Sensor device for end of arm or end effector, robot arm and device

Abstract

The present invention discloses a sensor device, a robot arm and a device for a robot arm end or an end effector, the sensor device comprises: an electronic skin module, the electronic skin module comprises at least one electrode sheet and a detection circuit; a bracket, the electrode sheet covers the surface of the bracket, and one side of the bracket is provided with a mounting part that can be connected to the robot arm end or the end effector; wherein each electrode sheet is electrically connected to different detection channels of the detection circuit respectively, each electrode sheet can form a capacitor with a close external conductor, and the detection circuit is used to detect the capacitance value of each electrode sheet. The electrode sheet proposed by the present invention is arranged on the bracket, and when it is needed, it can be connected to the robot arm end or the end effector through the mounting part, without the need to arrange the electronic skin on its surface, so no matter what specification or shape of the robot, its setting is very convenient, simple and highly versatile.

Description

Technical Field

[0001] The present invention relates to the field of mechanical arms, and in particular to a sensing device, a mechanical arm and equipment used at the end of a mechanical arm or an end effector. Background Art

[0002] Electronic skin is a sensor device used to detect approaching conductors. It can be applied to robotic arms to determine whether there are objects in their path through the electronic skin, thereby achieving the purpose of obstacle avoidance.

[0003] The electronic skin includes an electrode sheet and a detection circuit. The electrode sheet is arranged on the surface of a robot, such as the surface of a robotic arm. The detection circuit is electrically connected to the electrode sheet. It uses the capacitance between the electrode sheet and the external conductor or its change to detect the distance between the electrode sheet and the external conductor or its change, and obtains an electrical signal representing the distance between the electrode sheet and the external conductor or its change.

[0004] In the prior art, copper paint is usually sprayed on the outer surface of the robot arm to form electrodes, such as on the joints or joint arms. The detection circuit board is installed on the inner surface of the robot arm by screws, and the screws also serve as electrical connectors to connect the detection circuit board and the electrodes. However, some robot arms are limited by size or shape, and if they are set up according to the existing electronic skin installation method, it will be difficult or impossible to set up. Summary of the invention

[0005] The main purpose of the present invention is to provide a sensor device for the end of a robot arm or an end effector, aiming to solve the technical problems raised in the above-mentioned background technology.

[0006] To achieve the above object, the present invention provides a sensor device for a robot arm end or an end effector, the sensor device comprising:

[0007] An electronic skin module, the electronic skin module includes at least one electrode sheet and a detection circuit;

[0008] A bracket, the electrode covers the surface of the bracket, and a mounting part that can be connected to the end of the robot arm or the end effector is provided on one side of the bracket;

[0009] Each electrode sheet is electrically connected to a different detection channel of the detection circuit, each electrode sheet can form a capacitor with a nearby external conductor, and the detection circuit is used to detect the capacitance of each electrode sheet.

[0010] The bracket includes a plurality of support parts, two adjacent support parts are arranged to intersect each other, and each support part is covered with an electrode sheet.

[0011] The bracket is roughly arranged in an arc shape, the electrode sheet covers the outer surface of the bracket, and the mounting part is arranged on the inner surface of the bracket.

[0012] A control box electrically connected to the electrode sheet is arranged on one side of the bracket, a detection circuit is arranged in the control box, and a mounting part is arranged on the control box.

[0013] Wherein, the control box is detachably connected to the bracket.

[0014] The mounting part is a clamp, a strap or a magnet.

[0015] Among them, the electronic skin module also includes a main control circuit, which is arranged in the control box and electrically connected to the detection circuit. The main control circuit and the detection circuit are arranged on the same board and are used to calculate the proximity between the electrode sheet and the adjacent conductor based on the electrical signal.

[0016] Wherein, the electronic skin module further comprises a port, which is electrically connected to the detection circuit and is used for communication and / or transmission of electric energy, and an output end of the port is exposed outside the control box; or

[0017] The electronic skin module also includes a port, which is electrically connected to the main control circuit for communication and / or transmission of electrical energy, and the output end of the port is exposed outside the control box.

[0018] The electronic skin module further includes: a wireless communication module and a battery module;

[0019] The wireless communication module and the battery module are electrically connected to the main control circuit respectively.

[0020] The electronic skin module includes a plurality of electrode sheets, which are stacked and electrically connected to different detection channels of the detection circuit respectively.

