A patch type electronic skin unit and a patch type electronic skin

Abstract

The present invention relates to the field of sensor technology, and specifically to a patch-type electronic skin unit and a patch-type electronic skin, wherein the patch-type electronic skin unit comprises an electrode layer, a first substrate layer, and an electrode pin, wherein the electrode layer can form a capacitor with a nearby conductor; the electrode layer is arranged on the first substrate layer, one end of the electrode pin is electrically connected to the electrode layer, and the other end of the electrode pin is used to connect a detection circuit, and the detection circuit is used to generate an electrical signal representing the capacitance or its change; wherein the electrode layer and the first substrate layer are flexible structures. The patch-type electronic skin provided according to this embodiment has a flexible overall structure, can be arranged on a plane, can be arranged on a curved surface or at a bend, and has strong adaptability.

Description

Technical Field

[0001] The present invention relates to the field of sensor technology, and in particular to a patch-type electronic skin unit and a patch-type electronic skin. Background Art

[0002] Electronic skin can be attached to the surface of the robot to help it obtain external environmental information and make appropriate responses. Electronic skin can be set on carriers such as robots, medical equipment, human prostheses, wearable devices, etc. to sense external physical information. Most of the existing electronic skins are rigid and easy to fix on flat objects, but in actual application scenarios, electronic skins often need to be fixed on curved surfaces or corners, so existing electronic skins cannot be used. Therefore, the applicability of existing electronic skins is poor. Summary of the invention

[0003] The main technical problem solved by the present invention is that the existing electronic skin has poor applicability.

[0004] A patch-type electronic skin unit, comprising:

[0005] An electrode layer, the electrode layer being capable of forming a capacitor with a nearby conductor;

[0006] A first substrate layer, the electrode layer being disposed on the first substrate layer; and

[0007] An electrode pin, one end of which is electrically connected to the electrode layer, and the other end of which is used to connect to a detection circuit, wherein the detection circuit is used to generate an electrical signal representing the capacitance or a change in the capacitance;

[0008] Wherein, the electrode layer and the first substrate layer are flexible structures.

[0009] In one embodiment, the electrode layer comprises a conductive sheet;

[0010] Alternatively, the electrode layer includes an attachment sheet and a conductive film disposed on the attachment sheet.

[0011] In one embodiment, the electrode layer further includes a conductive reinforcement layer, and the conductive reinforcement layer is a conductive material or includes a conductive object;

[0012] The conductive reinforcing layer is disposed on the upper surface or the lower surface of the conductive sheet, and the conductive material is electrically connected to the conductive sheet; or the conductive reinforcing layer is disposed on the surface of the conductive film, and the conductive reinforcing layer is electrically connected to the conductive film.

[0013] In one embodiment, the electrode pin is electrically connected to the conductive reinforcement layer.

[0014] In one embodiment, the conductive reinforcement layer includes a metal mesh with a grid structure, and the metal mesh is uniformly covered on the conductive sheet or the conductive film.

[0015] In one embodiment, the metal mesh is disposed on the upper surface of the conductive sheet or the metal mesh is disposed between the conductive sheet and the first substrate layer, and the metal mesh is electrically connected to the conductive sheet; or the metal mesh is disposed on the surface of the conductive film and is electrically connected to the conductive film;

[0016] The electrode pins are connected to the metal mesh.

[0017] In one embodiment, the conductive reinforcement layer includes a flexible second substrate layer and a metal mesh embedded in the second substrate layer, and one side of the metal mesh is arranged on the surface of the second substrate layer to form a conductive surface;

[0018] The second substrate layer is disposed on the upper surface of the conductive sheet or the second substrate layer is disposed between the conductive sheet and the first substrate layer, and the conductive surface is electrically connected to the conductive sheet; or the second substrate layer is disposed on the surface of the conductive film, and the conductive surface is electrically connected to the conductive film;

[0019] The electrode pin is electrically connected to the metal mesh.

[0020] In one embodiment, a thermoplastic layer is further included, wherein the thermoplastic layer is constructed on the electrode layer.

