WO2022135091A1 - 电子皮肤主模块、子模块、系统、机械臂和机器人 - Google Patents

电子皮肤主模块、子模块、系统、机械臂和机器人 Download PDF

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Publication number
WO2022135091A1
WO2022135091A1 PCT/CN2021/134875 CN2021134875W WO2022135091A1 WO 2022135091 A1 WO2022135091 A1 WO 2022135091A1 CN 2021134875 W CN2021134875 W CN 2021134875W WO 2022135091 A1 WO2022135091 A1 WO 2022135091A1
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WIPO (PCT)
Prior art keywords
module
main module
sub
electronic skin
electrode
Prior art date
Application number
PCT/CN2021/134875
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English (en)
French (fr)
Inventor
黄睿
郎需林
刘主福
刘培超
甘海宏
张俊鹏
姚郎贤
Original Assignee
深圳市越疆科技有限公司
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Application filed by 深圳市越疆科技有限公司 filed Critical 深圳市越疆科技有限公司
Publication of WO2022135091A1 publication Critical patent/WO2022135091A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic

Definitions

  • the present application relates to an electronic skin main module, sub-module, system, mechanical arm and robot, and belongs to the technical field of robot control.
  • some mechanical equipment such as robots, sweepers, balance cars, bumper cars or gantry cranes are increasingly installed with electronic skins, so as to take active avoidance actions when detecting that the human body is approaching or touching the surface of the mechanical equipment.
  • some exposed parts are limited by the traditional electronic skin installation and are not installed with electronic skin.
  • the end of the tool such as the gripper is not installed with electronic skin, and these parts are also in contact.
  • Opportunities for the human body which also brings about the problem of interfering with the human body or causing harm to the human body.
  • the technical problem to be solved in the present application is to solve the problem of interference with the human body and damage to the human body caused by the electronic skin of the existing robot that is only arranged on the surface of the mechanical arm, and the electronic skin is not installed at the end.
  • an electronic skin main module comprising:
  • Electrodes the electrodes can form a capacitance with the close external conductor
  • the detection circuit board is electrically connected to the electrode to detect the distance between the electrode and the outer conductor or its change by using the capacitance between the electrode and the outer conductor or its change, and obtain an electrical signal representing the distance between the electrode and the outer conductor or its change. Signal;
  • the first interface part of the main module is electrically connected with the detection circuit board, so as to transmit electrical signals with external equipment and supply power for the operation of the detection circuit board.
  • the electronic skin main module further includes a second interface part of the main module, and the second interface part of the main module is connected to the detection circuit board, so that the detection circuit board is connected to another electrode, so that the detection circuit board detects the connection between the other electrode and the external conductor. The distance between them or their changing electrical signals.
  • the electronic skin main module further includes a casing, the casing is used for accommodating the detection circuit board, the first interface part of the main module and the second interface part of the main module are arranged on the wall surface of the casing, and the electrodes are arranged on the outer wall surface of the casing.
  • the main module of the electronic skin further comprises a base, the base is arranged on the bottom surface of the detection circuit board, and the detection circuit board is fixed in the casing by a fixing member.
  • the electronic skin main module also includes a third interface part of the main module, and the third interface part of the main module is connected to the detection circuit board, so that the detection circuit board is connected to another electrode, so that the detection circuit board detects the connection between the further electrode and the external conductor. The distance between them or their changing electrical signals.
  • the application also discloses an electronic skin main module, comprising:
  • Electrodes the electrodes can form a capacitance with the close external conductor
  • the detection circuit board is electrically connected to the electrode to detect the distance between the electrode and the outer conductor or its change by using the capacitance between the electrode and the outer conductor or its change, and obtain an electrical signal representing the distance between the electrode and the outer conductor or its change. Signal;
  • the logic control board is electrically connected with the detection circuit board to process according to the electrical signal output by the detection circuit board, so as to output parameter information representing the proximity of the electrode to the external conductor;
  • the first interface part of the main module is electrically connected with the logic control board, so as to transmit parameter information with external equipment, and supply power for the operation of the logic control board and the detection circuit board.
  • the electronic skin main module further includes a second interface part of the main module, and the second interface part of the main module is connected to the detection circuit board, so that the detection circuit board is connected to another electrode, so that the detection circuit board detects the connection between the other electrode and the external conductor. The distance between them or their changing electrical signals.
  • the electronic skin main module also includes a third interface part of the main module, and the third interface part of the main module is connected to the detection circuit board, so that the detection circuit board is connected to another electrode, so that the detection circuit board detects the connection between the further electrode and the external conductor. The distance between them or their changing electrical signals.
  • the electronic skin main module further includes a fourth interface part of the main module, and the fourth interface part of the main module is connected to the logic control board, so that the logic control board is connected to another detection circuit board, so that the logic control board obtains another detection current output An electrical signal that characterizes the distance between another electrode and an external conductor or its change.
  • the electronic skin main module further includes a fifth interface part of the main module, and the fifth interface part of the main module is connected to the logic control board, so that the logic control board is connected to another detection circuit board, so that the logic control board obtains another detection current output An electrical signal that characterizes the distance between another electrode and an external conductor or its change.
  • the electronic skin main module further includes a casing, the casing is used for accommodating the detection circuit board and the logic control board, the interface part of the main module is arranged on the wall surface of the casing, and the electrodes are arranged on the outer wall surface of the casing.
  • the present application also discloses a modular electronic skin sub-module, comprising:
  • Sub-module electrodes the sub-module electrodes can form capacitance with the close external conductor
  • the sub-module interface part is electrically connected to the sub-module electrodes, so that the sub-module electrodes are electrically connected to the main module detection circuit board of the electronic skin main module;
  • the main module of the electronic skin includes:
  • the main module electrode, the main module electrode can form a capacitance with the close external conductor
  • the main module detection circuit board is electrically connected with the main module electrodes, so as to detect the distance between the main module electrodes and the external conductors or their changes by using the capacitance between the main module electrodes and the external conductors or their changes, and obtain the characteristics of the main module electrodes and the outside world. the distance between conductors or their varying electrical signals;
  • the first interface part of the main module is electrically connected with the main module detection circuit board, so as to transmit electrical signals with external equipment, and supply power for the work of the main module detection circuit board;
  • the second interface part of the main module is connected to the main module detection circuit board, so that the main module detection circuit board is connected to another electrode, so that the main module detection circuit board detects the connection between the other electrode and the external conductor. the electrical signal of distance or its variation;
  • the main module of the electronic skin includes:
  • the main module electrode, the main module electrode can form a capacitance with the close external conductor
  • the main module detection circuit board is electrically connected with the main module electrodes, so as to detect the distance between the main module electrodes and the external conductors or their changes by using the capacitance between the main module electrodes and the external conductors or their changes, and obtain the characteristics of the main module electrodes and the outside world. the distance between conductors or their varying electrical signals;
  • the logic control board is electrically connected with the main module detection circuit board, so as to process according to the electrical signal output by the main module detection circuit board, so as to output parameter information representing the proximity of the main module electrode to the external conductor;
  • the first interface part of the main module is electrically connected with the logic control board, so as to transmit parameter information with external equipment, and supply power for the logic control board and the main module detection circuit board;
  • the second interface part of the main module, the second interface part of the main module is connected to the main module detection circuit board, so that the detection circuit board is connected to another electrode, so that the main module detection circuit board detects the distance between the other electrode and the external conductor or its changing electrical signal.
  • the electronic skin sub-module further includes a sub-module housing, the sub-module interface portion is arranged on the wall surface of the sub-module housing, and the sub-module electrodes are arranged on the outer side wall surface of the sub-module housing.
  • the application also discloses an electronic skin sub-module, comprising:
  • Sub-module electrodes the sub-module electrodes can form capacitance with the close external conductor
  • the sub-module detection circuit board is electrically connected to the sub-module electrodes to detect the distance between the sub-module electrodes and the external conductors or their changes by using the capacitance between the sub-module electrodes and the external conductors or their changes, and obtain the characteristics of the sub-module electrodes and the external environment. the distance between conductors or their varying electrical signals;
  • the sub-module interface part is electrically connected with the sub-module detection circuit board, so that the sub-module detection circuit board is electrically connected with the logic control board of the electronic skin main module;
  • the main module of the electronic skin includes:
  • the main module electrode, the main module electrode can form a capacitance with the close external conductor
  • the main module detection circuit board is electrically connected with the main module electrodes, so as to detect the distance between the main module electrodes and the external conductors or their changes by using the capacitance between the main module electrodes and the external conductors or their changes, and obtain the characteristics of the main module electrodes and the outside world. the distance between conductors or their varying electrical signals;
  • the logic control board is electrically connected with the main module detection circuit board, so as to process according to the electrical signal output by the main module detection circuit board, so as to output parameter information representing the proximity of the main module electrode to the external conductor;
  • the first interface part of the main module is electrically connected with the logic control board, so as to transmit parameter information with external equipment, and supply power for the logic control board and the main module detection circuit board;
  • the fourth interface part of the main module is connected to the logic control board, so that the logic control board is connected to another detection circuit board, so that the logic control board obtains another detection current output characterizing the relationship between the other electrode and the external conductor. The distance between them or their changing electrical signals.
  • the electronic skin sub-module further includes a sub-module housing, the sub-module housing is used for accommodating the sub-module detection circuit board, the sub-module interface part is arranged on the wall surface of the sub-module housing, and the sub-module electrodes are arranged on the outer side of the sub-module housing wall.
  • the present application also discloses an electronic skin system, the electronic skin system includes a main electronic skin module and a sub electronic skin module interconnected for external devices, wherein,
  • the main electronic skin module is the electronic skin main module, and the electronic skin main module includes:
  • the main module electrode, the main module electrode can form a capacitance with the close external conductor
  • the main module detection circuit board is electrically connected with the main module electrodes, so as to detect the distance between the main module electrodes and the external conductors or their changes by using the capacitance between the main module electrodes and the external conductors or their changes, and obtain the characteristics of the main module electrodes and the outside world. the distance between conductors or their varying electrical signals;
  • the first interface part of the main module is electrically connected with the main module detection circuit board, so as to transmit electrical signals with external equipment, and supply power for the work of the main module detection circuit board;
  • the second interface part of the main module is connected to the main module detection circuit board, so that the main module detection circuit board is connected to another electrode, so that the main module detection circuit board detects the connection between the other electrode and the external conductor. the electrical signal of distance or its variation;
  • the sub-electronic skin module is an electronic skin sub-module, and the electronic skin sub-module includes:
  • Sub-module electrodes the sub-module electrodes can form capacitance with the close external conductor
  • the sub-module interface part is electrically connected to the sub-module electrodes, so that the sub-module electrodes are electrically connected to the main module detection circuit board of the electronic skin main module.
  • the main electronic skin module and/or the sub electronic skin module further comprises a fixing piece
  • the main module of the electronic skin also includes:
  • the main module housing is used to accommodate the main module detection circuit board, the first interface part of the main module and the second interface part of the main module are arranged on the wall surface of the main module housing, and the main module electrode is arranged on the main module housing. outer side wall;
  • the sub-electronic skin module also includes:
  • the sub-module interface part is arranged on the wall surface of the sub-module housing, and the sub-module electrodes are arranged on the outer side wall surface of the sub-module housing;
  • the fixing piece is arranged on the bottom surface of the main module housing and/or the sub-module housing, and a fixing portion is arranged on the fixing piece to fix the main module housing and/or the sub-module housing on the surface of the external device.
  • the external device is a robot, and the electronic skin system is fixed at the end of the robot.