[0021] The electronic skin module includes a plurality of electrode sheets, which are arranged in an array and are electrically connected to different detection channels of the detection circuit respectively.

[0022] Among them, the electronic skin module also includes a flexible anti-collision layer, which is covered on the surface of the electrode sheet and is made of silicone, rubber or foam material.

[0023] The present invention further provides a robot arm, comprising a control circuit and the aforementioned plurality of sensor devices, wherein the control circuit is electrically connected to each of the sensor devices respectively.

[0024] The present invention further provides a device, comprising a control circuit and a plurality of sensor devices as described above, wherein the control circuit is electrically connected to each sensor device respectively.

[0025] The electrode sheet proposed by the present invention is arranged on the bracket, and when it is needed, it can be connected to the end of the robot arm or the end effector through the mounting part, without setting the electronic skin on its surface. Therefore, no matter what specifications or shapes of robots, its setting is very convenient, simple and highly versatile. In addition, since the electrode sheet is arranged on the bracket instead of being directly arranged on the surface of the end of the robot arm or the end effector, the size of the electrode sheet is not limited by the end of the robot arm or the end effector, and its orientation and size can be set arbitrarily to a large extent, so it can have a more flexible detection space. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the structure of a sensor device used for the end of a robot arm or an end effector in one embodiment of the present invention;

[0027] Figure 2 It is a schematic structural diagram of a sensor device used for the end of a robot arm or an end effector in one embodiment of the present invention;

[0028] Figure 3 It is a schematic diagram of the structure of a sensor device used for the end of a robot arm or an end effector in one embodiment of the present invention;

[0029] Figure 4 It is a schematic diagram of the structure of a sensor device used for the end of a robot arm or an end effector in one embodiment of the present invention;

[0030] Figure 5 It is a schematic structural diagram of a sensor device used for the end of a robot arm or an end effector in one embodiment of the present invention;

[0031] Figure 6 It is a schematic diagram of the structure of a sensor device used for the end of a robot arm or an end effector in one embodiment of the present invention;

[0032] Figure 7 It is a schematic structural diagram of a sensor device used for the end of a robot arm or an end effector in one embodiment of the present invention;

[0033] Figure 8 It is a schematic structural diagram of a sensor device used for the end of a robot arm or an end effector in one embodiment of the present invention;

[0034] Fig. 9 It is a schematic structural diagram of a sensor device used for the end of a robot arm or an end effector in one embodiment of the present invention;

[0035] Fig.10 Schematic diagram of the structure of a sensor device used for the end of a robot arm or an end effector in one embodiment of the present invention. DETAILED DESCRIPTION

[0036] The embodiments of this invention generally relate to an electronic skin that uses the self-capacitance sensing principle (the mutual capacitance sensing principle can also be applied to the solution provided by the invention) to sense the proximity of an object that is close to or in contact with it, and its further applications, such as: a robotic arm provided with the electronic skin, and a robot provided with a robotic arm provided with the electronic skin. In the present invention, the electronic skin is mainly used to be provided on the robotic arm as a sensing element for objects that are close to or in contact with it.

[0037] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, but cannot be understood as limiting the present invention. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present invention.

[0038] See also Figure 1 , Figure 1 FIG. 4 is a schematic diagram of the structure of a sensor device in one embodiment of the present invention.

[0039] In some embodiments, the present invention provides a sensing device for a robot arm end or an end effector, the sensing device comprising:

[0040] An electronic skin module, the electronic skin module comprises at least one electrode sheet 20 and a detection circuit 30;

[0041] The bracket 10 has an electrode sheet 20 covering the surface of the bracket 10 , and a mounting part 40 that can be connected to the end of a robot arm or an end effector is provided on one side of the bracket 10 ;

[0042] Each electrode sheet 20 is electrically connected to a different detection channel of the detection circuit 30 , and each electrode sheet 20 can form a capacitor with a nearby external conductor. The detection circuit 30 is used to detect the capacitance value of each electrode sheet 20 .

[0043] In this embodiment, the bracket 10 is used to support the entire sensor device, and the electrode sheet 20 is laid on the bracket 10 to form a capacitor with a nearby conductor. The electrode sheet 20 and the conductor form two plates of the capacitor, and the air between the electrode sheet 20 and the conductor forms the insulating medium of the capacitor.