[0021] In one embodiment, it further comprises a flexible adhesive layer, which is disposed on the lower surface of the first substrate layer; the adhesive layer comprises an adhesive substance and is used to be attached to the object to be fixed;

[0022] The upper end of the electrode pin is electrically connected to the conductive sheet or the conductive film, and the lower end passes through the first substrate layer and is arranged outside the first substrate layer.

[0023] In one embodiment, an electrode sheet is disposed on the surface of the first substrate layer, the electrode sheet is electrically connected to the conductive sheet or the conductive film, the electrode pin is disposed on the surface of the first substrate layer and one end is electrically connected to the electrode sheet, and the other end is disposed outside the first substrate layer.

[0024] In one embodiment, the first substrate layer is a composite structure, including an upper layer and a lower layer, the electrode sheet is arranged between the upper layer and the lower layer, the upper layer is also provided with a through hole for the electrode sheet to pass through, the upper end of the electrode sheet is electrically connected to the conductive sheet or the conductive film through the through hole, the electrode pin is arranged between the upper layer and the lower layer, one end is electrically connected to the electrode sheet, and the other end is arranged outside the first substrate layer.

[0025] In one embodiment, an electrode sheet is disposed on the first substrate layer, the electrode sheet is electrically connected to the metal mesh or the conductive surface formed by the metal mesh, the electrode pin is disposed on the first substrate layer and one end is electrically connected to the electrode sheet, and the other end is disposed outside the first substrate layer.

[0026] In one embodiment, it further comprises a flexible insulating protective layer, wherein the insulating protective layer is arranged on the upper surface of the conductive sheet; or the insulating protective layer is arranged on the upper surface of the conductive reinforcement layer.

[0027] A patch-type electronic skin, comprising the patch-type electronic skin unit as described above;

[0028] It also includes a detection circuit, which is electrically connected to the electrode pin and is used to generate an electrical signal representing the capacitance or its change.

[0029] A patch-type electronic skin, comprising at least two patch-type electronic skin units as described above;

[0030] It also includes at least one detection circuit, which is electrically connected to at least one electrode pin of the patch-type electronic skin unit.

[0031] A patch-type electronic skin, comprising at least two patch-type electronic skin units as described above;

[0032] It also includes at least one detection circuit, wherein the detection circuit is electrically connected to at least one electrode pin of the patch-type electronic skin unit;

[0033] It also includes a processing chip, which is electrically connected to the detection circuit of the patch-type electronic skin unit and is used to receive the converted electrical signal and process it.

[0034] According to the patch-type electronic skin unit and the patch-type electronic skin of the above embodiment, it includes an electrode layer, a first substrate layer, and an electrode pin, wherein the electrode layer can form a capacitor with a nearby conductor; the electrode layer is arranged on the first substrate layer, one end of the electrode pin is electrically connected to the electrode layer, and the other end of the electrode pin is used to connect to a detection circuit, and the detection circuit is used to generate an electrical signal representing the capacitance or its change; wherein the electrode layer and the first substrate layer are flexible structures. According to the patch-type electronic skin provided in this embodiment, the overall structure is flexible, and can be arranged on a plane, or on a curved surface or at a bend, and has strong adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 An exploded view of a patch-type electronic skin unit according to an embodiment of the present application;

[0036] Figure 2 An exploded view of a patch-type electronic skin unit according to another embodiment of the present application;

[0037] Figure 3 An exploded view of a patch-type electronic skin unit according to another embodiment of the present application;

[0038] Figure 4 An exploded view of a patch-type electronic skin unit according to another embodiment of the present application;

[0039] Figure 5 An exploded view of a patch-type electronic skin unit according to another embodiment of the present application

[0040] Figure 6 An exploded view of a patch-type electronic skin unit according to another embodiment of the present application;

[0041] Figure 7 An exploded view of a patch-type electronic skin unit according to another embodiment of the present application;

[0042] Figure 8 An exploded view of a patch-type electronic skin unit according to another embodiment of the present application;

[0043] Fig. 9 An exploded view of a patch-type electronic skin unit according to another embodiment of the present application;

[0044] Fig.10 This is a schematic diagram of the structure of a patch-type electronic skin according to an embodiment of the present application;