  • the present application also discloses a robotic arm on which an electronic skin system is installed, and the electronic skin system includes a main electronic skin module and a sub electronic skin module that are connected to each other for external devices, wherein,
  • the main electronic skin module is the electronic skin main module, and the electronic skin main module includes:
  • the main module electrode, the main module electrode can form a capacitance with the close external conductor
  • the main module detection circuit board is electrically connected with the main module electrodes, so as to detect the distance between the main module electrodes and the external conductors or their changes by using the capacitance between the main module electrodes and the external conductors or their changes, and obtain the characteristics of the main module electrodes and the outside world. the distance between conductors or their varying electrical signals;
  • the first interface part of the main module is electrically connected with the main module detection circuit board, so as to transmit electrical signals with external equipment, and supply power for the work of the main module detection circuit board;
  • the second interface part of the main module is connected to the main module detection circuit board, so that the main module detection circuit board is connected to another electrode, so that the main module detection circuit board detects the connection between the other electrode and the external conductor. the electrical signal of distance or its variation;
  • the sub-electronic skin module is an electronic skin sub-module, and the electronic skin sub-module includes:
  • Sub-module electrodes the sub-module electrodes can form capacitance with the close external conductor
  • the sub-module interface part is electrically connected to the sub-module electrodes, so that the sub-module electrodes are electrically connected to the main module detection circuit board of the electronic skin main module.
  • the present application also discloses a robot, where an electronic skin system is installed on the robot, and the electronic skin system is installed on a tool end of the robot; the electronic skin system includes a main electronic skin module and a sub electronic skin module connected to each other for external equipment, wherein,
  • the main electronic skin module is the electronic skin main module, and the electronic skin main module includes:
  • the main module electrode, the main module electrode can form a capacitance with the close external conductor
  • the main module detection circuit board is electrically connected with the main module electrodes, so as to detect the distance between the main module electrodes and the external conductors or their changes by using the capacitance between the main module electrodes and the external conductors or their changes, and obtain the characteristics of the main module electrodes and the outside world. the distance between conductors or their varying electrical signals;
  • the first interface part of the main module is electrically connected with the main module detection circuit board, so as to transmit electrical signals with external equipment, and supply power for the work of the main module detection circuit board;
  • the second interface part of the main module is connected to the main module detection circuit board, so that the main module detection circuit board is connected to another electrode, so that the main module detection circuit board detects the connection between the other electrode and the external conductor. the electrical signal of distance or its variation;
  • the sub-electronic skin module is an electronic skin sub-module, and the electronic skin sub-module includes:
  • Sub-module electrodes the sub-module electrodes can form capacitance with the close external conductor
  • the sub-module interface part is electrically connected to the sub-module electrodes, so that the sub-module electrodes are electrically connected to the main module detection circuit board of the electronic skin main module.
  • a first interface part of the main module is added on the basis of the first electrode and the first detection circuit board, which constitute the basic components of the electronic skin, so that the first detection circuit board can be connected to the first interface part of the main module through the first interface part of the main module.
  • the detected proximity distance between the conductor and the first electrode or an electrical signal of the distance change is output to an external device such as a robot.
  • the main module of the electronic skin is formed into a modular electronic skin device, and the standardized first interface part of the main module can be easily detachably installed with external devices, which is convenient for the electronic skin device.
  • An independent device is installed to a certain position of the external device, so that the external device has the function of detecting the proximity of the conductor, and takes active avoidance measures according to the electrical signal of the proximity of the conductor and the external device. In this way, the position of the external device can be prevented from interfering with the conductor when it is working.
  • FIG. 1 is a schematic structural diagram of a robot according to an embodiment of the present application.
  • Fig. 2 and Fig. 3 are the structural schematic diagrams of the electronic skin main module of the embodiment of the present application.
  • Fig. 4 is the exploded view of the electronic skin main module of the embodiment of the present application.
  • FIGS. 5 and 6 are schematic structural diagrams of an electronic skin sub-module according to an embodiment of the present application.
  • FIG. 7 is an exploded view of an electronic skin sub-module according to an embodiment of the present application.
  • FIG. 8 is a block diagram of a first embodiment of an electronic skin system according to an embodiment of the present application.
  • FIG. 9 is a block diagram of a second embodiment of an electronic skin system according to an embodiment of the present application.
  • FIG. 10 is a block diagram of a third embodiment of the electronic skin system according to an embodiment of the present application.
  • FIG. 11 is a block diagram of a fourth embodiment of the electronic skin system according to an embodiment of the present application.
  • FIG. 12 is a block diagram of a fifth embodiment of the electronic skin system according to the embodiment of the present application.
  • FIG. 13 is a block diagram of a sixth embodiment of the electronic skin system according to the embodiment of the present application.
  • the electronic skin main module 100, the first interface part 111 of the main module, the second interface part 112 of the main module, the third interface part 113 of the main module, the fourth interface part 114 of the main module, the fifth interface part 115 of the main module, the sixth interface part of the main module The interface part 116, the main module electrode 120, the main module detection circuit board 130, the logic control board 140, the main module housing 150, the main module fixing plate 170, the main module fixing hole 171, the main module base 180, the reset button 190,
  • Robot 10 joint arm 11 , joint part 12 , gripper 13 , base 14 .
  • the electronic skin main module 100 includes main module electrodes 120 , a main module detection circuit board 130 and a main module first interface portion 111 .
  • the main module electrode 120 can form a capacitance with the adjacent external conductor.
  • the main module detection circuit board 130 is electrically connected with the main module electrode 120 to detect the distance between the main module electrode 120 and the external conductor or the change thereof by using the capacitance between the main module electrode 120 and the external conductor or the change thereof, so as to obtain the characteristic of the main module The distance between the electrode 120 and the external conductor or the electrical signal of its change.
  • the first interface part 111 of the main module is electrically connected to the main module detection circuit board 130 to transmit electrical signals with external devices, and to supply power for the operation of the main module detection circuit board 130 .
  • the external conductors here include the human body and conductive metal bodies, and are usually specific parts of the human body such as human arms, fingers, and heads.
  • the main module electrode 120 is arranged on the outer side of the external device, and the external device here can be mechanical equipment such as a robot, a sweeper, a balance car, a bumper car or a gantry crane. Or the outside of the joint to facilitate the formation of capacitance with an approaching conductor.
  • the detection circuit is connected to the main module electrode 120, and its working principle can be based on the circuit structure of the detection oscillator circuit. When an external conductor such as the human body approaches the electronic skin main module 100, the main module electrode 120 forms a capacitance with the human body, and the capacitance is connected to the main module electrode 120.
  • the oscillating circuit Enter into the oscillating circuit, change its oscillating frequency, and identify the oscillating frequency through the relevant circuit. By recognizing the change of the oscillating frequency, the distance change between the main module electrode 120 and the external conductor or the related parameters of the distance can be calculated.
  • the specific detection circuit reference may be made to related circuits in the prior art, which will not be repeated here.
  • One end of the first interface part 111 of the main module is connected to the main module detection circuit board 130 , and the other end is connected to an external device such as the robot 10 , so as to output an electrical signal of the proximity of the conductor to the main module electrode 120 or the change of the distance to the robot 10 .
  • the main module first interface portion 111 is added, so that the main module An interface part 111 can output the electrical signal of the proximity of the conductor detected by the main module detection circuit board 130 to the main module electrode 120 or the change of the distance to an external device such as the robot 10 .
  • the electronic skin main module 100 forms a modular electronic skin device, and through the standardized first interface part 111 of the main module, it can be easily detachably installed with external devices, so that the The electronic skin device forms an independent device and is installed at a certain position of the external device, so that the external device has the function of detecting the proximity of the conductor, and takes active avoidance measures according to the electrical signal of the proximity of the conductor and the external device. In this way, the position of the external device can be prevented from interfering with the conductor when it is working.
  • the electronic skin main module 100 can be installed at a certain position of the robot 10, such as the end, so that the device at the end can also sense the approach of a conductor such as a human body, so that when the robot 10 is working, when When a part of the human body, such as an arm or a finger, is too close to the terminal device or is in contact with the terminal device, its electronic skin outputs proximity information to the control device of the robot 10, so that the control device of the robot 10 performs an active avoidance action to avoid interference with the human body, And avoid harm to human body.
  • a conductor such as a human body
  • the probability of the terminal equipment such as the gripper 330 contacting the human body is higher than that of other parts of the robot 10, such as the robotic arm, and the electronic skin main module 100 is not installed at the end of the robot 10 in the prior art.
  • the electronic skin is installed on the surface of the robotic arm, so it is not suitable to use the electronic skin installation method in the prior art for the irregular shape of the end.
  • the electronic skin main module 100 is installed in a detachable casing, so that the end of the robot 10 has the function of detecting the approach of conductors and can take active avoidance measures accordingly, thereby enhancing the safety and reliability of the robot 10.
  • the electronic skin main module 100 further includes a main module second interface part 112 , and the main module second interface part 112 is connected to the main module detection circuit board 130 , so that The main module detection circuit board 130 is connected to the other electrode, so that the main module detection circuit board 130 detects the distance between the other electrode and the external conductor or an electrical signal of a change thereof.
  • the second interface part 112 of the main module is added on the basis of the previous embodiment. One end of the second interface part 112 of the main module is connected to the main module detection circuit board 130 , and the other end is connected to another electrode.
  • the electrodes 120 of the main module in front can be arranged close to each other, so that a larger area of the area where the external conductor is approached can be detected.
  • the number of second interfaces can be multiple, so that this solution can be connected to the main module detection circuit board 130 in the form of a plurality of oscillator circuits formed with different main module electrodes 120, for example, 2 to 4 oscillator circuits can be connected, Each oscillating circuit is connected to a different other electrode through a different second interface part 112 of the main module, and these other electrodes can be arranged close to each other, thereby effectively increasing the detection area.
  • the electronic skin main module 100 further includes a main module housing 150, the main module housing 150 is used to accommodate the main module detection circuit board 130, the main module first interface part 111 and the main module second interface
  • the portion 112 is provided on the wall surface of the main module case 150
  • the main module electrode 120 is provided on the outer side wall surface of the main module case 150 .
  • an installation chamber for installing the electronic skin main module 100 is formed in the main module housing 150 to install the electronic skin main module 100.
  • the main module housing 150 can be in the shape of a square, a polygon, etc.
  • the wall surface of the main module housing 150 is provided with a first interface portion 111 of the main module and a second interface portion 112 of the main module.
  • the first interface part 111 of the main module can be an aviation socket for connecting with an aviation plug
  • the second interface part 112 of the main module in FIG. 2 is a serial port socket for connecting with a serial port plug.
  • the main module electrode 120 can be attached and installed on the outer side wall surface of the main module housing 150 , preferably the outer inner wall surface, wherein the outer side wall surface is the side of the main module housing 150 opposite to the adjacent external conductor.
  • the main module detection circuit board 130 can form a communication connection with the external device through the first interface part 111 of the main module.
  • the module detection circuit board 130 supplies power, and performs bidirectional communication with peripherals through data input lines and data output lines.
  • the second interface part 112 of the main module may be a single interface for realizing electrical connection, so as to realize the electrical connection between the first sub-module electrode 210 and the main module detection circuit board 130 through the second interface through an electrical connection line.
  • the electronic skin main module 100 further includes a main module base 180 .
  • the main module base 180 is arranged on the bottom surface of the main module detection circuit board 130 , and the main module detection circuit board 130 is fixed on the main module detection circuit board 130 by a fixing member.
  • Inside the main module housing 150 installation posts can be avoided in the main module housing 150, and mounting holes can be provided on the main module detection circuit board 130 and the main module base 180, and the main module base 180 can be connected to the main module housing 150 by fixing parts such as screws.
  • the main module detection circuit board 130 is fixed between the main module base 180 and the inner wall surface of the main module housing 150, so as to realize the fixing of the main module detection circuit board 130.
  • the electronic skin main module 100 further includes a main module fixing piece 170 , the main module fixing piece 170 is fixed on the main module base 180 , and the main module fixing piece 170 is also provided with a mounting portion
  • the main module fixing sheet 170 is fixed to the external device such as the end or other parts of the mechanical arm of the robot 10 through a fixing member such as a screw through the main module fixing hole 171 .
  • the electronic skin main module 100 can be detachably fixed to the external device conveniently.
