.

In some embodiments, the present invention provides a sensing device for an end-of-arm or end-effector, the sensing device comprising:

an electronic skin module comprising at least one electrode pad 20 and a detection circuit 30;

the electrode plate 20 covers the surface of the bracket 10, and a mounting piece 40 which can be connected with the tail end of a mechanical arm or an end effector is arranged on one side of the bracket 10;

each electrode plate 20 is electrically connected with a different detection channel of the detection circuit 30, each electrode plate 20 can form a capacitor with an adjacent external conductor, and the detection circuit 30 is used for detecting the capacitance value of each electrode plate 20.

In this embodiment, the carrier 10 is used to support the entire sensing device, and the electrode pads 20 are laid on the carrier 10 to form a capacitor with an approaching conductor. The electrode plate 20 and the conductor form two polar plates of a capacitor, and air between the electrode plate 20 and the conductor forms an insulating medium of the capacitor.

The detection circuit 30 is electrically connected to the electrode pad 20 and configured to detect a capacitance value of the electrode pad 20, and when the proximity conductor enters a detection range of the electrode pad 20, a capacitance value of a capacitor formed by the electrode pad 20 and the proximity conductor changes with a change in distance therebetween, and the detection circuit 30 can detect the corresponding capacitance value.

In this embodiment, when the electrode plate 20 and the conductor approach each other, the distance between the electrode plate and the conductor changes, that is, the distance between the two plates of the capacitor changes, so that the capacitance value of the capacitor changes, and the capacitance value of the capacitor is detected by the detection circuit 30. In some embodiments, the capacitance detected by the detection circuit 30 may be sent to a robot arm for processing to obtain the proximity of the electrode pads 20 to the conductor.

In some embodiments, the surface area of the electrode pads 20 is comparable to the surface area of the carrier 10, or the surface area of the electrode pads 20 is slightly smaller than the surface area of the carrier 10. Here, the larger the surface area of the electrode pad 20 is, the larger the distance to the conductor can be sensed by the electrode pad, and therefore, the surface area of the electrode pad 20 can be made to be equivalent to the surface area of the bracket 10, so as to increase the sensing distance of the sensing device.

In some embodiments, to mount the sensing device on the end of the robot arm or end effector, a mount 40 is provided on one side of the carriage 10 to which the end of the robot arm or end effector can be attached. After the sensing device is mounted at the tail end of the mechanical arm or the end effector, in the process of moving the tail end of the mechanical arm or the end effector, the motion of the tail end of the mechanical arm or the end effector can be controlled through the proximity degree of the conductor detected by the sensing device, so that the tail end of the mechanical arm or the end effector avoids the conductor, and the tail end of the mechanical arm or the end effector is prevented from colliding with the conductor around the tail end of the mechanical arm or the end effector in the process of moving.

The utility model provides an electrode slice 20 sets up on the bracket, when treating to need to use, through hanging carrier 40 with its with the arm end or end effector be connected can, and need not to set up electron skin on its surface, consequently no matter what kind of specification or shape's robot, it sets up all very convenient, simple, the commonality is high. Further, since the electrode pad 20 is provided on the carriage 10, not directly on the surface of the end of the robot arm or the end effector, the size of the electrode pad 20 is not limited by the end of the robot arm or the end effector, and the electrode pad can be arbitrarily provided in a large direction and a large size, so that a flexible detection space can be provided.

Referring to fig. 2, fig. 2 is a schematic structural diagram of a sensing device according to an embodiment of the present invention.

In some embodiments, the bracket 10 of the present invention includes a plurality of supporting portions 11, two adjacent supporting portions 11 are disposed in an intersecting manner, and each supporting portion 11 is covered with an electrode plate 20.

In this embodiment, bracket 10 is including a plurality of crossing supporting parts 11 in proper order, and every supporting part 11 corresponds a response region, all is provided with electrode slice 20 on every supporting part 11, and electrode slice 20 can detect the conductor that is close in the corresponding region, and a plurality of electrode slices 20 alright detect the conductor that is close to in a plurality of not equidirectional, make the utility model provides a sensing device can be more accurate the definite position that is close to the conductor.

The utility model provides a sensing device just can detect a plurality of ascending conductors that are close, compares in current detect a plurality of ascending conductors that are close respectively through a plurality of electron skin modules, and it possesses with low costs and simple to operate's the effect that is showing. For example, in patent document CN202011525037.8, it discloses an electronic skin system, which includes an electronic skin main module and a plurality of sub-modules, and the electronic skin main module and the sub-modules need to be fixed on the surface of the mechanical arm respectively during use.