[0044] The detection circuit 30 is electrically connected to the electrode sheet 20 and is used to detect the capacitance value of the electrode sheet 20. When the approaching conductor enters the detection range of the electrode sheet 20, the capacitance value of the capacitor formed by the electrode sheet 20 and the approaching conductor will change with the distance between the two, and the detection circuit 30 can detect the corresponding capacitance value.

[0045] In this embodiment, when the electrode sheet 20 and the conductor are close to each other, the distance between them changes accordingly, that is, the distance between the two plates of the capacitor changes accordingly, so that the capacitance value of the capacitor changes, and the capacitance value of the capacitor will be detected by the detection circuit 30. In some embodiments, the capacitance value detected by the detection circuit 30 can be sent to the robot arm for processing to obtain the proximity between the electrode sheet 20 and the conductor.

[0046] In some embodiments, the surface area of ​​the electrode sheet 20 is equivalent to the surface area of ​​the bracket 10, or the surface area of ​​the electrode sheet 20 is slightly smaller than the surface area of ​​the bracket 10. The larger the surface area of ​​the electrode sheet 20, the greater the distance of the proximity conductor that it can sense. Therefore, the surface area of ​​the electrode sheet 20 can be made equivalent to the surface area of ​​the bracket 10 to increase the detection distance of the sensor device.

[0047] In some embodiments, in order to mount the sensor device on the end of the robot arm or the end effector, a mounting part 40 that can be connected to the end of the robot arm or the end effector is provided on one side of the bracket 10. After the sensor device is mounted on the end of the robot arm or the end effector, during the movement of the end of the robot arm or the end effector, the movement of the end of the robot arm or the end effector can be controlled by the proximity of the conductor detected by the sensor device, so that the end of the robot arm or the end effector avoids the conductor, thereby preventing the end of the robot arm or the end effector from colliding with the conductors around it during the movement.

[0048] The electrode sheet 20 proposed by the present invention is arranged on the bracket. When it is needed, it can be connected to the end of the robot arm or the end effector through the mounting part 40, without setting the electronic skin on its surface. Therefore, no matter what specifications or shapes of robots, its setting is very convenient, simple, and highly versatile. In addition, since the electrode sheet 20 is arranged on the bracket 10, rather than directly on the surface of the end of the robot arm or the end effector, the size of the electrode sheet 20 is not limited by the end of the robot arm or the end effector, and its orientation and size can be set arbitrarily to a large extent, so it can have a more flexible detection space.

[0049] See also Figure 2 , Figure 2 FIG. 4 is a schematic diagram of the structure of a sensor device in one embodiment of the present invention.

[0050] In some embodiments, the bracket 10 provided in the present invention includes a plurality of support portions 11 , two adjacent support portions 11 are arranged to intersect each other, and an electrode sheet 20 is covered on each support portion 11 .

[0051] In this embodiment, the bracket 10 includes a plurality of support portions 11 intersecting in sequence, each support portion 11 corresponds to a sensing area, and an electrode sheet 20 is provided on each support portion 11. The electrode sheet 20 can detect approaching conductors in the corresponding area. A plurality of electrode sheets 20 can detect approaching conductors in a plurality of different directions, so that the sensing device proposed in the present invention can more accurately determine the orientation of the approaching conductor.

[0052] The sensor device proposed in the present invention can detect approaching conductors in multiple directions. Compared with the existing method of detecting approaching conductors in multiple directions by multiple electronic skin modules, it has the significant effects of low cost and easy installation. For example, in the patent document with patent application number CN202011525037.8, an electronic skin system is disclosed, which includes an electronic skin main module and multiple sub-modules. When used, the electronic skin main module and the multiple sub-modules need to be fixed on the surface of the robotic arm respectively. Compared with the installation of a sensor device proposed in the present invention, it is inconvenient to use, and multiple modular electronic skins need to be set up, and its cost is also relatively high.

[0053] In one embodiment, the bracket 10 includes two intersecting support portions 11, the two support portions 11 are arranged in a substantially V-shape, and the two support portions 11 correspond to two sensing areas respectively. For example, the two support portions 11 are respectively a first support portion and a second support portion, and the approaching conductor detected by the electrode sheet 20 on the first support portion is in the A position, and the approaching conductor detected by the electrode sheet 20 on the second support portion is in the B position.