  • the electronic skin main module 100 further includes a third interface part 113 of the main module, and the third interface part 113 of the main module is connected to the main module detection circuit board 130 , so that the main module detects
  • the circuit board 130 is connected to the further electrode, so that the detection circuit board detects the distance between the further electrode and the external conductor or the electrical signal of the change thereof. Therefore, the detection circuit board 130 of the main module can be connected with a plurality of electrodes, so that a larger area of the area where the external conductor is approached can be detected.
  • the present application also proposes a modular electronic skin main module 100, as shown in FIG. 1 to FIG. 4, including the electronic skin main module 100 including the main module electrode 120, the main module detection circuit board 130, the logic control board 140 and the main module The first interface part 111 .
  • the main module electrode 120 can form a capacitance with the adjacent external conductor.
  • the main module detection circuit board 130 is electrically connected with the main module electrode 120 to detect the distance between the main module electrode 120 and the external conductor or the change thereof by using the capacitance between the main module electrode 120 and the external conductor or the change thereof, so as to obtain the characteristic of the main module The distance between the electrode 120 and the external conductor or the electrical signal of its change.
  • the first interface part 111 of the main module is electrically connected to the main module detection circuit board 130 to transmit electrical signals with external devices, and to supply power for the operation of the main module detection circuit board 130 .
  • the logic control board 140 is electrically connected to the main module detection circuit board 130 for processing according to the electrical signal output by the main module detection circuit board 130 to output parameter information representing the proximity of the main module electrode 120 to the external conductor.
  • a logic control board 140 is added, and the logic control board 140 is provided with a processor, which characterizes the main module electrode 120 and the external conductor according to the signal sent by the main module detection circuit board 130.
  • the distance or the electrical signal of the change is analyzed according to the preset software to determine the parameter information of the proximity of the main module electrode 120 to the external conductor.
  • the external conductor such as the human finger and the main module electrode can be estimated.
  • Information such as distance level parameters or distance parameters between 120.
  • the robot 10 outputs the identification information of whether there is an obstacle.
  • the robot 10 controls the corresponding layout such as the mechanical arm to stop moving. Only when the identification information is reset, the robot 10 can continue to move, so as to avoid interference to the human body. and hurt.
  • the electronic skin main module 100 further includes a main module second interface part 112, and the main module second interface part 112 is connected to the main module detection circuit board 130, so that the main module detection circuit board 130 is connected to another electrode, so that the main module detection circuit board 130 detects the distance between the other electrode and the external conductor or the electrical signal of the change thereof.
  • the second interface part 112 of the main module is added on the basis of the previous embodiment.
  • One end of the second interface part 112 of the main module is connected to the main module detection circuit board 130, and the other end is connected to another electrode.
  • the electrodes 120 of the main module in front can be arranged close to each other, so that a larger area of the area where the external conductor is approached can be detected.
  • the number of second interfaces may be multiple, so that the detection circuit board 130 of the main module can be connected with multiple oscillating circuits formed by different electrodes, for example, 2 to 4 oscillating circuits can be connected, each Each oscillating circuit is connected to different other electrodes through different second interfaces, and these other electrodes can be arranged close to each other, thereby effectively increasing the detection area.
  • the electronic skin main module 100 further includes a fourth interface part 114 of the main module. As shown in FIG. 12 , the fourth interface part 114 of the main module is connected to the logic control board 140 so that the logic control board 140 is connected Another detection circuit board is provided, so that the logic control board 140 obtains an electrical signal representing the distance between the other electrode and the external conductor or its change, which is output by another detection current.
  • the fourth interface part 114 of the main module is connected to the logic control board 140 instead of the main module detection circuit board 130, so that the logic control board 140 is connected to at least two detection circuit boards , by processing and judging the distances between the electrodes and the external conductors output by a plurality of detection circuit boards or the multi-channel electrical signals of their changes.
  • the fourth interface part 114 of the main module here may be a serial communication interface such as a communication interface based on the I2C protocol or a communication interface based on the UART protocol. If it is the communication interface of the I2C protocol, the logic control board 140 can connect multiple main module detection circuit boards 130 in parallel through one communication line, so as to communicate with the multiple main module detection circuit boards 130 .
  • first interface part 111 of the main module and the second interface part 112 of the main module are the same as the first interface part 111 of the main module and the second interface part 112 of the main module in the solution of the previous embodiment, and are not repeated here.
  • the electronic skin main module 100 further includes a fifth interface part 115 of the main module, and the fifth interface part 115 of the main module is connected to the logic control board 140 , so that the logic control board 140 is connected Another detection circuit board, so that the logic control board obtains an electrical signal representing the distance between the other electrode and the external conductor or the change thereof, which is output by the further detection current. Therefore, the logic control board 140 can be connected to a plurality of detection circuit boards, so that the electrodes of the electronic skin main module 100 and other electrodes can be relatively set far away without affecting the electronic skin while the area for detecting the proximity of the external conductors is increased. detection accuracy. This further expands its application scenarios.
  • the electronic skin main module 100 may further include a main module housing 150, and may further include a main module base 180 and a main module fixing plate 170, the specific structure of which is the same as that of the main module in the previous embodiment.
  • the housing 150 is the same as the main module base 180 , and details are not repeated here.
  • the present application also proposes a modular electronic skin sub-module.
  • the first electronic skin sub-module 200 includes a first sub-module electrode 210 and a first sub-module first interface part 221 , wherein the first electronic skin sub-module 200 A sub-module electrode 210 can form a capacitor with an adjacent external conductor.
  • One end of the first interface portion 221 of the first sub-module is electrically connected to the first sub-module electrode 210, and the other end is electrically connected to the main module of the electronic skin main module 100 in the above embodiment.
  • the detection circuit board 130 is electrically connected.
  • the other end of the first interface part 221 of the first sub-module here is connected to the second interface part 112 of the main module of the electronic skin main module 100 in the above embodiment, and then the second interface part 112 of the main module
  • the interface part 112 is connected to the main module detection circuit board 130 of the electronic skin main module 100 .
  • the first electronic skin sub-module 200 may further include a first sub-module housing 240, and the first sub-module housing 240 is used to set the first sub-module
  • the electrodes 210 and the first interface portion 221 of the first sub-module are disposed on the wall surface of the first sub-module casing 240
  • the first sub-module electrodes 210 are disposed on the outer wall surface of the first sub-module casing 240 .
  • It may further include a first sub-module sub-base 250 and a first sub-module fixing piece, the specific structure of which is the same as that of the main module housing 150 and the main module base 180 in the above embodiment, and will not be repeated here.
  • the electrode 310 and the first interface part 321 of the second sub-module so that the detection circuit board of the electronic skin main module 100 is connected to the second sub-module electrode 310 in addition to the main module electrode 120 and the first sub-module electrode 210.
  • These electrodes can be placed close to each other, so that a larger area of the area where the outer conductor is approached can be detected.
  • the second electronic skin sub-module 300 may further include a second sub-module housing 340 whose structure is the same as that of the first sub-module housing 240 , and details are not described herein again.
  • the present application also proposes a modular electronic skin sub-module, as shown in FIGS. 5 to 7 and 11 to 13 , comprising a first sub-module electrode 210 , a first sub-module detection circuit board 230 and a first sub-module
  • the second interface part 222 wherein the first sub-module electrode 210 can form a capacitance with the adjacent external conductor, and the first sub-module detection circuit board 230 is electrically connected to the first sub-module electrode 210, so as to use the first sub-module electrode 210 to communicate with the outside world
  • the capacitance between the conductors or the change thereof detects the distance or the change between the first sub-module electrode 210 and the external conductor, and obtains an electrical signal representing the distance or the change between the first sub-module electrode 210 and the external conductor.
  • One end of the second interface part 222 of the first sub-module is connected to the first sub-module detection circuit board 230, and the other end is electrically connected to the logic control board 140 of the electronic skin main module 100 in the above embodiment.
  • the first sub-module here is The other end of the second interface part 222 is connected to the fourth interface part 114 of the main module of the electronic skin main module 100 in the above embodiment, and then connected to the logic control board 140 of the electronic skin main module 100 through the fourth interface part 114 of the main module.
  • the first sub-module detection circuit board 230 is added in this embodiment, and the second interface part 222 of the first sub-module is connected to the logic control board 140 of the electronic skin main module 100, so that the The first electronic skin sub-module 200 is set at a relatively far position relative to the electronic skin main module 100.
  • the electrodes of the first electronic skin sub-module 200 are connected to the electronic skin main module 100. If the electrodes are connected to the electronic skin main module 100 When the connection line is too long, it will affect the expiration detection accuracy.
  • the first electronic skin sub-module 200 is provided with a first sub-module detection circuit board 230, which is connected to the electronic skin main module 100 by the output electrical signal line of the first sub-module detection circuit board 230, and is connected to the electronic skin main module 100.
  • the first electronic skin sub-module 200 is powered, so that the connection distance between the two electronic skins can be relatively far without affecting the detection accuracy of the electronic skins. Therefore, practical application is facilitated.
  • the board 230 is also connected to the second sub-module detection circuit board 330, so that a larger area of the outer conductor can be detected, and the connection distance between the three electronic skins can be relatively far without affecting the electronic skin. detection accuracy.
  • first electronic skin sub-module 200 may further include a first sub-module casing 240
  • second electronic skin sub-module 300 may further include a second sub-module casing 340, the structure of which is the same as that of the above-mentioned embodiment, It is not repeated here.
  • the present application also proposes an electronic skin system.
  • the electronic skin system includes the electronic skin main module 100 and the first electronic skin sub-module 200 connected to each other in the above-mentioned embodiment. Since the main electronic-skin module and the sub-electronic-skin module exist in the above-mentioned embodiment Different architecture schemes, so the electronic skin system also has different combinations.
  • the electronic skin main module 100 of the electronic skin system includes the main module electrode 120 , the main module detection circuit board 130 , the main module first interface part 111 and the main module second interface part 112
  • the first electronic skin submodule 200 of the electronic skin system includes a first submodule electrode 210 and a first interface part 221 of the first submodule, wherein the first interface part 111 of the main module and an external device such as a control board of the robot 10 such as an end control Board connection, the second interface part 112 of the main module and the first interface part 221 of the first sub-module are electrically connected, and the electrical connection here can be based on some or wireless connection, preferably wired connection, so that the main module detection circuit board 130 is connected to the main module.
  • the module electrode 120 and the first sub-module electrode 210, the electronic skin main module 100 and the first electronic skin sub-module 200 are preferably arranged close to each other, so that the main module electrode 120 and the first sub-module electrode 210 are arranged close to each other, so as to make the electronic skin system
  • the area of the electrode is effectively increased, thereby effectively increasing the area where the detection conductor is approached.
  • the main electronic skin module 100 and the first electronic skin sub-module 200 can further be installed on a certain part of the robot 10, such as the end of the robot arm, through the casing, and the control board of the robot 10 obtains the electrodes of the main module from the first interface part 111 of the main module 120 or the distance between the first sub-module electrode 210 and the external conductor or the electrical signal of its change, so as to judge according to these electrical signals, when it is recognized that the distance between the external conductor such as the human body and the robot 10 is less than the first preset distance threshold
  • take active avoidance measures such as suspending the current action or controlling the robotic arm to move in the opposite direction of the moving direction of the human body and the robot 10 to avoid interfering with the human body and causing damage to it.
  • the circuit of the detection circuit board 130 can be connected to multiple electrodes at the same time, so one electronic skin main module 100 can correspondingly connect to multiple first electronic skin sub-modules 200, thereby further increasing the area where the detection conductors are approached.
  • the second interface part 112 of the main module may include a plurality of identical second interface parts of the sub-main module, and each second interface part of the sub-main module is connected to a first electronic skin sub-module 200 .