In an embodiment, the bracket 10 includes two intersecting supporting portions 11, the two supporting portions 11 are disposed in a substantially V-shape, and the two supporting portions 11 respectively correspond to the two sensing areas. For example, the two support portions 11 are a first support portion and a second support portion, respectively, the approach conductor detected by the electrode plate 20 on the first support portion is in the a orientation, and the approach conductor detected by the electrode plate 20 on the second support portion is in the B orientation.

In one embodiment, the bracket 10 includes three supporting portions 11 intersecting each other in sequence, the supporting portion 11 located at the middle position is horizontally disposed, the other two supporting portions 11 intersect with the two opposite ends of the supporting portion, and the three supporting portions 11 correspond to the three sensing areas respectively. For example, the three support portions 11 are a first support portion, a second support portion, and a third support portion, respectively, the approach conductor detected by the electrode plate 20 on the first support portion is in the a orientation, the approach conductor detected by the electrode plate 20 on the second support portion is in the B orientation, and the approach conductor detected by the electrode plate 20 on the third support portion is in the C orientation.

In an embodiment, the bracket 10 includes four supporting portions 11 intersecting with each other in sequence, the four supporting portions 11 are disposed in an approximately M shape as a whole, and the four supporting portions 11 correspond to the four sensing areas respectively. For example, the four support portions 11 are a first support portion, a second support portion, a third support portion, and a fourth support portion, respectively, the approach conductor detected by the electrode plate 20 on the first support portion is in the a orientation, the approach conductor detected by the electrode plate 20 on the second support portion is in the B orientation, the approach conductor detected by the electrode plate 20 on the third support portion is in the C orientation, and the approach conductor detected by the electrode plate 20 on the fourth support portion is in the D orientation.

Referring to fig. 3, fig. 3 is a schematic structural diagram of a sensing device according to an embodiment of the present invention.

In some embodiments, the bracket 10 of the present invention is substantially arc-shaped, the electrode sheet 20 covers the outer surface of the bracket 10, and the hanging member 40 is disposed on the inner surface of the bracket 10.

In this embodiment, since the electrode plate 20 is covered on the bracket 10, when the bracket 10 is disposed in an arc shape, the electrode plate 20 is also disposed in an arc shape. When the electrode plate 20 is arc-shaped, it can form a capacitance not only with the approach conductors located in front thereof, but also with the approach conductors located at both sides thereof, so that the electrode plate 20 can detect the approach conductors in a plurality of directions. For example, an electrode plate 20 is overlaid on the arc-shaped bracket 10, and the electrode plate 20 can simultaneously detect the approaching conductors in the a direction, the B direction and the C direction, that is, by arranging the bracket 10 and the electrode plate 20 overlaid thereon in an arc shape, the detection range of the electrode plate 20 can be effectively increased.

In an embodiment, the electrode plate 20 of the present invention covers the outer surface of the bracket 10, the hanging member 40 is disposed on the inner surface of the bracket 10, the electrode plate 20 can be attached to the outer surface of the bracket 10 by means of a paste, and can also be fixed to the outer surface of the bracket 10 by a screw, and the screw is also used for electrically connecting the electrode plate 20 and the detection circuit 30.

In some embodiments, a protective layer may be further disposed on an outer surface of the electrode sheet 20, so as to isolate the electrode sheet 20 from the outside through the protective layer, and prevent external impact, so as to prevent external force from directly acting on the electrode sheet 20, thereby protecting the electrode sheet 20.

Please refer to fig. 4, fig. 4 is a schematic structural diagram of a sensing device according to an embodiment of the present invention.

In some embodiments, the present invention provides that one side of the bracket 10 is provided with a control box 50 electrically connected to the electrode sheet 20, the detection circuit 30 is disposed in the control box 50, and the hanging member 40 is disposed on the control box 50.

In this embodiment, a control box 50 is disposed on one side of the bracket 10, the detection circuit 30 is disposed in the control box 50, and the detection circuit 30 is isolated from the outside by the control box 50, so as to prevent the external environment from affecting the detection circuit 30, and prolong the service life of the detection circuit 30. The control box 50 and the electrode plate 20 may be electrically connected in a wired manner or in a wireless manner, the wired electrical connection is also electrically connected by a cable, and the wireless electrical connection is electrically connected by a male and female connector.