[0045] Fig.11 This is a schematic structural diagram of a patch-type electronic skin according to another embodiment of the present application;

[0046] Fig.12 This is a schematic structural diagram of a patch-type electronic skin according to another embodiment of the present application. DETAILED DESCRIPTION

[0047] The present invention is further described in detail below by specific embodiments in conjunction with the accompanying drawings. Wherein similar elements in different embodiments adopt associated similar element numbers. In the following embodiments, many detailed descriptions are for making the present application better understood. However, those skilled in the art can easily recognize that some features can be omitted in different situations, or can be replaced by other elements, materials, methods. In some cases, some operations related to the present application are not shown or described in the specification, this is to avoid the core part of the present application being overwhelmed by too much description, and for those skilled in the art, it is not necessary to describe these related operations in detail, and they can fully understand the related operations according to the description in the specification and the general technical knowledge in the art.

[0048] In addition, the features, operations or characteristics described in the specification can be combined in any appropriate manner to form various implementations. At the same time, the steps or actions in the method description can also be interchanged or adjusted in a manner that is obvious to those skilled in the art. Therefore, the various sequences in the specification and the drawings are only for the purpose of clearly describing a certain embodiment and are not meant to be a required sequence, unless otherwise specified that a certain sequence must be followed.

[0049] In order to improve the adaptability of electronic skin and make it suitable for application on curved surfaces or bends, the present application proposes a patch-type electronic skin unit, which includes an electrode layer and a first substrate layer, and the electrode layer is attached to the upper surface of the first substrate layer and fixedly connected to the first substrate layer. The electrode layer and the first substrate layer are flexible structures. The electrode layer includes a conductive sheet, or the electrode layer includes an attachment sheet and a conductive film arranged on the surface of the attachment sheet; the conductive sheet or the conductive film is provided with electrode pins for connecting to a detection circuit. In this way, the patch-type electronic skin structure is bendable and can be applied on curved surfaces, bends or planes, thereby improving the applicability of the patch-type electronic skin.

[0050] Embodiment 1:

[0051] Please refer to Figure 1 , this embodiment provides a patch-type electronic skin unit, which includes an electrode layer 1, a first substrate layer 2, and an electrode pin 4. The electrode layer 1 can form a capacitor with a nearby conductor; the electrode layer 1 is arranged on the first substrate layer 2, one end of the electrode pin 4 is electrically connected to the electrode layer 1, and the other end of the electrode pin 4 is used to connect the detection circuit 3, and the detection circuit 3 is used to generate an electrical signal representing the capacitance or its change amount. Among them, the electrode layer 1 and the first substrate layer 2 are flexible structures, made of materials with certain flexibility, for example: the electrode layer 1 can be a thin film structure made of metal or non-metallic conductive materials such as copper foil and gold foil, and the first substrate layer 2 can be a thin film structure made of non-conductive materials such as PE and PVC. According to the patch-type electronic skin unit provided by this embodiment, the overall structure is flexible, can be set on a plane, can also be set on a curved surface or at a bend, can be deformed according to the shape of the setting position, and has strong adaptability.

[0052] like Figure 2In one embodiment, the patch-type electronic skin unit includes an electrode layer 1 and a first substrate layer 2, and the electrode layer 1 is attached to the upper surface of the first substrate layer 2. Further, the patch-type electronic skin unit also includes a flexible adhesive layer 6, and the adhesive layer 6 is arranged on the lower surface of the first substrate layer 2; the adhesive layer 6 includes a sticky substance and is used to be attached to the object to be fixed. The surface of the adhesive layer 6 includes a release film. When it needs to be attached to the object, the release film can be torn off. Further, the patch-type electronic skin unit also includes an electrode pin 4 and a detection circuit 3. The upper end of the electrode pin 4 is electrically connected to the electrode layer 1, and the lower end passes through the first substrate 2 and the adhesive layer 6 in turn and is arranged outside the adhesive layer 6. The lower end of the electrode pin 4 is used to be electrically connected to the detection circuit 3. The detection circuit 3 is used to generate an electrical signal representing the capacitance or its change.