  • the electronic skin main module 100 of the electronic skin system includes the main module electrode 120 , the main module detection circuit board 130 , the main module first interface part 111 , the logic control board 140 and the main module
  • the second interface part 112 the first electronic skin sub-module 200 of the electronic skin system includes the first sub-module electrode 210 and the first sub-module first interface part 221, wherein the main module first interface part 111 and the external device such as the robot 10 A control board such as an end control board is connected, and the second interface part 112 of the main module and the first interface part 221 of the first sub-module are electrically connected.
  • the logic control board 140 is connected to the external device through the first interface part 111 of the main module.
  • the robot 10 can directly output the identification information of whether there is an obstacle to the robot 10.
  • the robot 10 If the corresponding layout is controlled, for example, the robot arm stops moving, the robot 10 can continue to move only when the identification information is reset, so as to avoid interference and damage to the human body.
  • the specific structure of the first electronic skin sub-module 200 is the same as that of the first electronic skin sub-module 200 in the electronic skin system of the first embodiment, and will not be repeated here.
  • the electronic skin main module 100 further adds a third interface part 113 of the main module, so as to connect another electronic skin sub-module, namely the second electronic skin The sub-module 300, so that the main module detection circuit board 130 is connected to three electrodes. This increases the area for detecting the proximity of the outer conductor. It should be noted that, the main module 100 of the electronic skin can also add another interface, so that the main module detection circuit board 130 is connected to another electronic skin sub-module. It is not repeated here.
  • the electronic skin main module 100 of the electronic skin system includes the main module electrode 120 , the main module detection circuit board 130 , the main module first interface part 111 , the logic control board 140 and the main module
  • the fourth interface part 114, the first electronic skin sub-module 200 of the electronic skin system includes the first sub-module electrode 210, the first sub-module detection circuit board 230 and the first sub-module second interface part 222.
  • the logic control board 140 is connected to external devices through the first interface part 111 of the main module, and the logic control board 140 is also connected to the first sub-module detection circuit board 230 through the fourth interface part 114 of the main module, specifically the fourth interface part 114 of the main module One end is connected to the logic control board 140 , the other end is connected to the second interface part 222 of the first submodule, and the second interface part 222 of the first submodule is connected to the first submodule detection circuit board 230 .
  • the first electronic skin sub-module 200 outputs an electrical signal representing the distance between the first sub-module electrode 210 and the external conductor or its change to the logic control board 140, and the logic control board 140 also receives the main module detection circuit board 130 output.
  • the robot 10 can continue to move only when the identification information is reset, so as to avoid interference and damage to the human body.
  • the electronic skin main module 100 and the first electronic skin sub-module 200 can be relatively far apart without affecting the detection accuracy of the electronic skin. This further expands its application scenarios.
  • the housing of the main electronic skin module is further provided with a reset button 190 , and the reset button 190 is electrically connected to the logic control board 140 .
  • the reset button 190 is electrically connected to the logic control board 140 , and the logic control board 140 judges the distance between the human body and the robot 10 according to the distance between the electrode and the external conductor or the electrical signal of the change. are very close to each other or have been in contact with each other.
  • the distance between the human body and the robot 10 is less than the second preset distance threshold.
  • the second preset distance here is less than the first preset distance mentioned in the above embodiment.
  • the first preset distance can be It is set to a value between 6 and 10 cm
  • the second preset distance is a value between 0.5 and 1 mm, so the second preset distance is much smaller than the first preset distance.
  • the logic control board 140 outputs the identification information of the obstacle to the robot 10, so that the robot 10 performs an avoidance action.
  • the reset of the identification information can only be executed after receiving the reset instruction of the reset button 190, that is, in the case where the human body is very close to or in contact with the robot 10, if the robot 10 needs to resume operation after performing the avoidance action, it needs to be Manually pressing the reset button 190 can cancel the avoidance action. In this way, the safety of the robot 10 is improved.
  • the electronic skin main module 100 further adds a fifth interface part 115 of the main module, so as to connect another electronic skin sub-module, namely the second electronic skin The sub-module 300, so that the logic control board 140 is connected to the three detection circuit boards.
  • the main module of the electronic skin 100 can be further added with another interface, so that the logic control board 140 can be connected to another electronic skin sub-module. It is not repeated here.
  • the logic control board 140 when the above-mentioned logic control board 140 is connected to the main module detection circuit board 130, the first sub-module detection circuit board 230 and the second sub-module detection circuit board 330, a suitable communication method such as the I2C communication protocol is selected for connection. , the communication lines of these detection circuit boards can be connected in parallel with each other and then connected to the logic control board 140 . In this way, it is only necessary to set a group of communication interfaces on the logic control board 140, as shown in FIG. 11 and FIG. 12, thereby saving communication interfaces.
