TWI761994B - Contact sensor with fail-detection mechanism - Google Patents
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- TWI761994B TWI761994B TW109135955A TW109135955A TWI761994B TW I761994 B TWI761994 B TW I761994B TW 109135955 A TW109135955 A TW 109135955A TW 109135955 A TW109135955 A TW 109135955A TW I761994 B TWI761994 B TW I761994B
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Abstract
Description
本發明係關於一種接觸感應器,特別關於一種具備失效偵測機制的接觸感應器。 The present invention relates to a touch sensor, in particular to a touch sensor with a failure detection mechanism.
隨著自動化設備的發展,自動化設備的安全性問題也受到關注。例如,由於會與作業人員近距離協同作業,協作機器人(collaboration robots)的安全機制成為重要課題。國際標準組織為此於近年發表了ISO/TS 15066,針對機器人裝置中的協作機器人訂定了進一步的安全性規範。 With the development of automation equipment, the safety of automation equipment has also received attention. For example, the safety mechanism of collaborative robots (collaboration robots) is an important issue because they work closely with workers. In recent years, the International Organization for Standardization has published ISO/TS 15066, which sets out further safety specifications for collaborative robots in robotic devices.
接觸偵測機制是自動化設備的安全機制的其中一種。增設接觸偵測機制之後,自動化設備即可在偵測到接觸事件時,做出緊急應變的處理。例如,請參考第1圖,一種習知的具備接觸偵測機制的自動化系統1為一協作機器人系統,包括一控制器11、一可動構件12、一接觸感應器13以及一訊號線14。可動構件12為協作機器人系統的可動機械手臂,其可依控制器11的控制進行運動。接觸感應器13係設置於可動構件12上,且以訊號線14與控制器11電性連接。
The contact detection mechanism is one of the safety mechanisms for automation equipment. After adding a contact detection mechanism, the automated equipment can make emergency response when a contact event is detected. For example, please refer to FIG. 1 , a
製造過程的品質不佳、材料因時間而老化等,都有可能造成接觸感應器失效,進而無法與控制器即時交換訊號的情況。通訊失效會造成自動化 設備的安全性大幅度的降低,甚至可能造成作業人員的受傷。因此如何儘早得知接觸感應器可與控制器正常交換訊號,為一重要的技術課題。 Poor quality of the manufacturing process, aging of materials over time, etc., may cause the contact sensor to fail, thereby failing to exchange signals with the controller in real time. Communication failure can lead to automation The safety of the equipment is greatly reduced, and it may even cause injury to the operator. Therefore, how to know as early as possible that the contact sensor can exchange signals with the controller normally is an important technical issue.
本發明的目的為提供一種接觸感應器,其具備失效偵測機制,能夠提早發現接觸感應器與控制器之間訊號交換失效的狀況。 The purpose of the present invention is to provide a touch sensor with a failure detection mechanism, which can early detect the failure of the signal exchange between the touch sensor and the controller.
依本發明的一實施例,一種接觸感應器包括二膜層、二電極層、二失效偵測電極以及一導電連接部。二膜層分別具有相對的一第一內表面與一第二內表面。二電極層分別設置於第一內表面與第二內表面上,且二電極層之間相隔一間隙。失效偵測電極至少設置於第一內表面與第二內表面的其中一者上,且與該二電極層電性隔離。 According to an embodiment of the present invention, a touch sensor includes two film layers, two electrode layers, two failure detection electrodes, and a conductive connection portion. The two film layers respectively have a first inner surface and a second inner surface opposite to each other. The two electrode layers are respectively disposed on the first inner surface and the second inner surface, and a gap is separated between the two electrode layers. The failure detection electrode is disposed on at least one of the first inner surface and the second inner surface, and is electrically isolated from the two electrode layers.
在一實施例中,接觸感應器可更包括設置於二電極層之其中之一上的感應層。感應層可包括一壓敏材料,壓敏材料內包含至少一導電物質。接觸感應器亦可包括一間隙層,其設置於二膜層之間,使二電極層之間保持間隙。 In one embodiment, the touch sensor may further include a sensing layer disposed on one of the two electrode layers. The sensing layer may include a pressure-sensitive material, and the pressure-sensitive material includes at least one conductive substance. The contact sensor may also include a gap layer disposed between the two film layers to maintain a gap between the two electrode layers.