[0053] like Figure 3 In one embodiment, the electrode layer 1 includes a conductive sheet 11, for example, the conductive sheet 11 can be copper foil or gold foil; the patch-type electronic skin unit also includes an electrode sheet 5, which is arranged on the first substrate layer 2, and the electrode sheet 5 is welded and electrically connected to the conductive sheet 11, one end of the electrode pin 4 is welded to the electrode sheet 5, and the other end extends along the upper surface of the first substrate layer 2 to its side, and the other end of the electrode pin 4 is used to connect the detection circuit 3.

[0054] In another embodiment, if Figure 4 The electrode layer 1 includes an attachment sheet 12 and a conductive film 13 arranged on the surface of the attachment sheet 12. For example, the conductive film 13 is a copper film or a gold film formed on the attachment sheet 12 by electroplating or spraying; a mounting groove or a mounting hole for arranging an electrode sheet 5 is also provided on the attachment sheet 12. The electrode sheet 5 is arranged in the mounting groove or the mounting hole and is welded and electrically connected to the conductive film 13. One end of the electrode pin 4 is welded to the electrode sheet 5, and the other end extends along the upper surface of the first substrate layer 2 to its side. The other end of the electrode pin 4 is used to connect the detection circuit 3.

[0055] In another embodiment, if Figure 5The patch-type electronic skin unit includes an electrode layer 1 and a first substrate layer 2, wherein the electrode layer 1 is attached to the upper surface of the first substrate layer 2. Further, the patch-type electronic skin unit also includes a flexible adhesive layer 6, which is arranged on the lower surface of the first substrate layer 2; the adhesive layer 6 includes a sticky substance for being pasted on the object to be fixed, and the surface of the adhesive layer 6 includes a release film, and when it needs to be pasted on the object, the release film can be torn off. Further, the patch-type electronic skin unit also includes an electrode sheet 5, an electrode pin 4 and a detection circuit 3, wherein the electrode sheet 5 is arranged on the first substrate layer 2, and its upper surface is welded and electrically connected to the electrode layer 1, and the electrode pin 4 is also horizontally arranged on the upper surface of the first substrate layer 2, and its left end is welded to the electrode sheet 5, and the right end extends to the side of the first substrate layer 2, and the other end of the electrode pin 4 is used to be electrically connected to the detection circuit 3, and the detection circuit 3 is used to generate an electrical signal representing the capacitance or its change amount.

[0056] The patch-type electronic skin unit provided in this embodiment has a flexible overall structure and can be set on a plane, on a curved surface or at a bend, and has strong adaptability.

[0057] Generally, the electrode pin 4 is a rigid body, and the conductive sheet 11 or the conductive film 13 is a flexible structure (with poor toughness). During the overall deformation of the patch-type electronic skin, the conductive sheet 11 is easily disconnected from the rigid electrode pin 4, and the conductive sheet 11 or the conductive film 13 itself is also easily partially broken, causing the conductive sheet 11 or the conductive film 13 to lose part of its area, affecting the detection effect. Since the patch-type electronic skin unit is arranged on a curved surface or a fixed object, it may break or crack in the case of repeated bending or vibration of the object, resulting in a decrease in service life. In order to overcome the above problems, this embodiment therefore considers introducing a flexible conductive reinforcement layer as a reinforcement structure. In the case of partial fracture of the conductive sheet 11 or the conductive film 13 in the electrode layer, the conductive reinforcement layer can still conduct electricity, so that its electrical performance will not be significantly reduced.

[0058] Among them, the conductive reinforcement layer is a conductive material or includes a conductive object; the conductive reinforcement layer is attached to the upper surface or the lower surface of the conductive sheet 11, and the conductive material is electrically connected to the conductive sheet 11; or the conductive reinforcement layer is attached to the surface of the conductive film 13, and the conductive material is electrically connected to the conductive film 13; the electrode pin 4 is electrically connected to the conductive material or the conductive object, so that when the conductive sheet 11 or the conductive film 13 is partially broken, the conductive reinforcement layer can still conduct electricity, so that the electrical performance of the patch-type electronic skin unit will not be significantly reduced.