[0054] In one embodiment, the bracket 10 includes three support parts 11 intersecting in sequence, the support part 11 located in the middle position is horizontally arranged, and the other two support parts 11 intersect with the two ends thereof respectively, and the three support parts 11 correspond to three sensing areas respectively. For example, the three support parts 11 are respectively the first support part, the second support part and the third support part, the approaching conductor detected by the electrode sheet 20 on the first support part is in the A position, the approaching conductor detected by the electrode sheet 20 on the second support part is in the B position, and the approaching conductor detected by the electrode sheet 20 on the third support part is in the C position.

[0055] In one embodiment, the bracket 10 includes four support parts 11 intersecting in sequence, and the four support parts 11 are generally arranged in an M shape, and the four support parts 11 correspond to four sensing areas respectively. For example, the four support parts 11 are respectively a first support part, a second support part, a third support part and a fourth support part, and the approaching conductor detected by the electrode sheet 20 on the first support part is in the A position, the approaching conductor detected by the electrode sheet 20 on the second support part is in the B position, the approaching conductor detected by the electrode sheet 20 on the third support part is in the C position, and the approaching conductor detected by the electrode sheet 20 on the fourth support part is in the D position.

[0056] See also Figure 3 , Figure 3 FIG. 4 is a schematic diagram of the structure of a sensor device in one embodiment of the present invention.

[0057] In some embodiments, the bracket 10 provided by the present invention is substantially arc-shaped, the electrode sheet 20 covers the outer surface of the bracket 10 , and the mounting member 40 is disposed on the inner surface of the bracket 10 .

[0058] In this embodiment, since the electrode sheet 20 is covered on the bracket 10, when the bracket 10 is arranged in an arc shape, the electrode sheet 20 is also arranged in an arc shape. When the electrode sheet 20 is arranged in an arc shape, it can not only form a capacitor with the proximity conductor located in front of it, but also form a capacitor with the proximity conductor located on both sides of it, so that the electrode sheet 20 can detect proximity conductors in multiple directions. For example, an electrode sheet 20 is covered on the arc-shaped bracket 10, and the electrode sheet 20 can simultaneously detect proximity conductors in the A orientation, the B orientation, and the C orientation. That is to say, by setting the bracket 10 and the electrode sheet 20 covered thereon into an arc shape, the detection range of the electrode sheet 20 can be effectively increased.

[0059] In one embodiment, the electrode sheet 20 proposed by the present invention covers the outer surface of the bracket 10, and the mounting member 40 is arranged on the inner surface of the bracket 10. The electrode sheet 20 can be attached to the outer surface of the bracket 10 by gluing, or it can be fixed to the outer surface of the bracket 10 by screws. At the same time, the screws are also used to electrically connect the electrode sheet 20 and the detection circuit 30.

[0060] In some embodiments, a protective layer may be provided on the outer surface of the electrode sheet 20 to isolate the electrode sheet 20 from the outside world and prevent external impact, thereby preventing external force from directly acting on the electrode sheet 20 and protecting the electrode sheet 20.

[0061] See also Figure 4 , Figure 4 FIG. 4 is a schematic diagram of the structure of a sensor device in one embodiment of the present invention.

[0062] In some embodiments, a control box 50 electrically connected to the electrode sheet 20 is disposed on one side of the bracket 10 of the present invention, the detection circuit 30 is disposed in the control box 50 , and the mounting component 40 is disposed on the control box 50 .

[0063] In this embodiment, a control box 50 is provided on one side of the bracket 10, and the detection circuit 30 is provided in the control box 50. The detection circuit 30 is isolated from the outside world by the control box 50 to prevent the outside environment from affecting the detection circuit 30, so as to extend the service life of the detection circuit 30. The control box 50 and the electrode sheet 20 can be electrically connected in a wired manner or in a wireless manner. The wired electrical connection is to be electrically connected through a cable, and the wireless connection is to be electrically connected through a male and female connector.

[0064] In one embodiment, an electrical connection male head is provided on the electrode sheet 20, and an electrical connection female head is provided on the control box 50, and the electrical connection female head is electrically connected to the detection circuit 30, and a wireless connection is achieved between the electrode sheet 20 and the control box 50 by plugging the electrical connection male head and the electrical connection female head. Alternatively, an electrical connection male head is provided on the control box 50, and the electrical connection male head is electrically connected to the detection circuit 30, and an electrical connection female head is provided on the electrode sheet 20, and a wireless connection is achieved between the electrode sheet 20 and the control box 50 by plugging the electrical connection male head and the electrical connection female head. Since the control box 50 and the electrode sheet 20 are connected by plugging, it is very convenient to disassemble and assemble, which is conducive to the maintenance of the sensor device.