In an embodiment, an electrical connection male connector is disposed on the electrode plate 20, an electrical connection female connector is disposed on the control box 50, the electrical connection female connector is electrically connected to the detection circuit 30, and the electrode plate 20 and the control box 50 are wirelessly connected by plugging the electrical connection male connector and the electrical connection female connector. Or, the control box 50 is provided with an electric connection male connector, the electric connection male connector is electrically connected with the detection circuit 30, the electrode plate 20 is provided with an electric connection female connector, and the electrode plate 20 and the control box 50 are in radio connection through the insertion connection between the electric connection male connector and the electric connection female connector. Because the control box 50 is connected with the electrode plate 20 in a plugging manner, the control box is very convenient to assemble and disassemble, and is beneficial to the maintenance work of the sensing device.

In some embodiments, the present invention provides a control box 50 detachably connected to the bracket 10.

In this embodiment, the control box 50 is detachably connected to the bracket 10, including magnetic attraction, adhesion, and fastening, so as to facilitate the assembly and disassembly of the control box 50.

In one embodiment, the control box 50 is provided with a hook, the bracket 10 is provided with a hanging hole, the hook is matched with the hanging hole, when the sensing device is installed, the control box 50 is fixed on the bracket 10 through the hook and the hanging hole, and then the control box 50 is electrically connected with the electrode plate 20. Or, the bracket 10 is provided with a hook, the control box 50 is provided with a hanging hole, the hook is matched with the hanging hole, when the sensing device is installed, the control box 50 is fixed on the bracket 10 through the hook and the hanging hole, and then the control box 50 is electrically connected with the electrode plate 20.

In one embodiment, the control box 50 is provided with a threaded column, the bracket 10 is provided with a threaded hole, the threaded column is matched with the threaded hole, when the sensing device is installed, the control box 50 is fixed on the bracket 10 through the threaded column and the threaded hole, and then the control box 50 is electrically connected with the electrode plate 20. Or, set up the screw post on the bracket 10, set up the screw hole on the control box 50, screw post and screw hole looks adaptation, when the installation skin device, through screw post and screw hole with control box 50 be fixed in on the bracket 10, then be connected control box 50 and electrode slice 20 electricity.

In one embodiment, the control box 50 is provided with a protrusion, the bracket 10 is provided with a cavity, the protrusion is matched with the cavity, when the sensing device is installed, the control box 50 is fixed on the bracket 10 through the protrusion and the cavity, and then the control box 50 is electrically connected with the electrode plate 20. Or, the bracket 10 is provided with a protrusion, the control box 50 is provided with a cavity, the protrusion is matched with the cavity, when the sensing device is installed, the control box 50 is fixed on the bracket 10 through the protrusion and the cavity, and then the control box 50 is electrically connected with the electrode plate 20.

In this embodiment, the cavity has a first through hole with a relatively small aperture and a second through hole with a relatively large aperture, the first through hole is located at a position close to the opening of the cavity, the second through hole is located at a position close to the inside of the cavity, and the size of the second through hole is matched with the size of the protruding head. When the protrusion is matched with the cavity, the protrusion is firstly extruded into the first through hole under the action of external force, then enters the second through hole and is contained in the second through hole, and the protrusion is slightly larger than the aperture of the first through hole in size, so that the protrusion is clamped in the second through hole, and is fixed in the second through hole under the action of no larger external force, thereby achieving the purpose of fixing the control box 50 and the bracket 10.

In some embodiments, the protrusion may be flexibly disposed, so that the protrusion can deform when being squeezed into the first through hole, and after entering the second through hole, the protrusion will recover to deform, so that the protrusion is fixed in the second through hole. Or, the cavity is the flexibility setting, and the lateral wall that is constructed with the cavity also is the flexibility, so, when protruding crowded first through-hole in, first through-hole will take place deformation under the exogenic action, and treat protruding crowded back to the second through-hole in, first through-hole will resume deformation again to make the arch fix in the second through-hole. Or, the protrusion and the cavity are flexibly disposed, and those skilled in the art can design the protrusion and the cavity according to actual situations without limitation.

In some embodiments, the mounting member 40 is a clip, a strap, or a magnet.

