CN217494321U - Electronic skin module, mechanical arm and equipment based on self-capacitance detection - Google Patents
Electronic skin module, mechanical arm and equipment based on self-capacitance detection Download PDFInfo
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- CN217494321U CN217494321U CN202220421708.4U CN202220421708U CN217494321U CN 217494321 U CN217494321 U CN 217494321U CN 202220421708 U CN202220421708 U CN 202220421708U CN 217494321 U CN217494321 U CN 217494321U
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Abstract
The utility model discloses an electron skin module, arm and equipment based on self-capacitance detects, this electron skin module based on self-capacitance detects includes: a flexible electrode layer capable of forming a capacitance with an adjacent conductor; the detection circuit board is electrically connected with the flexible electrode layer and is used for generating an electric signal representing the capacitance value or the variation of the capacitance value; the flexible electrode layer and the detection circuit board are coated in the flexible protective layer; and the connecting structure is arranged on the flexible protective layer and is used for being fixedly connected with external equipment in a detachable mode. The utility model provides an electron skin module is flexible, can set up along with the shape, applicable in each position of the arm of different shapes and arm, and the commonality is higher.
Description
Technical Field
The utility model relates to an arm field, in particular to electron skin module, arm and equipment based on self-capacitance detects.
Background
The electronic skin is a sensing device for detecting an approaching conductor, and can be applied to a mechanical arm to judge whether an obstacle exists in front or not through the electronic skin, so that the purpose of avoiding the obstacle is achieved.
The prior patent with application number CN202011525037.8 discloses an electronic skin main module, sub-module, system, robot arm and robot, wherein the electronic skin main module and sub-module are disposed around an end effector of the robot arm, such as an end effector like a clamping jaw, a suction cup, etc., to detect external conductors approaching the end effector.
However, since the shape of the arm varies in practical use, the shape of the electron skin is fixed in a box shape, and it is difficult to adapt to arms having different shapes or other portions of the arm, and versatility is poor.
SUMMERY OF THE UTILITY MODEL
The utility model discloses a main aim at provides an electron skin module based on self-capacitance detects, aims at solving the relatively poor technical problem of current electron skin module commonality.
In order to achieve the above object, the utility model provides an electron skin module based on self-capacitance detects, this electron skin module based on self-capacitance detects includes:
a flexible electrode layer capable of forming a capacitance with an adjacent conductor;
the detection circuit board is electrically connected with the flexible electrode layer and is used for generating an electric signal representing the capacitance value or the variation of the capacitance value;
the flexible electrode layer and the detection circuit board are coated in the flexible protective layer;
and the connecting structure is arranged on the flexible protective layer and is used for being fixedly connected with external equipment in a detachable mode.
Wherein, electronic skin module based on self-capacitance detection still includes: a master control circuit for controlling the operation of the electronic device,
the main control circuit is electrically connected with the detection circuit board, arranged on the same board as the detection circuit board and used for calculating the proximity degree of the flexible electrode layer and the approaching conductor according to the electric signal; or
The electronic skin module based on self-capacitance detection further comprises: a main control circuit board, a main control circuit is arranged on the main control circuit board,
the main control circuit board is electrically connected with the detection circuit board and used for calculating the approaching degree of the flexible electrode layer and the approaching conductor according to the electric signals.
Wherein, electronic skin module based on self-capacitance detection still includes:
the port is electrically connected with the detection circuit board and is used for communication and/or electric energy transmission, and the output end of the port is exposed from the flexible protection layer; or
The electronic skin module based on self-capacitance detection further comprises:
and the port is electrically connected with the main control circuit and is used for communication and/or electric energy transmission, and the output end of the port is exposed from the flexible protective layer.
The detection circuit board and/or the main control circuit board is an FPC flexible circuit board.
Wherein, electronic skin module based on self-capacitance detection still includes: a wireless communication module and a battery module;
the wireless communication module and the battery module are respectively electrically connected with the main control circuit or the main control circuit board.