在一實施例中,接觸感應器可更包括二訊號端與二失效偵測端。二訊號端分別電性連接該二電極層,二失效偵測端則分別電性連接失效偵測電極。接觸感應器可更包括一切換開關,其一端連接至一訊號線,另一端選擇性地連接二訊號端或二失效偵測端。 In one embodiment, the touch sensor may further include two signal terminals and two failure detection terminals. The two signal terminals are respectively electrically connected to the two electrode layers, and the two failure detection terminals are respectively electrically connected to the failure detection electrodes. The touch sensor may further include a switch, one end of which is connected to a signal line, and the other end is selectively connected to two signal terminals or two failure detection terminals.
1:自動化系統 1: Automation system
11:控制器 11: Controller
12:可動構件 12: Movable components
13:接觸感應器 13: Touch sensor
14:訊號線 14: Signal line
23、23’:接觸感應器 23, 23': touch sensor
23o、23i:訊號端 23o, 23i: signal terminal
23fo、23fi:偵測端 23fo, 23fi: detection terminal
231a、231b:膜層 231a, 231b: film layer
231af:第一內表面 231af: First inner surface
231bf:第二內表面 231bf: Second inner surface
232a、232b:電極層 232a, 232b: electrode layers
233a、233b:感應層 233a, 233b: Induction layer
234:間隙層 234: Gap Layer
235:失效偵測電極 235: Failure detection electrode
235a、235b:子失效偵測電極 235a, 235b: Sub-failure detection electrodes
235c:導電連接部 235c: Conductive connection part
236:失效偵測電極 236: Failure detection electrode
236a、236b:子失效偵測電極 236a, 236b: Sub-failure detection electrodes
236c:導電連接部 236c: Conductive connection part
41:切換開關 41: toggle switch
53、53’:接觸感應器 53, 53': touch sensor
531a、531b:膜層 531a, 531b: film layer
532a、532b:電極層 532a, 532b: electrode layers
535a、535b:子失效偵測電極 535a, 535b: Sub-failure detection electrodes
535c:導電連接部 535c: Conductive connection part
536a、536b:子失效偵測電極 536a, 536b: Sub-failure detection electrodes
536c:導電連接部 536c: Conductive connection part
G:間隙 G: Gap
第1圖為示意圖,顯示習知的具備接觸偵測機制的自動化系統。 FIG. 1 is a schematic diagram showing a conventional automated system with a contact detection mechanism.
第2圖為示意圖,顯示依本發明一實施例的接觸感應器。 FIG. 2 is a schematic diagram showing a touch sensor according to an embodiment of the present invention.
第3圖為立體示意圖,顯示第2圖所示的接觸感應器的立體結構。 FIG. 3 is a schematic perspective view showing the three-dimensional structure of the touch sensor shown in FIG. 2 .
第4圖為示意圖,顯示依本發明另一實施例的接觸感應器。 FIG. 4 is a schematic diagram showing a touch sensor according to another embodiment of the present invention.
第5圖為立體示意圖,顯示第4圖所示的接觸感應器的立體結構。 FIG. 5 is a schematic perspective view showing the three-dimensional structure of the touch sensor shown in FIG. 4 .
第6圖為示意圖,顯示依本發明一實施例的接觸感應器與切換開關及訊號線的連接狀況。 FIG. 6 is a schematic diagram showing the connection status of the touch sensor, the switch and the signal line according to an embodiment of the present invention.
第7圖為示意圖,顯示依本發明又一實施例的接觸感應器。 FIG. 7 is a schematic diagram showing a touch sensor according to another embodiment of the present invention.
第8圖為示意圖,顯示依本發明再一實施例的接觸感應器。 FIG. 8 is a schematic diagram showing a touch sensor according to still another embodiment of the present invention.