In this embodiment, when the hanging member 40 is a clamp, the clamp is opened, then the clamp is held at the end of the robot arm or the end effector, and then the clamp is locked, so that the sensing device is hung at the end of the robot arm or the end effector, and the end of the robot arm or the end effector has an obstacle detection and sensing function. When the hanging part 40 is a binding band, the binding band is connected to the bracket 10 of the sensing device, and then the binding band is connected to the end of the robot arm or the end effector, so that the sensing device is hung on the end of the robot arm or the end effector, and the end of the robot arm or the end effector has an obstacle detection and sensing function. The strap may be one, two, three or more, including but not limited to. When the hanging piece 40 is a magnetic block, the sensing device is directly fixed at the tail end of the mechanical arm or the metal part of the end effector in a magnetic attraction mode, so that the tail end of the mechanical arm or the end effector has an obstacle detection sensing function and is convenient to disassemble and assemble.

Please refer to fig. 5, fig. 5 is a schematic structural diagram of a sensing device according to an embodiment of the present invention.

In some embodiments, the sensing device of the present invention further includes a flexible anti-collision layer 60, wherein the flexible anti-collision layer 60 covers the surface of the electrode plate 20.

In this embodiment, the flexible anti-collision layer 60 has flexibility, and is used for collision buffering to prevent external impact from damaging the electrode sheet 20 and the detection circuit 30. The flexible bumper layer 60 may be made of silicone, rubber, or foam, including but not limited to, and may be selected by those skilled in the art according to the actual situation.

Referring to fig. 6, fig. 6 is a schematic structural diagram of a sensing device according to an embodiment of the present invention.

In some embodiments, the sensing device provided by the embodiment of the present invention further includes a main control circuit 70, the main control circuit 70 is disposed in the control box 50 and electrically connected to the detection circuit 30, and the main control circuit 70 and the detection circuit 30 are disposed on the same board for calculating the proximity degree of the electrode sheet 20 and the conductor close to each other according to the electrical signal.

In this embodiment, the main control circuit 70 is electrically connected to the detection circuit 30, the detection circuit 30 sends the capacitance value detected by the detection circuit to the main control circuit 70, and the main control circuit 70 calculates the proximity degree between the electrode sheet 20 and the proximity conductor according to the capacitance value. In this way, it is not necessary to transmit the capacitance value detected by the detection circuit 30 to the robot arm for processing, and the calculation amount of the robot arm can be reduced.

In some embodiments, the main control circuit 70 and the detection circuit 30 are disposed on the same board, and the main control circuit 70 and the detection circuit 30 share a circuit board, so that the cost of the sensing device can be reduced to some extent.

Referring to fig. 7, fig. 3 is a schematic structural diagram of a sensing device according to an embodiment of the present invention.

In some embodiments, the sensing device of the present invention further comprises:

and a port 80, wherein the port 80 is electrically connected with the detection circuit 30 and used for communication and/or transmission of electric energy, and an output end of the port 80 is exposed outside the control box 50.

In this embodiment, the port 80 is electrically connected to the detection circuit 30, and can be used for transmitting electrical signals and electrical energy at the same time, where the transmission of electrical signals mainly refers to transmitting the capacitance value detected by the detection circuit 30 to an external mechanical arm, and the transmission of electrical energy refers to supplying external electrical energy to the entire sensing device.

In this embodiment, at least a portion of the port 80 is exposed to the outside of the control box 50, so that the detection circuit 30 can transmit the capacitance value detected by the port 80 to an external mechanical arm.

In this embodiment, the port 80 and the external mechanical arm can establish communication therebetween through a cable, and plugs are disposed at two ends of the cable, wherein the plug at one end is used for electrically connecting with the port 80, and the plug at the other end is used for electrically connecting with the external mechanical arm. After the sensing device is fixed on the external mechanical arm, the plugs at the two ends of the cable are respectively inserted into the port of the external mechanical arm and the port 80 of the sensing device, so that the transmission of electric signals can be carried out between the external mechanical arm and the detection circuit 30, and the communication between the external mechanical arm and the detection circuit is realized.

Please refer to fig. 8, fig. 8 is a schematic structural diagram of a sensing device according to an embodiment of the present invention.

In some embodiments, the sensing device provided by the embodiments of the present invention further includes:

and a port 80, wherein the port 80 is electrically connected with the main control circuit 70 for communication and/or transmission of electric energy, and an output end of the port 80 is exposed to the outside of the control box 50.

In this embodiment, the port 80 is electrically connected to the main control circuit 70, and the capacitance value detected by the detection circuit 30 is not directly sent to the external mechanical arm through the port 80, but is first sent to the main control circuit 70 electrically connected to the detection circuit to process the capacitance value through the main control circuit 70, so as to obtain the proximity degree between the proximity conductor and the sensing device, and then the proximity degree is sent to the external mechanical arm through the port 80.