[0065] In some embodiments, the control box 50 provided by the present invention is detachably connected to the bracket 10 .

[0066] In this embodiment, the control box 50 and the bracket 10 are detachably connected, including by magnetic attraction, gluing, snapping, etc., to facilitate the disassembly and assembly of the control box 50.

[0067] In one embodiment, a hook is provided on the control box 50, and a hanging hole is provided on the bracket 10, and the hook and the hanging hole are adapted to each other. When the sensor device is installed, the control box 50 is fixed to the bracket 10 through the hook and the hanging hole, and then the control box 50 is electrically connected to the electrode sheet 20. Alternatively, a hook is provided on the bracket 10, and a hanging hole is provided on the control box 50, and the hook and the hanging hole are adapted to each other. When the sensor device is installed, the control box 50 is fixed to the bracket 10 through the hook and the hanging hole, and then the control box 50 is electrically connected to the electrode sheet 20.

[0068] In one embodiment, a threaded column is provided on the control box 50, a threaded hole is provided on the bracket 10, the threaded column and the threaded hole are matched, when the sensor device is installed, the control box 50 is fixed to the bracket 10 through the threaded column and the threaded hole, and then the control box 50 is electrically connected to the electrode sheet 20. Alternatively, a threaded column is provided on the bracket 10, a threaded hole is provided on the control box 50, the threaded column and the threaded hole are matched, when the skin device is installed, the control box 50 is fixed to the bracket 10 through the threaded column and the threaded hole, and then the control box 50 is electrically connected to the electrode sheet 20.

[0069] In one embodiment, a protrusion is provided on the control box 50, and a concave cavity is provided on the bracket 10, and the protrusion and the concave cavity are adapted to each other. When the sensor device is installed, the control box 50 is fixed to the bracket 10 through the protrusion and the concave cavity, and then the control box 50 is electrically connected to the electrode sheet 20. Alternatively, a protrusion is provided on the bracket 10, and a concave cavity is provided on the control box 50, and the protrusion and the concave cavity are adapted to each other. When the sensor device is installed, the control box 50 is fixed to the bracket 10 through the protrusion and the concave cavity, and then the control box 50 is electrically connected to the electrode sheet 20.

[0070] In this embodiment, the concave cavity has a first through hole with a relatively small aperture and a second through hole with a relatively large aperture. The first through hole is located near the opening of the concave cavity, and the second through hole is located near the inside of the concave cavity. The size of the second through hole is adapted to the head of the protrusion. When the protrusion is matched with the concave cavity, the protrusion is first squeezed into the first through hole under the action of external force, and then enters the second through hole and is accommodated therein. Since the size of the protrusion is slightly larger than the aperture of the first through hole, the protrusion will be clamped in the second through hole. When there is no large external force, the protrusion will be fixed in the second through hole, thereby achieving the purpose of fixing the control box 50 and the bracket 10.

[0071] In some embodiments, the protrusion may be flexibly configured so that the protrusion can be deformed when it is squeezed into the first through hole, and after the protrusion enters the second through hole, the protrusion will restore the deformation, so that the protrusion is fixed in the second through hole. Alternatively, the concave cavity is flexibly configured, that is, the side wall of the concave cavity is flexible, so that when the protrusion is squeezed into the first through hole, the first through hole will be deformed under the action of external force, and after the protrusion is squeezed into the second through hole, the first through hole will restore the deformation, so that the protrusion is fixed in the second through hole. Alternatively, both the protrusion and the concave cavity are flexibly configured, and those skilled in the art can design according to actual conditions, which is not limited here.

[0072] In some embodiments, the mounting member 40 provided by the present invention is a clamp, a strap or a magnet.