  • the difference from the fifth embodiment is that the second electronic skin sub-module 300 is not connected to the electronic skin main module 100 , but is A third interface part 223 of the first sub-module is added to the top, connected to the first electronic skin sub-module 200 , and then connected to the logic control board 140 of the electronic skin main module 100 through the first electronic skin sub-module 200 . Since the communication between the logic control board 140 and these detection circuit boards adopts the I2C communication mode, it is essentially the same as the fifth embodiment, and the parallel mode is adopted.
  • the present application also proposes a robotic arm.
  • the robotic arm is arranged on the robot 3 , and the electronic skin system in the above embodiment is installed on the robotic arm.
  • the electronic skin system is different from the electronic skin in the prior art, which is installed on the surface of the joint arm 11 or the joint part 12 of the mechanical arm.
  • the electronic skin is combined with the internal structure of the mechanical arm. Due to the modular structure, the electronic skin system can be easily The installation can be detached and installed on other positions of the robot arm such as the end gripper 13.
  • the structure of the electronic skin in the prior art is not suitable to be installed at the end. Therefore, the robot arm of the present application realizes the detection of the proximity of the human body at the end through the electronic skin system, and can take active avoidance measures accordingly, thereby enhancing the working ability of the robot 10. Safety and reliability.
  • the present application also proposes a robot 10, where the electronic skin system in the above-mentioned embodiment is installed.
  • the electronic skin system is installed with the tool end of the robot 10 such as the gripper 13 .
  • the robot 10 is mainly composed of a base 14 to which the robot arm is connected.
  • first and second are only used for descriptive purposes, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. Thus, a feature delimited with “first”, “second” may expressly or implicitly include at least one of that feature.
  • plurality means at least two, such as two, three, etc., unless expressly and specifically defined otherwise.
  • the terms “installed”, “connected”, “connected”, “fixed” and other terms should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection , or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between the two elements, unless otherwise specified limit.
  • installed may be a fixed connection or a detachable connection , or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between the two elements, unless otherwise specified limit.
  • a first feature "on” or “under” a second feature may be in direct contact with the first and second features, or the first and second features indirectly through an intermediary touch.
  • the first feature being “above”, “over” and “above” the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is level higher than the second feature.
  • the first feature being “below”, “below” and “below” the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature has a lower level than the second feature.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Measurement And Recording Of Electrical Phenomena And Electrical Characteristics Of The Living Body (AREA)
  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)

Abstract

本申请涉及一种电子皮肤主模块、子模块、系统、机械臂和机器人，电子皮肤主模块，在构成电子皮肤的基本部件电极和检测电路板的基础上增加主模块接口部，使得通过主模块接口部可以将检测电路板检测到的导体与电极的接近的距离或者距离变化的电信号输出到外部设备如机器人。通过主模块接口部，使得电子皮肤主模块形成模块化的电子皮肤设备，并通过标准化的主模块接口部可方便的与外部设备进行可拆卸式的安装，方便将该电子皮肤设备形成独立的设备安装到外部设备某一位置，使得外部设备具备检测导体接近的功能，并根据导体与外部设备接近的电信号采取主动的避让措施，以此避免外部设备在工作时该位置与导体形成干涉。

Description

电子皮肤主模块、子模块、系统、机械臂和机器人 技术领域
本申请涉及一种电子皮肤主模块、子模块、系统、机械臂和机器人，属于机器人控制技术领域。
 背景技术
目前一些机械设备如机器人、扫地机、平衡车、碰碰车或者龙门吊等越来越多的安装电子皮肤，以此在检测到人体如人手靠近或者接触到机械设备的表面时，采取主动的避让动作，以避免于人体的动作干涉，并避免对人体造成伤害。而一些机械设备工作时，其外露的某一些部位受传统的电子皮肤安装的限制并没有安装电子皮肤，如机器人工作时，其工具末端如夹爪并没有安装电子皮肤，这部分部件也存在接触人体的机会，以此同样带来对人体干涉或者对人体造成伤害的问题。
 技术问题
本申请需要解决的技术问题是解决现有的机器人的电子皮肤只设置在机械臂表面，末端没有安装电子皮肤引起的与人体干涉和对其造成伤害的问题。
 技术解决方案
本申请公开一种电子皮肤主模块，包括：
电极，电极能够与接近的外界导体构成电容；
检测电路板，与电极电连接，以利用电极与外界导体之间的电容或其变化检测电极与外界导体之间的距离或其变化，得到表征电极与外界导体之间的距离或其变化的电信号；
主模块第一接口部，与检测电路板电连接，以与外部设备传输电信号，并为检测电路板的工作进行供电。
其中，电子皮肤主模块还包括主模块第二接口部，主模块第二接口部连接检测电路板，以使得检测电路板连接另一电极，以使得检测电路板检测到另一电极与外界导体之间的距离或其变化的电信号。
其中，电子皮肤主模块还包括壳体，壳体用于容纳检测电路板，主模块第一接口部和主模块第二接口部设置于壳体的壁面，电极设置于壳体的外侧壁面。
其中，电子皮肤主模块还包括底座，底座设置于检测电路板的底面，通过固定件固定检测电路板于壳体内。
其中，电子皮肤主模块还包括主模块第三接口部，主模块第三接口部连接检测电路板，以使得检测电路板连接再一电极，以使得检测电路板检测到再一电极与外界导体之间的距离或其变化的电信号。
本申请还公开一种电子皮肤主模块，包括：
电极，电极能够与接近的外界导体构成电容；
检测电路板，与电极电连接，以利用电极与外界导体之间的电容或其变化检测电极与外界导体之间的距离或其变化，得到表征电极与外界导体之间的距离或其变化的电信号；
逻辑控制板，逻辑控制板与检测电路板电连接，以根据检测电路板输出的电信号进行处理，以输出表征电极与外界导体接近程度的参数信息；
主模块第一接口部，与逻辑控制板电连接，以与外部设备传输参数信息，并为逻辑控制板和检测电路板的工作进行供电。
其中，电子皮肤主模块还包括主模块第二接口部，主模块第二接口部连接检测电路板，以使得检测电路板连接另一电极，以使得检测电路板检测到另一电极与外界导体之间的距离或其变化的电信号。
其中，电子皮肤主模块还包括主模块第三接口部，主模块第三接口部连接检测电路板，以使得检测电路板连接再一电极，以使得检测电路板检测到再一电极与外界导体之间的距离或其变化的电信号。
其中，电子皮肤主模块还包括主模块第四接口部，主模块第四接口部连接逻辑控制板，以使得逻辑控制板连接另一检测电路板，以使得逻辑控制板获取到另一检测电流输出的表征另外电极与外界导体之间的距离或其变化的电信号。
其中，电子皮肤主模块还包括主模块第五接口部，主模块第五接口部连接逻辑控制板，以使得逻辑控制板连接再一检测电路板，以使得逻辑控制板获取到再一检测电流输出的表征另外电极与外界导体之间的距离或其变化的电信号。
其中，电子皮肤主模块还包括壳体，壳体用于容纳检测电路板和逻辑控制板，主模块的接口部设置于壳体的壁面，电极设置于壳体的外侧壁面。
本申请还公开一种模块化的电子皮肤子模块，包括：
子模块电极，子模块电极能够与接近的外界导体构成电容；
子模块接口部，与子模块电极电连接，以使得子模块电极与电子皮肤主模块的主模块检测电路板电连接；
电子皮肤主模块包括：
主模块电极，主模块电极能够与接近的外界导体构成电容；
主模块检测电路板，与主模块电极电连接，以利用主模块电极与外界导体之间的电容或其变化检测主模块电极与外界导体之间的距离或其变化，得到表征主模块电极与外界导体之间的距离或其变化的电信号；
主模块第一接口部，与主模块检测电路板电连接，以与外部设备传输电信号，并为主模块检测电路板的工作进行供电；
主模块第二接口部，主模块第二接口部连接主模块检测电路板，以使得主模块检测电路板连接另一电极，以使得主模块检测电路板检测到另一电极与外界导体之间的距离或其变化的电信号；
或，
电子皮肤主模块包括：
主模块电极，主模块电极能够与接近的外界导体构成电容；
主模块检测电路板，与主模块电极电连接，以利用主模块电极与外界导体之间的电容或其变化检测主模块电极与外界导体之间的距离或其变化，得到表征主模块电极与外界导体之间的距离或其变化的电信号；
逻辑控制板，逻辑控制板与主模块检测电路板电连接，以根据主模块检测电路板输出的电信号进行处理，以输出表征主模块电极与外界导体接近程度的参数信息；
主模块第一接口部，与逻辑控制板电连接，以与外部设备传输参数信息，并为逻辑控制板和主模块检测电路板的工作进行供电；
主模块第二接口部，主模块第二接口部连接主模块检测电路板，以使得检测电路板连接另一电极，以使得主模块检测电路板检测到另一电极与外界导体之间的距离或其变化的电信号。
其中，电子皮肤子模块还包括子模块壳体，子模块接口部设置于子模块壳体的壁面，子模块电极设置于子模块壳体的外侧壁面。
本申请还公开了一种电子皮肤子模块，包括：
子模块电极，子模块电极能够与接近的外界导体构成电容；
子模块检测电路板，与子模块电极电连接，以利用子模块电极与外界导体之间的电容或其变化检测子模块电极与外界导体之间的距离或其变化，得到表征子模块电极与外界导体之间的距离或其变化的电信号；