[0059] Specifically, the conductive reinforcement layer of this embodiment is a metal mesh 7 with a grid structure, and the metal mesh 7 is evenly arranged on the upper surface or the lower surface of the conductive layer 1 and is electrically connected to the conductive layer 1. Figure 6For example, the metal mesh 7 is evenly arranged between the conductive layer 1 and the first substrate layer 2, and the upper surface of the metal mesh 7 is electrically connected to the lower surface of the conductive layer 1, so as to play a conductive role when the conductive layer 1 is damaged, so that the electrical performance of the patch-type electronic skin unit will not be significantly reduced.

[0060] Specifically, Figure 7 For example, the metal mesh 7 is evenly arranged between the conductive sheet 11 and the first substrate layer 2, and the upper surface of the metal mesh 7 is welded and electrically connected to the lower surface of the conductive sheet 11. In the case of a partial break in the conductive sheet 11, the conductive reinforcement layer can still conduct electricity, so that its electrical performance will not be significantly reduced. In another embodiment, the metal mesh 7 is evenly arranged on the surface of the conductive film 13 and is electrically connected to the conductive film 13, and the electrode pin 4 is electrically connected to the metal mesh 7. Here, the electrical connection between the electrode pin 4 and the metal mesh 7 specifically includes: the electrode pin 4 is directly physically connected to the metal mesh 7, and the electrode pin 4 is electrically connected to the metal mesh 7 at the same time. In this way, when the conductive film 13 is cracked due to bending or vibration, the metal mesh 7 as a reinforcement structure can still conduct electricity, so that the electrical performance of the patch-type electronic skin will not be significantly reduced.

[0061] In another embodiment, if Figure 8 , the conductive reinforcement layer includes a flexible second substrate layer 71 and a metal mesh 7, the metal mesh 7 is embedded in the second substrate layer 71, and its upper surface is slightly higher than the upper surface of the second substrate layer 71, so that the upper surface of the metal mesh 7 forms a conductive surface 72. When the second substrate layer 71 is arranged on the upper surface of the conductive sheet 11 or the second substrate layer 71 is arranged between the conductive sheet 11 and the first substrate layer 2, and the conductive surface 72 is electrically connected to the conductive sheet 11; or the second substrate layer 71 is arranged on the surface of the conductive film 13, and the conductive surface 72 is electrically connected to the conductive film 13; a mounting groove or mounting hole for mounting the electrode sheet 5 is arranged on the second substrate layer 71, the electrode sheet 5 is arranged in the mounting groove or the mounting hole, and its lower surface is welded and electrically connected to the upper surface of the metal mesh 7, and the electrode pin 4 is also horizontally arranged on the upper surface of the first substrate layer 2, its left end is welded to the electrode sheet 5, and the right end extends to the side of the first substrate layer 2, and the other end of the electrode pin 4 is used to be electrically connected to the detection circuit 3, and the detection circuit 3 is used to generate an electrical signal representing the capacitance or its change amount. Here, the welding of the electrode pin 4 and the metal mesh 7 specifically includes: the electrode pin 4 is physically connected to the metal mesh 7, and the electrode pin 4 is electrically connected to the metal mesh 7. In this way, when the conductive sheet 11 or the conductive film 13 is cracked due to bending or vibration, the metal mesh 7 can still conduct electricity as a reinforcement structure, so that the electrical performance of the patch-type electronic skin unit will not be greatly reduced.

[0062] In another embodiment, the patch-type electronic skin unit of this embodiment also includes a thermoplastic layer, which is constructed on the electrode layer 1. For example, the thermoplastic layer can be arranged on the surface of the conductive sheet 11, or the thermoplastic layer can be arranged on the conductive film 13, and then an insulating protective layer 9 is arranged on the thermoplastic layer. The insulating protective layer 9 plays the role of insulation and protection.

[0063] The electrode pins 4 may be arranged in various forms. For example, in one embodiment, Figure 1 The upper end of the electrode pin 4 is electrically connected to the electrode layer 1, and the lower end passes through the first substrate 2 and is arranged outside the first substrate layer 2, and the lower end is connected to the detection circuit 3.