[0073] In this embodiment, when the mounting part 40 is a clamp, the clamp is first opened, and then the clamp is held on the end of the robot arm or the end effector, and then the clamp is locked, so that the sensor device is mounted on the end of the robot arm or the end effector, so that the end of the robot arm or the end effector has an obstacle detection and sensing function. When the mounting part 40 is a strap, the strap is first connected to the bracket 10 of the sensor device, and then the strap is connected to the end of the robot arm or the end effector, so that the sensor device is mounted on the end of the robot arm or the end effector, so that the end of the robot arm or the end effector has an obstacle detection and sensing function. The strap can be one, two, three or more, including but not limited to these. When the mounting part 40 is a magnetic block, the sensor device is directly fixed to the metal part of the end of the robot arm or the end effector by magnetic attraction, so that the end of the robot arm or the end effector has an obstacle detection and sensing function, and it is easy to disassemble and assemble.

[0074] See also Figure 5 , Figure 5 FIG. 4 is a schematic diagram of the structure of a sensor device in one embodiment of the present invention.

[0075] In some embodiments, the sensor device provided by the present invention further includes a flexible anti-collision layer 60 , and the flexible anti-collision layer 60 is covered on the surface of the electrode sheet 20 .

[0076] In this embodiment, the flexible anti-collision layer 60 is flexible and is used for collision buffering to prevent external impact from damaging the electrode sheet 20 and the detection circuit 30. The flexible anti-collision layer 60 can be made of materials such as silicone, rubber or foam, including but not limited to these, and those skilled in the art can select according to actual conditions.

[0077] See also Figure 6 , Figure 6 FIG. 4 is a schematic diagram of the structure of a sensor device in one embodiment of the present invention.

[0078] In some embodiments, the sensing device proposed in the embodiment of the present invention also includes a main control circuit 70, which is arranged in the control box 50 and electrically connected to the detection circuit 30. The main control circuit 70 and the detection circuit 30 are arranged on the same board and are used to calculate the proximity between the electrode sheet 20 and the adjacent conductor based on the electrical signal.

[0079] In this embodiment, the main control circuit 70 is electrically connected to the detection circuit 30, and the detection circuit 30 sends the capacitance value detected by it to the main control circuit 70, and the main control circuit 70 calculates the proximity between the electrode sheet 20 and the adjacent conductor according to the capacitance value. In this way, there is no need to send the capacitance value detected by the detection circuit 30 to the robot arm for processing, thereby reducing the amount of calculation of the robot arm.

[0080] In some embodiments, the main control circuit 70 and the detection circuit 30 are arranged on the same board, and the main control circuit 70 and the detection circuit 30 share a circuit board, which can reduce the cost of the sensor device to a certain extent.

[0081] See also Figure 7 , Figure 3 FIG. 4 is a schematic diagram of the structure of a sensor device in one embodiment of the present invention.

[0082] In some embodiments, the sensor device provided by the present invention further includes:

[0083] Port 80 , which is electrically connected to the detection circuit 30 and is used for communication and / or transmission of electric energy, and an output end of the port 80 is exposed outside the control box 50 .

[0084] In this embodiment, port 80 is electrically connected to the detection circuit 30, and can be used for both transmission of electrical signals and transmission of electrical energy. The transmission of electrical signals mainly refers to the transmission of the capacitance value detected by the detection circuit 30 to the external robotic arm, and the transmission of electrical energy refers to the supply of external electrical energy to the entire sensing device.

[0085] In this embodiment, at least a portion of the port 80 is exposed outside the control box 50 , so that the detection circuit 30 can transmit the capacitance value detected by it to the external robot arm through the port 80 .

[0086] In this embodiment, the port 80 and the external mechanical arm can establish communication between the two through a cable, and plugs are provided at both ends of the cable, wherein the plug at one end is used to be electrically connected to the port 80, and the plug at the other end is used to be electrically connected to the external mechanical arm. After the sensor device is fixed to the external mechanical arm, the plugs at both ends of the cable are respectively inserted into the port of the external mechanical arm and the port 80 of the sensor device, so that the external mechanical arm and the detection circuit 30 can transmit electrical signals and realize communication between the two.

[0087] See also Figure 8 , Figure 8 FIG. 4 is a schematic diagram of the structure of a sensor device in one embodiment of the present invention.

[0088] In some embodiments, the sensor device provided in the embodiments of the present invention further includes:

[0089] Port 80 , which is electrically connected to the main control circuit 70 and is used for communication and / or transmission of electric energy, and an output end of the port 80 is exposed outside the control box 50 .