子模块接口部，与子模块检测电路板电连接，以使得子模块检测电路板与电子皮肤主模块的逻辑控制板电连接；
电子皮肤主模块包括：
主模块电极，主模块电极能够与接近的外界导体构成电容；
主模块检测电路板，与主模块电极电连接，以利用主模块电极与外界导体之间的电容或其变化检测主模块电极与外界导体之间的距离或其变化，得到表征主模块电极与外界导体之间的距离或其变化的电信号；
逻辑控制板，逻辑控制板与主模块检测电路板电连接，以根据主模块检测电路板输出的电信号进行处理，以输出表征主模块电极与外界导体接近程度的参数信息；
主模块第一接口部，与逻辑控制板电连接，以与外部设备传输参数信息，并为逻辑控制板和主模块检测电路板的工作进行供电；
主模块第四接口部，主模块第四接口部连接逻辑控制板，以使得逻辑控制板连接另一检测电路板，以使得逻辑控制板获取到另一检测电流输出的表征另外电极与外界导体之间的距离或其变化的电信号。
其中，电子皮肤子模块还包括子模块壳体，子模块壳体用于容纳子模块检测电路板，子模块接口部设置于子模块壳体的壁面，子模块电极设置于子模块壳体的外侧壁面。
本申请还公开了一种电子皮肤系统，电子皮肤系统包括用于外部设备的相互连接的主电子皮肤模块和子电子皮肤模块，其中，
主电子皮肤模块为电子皮肤主模块，电子皮肤主模块包括：
主模块电极，主模块电极能够与接近的外界导体构成电容；
主模块检测电路板，与主模块电极电连接，以利用主模块电极与外界导体之间的电容或其变化检测主模块电极与外界导体之间的距离或其变化，得到表征主模块电极与外界导体之间的距离或其变化的电信号；
主模块第一接口部，与主模块检测电路板电连接，以与外部设备传输电信号，并为主模块检测电路板的工作进行供电；
主模块第二接口部，主模块第二接口部连接主模块检测电路板，以使得主模块检测电路板连接另一电极，以使得主模块检测电路板检测到另一电极与外界导体之间的距离或其变化的电信号；
子电子皮肤模块为电子皮肤子模块，电子皮肤子模块包括：
子模块电极，子模块电极能够与接近的外界导体构成电容；
子模块接口部，与子模块电极电连接，以使得子模块电极与电子皮肤主模块的主模块检测电路板电连接。
其中，子电子皮肤模块为多个，都连接到主电子皮肤模块。
其中，主电子皮肤模块和/或子电子皮肤模块还包括固定片，
电子皮肤主模块还包括：
主模块壳体，主模块壳体用于容纳主模块检测电路板，主模块第一接口部和主模块第二接口部设置于主模块壳体的壁面，主模块电极设置于主模块壳体的外侧壁面；
子电子皮肤模块还包括：
子模块壳体，子模块接口部设置于子模块壳体的壁面，子模块电极设置于子模块壳体的外侧壁面；
固定片设置于主模块壳体和/或子模块壳体的底面，固定片上设置有固定部，以将主模块壳体和/或子模块壳体固定于外部设备的表面。
其中，外部设备为机器人，电子皮肤系统固定于机器人的末端。
本申请还公开了一种机械臂，机械臂上安装了电子皮肤系统，电子皮肤系统包括用于外部设备的相互连接的主电子皮肤模块和子电子皮肤模块，其中，
主电子皮肤模块为电子皮肤主模块，电子皮肤主模块包括：
主模块电极，主模块电极能够与接近的外界导体构成电容；
主模块检测电路板，与主模块电极电连接，以利用主模块电极与外界导体之间的电容或其变化检测主模块电极与外界导体之间的距离或其变化，得到表征主模块电极与外界导体之间的距离或其变化的电信号；
主模块第一接口部，与主模块检测电路板电连接，以与外部设备传输电信号，并为主模块检测电路板的工作进行供电；
主模块第二接口部，主模块第二接口部连接主模块检测电路板，以使得主模块检测电路板连接另一电极，以使得主模块检测电路板检测到另一电极与外界导体之间的距离或其变化的电信号；
子电子皮肤模块为电子皮肤子模块，电子皮肤子模块包括：
子模块电极，子模块电极能够与接近的外界导体构成电容；
子模块接口部，与子模块电极电连接，以使得子模块电极与电子皮肤主模块的主模块检测电路板电连接。
本申请还公开一种机器人，机器人安装了电子皮肤系统，电子皮肤系统安装于机器人的工具末端；电子皮肤系统包括用于外部设备的相互连接的主电子皮肤模块和子电子皮肤模块，其中，
主电子皮肤模块为电子皮肤主模块，电子皮肤主模块包括：
主模块电极，主模块电极能够与接近的外界导体构成电容；
主模块检测电路板，与主模块电极电连接，以利用主模块电极与外界导体之间的电容或其变化检测主模块电极与外界导体之间的距离或其变化，得到表征主模块电极与外界导体之间的距离或其变化的电信号；
主模块第一接口部，与主模块检测电路板电连接，以与外部设备传输电信号，并为主模块检测电路板的工作进行供电；
主模块第二接口部，主模块第二接口部连接主模块检测电路板，以使得主模块检测电路板连接另一电极，以使得主模块检测电路板检测到另一电极与外界导体之间的距离或其变化的电信号；
子电子皮肤模块为电子皮肤子模块，电子皮肤子模块包括：
子模块电极，子模块电极能够与接近的外界导体构成电容；
子模块接口部，与子模块电极电连接，以使得子模块电极与电子皮肤主模块的主模块检测电路板电连接。
 有益效果
本申请的电子皮肤主模块，在构成电子皮肤的基本部件第一电极和第一检测电路板的基础上增加主模块第一接口部，使得通过主模块第一接口部可以将第一检测电路板检测到的导体与第一电极的接近的距离或者距离变化的电信号输出到外部设备如机器人。通过主模块第一接口部，使得电子皮肤主模块形成模块化的电子皮肤设备，并通过标准化的主模块第一接口部可方便的与外部设备进行可拆卸式的安装，方便将该电子皮肤设备形成独立的设备安装到外部设备某一位置，使得外部设备具备检测导体接近的功能，并根据导体与外部设备接近的电信号采取主动的避让措施。以此避免外部设备在工作时该位置与导体形成干涉。
 附图说明
图1是本申请实施例的机器人的结构示意图；
图2和图3是本申请实施例的电子皮肤主模块的结构示意图；
图4是本申请实施例的电子皮肤主模块的分解图；
图5和图6是本申请实施例的电子皮肤子模块的结构示意图；
图7是本申请实施例的电子皮肤子模块的分解图；
图8是本申请实施例的电子皮肤系统的第一实施例的框图；
图9是本申请实施例的电子皮肤系统的第二实施例的框图；
图10是本申请实施例的电子皮肤系统的第三实施例的框图；
图11是本申请实施例的电子皮肤系统的第四实施例的框图；
图12是本申请实施例的电子皮肤系统的第五实施例的框图；
图13是本申请实施例的电子皮肤系统的第六实施例的框图。
附图标记：
电子皮肤主模块100，主模块第一接口部111，主模块第二接口部112，主模块第三接口部113，主模块第四接口部114，主模块第五接口部115，主模块第六接口部116，主模块电极120，主模块检测电路板130，逻辑控制板140，主模块壳体150，主模块固定片170，主模块固定孔171，主模块底座180，复位按键190，
第一电子皮肤子模块200，第一子模块电极210，第一子模块第一接口部221，第一子模块第二接口部222，第一子模块第三接口部223，第一子模块检测电路板230，第一子模块壳体240，第一子模块子底座250，
第二电子皮肤子模块300，第二子模块电极310，第二子模块第一接口部321，第二子模块第二接口部322，第二子模块检测电路板330，
机器人10，关节臂11，关节部12，夹爪13，基座14。
 本发明的实施方式
需要说明的是，在结构或功能不冲突的情况下，本申请中的实施例及实施例中的特征可以相互组合。下面根据实例来详细说明本申请。
本申请提出一种模块化的电子皮肤主模块100，如图1至图3所示，电子皮肤主模块100包括主模块电极120、主模块检测电路板130和主模块第一接口部111。其中主模块电极120能够与接近的外界导体构成电容。主模块检测电路板130与主模块电极120电连接，以利用主模块电极120与外界导体之间的电容或其变化检测主模块电极120与外界导体之间的距离或其变化，得到表征主模块电极120与外界导体之间的距离或其变化的电信号。主模块第一接口部111与主模块检测电路板130电连接，以与外部设备传输电信号，并为主模块检测电路板130的工作进行供电。
这里的外界导体包括人体、导电金属体，通常为人体具体如人的手臂、手指、头部等部位。主模块电极120设置于外部设备的外侧，这里的外部设备可以是机器人、扫地机、平衡车、碰碰车或者龙门吊等机械设备，以外部设备为机器人10为例，其可设置于机器人10的机械臂或者关节的外侧，以方便与接近的导体构成电容。检测电路连接主模块电极120，其工作原理可以是基于检测振荡电路的电路结构，通过在外界导体如人体靠近电子皮肤主模块100时，其主模块电极120与人体构成电容，并将此电容接入到振荡电路中，改变其振荡频率，并通过相关的电路识别出振荡频率，通过识别到振荡频率的变化即可计算出主模块电极120与外界导体之间的距离变化或者距离的相关参数。具体的检测电路可参考现有技术的相关电路，在此不再赘述。
主模块第一接口部111的一端连接主模块检测电路板130，另一端连接外部设备如机器人10，以对机器人10输出导体与主模块电极120的接近的距离或者距离变化的电信号。
本申请的模块化的电子皮肤主模块100，在构成电子皮肤主模块100的基本部件主模块电极120和主模块检测电路板130的基础上增加主模块第一接口部111，使得通过主模块第一接口部111可以将主模块检测电路板130检测到的导体与主模块电极120的接近的距离或者距离变化的电信号输出到外部设备如机器人10。通过主模块第一接口部111，使得电子皮肤主模块100形成模块化的电子皮肤设备，并通过标准化的主模块第一接口部111可方便的与外部设备进行可拆卸式的安装，方便将该电子皮肤设备形成独立的设备安装到外部设备某一位置，使得外部设备具备检测导体接近的功能，并根据导体与外部设备接近的电信号采取主动的避让措施。以此避免外部设备在工作时该位置与导体形成干涉。
具体地，当外部设备为机器人10时，电子皮肤主模块100可以安装在机器人10的某一位置如末端，使得末端的设备也可以感知到导体如人体的接近，从而在机器人10工作时，当人体的一部分如手臂或者手指太靠近末端设备或者与末端设备接触时，其电子皮肤输出接近信息至机器人10的控制设备，以使得机器人10的控制设备执行主动避让动作，以此避免与人体干涉，并避免对人体造成伤害。在机器人10实际工作场景中，末端的设备如夹爪330接触人体的几率相对机器人10的其他部位如机械臂更高，而现有技术中机器人10的末端并没有安装电子皮肤主模块100，由于现有技术中电子皮肤安装与机械臂的表面，因此针对末端的不规则形状不适合采用现有技术中的电子皮肤的安装方式，通过本申请的采样模块化的结构方式，通过与机器人10末端可拆卸的壳体的方式来安装电子皮肤主模块100，以此使得机器人10的末端具有了检测导体接近的功能并能对应采取主动避让措施，从而增强了机器人10工作的安全性和可靠性。
在本申请的一些实施例中，如图2、图3所示，电子皮肤主模块100还包括主模块第二接口部112，主模块第二接口部112连接主模块检测电路板130，以使得主模块检测电路板130连接另一电极，以使得主模块检测电路板130检测到另一电极与外界导体之间的距离或其变化的电信号。在该实施例中，在上一实施例的基础上增加主模块第二接口部112，主模块第二接口部112的一端连接主模块检测电路板130，另一端连接另一电极，另一电极与前面的主模块电极120可以靠近设置，以此可以检测更大面积的外界导体接近的区域。具体地，第二接口可以是多个，以使得此种方案针对主模块检测电路板130可以连接与不同主模块电极120构成的多个振荡电路的形式，如可以连接2至4个振荡电路，每个振荡电路通过不同的主模块第二接口部112连接不同的另一电极，这些另一电极可以相互靠近设置，从而有效的增加检测的区域。
在本申请的一些实施例中，电子皮肤主模块100还包括主模块壳体150，主模块壳体150用于容纳主模块检测电路板130，主模块第一接口部111和主模块第二接口部112设置于主模块壳体150的壁面，主模块电极120设置于主模块壳体150的外侧壁面。如图2、图3所示，所示，主模块壳体150内形成安装电子皮肤主模块100的安装腔室，以安装电子皮肤主模块100，主模块壳体150可以是方形、多边形等形状，在图2中为方形，在主模块壳体150的壁面设置有主模块第一接口部111和主模块第二接口部112，其接口根据与其他设备连接的需求设置为对应的端子，如在图2中主模块第一接口部111可以为航空插座，以连接航空插头与之配合，主模块第二接口部112在图2中为串口头插座，以连接串口插头与之配合。主模块电极120具体可以贴合安装在主模块壳体150的外侧壁面，优选为外侧内壁面，其中外侧壁面是主模块壳体150与接近的外界导体相对的一侧。通过将电子皮肤主模块100安装在主模块壳体150中，使得对电子皮肤主模块100形成保护的腔室，而且将电子皮肤主模块100安装在主模块壳体150中后，更加方便形成独立的部件且容易安装到外部设备上。
具体地主模块检测电路板130通过主模块第一接口部111可以与外部设备形成通信连接，如可包括电源正极、电源负极、数据输入和数据输出四根通信线，通过电源正极、电源负极对主模块检测电路板130进行供电，而通过数据输入线和数据输出线于外设进行双向通信。主模块第二接口部112可以是单一的实现电连接的接口，以此实现将第一子模块电极210通过电连接线经第二接口与主模块检测电路板130电连接。
进一步地，如图2、图3所示，电子皮肤主模块100还包括主模块底座180，主模块底座180设置于主模块检测电路板130的底面，通过固定件固定主模块检测电路板130于主模块壳体150内。其中可在主模块壳体150的内避免设置安装柱，在主模块检测电路板130和主模块底座180上设置安装孔，通过固定件如螺丝将主模块底座180实现对主模块壳体150一侧开口的封装，并将主模块检测电路板130固定与主模块底座180和主模块壳体150内壁面之间，以此实现主模块检测电路板130的固定。
进一步地，如图2、图3所示，电子皮肤主模块100还包括主模块固定片170，主模块固定片170固定于主模块底座180上，在主模块固定片170上还设置有安装部如主模块固定孔171，通过固定件如螺杆穿过主模块固定孔171将主模块固定片170固定于外部设备如机器人10的机械臂的末端或者其他部位。以此方便将电子皮肤主模块100可拆卸的固定于外部设备。
在本申请的一些实施例中，如图10所示，电子皮肤主模块100还包括主模块第三接口部113，主模块第三接口部113连接主模块检测电路板130，以使得主模块检测电路板130连接再一电极，以使得检测电路板检测到再一电极与外界导体之间的距离或其变化的电信号。从而使得主模块检测电路板130可以连接多个电极，以此可以检测更大面积的外界导体接近的区域。
本申请还提出一种模块化的电子皮肤主模块100，如图1至图4所示，包括电子皮肤主模块100包括主模块电极120、主模块检测电路板130、逻辑控制板140和主模块第一接口部111。其中主模块电极120能够与接近的外界导体构成电容。主模块检测电路板130与主模块电极120电连接，以利用主模块电极120与外界导体之间的电容或其变化检测主模块电极120与外界导体之间的距离或其变化，得到表征主模块电极120与外界导体之间的距离或其变化的电信号。主模块第一接口部111与主模块检测电路板130电连接，以与外部设备传输电信号，并为主模块检测电路板130的工作进行供电。逻辑控制板140与主模块检测电路板130电连接，以根据主模块检测电路板130输出的电信号进行处理，以输出表征主模块电极120与外界导体接近程度的参数信息。