請參考第2圖與第3圖,依本發明一實施例的接觸感應器23包括二膜層231a與231b、二電極層232a與232b、二感應層233a與233b、一間隙層234、一失效偵測電極235,其包括二子失效偵測電極235a與235b以及一導電連接部235c。第3圖為第2圖所示結構的立體示意圖,其中第2圖中的膜層231a在第3圖被移除,以便更清楚地顯示接觸感應器23的內部結構。
Please refer to FIG. 2 and FIG. 3, the
二膜層231a與231b分別具有相對應的第一內表面231af以及第二內表面231bf。二電極層232a與232b分別設置於對應的第一內表面231af與第二內表面231bf上,且相隔一間隙G。二感應層233a與233b分別設置於相對應的電極層232a與232b上。間隙層234設置於二膜層231a與231b之間,以使二電極層232a與232b之間保持間隙G。二感應層233a與233b可為包括導電材料的壓敏材料(Pressure Sensitive Material),並以塗佈或印刷的方式形成於二電極層232a與232b上。
The two
當膜層231a被接觸時,會受到壓力而變形,使二電極層232a與232b之間的距離變短。此時感應層233a與233b的壓敏材料受到壓力,使壓敏材料內的導電材料接觸,形成一導電通路於二電極層232a與232b之間。電極層232a與232b分別連接二訊號端23o與23i(如圖4所示)。二電極層232a與232b之間若形成導電通路,則訊號端23i接收的電壓可自訊號端23o輸出至一自動化系統的控制器,以作為接觸訊號。
When the
二子失效偵測電極235a與235b分別設置於對應的第一內表面231af與第二內表面231bf上,且與二電極層232a與232b電性隔離。亦即,二子失效偵測電極235a與235b沒有與二電極層232a與232b電性連接,也沒有與設置在二電極層232a與232b上的二感應層233a與233b電性連接。二子失效偵測電極235a與235b之間設有一導電連接部235c以建立電性連接,且二子失效偵測電極235a與235b分別連接二失效偵測端23fo與23fi(如第6圖所示)。
The two
第2圖與第3圖所示的結構可能因為製造過程的品質不佳,或是材料因時間而老化等原因,造成二膜層231a與231b彼此剝離。膜層231a與231b的剝離會造成二電極層232a與232b之間的間隙G變大,使得膜層231a被接觸時,電極層232a與232b之間的電性連接的建立變得困難。這造成接觸感應器失效,無法偵測到接觸。藉由本實施例的設計,操作人員可以透過連接失效偵測端23fo與23fi,來偵測膜層是否有剝離的情況。亦即,操作人員可於失效偵測端23fi施加一電壓,並偵測失效偵測端23fo是否有電壓輸出。在膜層231a與231b無剝離的情況下,導電連接部235c可以建立子失效偵測電極235a與235b之間的電性連接,使失效偵測端23fo輸出電壓。若膜層231a與231b彼此剝離,導電連接部235c會斷開,造成子失效偵測電極235a與235b之間無法建立電性連接。在此狀況
下,失效偵測端23fo即無輸出電壓。因此,藉由偵測失效偵測端23fo是否有電壓輸出,即可得知膜層231a與231b是否有剝離的情況。在一實施例中,失效偵測端23fi接收的電壓可自失效偵測端23fo輸出至一自動化系統的控制器,且本發明不以此為限制。
The structures shown in FIG. 2 and FIG. 3 may be peeled off from each other due to the poor quality of the manufacturing process or the aging of materials due to time. The peeling of the film layers 231a and 231b will cause the gap G between the two
請參考第4圖及第5圖,其為依本發明另一實施例的接觸感應器23’,第4圖及第5圖中的元件符號與第2圖及第3圖的元件符號相同者為相同之元件,因此於此將不再贅述。第4圖及第5圖與第2圖及第3圖的差別在於,接觸感應器23’包括一失效偵測電極236,其包括二子失效偵測電極236a與236b、以及一導電連接部236c。二子失效偵測電極236a與236b配置於同一內表面,於此實施例中,二子失效偵測電極236a與236b即配置於第二內表面231bf,於另一實施例中,二子失效偵測電極236a與236b亦可配置於第一內表面231af(未繪示),且本發明不以此為限制。
Please refer to FIG. 4 and FIG. 5 , which are a
二子失效偵測電極236a與236b與二電極層232a與232b電性隔離,且二子失效偵測電極236a與236b之間設有一導電連接部236c以建立電性連接,並二子失效偵測電極236a與236b分別連接二失效偵測端23fo與23fi(如第6圖所示)。
The two
第4圖與第5圖所示的接觸感應器23’係透過訊號線14與控制器11(如第1圖所示)來通訊連接,然而,訊號線14可能因為製造過程的品質不佳,或是材料因時間而老化等原因,造成訊號傳遞不佳或斷線等情況,這造成訊號傳遞失效,控制器11無法接收到接觸感應器23’所傳遞之訊號。藉由本實施例的設計,操作人員可以透過連接失效偵測端23fo與23fi,來偵測訊號線14是否有損壞的情況。亦即,操作人員可於失效偵測端23fi施加一電壓,並偵測失效偵