[0064] In another embodiment, when the patch-type electronic skin unit includes an adhesive layer 6, as Figure 2 The upper end of the electrode pin 4 is electrically connected to the electrode layer 1, and the lower end thereof passes through the first substrate 2 and the adhesive layer 6 in sequence and is arranged outside the adhesive layer 6, and the lower end is connected to the detection circuit 3.

[0065] In another embodiment, if Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 An electrode sheet 5 is arranged on the surface of the first substrate layer 2. The electrode sheet 5 is made of a conductive material. The electrode sheet 5 and the electrode layer 1 are welded so that the two are rigidly connected and electrically connected. The electrode pin 4 is horizontally arranged on the surface of the first substrate layer 2 and one end is electrically connected to the electrode sheet 5, and the other end is arranged outside one end of the first substrate layer 2 for connecting to the detection circuit 3.

[0066] In another embodiment, if Fig. 9 The first substrate layer 2 adopts a composite structure, which includes an upper layer 21 and a lower layer 22. The electrode sheet 5 is arranged between the upper layer 21 and the lower layer 22. The upper layer 21 is also provided with a through hole for the electrode sheet 5 to pass through. The upper end of the electrode sheet 5 is electrically connected to the conductive sheet 11 or the conductive film 13 through the through hole. The electrode pin 4 is arranged between the upper layer 21 and the lower layer 22, and one end is electrically connected to the electrode sheet 5, and the other end is arranged outside the first substrate layer 2 for connecting to the detection circuit 3. The metal mesh 7 is arranged on the upper surface of the upper layer 21, and the electrode layer 1 is arranged on the upper surface of the metal mesh 7, and the two are welded and electrically connected. The patch-type electronic skin unit also includes a flexible insulating protective layer 9, which is arranged on the upper surface of the electrode layer 1 to play an insulating and protective role.

[0067] In another embodiment, the patch-type electronic skin unit further includes an insulating protective layer 9, the lower surface of the metal mesh 7 is electrically connected to the electrode layer 1, and the insulating protective layer 9 is arranged on the upper surface of the metal mesh 7 to play an insulating and protective role.

[0068] In another embodiment, an electrode sheet 5 is provided on the first substrate layer 2, and the electrode sheet 5 is electrically connected to the metal mesh 7 or the conductive surface 72 formed with the metal mesh 7. For example, the electrode pin 4 is provided on the first substrate layer 2 and one end thereof is welded to the electrode sheet 5 so that the two are electrically connected, and the other end is provided outside the first substrate layer 2 for connecting to the detection circuit.

[0069] Since the conductive sheet 11 or the conductive film 13 is very thin, it is easy to break when bent, resulting in disconnection of the electrical connection between the conductive sheet 11 or the conductive film 13 and the detection circuit 3. However, this problem is overcome by leading out the electrode pin 4 in the form of the electrode sheet 5 as described above, thereby extending the service life of the patch-type electronic skin unit.

[0070] Embodiment 2

[0071] This embodiment provides a patch-type electronic skin, such as Fig.10 The patch-type electronic skin includes four patch-type electronic skin units 101 as provided in the first embodiment above, and also includes a detection circuit, the detection circuit is electrically connected to the electrode pins, and the structure of the patch-type electronic skin unit can be as provided in the first embodiment above. Figure 1-9 In the form provided in any of the figures, the conductive sheet or the conductive film is electrically connected to the detection circuit, and multiple detection circuits can be arranged on one circuit board 103. For example, the circuit board 103 is arranged at the center of four patch-type electronic skin units 101, and the detection circuits of the four patch-type electronic skin units 101 are integrated on one circuit board 103, which saves resources and space. The electrode layer can form a capacitor with a nearby conductor, and the detection circuit is used to generate an electrical signal representing the capacitance or its change.

[0072] Embodiment 3

[0073] This embodiment provides a patch-type electronic skin, such as Fig.11 The patch-type electronic skin includes a plurality of patch-type electronic skin units 101 provided in the first embodiment above, and the plurality of patch-type electronic skin units 101 are arranged in a certain array, that is, the patch-type electronic skin of this embodiment is formed. The patch-type electronic skin also includes at least one detection circuit, and the detection circuits of the plurality of patch-type electronic skin units 101 can be integrated on a circuit board 103, thus saving resources and space.