In some embodiments, the port 80 may be used for transmitting electrical signals and transmitting electrical energy, the electrical signals are mainly used for transmitting the capacitance detected by the detection circuit 30 to an external mechanical arm, or for transmitting the proximity of the electrode pad 20 acquired by the main control circuit 70 to a proximity conductor to the external mechanical arm, and the electrical energy is used for supplying external electrical energy to the whole sensing device.

In some embodiments, at least a portion of the port 80 is exposed to the exterior of the control box 50, such that the main control circuit 70 can transmit the capacitance value detected by the port 80 to an external robotic arm.

In this embodiment, the port 80 and the external mechanical arm can establish communication therebetween through a cable, and plugs are disposed at two ends of the cable, wherein the plug at one end is used for electrically connecting with the port 80, and the plug at the other end is used for electrically connecting with the external mechanical arm. After the sensing device is fixed on the external mechanical arm, plugs at two ends of the cable are respectively inserted into the port of the external mechanical arm and the port 80 of the sensing device, so that electric signals can be transmitted between the external mechanical arm and the main control circuit 70, and communication between the external mechanical arm and the main control circuit is realized.

In some embodiments, the sensing device further includes a wireless communication module and a battery module, wherein the wireless communication module and the battery module are electrically connected to the main control circuit 70 respectively.

In this embodiment, the sensing device may send the electrical signal detected by the sensing device to the external robot in a wireless communication manner, and thus, the transmission through a cable is not required. In order to implement wireless communication, a wireless communication module and a battery module are integrated in the control box 50, and the wireless communication module and the battery module are respectively electrically connected to the main control circuit 70 to transmit the detected proximity between the electrode sheet 20 and the proximity conductor to the robot arm.

In this embodiment, the battery module is used to supply power to the whole sensing device, and includes the detection circuit 30, the main control circuit 70 and the wireless communication module. The wireless communication module can be a WIFI module, a Bluetooth module, a ZigBee module or a SIM card, including but not limited to the WIFI module, and the wireless communication module can be selected by a person skilled in the art according to actual conditions.

In some embodiments, the wireless communication module may also be a combination of any two or more of the above modules, for example, the wireless communication module is a WIFI module and a bluetooth module, a WIFI module and a ZigBee module, or the wireless communication module is a WIFI module, a bluetooth module and a ZigBee module, etc.

Referring to fig. 9, fig. 9 is a schematic structural diagram of a sensing device according to an embodiment of the present invention.

In some embodiments, the electronic skin module provided by the present invention comprises a plurality of electrode sheets 20, wherein the plurality of electrode sheets 20 are stacked and electrically connected to different detection channels of the detection circuit 30 respectively

In this embodiment, an insulating layer is disposed between two adjacent electrode plates 20, and the insulating layer insulates and separates the two adjacent electrode plates 20. By adopting the plurality of electrode plates 20 which are stacked and arranged in an insulated and separated mode, each electrode plate 20 can independently realize the function of detecting the approaching conductor. When the sensing device provided by the embodiment is used on external robots such as a mechanical arm, only one electrode plate 20 of the sensing device needs to be adopted to detect an approaching conductor, when the electrode plate 20 for detection is damaged and fails, only one electrode plate 20 of the other electrode plates 20 needs to be switched and communicated, the normal detection function can be continued, the electrode plate 20 does not need to be stopped and replaced, and the problem that the working efficiency of the mechanical arm is influenced due to the fact that the electrode plate 20 is stopped and replaced is effectively solved.

When the sensing device of the embodiment is used, only one of the electrode plates 20 is needed to detect the approaching conductor, and when one of the electrode plates 20 is damaged and fails, one of the other electrode plates 20 can be used to detect the approaching conductor. Specifically, the detection circuit 30 may be provided with a plurality of detection channels, which correspond to the electrode plates 20 one-to-one, and each electrode plate 20 is electrically connected to the corresponding detection channel, so that the electrode plate 20 connected and conducted by the detection circuit 30 can be switched only by controlling the on-off of the detection channel of the switching detection circuit 30. When the electrode plate 20 which is currently detected to be close to the conductor is damaged and fails, other electrode plates 20 can be directly switched to carry out detection work without replacing the electrode plates 20.

Referring to fig. 10, fig. 10 is a schematic structural diagram of a sensing device according to an embodiment of the present invention.