測端23fo是否有電壓輸出。在訊號線14無損壞的情況下,導電連接部236c可以建立子失效偵測電極236a與236b之間的電性連接,使失效偵測端23fo輸出電壓。若訊號線14發生損壞的情況,電壓無法由失效偵測端23fi傳遞至失效偵測端23fo。在此狀況下,失效偵測端23fo即無輸出電壓。因此,藉由偵測失效偵測端23fo是否有電壓輸出,即可得知訊號線14是否有損壞的情況。在一實施例中,失效偵測端23fi接收的電壓可自失效偵測端23fo輸出至一自動化系統的控制器,且本發明不以此為限制。
The
請參考第6圖,在一實施例中,一切換開關41可連接於具有兩導線的一訊號線14、二訊號端23o與23i與二失效偵測端23fo與23fi之間,使訊號線14可選擇性地連接二訊號端23o與23i或二失效偵測端23fo與23fi。在正常操作模式下,切換開關41可連接訊號線14的兩導線與二訊號端23o與23i,以偵測是否有接觸。在失效偵測模式下,切換開關41可切換以連接訊號線14兩導線與失效偵測端23fo與23fi,以偵測訊號交換(即電壓傳遞)是否失效。如此操作人員可輕易地在正常操作模式與失效偵測模式之間切換,大幅提升了操作的便利性。
Referring to FIG. 6, in one embodiment, a
須注意者,熟悉該項技藝者可對上述的實施例做各種之更動與潤飾,而不脫離本發明之精神和範圍。例如,請參考第7圖,依本發明另一實施例的接觸感應器53包括二膜層531a與531b、二電極層532a與532b、二子失效偵測電極535a與535b、以及一導電連接部535c。與第2圖及第3圖所示的實施例不同者,第7圖所示的接觸感應器53不包括感應層與間隙層。當膜層531a被接觸時,會受到壓力而變形,使二電極層532a與532b接觸,形成導電通路於二電極層532a與532b之間,從而使接觸感應器53能夠輸出接觸訊號。
It should be noted that those skilled in the art can make various changes and modifications to the above-described embodiments without departing from the spirit and scope of the present invention. For example, referring to FIG. 7, a
在本實施例中,二子失效偵測電極535a與535b以及導電連接部535c的運作原理與第2圖及第3圖所示的實施例相同。在膜層531a與531b無剝離的情況下,導電連接部535c可以建立子失效偵測電極535a與535b之間的電性連接。若膜層531a與531b彼此剝離,導電連接部535c會斷開,造成子失效偵測電極535a與535b之間無法建立電性連接。因此,藉由偵測與失效偵測電極連接的失效偵測端是否有電壓輸出,即可得知膜層是否有剝離的情況。
In this embodiment, the operation principle of the two
請參考第8圖,其為依本發明再一實施例的接觸感應器53’,第8圖中的元件符號與第7圖的元件符號相同者為相同之元件,因此於此將不再贅述。第8圖與第7圖的差別在於,接觸感應器53’包括二子失效偵測電極536a與536b、以及一導電連接部536c。二子失效偵測電極236a與236b配置於同一內表面,且運作原理與第4圖及第5圖所示的實施例相同。在訊號線14無損壞的情況下,電壓可由失效偵測端23fi輸入,並經由二子失效偵測電極536a及536b與導電連接部536c輸出至失效偵測端23fo。若訊號線14發生損壞的情況,電壓將無法經由二子失效偵測電極536a及536b與導電連接部536c輸出至失效偵測端23fo。因此,藉由偵測與子失效偵測電極536a及536b連接的失效偵測端23fi、23fo(如第6圖所示)是否有電壓輸出,即可得知訊號線14是否有損壞的情況。
Please refer to FIG. 8 , which is a
因此,本發明所提出的接觸感應器,可藉由偵測與失效偵測電極連接的失效偵測端,快速檢測接觸感應器是否可與控制器正常通訊並電性連接以交換訊號,增進接觸感應器使用時的便利性。 Therefore, the contact sensor proposed by the present invention can quickly detect whether the contact sensor can communicate with the controller normally and be electrically connected to exchange signals by detecting the failure detection terminal connected to the failure detection electrode, thereby enhancing the contact. Convenience when using the sensor.