[0074] Embodiment 4

[0075] Further, in one embodiment, if Fig.12This embodiment provides a patch-type electronic skin, which includes multiple patch-type electronic skin units 101 and a processing chip 104. The processing chip 104 is also arranged on the circuit board 103. The processing chip 104 is electrically connected to the detection circuits of the four patch-type electronic skin units 101, and is used to receive the converted electrical signals and centrally process the signals.

[0076] In summary, in the patch-type electronic skin unit and the patch-type electronic skin of the above-mentioned embodiment, the electrode layer can form a capacitor with the adjacent conductor, and the detection circuit is used to generate an electrical signal representing the capacitance or its change, and the detection circuit detects the change of the electrical signal to represent the change of the capacitance formed by the electrode layer and the adjacent conductor, thereby calculating the distance information between the patch-type electronic skin and the adjacent conductor according to the change of the capacitance. The patch-type electronic skin unit and the patch-type electronic skin of the above-mentioned embodiment have the following advantages compared with the electronic skin of the prior art:

[0077] 1. The patch-type electronic skin unit and patch-type electronic skin of the above embodiment include an electrode layer, a first substrate layer, and electrode pins. The electrode layer can form a capacitor with a nearby conductor; the electrode layer is arranged on the first substrate layer, one end of the electrode pin is electrically connected to the electrode layer, and the other end of the electrode pin is used to connect to a detection circuit, and the detection circuit is used to generate an electrical signal representing the capacitance or its change; wherein the electrode layer and the first substrate layer are flexible structures. The patch-type electronic skin unit and patch-type electronic skin provided according to this embodiment have a flexible overall structure and can be arranged on a plane, on a curved surface or at a bend, and have strong adaptability.

[0078] 2. In order to avoid the detection effect being affected by partial breakage of the electrode layer, the patch-type electronic skin unit and the patch-type electronic skin of the above-mentioned embodiments both include a conductive reinforcement layer. The conductive reinforcement layer serves as a reinforcement structure. When the conductive sheet or conductive film in the electrode layer is partially broken, the conductive reinforcement layer can still conduct electricity, so that its electrical performance will not be significantly reduced, thereby ensuring the detection accuracy of the patch-type electronic skin unit and the patch-type electronic skin.

[0079] 3. In order to avoid the electrical connection between the electrode layer and the rigid electrode pin from being easily disconnected, the patch-type electronic skin unit and the patch-type electronic skin of the above-mentioned embodiments also include an electrode sheet, and the electrode pin is electrically connected to the electrode layer through the electrode sheet, so that the connection is more stable, thereby extending the service life of the patch-type electronic skin unit and the patch-type electronic skin.

[0080] The above specific examples are used to illustrate the present invention, which is only used to help understand the present invention and is not intended to limit the present invention. For those skilled in the art, according to the concept of the present invention, some simple deductions, modifications or substitutions can be made.

Claims

1. A patch-type electronic skin unit, characterized in that: include: An electrode layer, wherein the electrode layer can form a capacitor with a nearby conductor; the electrode layer includes a conductive sheet; or the electrode layer includes an attachment sheet and a conductive film disposed on the attachment sheet; the electrode layer also includes a conductive reinforcement layer, which is a conductive substance or includes a conductive object; the conductive reinforcement layer is disposed on the upper surface or the lower surface of the conductive sheet, and the conductive substance is electrically connected to the conductive sheet; or the conductive reinforcement layer is disposed on the surface of the conductive film, and the conductive reinforcement layer is electrically connected to the conductive film; A first substrate layer, the electrode layer is disposed on the first substrate layer; and An electrode pin, one end of which is electrically connected to the electrode layer, and the other end of which is used to connect to a detection circuit, wherein the detection circuit is used to generate an electrical signal representing the capacitance or a change in the capacitance; Wherein, the electrode layer and the first substrate layer are flexible structures.

2. The patch-type electronic skin unit according to claim 1, characterized in that: The electrode pin is electrically connected to the conductive reinforcement layer.