In some embodiments, the electrode plate 20 provided by the present invention includes a plurality of electrode plates 20 arranged in an array, and the electrode plates 20 are electrically connected to different detection channels of the detection circuit 30 respectively.

In this embodiment, the electrode plates 20 arranged in a plurality of arrays are correspondingly formed into a plurality of sensing areas, and the approaching conductors are sensed by different sensing areas, so that the specific directions of the approaching conductors in the space can be obtained, and the sensing accuracy of the sensing device is improved. The detection circuit 30 has a plurality of different detection channels, and each detection channel is electrically connected to one electrode pad 20 to obtain the sensing signals of the electrode pads 20 in different regions.

The utility model discloses a further a plurality of sensing device that provide of arm includes control circuit and aforementioned record, and above-mentioned embodiment is referred to this sensing device's concrete structure, because this 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. In this embodiment, the control circuit is electrically connected to each sensing device.

The utility model discloses a further a plurality of sensing device that an equipment includes control circuit and aforementioned record, this sensing device's concrete structure refers to above-mentioned embodiment, because this equipment 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. In this embodiment, the control circuit is electrically connected to each of the sensing devices, respectively, and the apparatus includes a robot.

The above is only the part or the preferred embodiment of the present invention, no matter the characters or the drawings can not limit the protection scope of the present invention, all under the whole concept of the present invention, the equivalent structure transformation made by the contents of the description and the drawings is utilized, or the direct/indirect application in other related technical fields is included in the protection scope of the present invention.

Claims (14)

1. A sensing device for an end of a robotic arm or end effector, comprising:

an electronic skin module comprising at least one electrode pad and a detection circuit; and

the electrode plate covers the surface of the bracket, and a mounting part which can be connected with the tail end of the mechanical arm or an end effector is arranged on one side of the bracket;

each electrode plate is electrically connected with different detection channels of the detection circuit respectively, each electrode plate can form a capacitor with an external conductor close to the electrode plate, and the detection circuit is used for detecting the capacitance value of each electrode plate.

2. The sensing device of claim 1,

the bracket comprises a plurality of supporting parts, two adjacent supporting parts are arranged in an intersecting manner, and each supporting part is covered with the electrode plate.

3. The sensing device of claim 1,

the electrode plate is covered on the outer surface of the bracket, and the hanging piece is arranged on the inner surface of the bracket.

4. The sensing device of claim 1,

one side of the bracket is provided with a control box electrically connected with the electrode plate, the detection circuit is arranged in the control box, and the hanging piece is arranged on the control box.

5. The sensing device of claim 4,

the control box is detachably connected with the bracket.

6. The sensing device of claim 1,

the hanging piece is a hoop, a bandage or a magnetic block.

7. The sensing device of claim 4,

the electronic skin module further comprises:

the main control circuit is arranged in the control box and electrically connected with the detection circuit, and the main control circuit and the detection circuit are arranged on the same board and are used for calculating the approaching degree of the electrode plate and the approaching conductor according to electric signals.

8. The sensing device of claim 7,

the electronic skin module further comprises:

the port is electrically connected with the detection circuit and is used for communication and/or transmission of electric energy, and the output end of the port is exposed to the outside of the control box; or

The electronic skin module further comprises:

and the port is electrically connected with the main control circuit and is used for communication and/or transmission of electric energy, and the output end of the port is exposed outside the control box.

9. The sensing device of claim 7,

the electronic skin module further comprises:

a wireless communication module, and a battery module;

the wireless communication module and the battery module are respectively electrically connected with the main control circuit.

10. The sensing device of claim 1,

the electronic skin module comprises a plurality of electrode plates which are arranged in a stacked mode and are respectively and electrically connected with different detection channels of the detection circuit.

11. The sensing device of claim 1,

the electronic skin module comprises a plurality of electrode plates which are arranged in an array and are respectively and electrically connected with different detection channels of the detection circuit.

12. The sensing device of claim 1,

still include flexible anticollision layer, flexible anticollision layer covers and establishes the surface of electrode slice, flexible anticollision layer is made by silica gel, rubber or expanded material.

13. A robot arm, comprising:

a control circuit, and;

a plurality of sensing devices according to any one of claims 1 to 12, the control circuit being electrically connected to each of the sensing devices.

14. An apparatus, comprising:

a control circuit, and;

a plurality of sensing devices according to any one of claims 1 to 12, the control circuit being electrically connected to each of the sensing devices.

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