綜上所述,雖然本發明已以實施例揭露如上,然其並非用以限定本發明。本發明所屬技術領域中具有通常知識者,在不脫離本發明之精神和範 圍內,當可作各種之更動與潤飾。因此,本發明之保護範圍當視後附之申請專利範圍所界定者為準。 To sum up, although the present invention has been disclosed by the above embodiments, it is not intended to limit the present invention. Those with ordinary knowledge in the technical field to which the present invention pertains do not depart from the spirit and scope of the present invention. Within the enclosure, various alterations and modifications can be made. Therefore, the protection scope of the present invention shall be determined by the scope of the appended patent application.
23:接觸感應器 23: touch sensor
231a、231b:膜層 231a, 231b: film layer
231af:第一內表面 231af: First inner surface
231bf:第二內表面 231bf: Second inner surface
232a、232b:電極層 232a, 232b: electrode layers
233a、233b:感應層 233a, 233b: Induction layer
234:間隙層 234: Gap Layer
235:失效偵測電極 235: Failure detection electrode
235a、235b:子失效偵測電極 235a, 235b: Sub-failure detection electrodes
235c:導電連接部 235c: Conductive connection part
G:間隙 G: Gap
Claims (7)
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TW109135955A TWI761994B (en) | 2020-10-16 | 2020-10-16 | Contact sensor with fail-detection mechanism |
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TW109135955A TWI761994B (en) | 2020-10-16 | 2020-10-16 | Contact sensor with fail-detection mechanism |
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TW202217254A TW202217254A (en) | 2022-05-01 |
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Citations (4)
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US4661797A (en) * | 1984-04-09 | 1987-04-28 | Get Gesellschaft Fur Elektroniktechnologie Mbh | Electronic warning and monitoring apparatus and electrode arrangement therefor |
US20090158852A1 (en) * | 2007-12-21 | 2009-06-25 | Saurav Paul | Contact Sensing Flexible Conductive Polymer Electrode |
CN101785285A (en) * | 2007-08-22 | 2010-07-21 | 吴谊镇 | Piezo-electric sensing unit and data input device using piezo-electric sensing |
US9200970B2 (en) * | 2010-04-07 | 2015-12-01 | Daikin Industries, Ltd. | Transparent piezoelectric sheet-with-A-frame, touch panel, and electronic device each having the transparent piezoelectric sheet |
-
2020
- 2020-10-16 TW TW109135955A patent/TWI761994B/en active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4661797A (en) * | 1984-04-09 | 1987-04-28 | Get Gesellschaft Fur Elektroniktechnologie Mbh | Electronic warning and monitoring apparatus and electrode arrangement therefor |
CN101785285A (en) * | 2007-08-22 | 2010-07-21 | 吴谊镇 | Piezo-electric sensing unit and data input device using piezo-electric sensing |
US20090158852A1 (en) * | 2007-12-21 | 2009-06-25 | Saurav Paul | Contact Sensing Flexible Conductive Polymer Electrode |
US9200970B2 (en) * | 2010-04-07 | 2015-12-01 | Daikin Industries, Ltd. | Transparent piezoelectric sheet-with-A-frame, touch panel, and electronic device each having the transparent piezoelectric sheet |
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