The flexible electrode layer comprises a plurality of flexible electrode plates arranged in an array, and the flexible electrode plates are respectively and electrically connected with different detection channels of the detection circuit board.
The connecting structure is an adhesive layer, and the adhesive layer is used for adhering the electronic skin module to external equipment; or
The connecting structure is a magnetic attraction structure, and the magnetic attraction structure is used for attracting the electronic skin module to be arranged on the external equipment.
Wherein, connection structure is the bandage structure, and the bandage structure is used for binding the electron skin module and sets up on external equipment.
The utility model discloses still provide a arm, this arm includes:
a control circuit, and;
and the control circuit is electrically connected with each electronic skin module based on self-capacitance detection.
The utility model discloses further provide an equipment, this equipment includes:
a control circuit, and;
and the control circuit is electrically connected with each electronic skin module based on self-capacitance detection.
Compared with the prior art, the utility model discloses beneficial technological effect lies in:
the utility model provides an electron skin module is flexible, can set up along with the shape, applicable in each position of the arm of different shapes and arm, and the commonality is higher.
Drawings
Fig. 1 is a schematic structural diagram of an electronic skin module based on self-capacitance detection according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an electronic skin module based on self-capacitance detection according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an electronic skin module based on self-capacitance detection according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of an electronic skin module based on self-capacitance detection according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of an electronic skin module based on self-capacitance detection according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of an electronic skin module based on self-capacitance detection according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of an electronic skin module based on self-capacitance detection according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present invention, and should not be construed as limiting the present invention, and all other embodiments obtained by those skilled in the art without creative efforts based on the embodiments of the present invention belong to the protection scope of the present invention.
Embodiments herein relate generally to an electronic skin for proximity sensing with an object that is in proximity or in contact with it using self-capacitance sensing principles (mutual capacitance sensing principles are also applicable to the present invention), and further applications thereof, such as: the robot is provided with a mechanical arm with electronic skin. In the present invention, the electronic skin is mainly used to be disposed on the mechanical arm as a sensing element of an object close to or in contact with the mechanical arm.
Please refer to fig. 1, fig. 1 is a schematic structural diagram of an electronic skin module according to an embodiment of the present invention.
In some embodiments, the present invention provides a self-capacitance based electronic skin module, comprising:
a flexible electrode layer 1, wherein the flexible electrode layer 1 and a conductor close to the flexible electrode layer 1 can form a capacitor;
the detection circuit board 2 is electrically connected with the flexible electrode layer 1 and is used for generating an electric signal representing the capacitance value or the variation of the capacitance value;
the flexible protective layer 3 covers the electrode plate and the detection circuit board 2;
and the connecting structure is arranged on the flexible protective layer and is used for being fixedly connected with external equipment in a detachable mode.
In this embodiment, the flexible electrode layer 1 and the detection circuit board 2 are coated in the flexible protection layer 3, and the flexible protection layer 3 is used for isolating the flexible electrode layer 1 and the detection circuit board 2 from the external environment, so as to avoid the external environment from affecting the flexible electrode layer 1 and the detection circuit board 2.
The flexible protective layer 3 and the flexible electrode layer 1 are flexible, the flexible electrode layer 1 can be made of a flexible circuit board or a metal sheet, the flexible protective layer 3 can be used for collision buffering, and damage to the flexible electrode layer 1 and the detection circuit board 2 caused by external impact is avoided.
The surface area of the flexible electrode layer 1 may be equivalent to the surface area of the flexible protection layer 3, or the surface area of the flexible electrode layer 1 is smaller or slightly smaller than the surface area of the flexible protection layer 3, that is, the flexible electrode layer 1 is always wrapped in the flexible protection layer 3.
In addition, since the larger the surface area of the flexible electrode layer 1 is, the larger the sensing distance thereof is, in some embodiments, the surface area of the flexible electrode layer 1 can be made to be equivalent to the surface area of the flexible protection layer 3, so as to utilize the limited space of the flexible protection layer 3 to the maximum extent and enhance the detection sensing capability of the electronic skin module.