3. The patch-type electronic skin unit according to claim 1, characterized in that: The conductive reinforcement layer includes a metal mesh with a grid structure, and the metal mesh is evenly covered on the conductive sheet or the conductive film.

4. The patch-type electronic skin unit according to claim 3, characterized in that: The metal mesh is arranged on the upper surface of the conductive sheet or between the conductive sheet and the first substrate layer, and the metal mesh is electrically connected to the conductive sheet; or the metal mesh is arranged on the surface of the conductive film and is electrically connected to the conductive film; The electrode pins are connected to the metal mesh.

5. The patch-type electronic skin unit according to claim 1, characterized in that: The conductive reinforcement layer comprises a flexible second substrate layer and a metal mesh embedded in the second substrate layer, and one side of the metal mesh is arranged on the surface of the second substrate layer to form a conductive surface; The second substrate layer is disposed on the upper surface of the conductive sheet or the second substrate layer is disposed between the conductive sheet and the first substrate layer, and the conductive surface is electrically connected to the conductive sheet; or the second substrate layer is disposed on the surface of the conductive film, and the conductive surface is electrically connected to the conductive film; The electrode pin is electrically connected to the metal mesh.

6. The patch-type electronic skin unit according to claim 1, characterized in that: Also included is a thermoplastic layer, which is constructed on the electrode layer.

7. The patch-type electronic skin unit according to claim 1, characterized in that: It also includes a flexible adhesive layer, which is arranged on the lower surface of the first substrate layer; the adhesive layer includes a sticky substance and is used to be attached to the object to be fixed; The upper end of the electrode pin is electrically connected to the conductive sheet or the conductive film, and the lower end passes through the first substrate layer and is arranged outside the first substrate layer.

8. The patch-type electronic skin unit according to claim 1, characterized in that: An electrode sheet is arranged on the surface of the first substrate layer, and the electrode sheet is electrically connected to the conductive sheet or the conductive film. The electrode pin is arranged on the surface of the first substrate layer and one end is electrically connected to the electrode sheet, and the other end is arranged outside the first substrate layer.

9. The patch-type electronic skin unit according to claim 8, characterized in that: The first substrate layer is a composite structure, including an upper layer and a lower layer, the electrode sheet is arranged between the upper layer and the lower layer, the upper layer is also provided with a through hole for the electrode sheet to pass through, the upper end of the electrode sheet is electrically connected to the conductive sheet or the conductive film through the through hole, the electrode pin is arranged between the upper layer and the lower layer, one end is electrically connected to the electrode sheet, and the other end is arranged outside the first substrate layer.

10. The patch-type electronic skin unit according to claim 5, characterized in that: An electrode sheet is disposed on the first substrate layer, and the electrode sheet is electrically connected to the metal mesh or the conductive surface formed by the metal mesh. The electrode pin is disposed on the first substrate layer and one end is electrically connected to the electrode sheet, and the other end is disposed outside the first substrate layer.

11. The patch-type electronic skin unit according to claim 1, characterized in that: It also includes a flexible insulating protective layer, which is arranged on the upper surface of the conductive sheet; or the insulating protective layer is arranged on the upper surface of the conductive reinforcement layer.

12. A patch-type electronic skin, characterized in that: Comprising a patch-type electronic skin unit as described in any one of claims 1 to 11; It also includes a detection circuit, which is electrically connected to the electrode pin and is used to generate an electrical signal representing the capacitance or its change.

13. A patch-type electronic skin, characterized in that: Comprising at least two patch-type electronic skin units according to any one of claims 1 to 11; It also includes at least one detection circuit, which is electrically connected to at least one electrode pin of the patch-type electronic skin unit.

14. A patch-type electronic skin, characterized in that: Comprising at least two patch-type electronic skin units according to any one of claims 1 to 11; It also includes at least one detection circuit, wherein the detection circuit is electrically connected to at least one electrode pin of the patch-type electronic skin unit; It also includes a processing chip, which is electrically connected to the detection circuit of the patch-type electronic skin unit and is used to receive the converted electrical signal and process it.

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