与上一实施例的电子皮肤主模块100方案不同之处在于，增加了逻辑控制板140，逻辑控制板140设置了处理器，根据主模块检测电路板130发送的表征主模块电极120与外界导体之间的距离或其变化的电信号，根据预设的软件进行分析，以判断得出主模块电极120与外界导体接近程度的参数信息，如可以估算出外界导体如人体的手指与主模块电极120之间的距离等级参数或者距离参数等信息。进一步地，通过主模块第一接口部111实现逻辑控制板140与外部设备如机器人10的末端控制板连接时，还可根据这些距离等级参数或者距离参数等信息通过进一步的判断，以此对机器人10输出是否有障碍物的标识信息，在该标识信息置位时，机器人10控制对应的布局如机械臂停止动作，只有该标识信息复位时机器人10才可以继续动作，以此避免对人体造成干涉和伤害。
在本申请的一些实施例中，电子皮肤主模块100还包括主模块第二接口部112，主模块第二接口部112连接主模块检测电路板130，以使得主模块检测电路板130连接另一电极，以使得主模块检测电路板130检测到另外的电极与外界导体之间的距离或其变化的电信号。在该实施例中，在上一实施例的基础上增加主模块第二接口部112，主模块第二接口部112的一端连接主模块检测电路板130，另一端连接另一电极，另外的电极与前面的主模块电极120可以靠近设置，以此可以检测更大面积的外界导体接近的区域。具体地，第二接口可以是多个，以使得此种方案针对主模块检测电路板130可以连接与不同另外的电极构成的多个振荡电路的形式，如可以连接2至4个振荡电路，每个振荡电路通过不同的第二接口连接不同的另一电极，这些另一电极可以相互靠近设置，从而有效的增加检测的区域。
在本申请的一些实施例中，电子皮肤主模块100还包括主模块第四接口部114，如图12所示，主模块第四接口部114连接逻辑控制板140，以使得逻辑控制板140连接另外的另一检测电路板，以使得逻辑控制板140获取到另外的检测电流输出的表征另一电极与外界导体之间的距离或其变化的电信号。相对上一实施例的主模块第二接口部112，主模块第四接口部114与逻辑控制板140连接而不是连接主模块检测电路板130，以使得逻辑控制板140连接至少两个检测电路板，通过实现对多个检测电路板输出的电极与外界导体之间的距离或其变化的多路电信号进行处理和判断。这里的主模块第四接口部114可以是串口通信如基于I2C协议的通信接口或者UART协议的通信接口。如果是为I2C协议的通信接口，则逻辑控制板140通过一路的该通信线可以并联多路的主模块检测电路板130，以此与多路的主模块检测电路板130进行通信。
而主模块第一接口部111和主模块第二接口部112的具体结构与上一实施例方案中的主模块第一接口部111和主模块第二接口部112相同，在此不再赘述。
在本申请的一些实施例中，如图12所示，电子皮肤主模块100还包括主模块第五接口部115，主模块第五接口部115连接逻辑控制板140，以使得逻辑控制板140连接再一检测电路板，以使得逻辑控制板获取到再一检测电流输出的表征另外电极与外界导体之间的距离或其变化的电信号。从而可以使得逻辑控制板140连接多个检测电路板，使得在实现增大了检测外部导体接近的区域的同时，电子皮肤主模块100的电极和其他的电极可以相对设置较远而不影响电子皮肤的检测精度。从而进一步拓展了其应用场景。
在本申请的一些实施例中，电子皮肤主模块100还可包括主模块壳体150，并进一步可包括主模块底座180和主模块固定片170，其具体结构与上一实施例中的主模块壳体150和主模块底座180相同，在此不再赘述。
本申请还提出一种模块化的电子皮肤子模块，如图8至图10所示，第一电子皮肤子模块200包括第一子模块电极210和第一子模块第一接口部221，其中第一子模块电极210能够与接近的外界导体构成电容，第一子模块第一接口部221的一端与第一子模块电极210电连接，另一端与上述实施例中电子皮肤主模块100的主模块检测电路板130电连接，具体地，这里的第一子模块第一接口部221另一端与上述实施例中的电子皮肤主模块100的主模块第二接口部112连接，再通过主模块第二接口部112连接电子皮肤主模块100的主模块检测电路板130。
进一步地，在本申请的一些实施例中，如图5所示，第一电子皮肤子模块200还可包括第一子模块壳体240，第一子模块壳体240用于设置第一子模块电极210，第一子模块第一接口部221设置于第一子模块壳体240的壁面，第一子模块电极210设置于第一子模块壳体240的外侧壁面。并进一步可包括第一子模块子底座250和第一子模块固定片，其具体结构与以上实施例中的主模块壳体150和主模块底座180相同，在此不再赘述。
在本申请的一些实施例中，电子皮肤子模块可以为多个，如图10所示，还包括第二电子皮肤子模块300，与第一电子皮肤子模块200相同，其包括第二子模块电极310和第二子模块第一接口部321，以此使得电子皮肤主模块100的检测电路板除了连接主模块电极120、第一子模块电极210外还连接第二子模块电极310，这些电极可以相互靠近设置，以此可以检测更大面积的外界导体接近的区域。
进一步地，第二电子皮肤子模块300还可包括第二子模块壳体340，其结构与第一子模块壳体240，在此不再赘述。
本申请还提出一种模块化的电子皮肤子模块，如图5至图7以及图11至图13所示，包括第一子模块电极210、第一子模块检测电路板230和第一子模块第二接口部222，其中第一子模块电极210能够与接近的外界导体构成电容，第一子模块检测电路板230与第一子模块电极210电连接，以利用第一子模块电极210与外界导体之间的电容或其变化检测第一子模块电极210与外界导体之间的距离或其变化，得到表征第一子模块电极210与外界导体之间的距离或其变化的电信号。第一子模块第二接口部222的一端连接第一子模块检测电路板230，另一端与上述实施例中电子皮肤主模块100的逻辑控制板140电连接，具体地，这里的第一子模块第二接口部222另一端与上述实施例中的电子皮肤主模块100的主模块第四接口部114连接，再通过主模块第四接口部114连接电子皮肤主模块100的逻辑控制板140。
与上一实施例不同之处在于，本实施例增加了第一子模块检测电路板230，且通过第一子模块第二接口部222连接电子皮肤主模块100的逻辑控制板140，以此可以使得第一电子皮肤子模块200相对电子皮肤主模块100设置在相对较远的位置，而在上一实施例中第一电子皮肤子模块200是将其中的电极连接电子皮肤主模块100，如果电极的连接线过长时，会影响到期检测精度。而本实施例中第一电子皮肤子模块200设置了第一子模块检测电路板230，其与电子皮肤主模块100进行连接的是第一子模块检测电路板230的输出电信号线，并对第一电子皮肤子模块200进行供电，从而这两个电子皮肤之间的连接距离可以相对较远而不会影响到电子皮肤的检测精度。因此方便了实际的应用。
在本申请的一些实施例中，电子皮肤子模块可以为多个，如图12所示，还包括第二电子皮肤子模块300，与第一电子皮肤子模块200相同，其包括第二子模块电极310、第二子模块第一接口部321和第二子模块检测电路板330，以此使得电子皮肤主模块100的逻辑控制板140除了连接主模块检测电路板130、第一子模块检测电路板230外还连接第二子模块检测电路板330，以此可以检测更大面积的外部导体接近的区域，而且这三个电子皮肤之间的连接距离可以相对较远而不会影响到电子皮肤的检测精度。
进一步地，第一电子皮肤子模块200还可包括第一子模块壳体240，第二电子皮肤子模块300还可包括第二子模块壳体340，其结构与上述实施例的壳体相同，在此不再赘述。
本申请还提出一种电子皮肤系统，电子皮肤系统包含上述实施例中的相互连接的电子皮肤主模块100和第一电子皮肤子模块200，由于上述实施例中主电子皮肤模块和子电子皮肤模块存在不同的架构方案，因此电子皮肤系统也对应存在不同的组合方式。
在第一实施例中，如图8所示，电子皮肤系统的电子皮肤主模块100包括主模块电极120、主模块检测电路板130、主模块第一接口部111和主模块第二接口部112，电子皮肤系统的第一电子皮肤子模块200包括第一子模块电极210和第一子模块第一接口部221，其中主模块第一接口部111和外部设备如机器人10的控制板如末端控制板连接，主模块第二接口部112和第一子模块第一接口部221电连接，这里的电连接可以是基于有些或者无线连接，优选为有线连接，以使得主模块检测电路板130连接主模块电极120和第一子模块电极210，电子皮肤主模块100和第一电子皮肤子模块200优选为靠近设置，以使得主模块电极120和第一子模块电极210靠近设置，从而使得电子皮肤系统有效的增大了电极的面积，以此有效的增加检测导体接近的区域。
电子皮肤主模块100和第一电子皮肤子模块200进一步可通过壳体安装在机器人10的某一部件如机械臂的末端，机器人10的控制板从主模块第一接口部111获取到主模块电极120或者第一子模块电极210与外界导体之间的距离或其变化的电信号，以此根据这些电信号进行判断，当识别为外界导体如人体与机器人10的距离小于第一预设距离阈值时，则采取主动避让措施如暂停当前的动作或者控制机械臂朝向人体与机器人10移动方向的反方向运动，以避免与人体干涉并对其造成伤害。
针对一些得主模块检测电路板130的电路，其可以同时连接多个电极，因此一个电子皮肤主模块100可以对应连接多个第一电子皮肤子模块200，从而进一步增加检测导体接近的区域。此时主模块第二接口部112可以包含多个相同的子主模块第二接口部，每一个子主模块第二接口部连接一个第一电子皮肤子模块200。
在第二实施例中，如图9所示，电子皮肤系统的电子皮肤主模块100包括主模块电极120、主模块检测电路板130、主模块第一接口部111、逻辑控制板140和主模块第二接口部112，电子皮肤系统的第一电子皮肤子模块200包括第一子模块电极210和第一子模块第一接口部221，其中主模块第一接口部111和外部设备如机器人10的控制板如末端控制板连接，主模块第二接口部112和第一子模块第一接口部221电连接。逻辑控制板140通过主模块第一接口部111与外部设备连接，以外部设备为机器人10为例，可直接对机器人10输出是否有障碍物的标识信息，在该标识信息置位时，机器人10控制对应的布局如机械臂停止动作，只有该标识信息复位时机器人10才可以继续动作，以此避免对人体造成干涉和伤害。第一电子皮肤子模块200的具体结构与第一实施例的电子皮肤系统中的第一电子皮肤子模块200相同，在此不再赘述。
在第三实施例中，如图10所示，在上一实施例基础上，电子皮肤主模块100还增加主模块第三接口部113，以此连接另外的电子皮肤子模块即第二电子皮肤子模块300，以此使得主模块检测电路板130连接三个电极。以此增大了检测外部导体接近的区域。值得说明的时，电子皮肤主模块100还增加主模块还可以增加另外的接口，以此使得主模块检测电路板130连接另外的电子皮肤子模块。在此不再赘述。
在第四实施例中，如图11所示，电子皮肤系统的电子皮肤主模块100包括主模块电极120、主模块检测电路板130、主模块第一接口部111、逻辑控制板140和主模块第四接口部114，电子皮肤系统的第一电子皮肤子模块200包括第一子模块电极210、第一子模块检测电路板230和第一子模块第二接口部222。其中逻辑控制板140通过主模块第一接口部111与外部设备连接，且逻辑控制板140还通过主模块第四接口部114连接第一子模块检测电路板230，具体地主模块第四接口部114的一端连接逻辑控制板140，另一端连接第一子模块第二接口部222，第一子模块第二接口部222再与第一子模块检测电路板230连接。第一电子皮肤子模块200输出表征第一子模块电极210与外界导体之间的距离或其变化的电信号到逻辑控制板140，逻辑控制板140还接收到主模块检测电路板130输出的主模块电极120与外界导体之间的距离或其变化的电信号，以此跟进这些电信号直接对外部设备如机器人10输出是否有障碍物的标识信息，在该标识信息置位时，机器人10控制对应的布局如机械臂停止动作，只有该标识信息复位时机器人10才可以继续动作，以此避免对人体造成干涉和伤害。相对第二实施例的方案，电子皮肤主模块100和第一电子皮肤子模块200可以相对设置较远而不影响电子皮肤的检测精度。从而进一步拓展了其应用场景。
在本申请的第四实施例中，主电子皮肤模块的壳体上还设置有复位按键190，复位按键190与逻辑控制板140电连接。如图4和图11所示，其复位按键190与逻辑控制板140电连接，在逻辑控制板140根据电极与外界导体之间的距离或其变化的电信号，判断出人体与机器人10的距离十分接近或者已经相互接触，如人体与机器人10的距离小于第二预设距离阈值，这里的第二预设距离小于上述实施例中提到的第一预设距离，如第一预设距离可以设置为为6至10厘米之间的数值，而第二预设距离这位0.5至1毫米之间的数值，因此第二预设距离相对第一预设距离小很多。此时逻辑控制板140对机器人10输出障碍物的标识信息，以使得机器人10执行避让动作。且此时标识信息的复位必须接收到复位按键190的复位指令才可以执行，也即在人体与机器人10十分接近或者接触的情况下，机器人10在执行避让动作后如果要继续恢复运行，则需要手动的按下复位按键190才能解除避让动作。以此提升机器人10的安全性。
在第五实施例中，如图12所示，在上一实施例基础上，电子皮肤主模块100还增加主模块第五接口部115，以此连接另外的电子皮肤子模块即第二电子皮肤子模块300，以此使得逻辑控制板140连接三个检测电路板。以此增大了检测外部导体接近的区域的同时电子皮肤主模块100和其他电子皮肤子模块可以相对设置较远而不影响电子皮肤的检测精度，从而进一步拓展了其应用场景。值得说明的时，电子皮肤主模块100还增加主模块还可以增加另外的接口，以此使得逻辑控制板140连接另外的电子皮肤子模块。在此不再赘述。
值得说明的的时，上述逻辑控制板140连接主模块检测电路板130、第一子模块检测电路板230和第二子模块检测电路板330时，通过选择连接的合适的通讯方式如I2C通信协议，可以使得这些检测电路板的通讯线相互并联后再与逻辑控制板140连接。以此只需要在逻辑控制板140设置一组通讯接口即可，如图11和图12所示，从而节省了通讯接口。
在第六实施例中，如图13所示，与第五实施例不同之处在于，第二电子皮肤子模块300不是连接到电子皮肤主模块100，而是通过在第一电子皮肤子模块200上增加第一子模块第三接口部223，连接到第一电子皮肤子模块200，再通过第一电子皮肤子模块200连接到电子皮肤主模块100的逻辑控制板140。由于逻辑控制板140与这些检测电路板之间的通信采用I2C通信方式，因此本质上与第五实施例相同，都采用并联的方式。