The detection circuit board 2 can be made smaller, so that the deformation of the flexible electrode layer 1 and the flexible protection layer 3 cannot be influenced, the mechanical arm surface is not required to be attached to influence the detection circuit board in the installation process, and the detection circuit board can be arranged in the middle area, the corner area or the area between the middle area and the corner area of the flexible protection layer 3.
The detection circuit board 2 is electrically connected with the flexible electrode layer 1 and is used for generating an electric signal for representing the capacitance value of the capacitor or the variation thereof, when the approaching conductor enters the detection range of the flexible electrode layer 1, the capacitance value of the capacitor formed by the flexible electrode layer 1 and the approaching conductor changes along with the change of the distance between the flexible electrode layer 1 and the approaching conductor, and the detection circuit board 2 can detect the electric signal corresponding to the capacitance value or the variation thereof.
The flexible protective layer 3 and the flexible electrode layer 1 are flexible, the size of the detection circuit board 2 is small, the whole electronic skin module can be arranged along with the shape, the electronic skin module can be suitable for installation of mechanical arms in different shapes and all positions of the mechanical arms, and the electronic skin module can be completely attached to an installation surface of the electronic skin module.
The utility model provides an electron skin module can be applied to on various arms and the robot, the arm mainly refers to the structure that uses the joint arm as leading, for example scara arm, cooperation arm etc. the robot mainly refers to the machine that possesses similar humanoid structure on the complete machine, for example family robot, carrier people etc. or is applied to some portable smart machine of life service, for example sweeps floor robot, express delivery robot, hall service robot etc.. In summary, the present invention can be used in various fields such as industry, life, business, and the like, and in various forms of robot devices, so that the robot arm and the robot can sense objects around the robot arm, thereby generating a corresponding motion control strategy. Taking the robot arm as an example, the e-skin module may be fixed to any one or more of the joints, joint arms, ends, and end effectors of the robot arm in various ways such as attaching, tying, etc. after the e-skin module is mounted, the robot arm may detect the approach of the object through the e-skin module.
The flexible electrode layer 1 may be formed on the flexible protection layer 3 by electrodeposition or vapor deposition or printing or pasting a conductive sheet, that is: the flexible electrode layer 1 may be formed on the flexible protection layer 3 by physical or chemical means, or may be a preformed conductive sheet, and is disposed on the flexible protection layer 3, so as to form the flexible electrode layer 1. The flexible electrode layer 1 can be made of a metal or nonmetal conductive material such as copper, gold and the like. The second protective layer 3 may be disposed on the flexible electrode layer 1 by means of adhesion or the like.
The electronic skin module is detachably connected with external equipment through a connecting structure, the external equipment is a mechanical arm or a robot, and the connecting structure is arranged on the flexible protective layer 3.
In some embodiments, the connection structure proposed by the present invention is an adhesive layer, and the adhesive layer is used for adhering the electronic skin module to an external device; or the connecting structure is a magnetic attraction structure, and the magnetic attraction structure is used for attracting the electronic skin module to be arranged on the external equipment.
In this embodiment, the electronic skin module can be connected with external equipment by pasting or magnetic attraction, and the connection structure is a pasting layer or a soft magnetic strip which is arranged outside the flexible protection layer 3. The connecting structure is arranged as an adhesive layer, and is particularly suitable for the situation that the surface is irregular and is difficult to fix by other modes, or the area of the surface of the equipment to be adhered is large, or the area is too small and is difficult to use the connecting structure with a certain volume, such as the surface of a toy robot, a large robot, or the surface of a terminal finger. The sticking mode can make the electronic skin module basically adapt to all robot equipment structures, thereby fixing on the surface of the equipment in a shape following mode. When the connecting structure is a soft magnetic strip, the electronic skin module is directly attached to the metal surface of the equipment in an aligning mode, and the soft magnetic strip and the metal surface of the equipment are fixed in a magnetic attraction mode.