[0090] In this embodiment, port 80 is electrically connected to the main control circuit 70. The capacitance value detected by the detection circuit 30 is not sent directly to the external robotic arm through port 80, but is first sent to the main control circuit 70 electrically connected thereto, so that the capacitance value is processed by the main control circuit 70 to obtain the proximity degree between the proximity conductor and the sensing device, and then the proximity degree is sent to the external robotic arm through port 80.

[0091] In some embodiments, port 80 can be used for both electrical signal transmission and electrical energy transmission. The transmission of electrical signals mainly refers to transmitting the capacitance value detected by the detection circuit 30 to an external robotic arm, or refers to sending the proximity degree between the electrode sheet 20 and the approaching conductor obtained by the main control circuit 70 to an external robotic arm. Electrical energy transmission refers to supplying external electrical energy to the entire sensing device.

[0092] In some embodiments, at least a portion of the port 80 is exposed outside the control box 50 , so that the main control circuit 70 can transmit the detected capacitance value to the external robot arm through the port 80 .

[0093] In this embodiment, the port 80 and the external robot arm can establish communication between the two through a cable, and plugs are provided at both ends of the cable, wherein the plug at one end is used to be electrically connected to the port 80, and the plug at the other end is used to be electrically connected to the external robot arm. After the sensor device is fixed to the external robot arm, the plugs at both ends of the cable are respectively inserted into the port of the external robot arm and the port 80 of the sensor device, so that the external robot arm and the main control circuit 70 can transmit electrical signals and realize communication between the two.

[0094] In some embodiments, the sensor device provided by the present invention further includes a wireless communication module and a battery module, and the wireless communication module and the battery module are electrically connected to the main control circuit 70 respectively.

[0095] In this embodiment, the sensing device can send the detected electrical signal to the external robot by wireless communication, so there is no need to transmit it through cables. To achieve wireless communication, a wireless communication module and a battery module are integrated in the control box 50, and the wireless communication module and the battery module are respectively electrically connected to the main control circuit 70 to send the detected proximity between the electrode sheet 20 and the approaching conductor to the robot arm.

[0096] In this embodiment, the battery module is used to power the entire sensor device, including the detection circuit 30, the main control circuit 70 and the wireless communication module. The wireless communication module can be a WIFI module, a Bluetooth module, a ZigBee module or a SIM card, including but not limited to these, and those skilled in the art can select according to actual conditions.

[0097] In some embodiments, the wireless communication module can also be a combination of any two or more of the above modules, such as a WIFI module and a Bluetooth module, a WIFI module and a ZigBee module, or a WIFI module, a Bluetooth module and a ZigBee module, etc.

[0098] See also Fig. 9 , Fig. 9 FIG. 4 is a schematic diagram of the structure of a sensor device in one embodiment of the present invention.

[0099] In some embodiments, the electronic skin module proposed by the present invention includes a plurality of electrode sheets 20, which are stacked and electrically connected to different detection channels of the detection circuit 30.

[0100] In this embodiment, there is an insulating layer between two adjacent electrode sheets 20, and the insulating layer insulates and separates the two adjacent electrode sheets 20. By stacking a plurality of electrode sheets 20 and isolating and separating them from each other, each electrode sheet 20 can independently detect the approaching conductor. When the sensor device proposed in this embodiment is used on an external robot such as a robotic arm, only one of the electrode sheets 20 of the sensor device needs to be used to detect the approaching conductor. When the electrode sheet 20 performing the detection is damaged and fails, only one of the remaining electrode sheets 20 needs to be switched to connect to continue the normal detection function, without stopping to replace the electrode sheet 20, which effectively solves the problem of affecting the working efficiency of the robotic arm due to stopping to replace the electrode sheet 20.

[0101] When the sensing device of this embodiment is in use, only one of the electrode sheets 20 needs to be used to detect the approaching conductor. When one of the electrode sheets 20 is damaged and fails, one of the remaining electrode sheets 20 can be used to detect the approaching conductor. Specifically, the detection circuit 30 can be provided with multiple detection channels, corresponding to each electrode sheet 20 one by one, and each electrode sheet 20 is electrically connected to its corresponding detection channel. In this way, only the on-off of the detection channel of the switching detection circuit 30 needs to be controlled to switch the electrode sheet 20 connected to the detection circuit 30. When the electrode sheet 20 currently detecting the approaching conductor is damaged and fails, other electrode sheets 20 can be directly switched to perform the detection work without replacing the electrode sheet 20.