本申请还提出一种机械臂，如图1所示，机械臂设置于机器人3上，机械臂上安装了上述实施例中的电子皮肤系统。电子皮肤系统不同于现有技术中的电子皮肤安装在机械臂的关节臂11或者关节部12的表面，此时电子皮肤与机械臂内部结构结合，电子皮肤系统由于采用模块化的结构，可以方便安装可拆卸的安装在机械臂的其他位置如末端夹爪13上。而现有技术中的电子皮肤的结构不适宜安装在末端，因此本申请的机械臂通过电子皮肤系统实现了末端的人体接近的检测，并能对应采取主动避让措施，从增强了机器人10工作的安全性和可靠性。
本申请还提出一种机器人10，机器人10安装了上述实施例中的电子皮肤系统。其中电子皮肤系统安装与机器人10的工具末端如夹爪13。机器人10主要由机械臂与之连接的基座14构成，通过安装电子皮肤系统，以此增强了机器人10工作的安全性和可靠性。
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本申请的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施例或示例中以合适的方式结合。
在本申请的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”“内”、“外”、“顺时针”、“逆时针”、“轴向”、“径向”、“周向”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。在本申请的描述中，“多个”的含义是至少两个，例如两个，三个等，除非另有明确具体的限定。
在本申请中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系，除非另有明确的限定。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本申请中的具体含义。
在本申请中，除非另有明确的规定和限定，第一特征在第二特征“上”或“下”可以是第一和第二特征直接接触，或第一和第二特征通过中间媒介间接接触。而且，第一特征在第二特征“之上”、“上方”和“上面”可是第一特征在第二特征正上方或斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”可以是第一特征在第二特征正下方或斜下方，或仅仅表示第一特征水平高度小于第二特征。
尽管上面已经示出和描述了本申请的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本申请的限制，本领域的普通技术人员在本申请的范围内可以对上述实施例进行变化、修改、替换和变型。

Claims (21)

  1. 一种电子皮肤主模块，其中，包括：
    电极，所述电极能够与接近的外界导体构成电容；
    检测电路板，与所述电极电连接，以利用所述电极与外界导体之间的电容或其变化检测所述电极与外界导体之间的距离或其变化，得到表征所述电极与外界导体之间的距离或其变化的电信号；
    主模块第一接口部，与所述检测电路板电连接，以与外部设备传输所述电信号，并为所述检测电路板的工作进行供电。
  2. 根据权利要求1所述的电子皮肤主模块，其中，所述电子皮肤主模块还包括主模块第二接口部，所述主模块第二接口部连接所述检测电路板，以使得检测电路板连接另一电极，以使得所述检测电路板检测到所述另一电极与外界导体之间的距离或其变化的电信号。
  3. 根据权利要求2所述的电子皮肤主模块，其中，所述电子皮肤主模块还包括壳体，所述壳体用于容纳所述检测电路板，所述主模块第一接口部和所述主模块第二接口部设置于所述壳体的壁面，所述电极设置于所述壳体的外侧壁面。
  4. 根据权利要求3所述的电子皮肤主模块，其中，所述电子皮肤主模块还包括底座，所述底座设置于所述检测电路板的底面，通过固定件固定所述检测电路板于所述壳体内。
  5. 根据权利要求2所述的电子皮肤主模块，其中，所述电子皮肤主模块还包括主模块第三接口部，所述主模块第三接口部连接所述检测电路板，以使得检测电路板连接再一电极，以使得所述检测电路板检测到所述再一电极与外界导体之间的距离或其变化的电信号。
  6. 一种电子皮肤主模块，其中，包括：
    电极，所述电极能够与接近的外界导体构成电容；
    检测电路板，与所述电极电连接，以利用所述电极与外界导体之间的电容或其变化检测所述电极与外界导体之间的距离或其变化，得到表征所述电极与外界导体之间的距离或其变化的电信号；
    逻辑控制板，所述逻辑控制板与所述检测电路板电连接，以根据所述检测电路板输出的所述电信号进行处理，以输出表征所述电极与所述外界导体接近程度的参数信息；
    主模块第一接口部，与所述逻辑控制板电连接，以与外部设备传输所述参数信息，并为所述逻辑控制板和所述检测电路板的工作进行供电。
  7. 根据权利要求6所述的电子皮肤主模块，其中，所述电子皮肤主模块还包括主模块第二接口部，所述主模块第二接口部连接所述检测电路板，以使得检测电路板连接另一电极，以使得所述检测电路板检测到所述另一电极与外界导体之间的距离或其变化的电信号。
  8. 根据权利要求7所述的电子皮肤主模块，其中，所述电子皮肤主模块还包括主模块第三接口部，所述主模块第三接口部连接所述检测电路板，以使得检测电路板连接再一电极，以使得所述检测电路板检测到所述再一电极与外界导体之间的距离或其变化的电信号。
  9. 根据权利要求6所述的电子皮肤主模块，其中，所述电子皮肤主模块还包括主模块第四接口部，所述主模块第四接口部连接所述逻辑控制板，以使得逻辑控制板连接另一检测电路板，以使得所述逻辑控制板获取到所述另一检测电流输出的表征另外电极与外界导体之间的距离或其变化的电信号。
  10. 根据权利要求9所述的电子皮肤主模块，其中，所述电子皮肤主模块还包括主模块第五接口部，所述主模块第五接口部连接所述逻辑控制板，以使得逻辑控制板连接再一检测电路板，以使得所述逻辑控制板获取到所述再一检测电流输出的表征另外电极与外界导体之间的距离或其变化的电信号。
  11. 根据权利要求6所述的电子皮肤主模块，其中，所述电子皮肤主模块还包括壳体，所述壳体用于容纳所述检测电路板和所述逻辑控制板，所述主模块的接口部设置于所述壳体的壁面，所述电极设置于所述壳体的外侧壁面。
  12. 一种电子皮肤子模块，其中，包括：
    子模块电极，所述子模块电极能够与接近的外界导体构成电容；
    子模块接口部，与所述子模块电极电连接，以使得所述子模块电极与电子皮肤主模块的主模块检测电路板电连接；
    所述电子皮肤主模块包括：
    主模块电极，所述主模块电极能够与接近的外界导体构成电容；
    主模块检测电路板，与所述主模块电极电连接，以利用所述主模块电极与外界导体之间的电容或其变化检测所述主模块电极与外界导体之间的距离或其变化，得到表征所述主模块电极与外界导体之间的距离或其变化的电信号；
    主模块第一接口部，与所述主模块检测电路板电连接，以与外部设备传输所述电信号，并为所述主模块检测电路板的工作进行供电；
    主模块第二接口部，所述主模块第二接口部连接所述主模块检测电路板，以使得主模块检测电路板连接另一电极，以使得所述主模块检测电路板检测到所述另一电极与外界导体之间的距离或其变化的电信号；
    或，
    所述电子皮肤主模块包括：
    主模块电极，所述主模块电极能够与接近的外界导体构成电容；
    主模块检测电路板，与所述主模块电极电连接，以利用所述主模块电极与外界导体之间的电容或其变化检测所述主模块电极与外界导体之间的距离或其变化，得到表征所述主模块电极与外界导体之间的距离或其变化的电信号；
    逻辑控制板，所述逻辑控制板与所述主模块检测电路板电连接，以根据所述主模块检测电路板输出的所述电信号进行处理，以输出表征所述主模块电极与所述外界导体接近程度的参数信息；
    主模块第一接口部，与所述逻辑控制板电连接，以与外部设备传输所述参数信息，并为所述逻辑控制板和所述主模块检测电路板的工作进行供电；
    主模块第二接口部，所述主模块第二接口部连接所述主模块检测电路板，以使得检测电路板连接另一电极，以使得所述主模块检测电路板检测到所述另一电极与外界导体之间的距离或其变化的电信号。
  13. 根据权利要求12所述的电子皮肤子模块，其中，所述电子皮肤子模块还包括子模块壳体，所述子模块接口部设置于所述子模块壳体的壁面，所述子模块电极设置于所述子模块壳体的外侧壁面。
  14. 一种电子皮肤子模块，其中，包括：
    子模块电极，所述子模块电极能够与接近的外界导体构成电容；
    子模块检测电路板，与所述子模块电极电连接，以利用所述子模块电极与外界导体之间的电容或其变化检测所述子模块电极与外界导体之间的距离或其变化，得到表征所述子模块电极与外界导体之间的距离或其变化的电信号；
    子模块接口部，与所述子模块检测电路板电连接，以使得所述子模块检测电路板与电子皮肤主模块的逻辑控制板电连接；
    所述电子皮肤主模块包括：
    主模块电极，所述主模块电极能够与接近的外界导体构成电容；
    主模块检测电路板，与所述主模块电极电连接，以利用所述主模块电极与外界导体之间的电容或其变化检测所述主模块电极与外界导体之间的距离或其变化，得到表征所述主模块电极与外界导体之间的距离或其变化的电信号；
    逻辑控制板，所述逻辑控制板与所述主模块检测电路板电连接，以根据所述主模块检测电路板输出的所述电信号进行处理，以输出表征所述主模块电极与所述外界导体接近程度的参数信息；
    主模块第一接口部，与所述逻辑控制板电连接，以与外部设备传输所述参数信息，并为所述逻辑控制板和所述主模块检测电路板的工作进行供电；
    主模块第四接口部，所述主模块第四接口部连接所述逻辑控制板，以使得逻辑控制板连接另一检测电路板，以使得所述逻辑控制板获取到所述另一检测电流输出的表征另外电极与外界导体之间的距离或其变化的电信号。
  15. 根据权利要求14所述的电子皮肤子模块，其中，所述电子皮肤子模块还包括子模块壳体，所述子模块壳体用于容纳所述子模块检测电路板，所述子模块接口部设置于所述子模块壳体的壁面，所述子模块电极设置于所述子模块壳体的外侧壁面。
  16. 一种电子皮肤系统，其中，所述电子皮肤系统包括用于外部设备的相互连接的主电子皮肤模块和子电子皮肤模块，其中，
    所述主电子皮肤模块为电子皮肤主模块，所述电子皮肤主模块包括：
    主模块电极，所述主模块电极能够与接近的外界导体构成电容；
    主模块检测电路板，与所述主模块电极电连接，以利用所述主模块电极与外界导体之间的电容或其变化检测所述主模块电极与外界导体之间的距离或其变化，得到表征所述主模块电极与外界导体之间的距离或其变化的电信号；
    主模块第一接口部，与所述主模块检测电路板电连接，以与外部设备传输所述电信号，并为所述主模块检测电路板的工作进行供电；
    主模块第二接口部，所述主模块第二接口部连接所述主模块检测电路板，以使得主模块检测电路板连接另一电极，以使得所述主模块检测电路板检测到所述另一电极与外界导体之间的距离或其变化的电信号；
    所述子电子皮肤模块为电子皮肤子模块，所述电子皮肤子模块包括：
    子模块电极，所述子模块电极能够与接近的外界导体构成电容；
    子模块接口部，与所述子模块电极电连接，以使得所述子模块电极与所述电子皮肤主模块的主模块检测电路板电连接。
  17. 根据权利要求16所述的电子皮肤系统，其中，所述子电子皮肤模块为多个，都连接到所述主电子皮肤模块。
  18. 根据权利要求16所述的电子皮肤系统，其中，所述主电子皮肤模块和/或子电子皮肤模块还包括固定片，
    所述电子皮肤主模块还包括：
    主模块壳体，所述主模块壳体用于容纳所述主模块检测电路板，所述主模块第一接口部和所述主模块第二接口部设置于所述主模块壳体的壁面，所述主模块电极设置于所述主模块壳体的外侧壁面；
    所述子电子皮肤模块还包括：
    子模块壳体，所述子模块接口部设置于所述子模块壳体的壁面，所述子模块电极设置于所述子模块壳体的外侧壁面；
    所述固定片设置于所述主模块壳体和/或所述子模块壳体的底面，所述固定片上设置有固定部，以将所述主模块壳体和/或所述子模块壳体固定于所述外部设备的表面。
  19. 根据权利要求16所述的电子皮肤系统，其中，所述外部设备为机器人，所述电子皮肤系统固定于所述机器人的末端。
  20. 一种机械臂，其中，所述机械臂上安装了电子皮肤系统，所述电子皮肤系统包括用于外部设备的相互连接的主电子皮肤模块和子电子皮肤模块，其中，
    所述主电子皮肤模块为电子皮肤主模块，所述电子皮肤主模块包括：
    主模块电极，所述主模块电极能够与接近的外界导体构成电容；
    主模块检测电路板，与所述主模块电极电连接，以利用所述主模块电极与外界导体之间的电容或其变化检测所述主模块电极与外界导体之间的距离或其变化，得到表征所述主模块电极与外界导体之间的距离或其变化的电信号；
    主模块第一接口部，与所述主模块检测电路板电连接，以与外部设备传输所述电信号，并为所述主模块检测电路板的工作进行供电；
    主模块第二接口部，所述主模块第二接口部连接所述主模块检测电路板，以使得主模块检测电路板连接另一电极，以使得所述主模块检测电路板检测到所述另一电极与外界导体之间的距离或其变化的电信号；
    所述子电子皮肤模块为电子皮肤子模块，所述电子皮肤子模块包括：
    子模块电极，所述子模块电极能够与接近的外界导体构成电容；
    子模块接口部，与所述子模块电极电连接，以使得所述子模块电极与所述电子皮肤主模块的主模块检测电路板电连接。
  21. 一种机器人，其中，所述机器人安装了电子皮肤系统，所述电子皮肤系统安装于所述机器人的工具末端；所述电子皮肤系统包括用于外部设备的相互连接的主电子皮肤模块和子电子皮肤模块，其中，
    所述主电子皮肤模块为电子皮肤主模块，所述电子皮肤主模块包括：
    主模块电极，所述主模块电极能够与接近的外界导体构成电容；
    主模块检测电路板，与所述主模块电极电连接，以利用所述主模块电极与外界导体之间的电容或其变化检测所述主模块电极与外界导体之间的距离或其变化，得到表征所述主模块电极与外界导体之间的距离或其变化的电信号；
    主模块第一接口部，与所述主模块检测电路板电连接，以与外部设备传输所述电信号，并为所述主模块检测电路板的工作进行供电；
    主模块第二接口部，所述主模块第二接口部连接所述主模块检测电路板，以使得主模块检测电路板连接另一电极，以使得所述主模块检测电路板检测到所述另一电极与外界导体之间的距离或其变化的电信号；
    所述子电子皮肤模块为电子皮肤子模块，所述电子皮肤子模块包括：
    子模块电极，所述子模块电极能够与接近的外界导体构成电容；
    子模块接口部，与所述子模块电极电连接，以使得所述子模块电极与所述电子皮肤主模块的主模块检测电路板电连接。
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