In some embodiments, the connection structure provided by the present invention is a binding structure, and the binding structure is used for binding the electronic skin module and setting the electronic skin module on the external device.
In this embodiment, the electronic skin module is bound on the surface of the device by the binding bands, and the number of the binding bands may be one or more. When the number of the binding bands is one, one end of the binding band is connected with one side of the flexible protection layer 3, and the other end is connected with the other side of the flexible protection layer 3 when the electronic skin module is mounted on the surface of the device. When the number of the binding bands is multiple, one of the binding bands is connected with one side of the flexible protective layer 3, the other binding band is connected with the other side of the flexible protective layer 3, and when the electronic skin module is fixed on the surface of equipment, the other ends of the two binding bands are connected with each other. The binding belt mode can enable the electronic skin module to be assembled and disassembled more conveniently particularly on a mechanical arm or some equipment with smaller circumference.
Referring to fig. 2, fig. 2 is a schematic structural diagram of an electronic skin module according to an embodiment of the present invention.
In some embodiments, the utility model provides a proposed electron skin module based on self-capacitance still includes main control circuit 4, and main control circuit 4 is connected with detection circuit board 2 electricity to with the same board setting of detection circuit board 2, be used for obtaining the proximity of flexible electrode layer 1 and the proximity conductor according to the signal of telecommunication.
In this embodiment, the main control circuit 4 is electrically connected to the detection circuit board 2, the detection circuit board 2 sends the electrical signal generated by the detection circuit board 2 and used for representing the capacitance or the variation thereof to the main control circuit 4, and the main control circuit 4 processes the electrical signal to obtain the proximity degree between the flexible electrode layer 1 and the proximity conductor. In this way, it is not necessary to send the electrical signal generated by the detection circuit board 2 to the controller of the external device for processing, so as to obtain the proximity degree of the flexible electrode layer 1 and the proximity conductor, thereby reducing the calculation amount of the controller of the external device.
In some embodiments, the main control circuit 4 and the detection circuit board 2 are disposed on the same board, and the main control circuit 4 and the detection circuit board 2 share one circuit board, so that the cost of the electronic skin module can be reduced to some extent.
Referring to fig. 3, fig. 3 is a schematic structural diagram of an electronic skin module according to an embodiment of the present invention.
In some embodiments, the utility model provides an electron skin module based on self-capacitance still includes main control circuit board 5, is provided with main control circuit 4 on the main control circuit board 5, and main control circuit board 5 is connected with detection circuit board 2 electricity for calculate the degree of proximity of flexible electrode layer and the conductor that is close according to the signal of telecommunication.
In this embodiment, the main control circuit board 5 is provided with the main control circuit 4 and is electrically connected with the detection circuit board 2, the detection circuit board 2 sends the generated electric signal for representing the capacitance or the variation thereof to the main control circuit 4, and the main control circuit 4 processes the electric signal to obtain the proximity degree of the flexible electrode layer 1 and the proximity conductor. In this way, it is not necessary to send the electrical signal generated by the detection circuit board 2 to the controller of the external device for processing, so as to obtain the proximity degree of the flexible electrode layer 1 and the proximity conductor, thereby reducing the calculation amount of the controller of the external device.
The main control circuit board 5 and the detection circuit board 2 are independent from each other, so that mutual interference between the detection circuit board 2 and the main control circuit 4 can be reduced, and the accuracy of a detection result is improved. Moreover, the volume of the main control circuit board 5 and the detection circuit board 2 which are arranged in a split mode is obviously smaller than the volume of the two integrated modes, so that the whole deformation capacity of the electronic skin module can be further guaranteed, and the electronic skin module is prevented from being influenced by the circuit board when deformed.
Please refer to fig. 4-6, fig. 4 is a schematic structural diagram of an electronic skin module according to an embodiment of the present invention, fig. 5 is a schematic structural diagram of an electronic skin module according to an embodiment of the present invention, and fig. 6 is a schematic structural diagram of an electronic skin module according to an embodiment of the present invention.
In some embodiments, the present invention provides a self-capacitance based electronic skin module further comprising:
and the port 6 is electrically connected with the detection circuit board 2 and is used for communication and/or power transmission, and the output end of the port 6 is exposed from the flexible protection layer 3.
In this embodiment, the port 6 is electrically connected to the detection circuit board 2, and can be used for transmitting electrical signals and electrical energy at the same time, the transmission of the electrical signals mainly refers to transmitting the electrical signals, which are generated by the detection circuit board 2 and used for representing capacitance or variation thereof, to a controller of an external device, and the electrical energy transmission refers to supplying external electrical energy to the whole electronic skin module, so that the electronic skin module can be normally used.
At least one part of the port 6 is exposed outside the flexible protection layer 3, so that the detection circuit board 2 can transmit the electric signal which is detected by the port 6 and used for representing the capacitance or the variation of the capacitance to a controller of an external device through the port 6.
In this embodiment, the port 6 and the external device may establish communication therebetween in a cable, a point contact, a plug, or the like, for example: plugs are arranged at two ends of the cable, wherein the plug at one end is used for being electrically connected with the port 6, and the plug at the other end is used for being electrically connected with external equipment. After the electronic skin module is fixed on the external equipment, the plugs at the two ends of the cable are respectively inserted into the external equipment and the port 6, so that the external equipment and the detection circuit board 2 can transmit electric signals, and communication between the external equipment and the detection circuit board 2 is realized.
In some embodiments, the self-capacitance-based electronic skin module provided by the embodiments of the present invention further includes:
and the port 6 is electrically connected with the main control circuit 4 and is used for communication and/or transmission of electric energy, and the output end of the port 6 is exposed from the flexible protection layer 3.
In this embodiment, the port 6 is electrically connected to the main control circuit 4, the electrical signal generated by the detection circuit board 2 and used for representing the capacitance or the variation thereof is not directly sent to the controller of the external device through the port 6, but is first sent to the main control circuit 4 electrically connected thereto, so that the electrical signal used for representing the capacitance or the variation thereof is processed through the main control circuit 4 to obtain the proximity degree of the proximity conductor and the electronic skin module, and then the proximity degree is sent to the controller of the external device through the port 6.
The port 6 can be used for transmitting electric signals and electric energy, the electric signals are mainly used for transmitting electric signals which are generated by the detection circuit board 2 and used for representing capacitance or variation of the capacitance to a controller of external equipment, or the electric signals are used for transmitting the proximity degree of the flexible electrode layer 1 and the proximity conductor acquired by the main control circuit 4 to the controller of the external equipment, and the electric energy is transmitted to the whole electronic skin module so that the electronic skin module can be normally used.
At least one part of the port 6 is exposed outside the flexible protection layer 3, so that the main control circuit 4 can transmit the electric signal which is detected by the port 6 and used for representing the capacitance or the variation thereof to a controller of an external device through the port 6.
In this embodiment, the port 6 and the external device mainly establish communication therebetween through a cable, and plugs are disposed at two ends of the cable, wherein the plug at one end is used for electrically connecting with the port 6, and the plug at the other end is used for electrically connecting with the external device. After the electronic skin module is fixed on the external equipment, plugs at two ends of the cable are respectively inserted into the external equipment and the port 6, so that electric signals can be transmitted between the external equipment and the main control circuit 4, and communication between the external equipment and the main control circuit is realized.
In some embodiments, the detection circuit board 2 and/or the main control circuit board 5 is an FPC flexible circuit board.
In this embodiment, at least one of the detection circuit board 2 and the main control circuit board 5 is a flexible circuit board, which can further ensure the whole deformation capability of the electronic skin module, so that the detection circuit board 2 and/or the main control circuit board 5 can deform together with the flexible electrode layer 1 and the flexible protection layer 3 to be attached to the mounting surface of the mechanical arm.
In a specific embodiment, the detection circuit board 2 is made of a flexible circuit board, on which a detection circuit for generating an electrical signal representing capacitance or a variation thereof is integrated, and the main control circuit board 5 is made of a hard ordinary circuit board, on which a main control circuit 4 for processing the electrical signal to obtain a proximity degree of the proximity conductor and the electronic skin module is integrated.
In another embodiment, the detection circuit board 2 is made of a hard common circuit board, on which a detection circuit for generating an electrical signal representing capacitance or a variation thereof is integrated, and the main control circuit board 5 is made of a flexible circuit board, on which a main control circuit 4 for processing the electrical signal to obtain a proximity degree of the proximity conductor and the electronic skin module is integrated.
In another embodiment, the detection circuit board 2 and the main control circuit board 5 are both made of flexible circuit boards, a detection circuit for generating an electrical signal representing capacitance or a variation thereof is integrated on the detection circuit board 2, and a main control circuit 4 for processing the electrical signal to obtain a proximity degree of the proximity conductor and the electronic skin module is integrated on the main control circuit board 5.
In the above three specific embodiments, when the detection circuit board 2 and the main control circuit board 5 are made of flexible circuit boards, the flexibility of the electronic skin module provided by this embodiment is optimal, and the electronic skin module can deform to the greatest extent, so that the electronic skin module can be basically attached to the mounting surface of the external device.
In some embodiments, the electronic skin module based on self-capacitance detection provided by the present invention further comprises a wireless communication module and a battery module, wherein the wireless communication module and the battery module are electrically connected to the main control circuit or the main control circuit board respectively.
In this embodiment, the electronic skin module may send the electrical signal detected by the electronic skin module to a controller of an external device in a wireless communication manner, and thus, transmission through a cable is not required. In order to realize wireless communication, a wireless communication module and a battery module are integrated in the flexible protective layer 3, and the wireless communication module and the battery module are respectively and electrically connected with the main control circuit 4 or the main control circuit board 5 so as to send the detected proximity degree between the flexible electrode layer 1 and the proximity conductor to a main controller of the mechanical arm.
The battery module is used for supplying power to the whole electronic skin module and comprises a detection circuit board 2, a main control circuit 4, a main control circuit board 5 and a wireless communication module. The wireless communication module can be a WIFI module, a Bluetooth module, a ZigBee module or a SIM card, including but not limited to the WIFI module, and the wireless communication module can be selected by a person skilled in the art according to actual conditions. Further, the wireless communication module can also be any two or more of the above modules, for example, the wireless communication module is a WIFI module and a bluetooth module, a WIFI module and a ZigBee module, or the wireless communication module is a WIFI module, a bluetooth module and a ZigBee module, etc.
Please refer to fig. 7, fig. 7 is a schematic structural diagram of an electronic skin module according to an embodiment of the present invention.
In some embodiments, the flexible electrode layer 1 provided by the present invention includes a plurality of flexible electrode sheets 11 arranged in an array, and the flexible electrode sheets 11 are electrically connected to different detection channels of the detection circuit board 2 respectively.
In this embodiment, the flexible electrode sheets 11 arranged in a plurality of arrays are correspondingly formed into a plurality of sensing areas, and the approaching conductors are sensed through different sensing areas, so that the specific directions of the approaching conductors in the space can be obtained, and the sensing accuracy of the electronic skin module is improved. The detection circuit board 2 has a plurality of different detection channels, and each detection channel is electrically connected to one flexible electrode sheet 11 to obtain sensing signals of the flexible electrode sheets 11 in different regions.
The detection circuit board 2 may be disposed in the middle region of the plurality of flexible electrode pads 11 distributed in an array, or disposed in the corner region of the plurality of flexible electrode pads 11 distributed in an array, and those skilled in the art may design the detection circuit board according to actual conditions. As shown in fig. 7, the flexible electrode layer 1 includes four flexible electrode pads 11, the four flexible electrode pads 11 are distributed in a matrix, and the detection circuit board is located in a central region of the four flexible electrode pads 11 and is electrically connected to the four flexible electrode pads 11 through four different detection channels, respectively.
Further, the flexible electrode sheet 11 may be square, rectangular, fan-shaped, triangular or other shapes, and two or more flexible electrode sheets 11 are provided according to actual conditions. When the approach conductor approaches the electronic skin module proposed in this embodiment, the corresponding flexible electrode sheet 11 in the flexible electrode layer 1 forms a capacitor with the approach conductor to detect the capacitance or capacitance change, thereby sensing the approach of the approach conductor.
In some embodiments, the flexible protective layer 3 is made of rubber, silicone or a foamed material.
The utility model discloses further provide a mechanical arm includes control circuit and a plurality of electron skin module based on self-capacitance detects, and the concrete structure of this electron skin module refers to above-mentioned embodiment, because this mechanical arm has adopted all technical scheme of above-mentioned all embodiments, consequently has all technical effect that the technical scheme of above-mentioned embodiment brought at least, no longer gives unnecessary detail here one by one. The control circuit is electrically connected with each electronic skin module based on self-capacitance detection.
In this embodiment, the mechanical arm has a plurality of joints, and two adjacent joints are connected through the joint arm. The electronic skin module can be installed at the joint, can also be installed on the joint arm, and can also be installed on the joint and the joint arm simultaneously, so that each part of the mechanical arm can sense the conductor around the mechanical arm, and the mechanical arm can be prevented from colliding with the conductor when the mechanical arm moves. The capacitance or the variation signal thereof detected by the electronic skin module, or the proximity of the capacitance or the variation signal thereof to the proximity conductor, is sent to the control circuit, so that the control circuit controls the movement of the mechanical arm accordingly.
The electronic skin module comprises a flexible electrode layer 1, a detection circuit board 2, a flexible protection layer 3 and a connecting structure, wherein the connecting structure is used for fixing the electronic skin module on a joint and/or a joint arm of the mechanical arm. Because the electronic skin module provided by the embodiment is flexible, the electronic skin module can be attached to the joint and/or the joint arm of the mechanical arm, so that the connection between the electronic skin module and the mechanical arm is more stable, and the sensing range of the electronic skin module can be enlarged.
Further, in order to improve the flexibility of the electronic skin module, the electronic skin module can be basically attached to the joint or the joint arm of the mechanical arm, the detection circuit board 2 provided by the embodiment is made of a flexible circuit board, so that the detection circuit board 2 can deform along with the flexible circuit board, and the whole deformation of the electronic skin module cannot be influenced.
When the electronic skin module is installed, the electronic skin module is firstly attached to the joint or the joint arm of the mechanical arm, and then the electronic skin module is fixed on the mechanical arm through the connecting structure. Wherein, connection structure is including pasting the layer, and structure, bandage structure etc. are inhaled to magnetism, include but not limited to this, and the technical personnel in the art can design according to actual conditions.
The utility model discloses still further provide an equipment, this equipment includes control circuit and a plurality of electron skin module based on self-capacitance detects, and the concrete structure of this electron skin module refers to above-mentioned embodiment, because this arm has adopted all technical scheme of above-mentioned all embodiments, consequently has all technical effects that the technical scheme of above-mentioned embodiment brought at least, no longer gives unnecessary details one by one here. The control circuit is electrically connected with each electronic skin module based on self-capacitance detection.
The above is only the part or the preferred embodiment of the present invention, no matter the characters or the drawings can not limit the protection scope of the present invention, all under the whole concept of the present invention, the equivalent structure transformation performed by the contents of the specification and the drawings is utilized, or the direct/indirect application in other related technical fields is included in the protection scope of the present invention.
Claims (10)
1. An electronic skin module based on self-capacitance detection, comprising:
a flexible electrode layer capable of forming a capacitance with a conductor in proximity;
the detection circuit board is electrically connected with the flexible electrode layer and is used for generating an electric signal representing the capacitance value or the variation of the capacitance;
the flexible protective layer covers the flexible electrode layer and the detection circuit board;
and the connecting structure is arranged on the flexible protective layer and is used for being fixedly connected with external equipment in a detachable mode.
2. The electronic skin module based on self-capacitance detection according to claim 1,
further comprising: a master control circuit for controlling the operation of the electronic device,
the main control circuit is electrically connected with the detection circuit board, is arranged on the same board as the detection circuit board and is used for calculating the approaching degree of the flexible electrode layer and the approaching conductor according to the electric signal; or
Further comprising: a main control circuit board, a main control circuit is arranged on the main control circuit board,
the main control circuit board is electrically connected with the detection circuit board and used for calculating the approaching degree of the flexible electrode layer and the approaching conductor according to the electric signal.
3. The electronic skin module based on self-capacitance detection according to claim 2,
further comprising:
the port is electrically connected with the detection circuit board and is used for communication and/or electric energy transmission, and the output end of the port is exposed from the flexible protection layer; or
Further comprising:
and the port is electrically connected with the main control circuit and is used for communication and/or electric energy transmission, and the output end of the port is exposed from the flexible protective layer.
4. The electronic skin module based on self-capacitance detection according to claim 2,
the detection circuit board and/or the main control circuit board is an FPC flexible circuit board.
5. The electronic skin module based on self-capacitance detection according to claim 2,
further comprising: a wireless communication module and a battery module;
the wireless communication module and the battery module are respectively electrically connected with the main control circuit or the main control circuit board.
6. The electronic skin module based on self-capacitance detection according to claim 1,
the flexible electrode layer comprises a plurality of flexible electrode plates arranged in an array, and the flexible electrode plates are respectively and electrically connected with different detection channels of the detection circuit board.
7. The electronic skin module based on self-capacitance detection according to claim 1,
the connecting structure is an adhesive layer, and the adhesive layer is used for adhering the electronic skin module to the external equipment; or
The connecting structure is a magnetic attraction structure, and the magnetic attraction structure is used for attracting the electronic skin module to the external equipment.
8. The electronic skin module based on self-capacitance detection according to claim 1,
the connecting structure is a bandage structure, and the bandage structure is used for binding and arranging the electronic skin module on the external equipment.
9. A robotic arm, comprising:
a control circuit, and;
a number of self-capacitance detection based electronic skin modules according to any one of claims 1-8, said control circuit being electrically connected to each of said self-capacitance detection based electronic skin modules, respectively.
10. An apparatus, comprising:
a control circuit, and;
a number of self-capacitance detection based electronic skin modules according to any one of claims 1-8, said control circuit being electrically connected to each of said self-capacitance detection based electronic skin modules, respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220421708.4U CN217494321U (en) | 2022-02-28 | 2022-02-28 | Electronic skin module, mechanical arm and equipment based on self-capacitance detection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220421708.4U CN217494321U (en) | 2022-02-28 | 2022-02-28 | Electronic skin module, mechanical arm and equipment based on self-capacitance detection |
Publications (1)
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114571505A (en) * | 2022-02-28 | 2022-06-03 | 深圳市越疆科技有限公司 | Electronic skin module, mechanical arm and equipment based on self-capacitance detection |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114571505A (en) * | 2022-02-28 | 2022-06-03 | 深圳市越疆科技有限公司 | Electronic skin module, mechanical arm and equipment based on self-capacitance detection |
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Address after: 518000 1003, building 2, Chongwen Park, Nanshan wisdom Park, 3370 Liuxian Avenue, Fuguang community, Taoyuan Street, Nanshan District, Shenzhen City, Guangdong Province Patentee after: Shenzhen Yuejiang Technology Co.,Ltd. Address before: 518000 1003, building 2, Chongwen Park, Nanshan wisdom Park, 3370 Liuxian Avenue, Fuguang community, Taoyuan Street, Nanshan District, Shenzhen City, Guangdong Province Patentee before: SHENZHEN YUEJIANG TECHNOLOGY Co.,Ltd. |