[0102] See also Fig.10 , Fig.10 FIG. 4 is a schematic diagram of the structure of a sensor device in one embodiment of the present invention.

[0103] In some embodiments, the electrode sheet 20 provided in the embodiments of the present invention includes a plurality of electrode sheets 20 arranged in an array, and the electrode sheets 20 are electrically connected to different detection channels of the detection circuit 30 respectively.

[0104] In this embodiment, the electrode sheets 20 arranged in an array are formed into a plurality of sensing areas. By sensing the approaching conductor in different sensing areas, the specific position of the approaching conductor in space can be obtained, thereby improving the sensing accuracy of the sensing device. The detection circuit 30 has a plurality of different detection channels, each of which is electrically connected to an electrode sheet 20 to obtain sensing signals of the electrode sheets 20 in different areas.

[0105] The present invention further proposes a mechanical arm including a control circuit and several sensor devices described above. The specific structure of the sensor device refers to the above embodiment. Since the present mechanical arm adopts all the technical solutions of all the above embodiments, it at least has all the technical effects brought by the technical solutions of the above embodiments, which will not be described one by one here. In this embodiment, the control circuit is electrically connected to each sensor device respectively.

[0106] The present invention further proposes a device including a control circuit and several sensor devices described above. The specific structure of the sensor device refers to the above embodiment. Since the present device adopts all the technical solutions of all the above embodiments, it at least has all the technical effects brought by the technical solutions of the above embodiments, which will not be described one by one here. In this embodiment, the control circuit is electrically connected to each sensor device respectively, and the device includes a robot.

[0107] The above are only partial or preferred embodiments of the present invention. Neither the text nor the drawings can limit the scope of protection of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the overall concept of the present invention, or direct / indirect application in other related technical fields are included in the scope of protection of the present invention.

Claims

1. A sensor device for a robot arm end or end effector, characterized in that: include: An electronic skin module, the electronic skin module comprising at least one electrode sheet and a detection circuit; as well as A bracket, wherein the bracket comprises a plurality of supporting parts, each of the supporting parts is arranged in a plate shape, two adjacent supporting parts are arranged to intersect, each of the supporting parts is covered with a plurality of stacked and mutually insulated electrode sheets, and one side of the bracket is provided with a mounting part that can be connected to the end of the robot arm or the end effector; Each of the electrode sheets is electrically connected to different detection channels of the detection circuit, each of the electrode sheets can form a capacitor with a nearby external conductor, and the detection circuit is used to detect the capacitance value of each of the electrode sheets; When the sensing device is in use, only one electrode sheet among all the electrode sheets on any of the supporting parts detects the approaching external conductor, and when the electrode sheet performing the detection is damaged and fails, it switches to another electrode sheet on the same supporting part to continue detecting the approaching external conductor.

2. The sensor device according to claim 1, characterized in that The bracket is arranged roughly in an arc shape, the electrode sheet covers the outer surface of the bracket, and the mounting member is arranged on the inner surface of the bracket.

3. The sensor device according to claim 1, characterized in that: A control box electrically connected to the electrode sheet is disposed on one side of the bracket, the detection circuit is disposed in the control box, and the mounting component is disposed on the control box.

4. The sensor device according to claim 3, characterized in that The control box is detachably connected to the bracket.

5. The sensor device according to claim 1, characterized in that: The mounting member is a clamp, a strap or a magnetic block.

6. The sensor device according to claim 3, characterized in that: The electronic skin module also includes: A main control circuit is arranged in the control box and electrically connected to the detection circuit. The main control circuit and the detection circuit are arranged on the same board and are used to calculate the proximity between the electrode sheet and the adjacent external conductor according to the electrical signal.

7. The sensor device according to claim 3 or 6, characterized in that: The electronic skin module also includes: A port, the port is electrically connected to the detection circuit and is used for communication and / or transmission of electric energy, and an output end of the port is exposed outside the control box; or The electronic skin module also includes: A port, the port is electrically connected to the main control circuit and is used for communication and / or transmission of electric energy, and an output end of the port is exposed outside the control box.

8. The sensor device according to claim 6, characterized in that The electronic skin module also includes: Wireless communication module, and battery module; The wireless communication module and the battery module are electrically connected to the main control circuit respectively.

9. The sensor device according to claim 1, characterized in that: It also includes a flexible anti-collision layer, which is covered on the surface of the electrode sheet and is made of silica gel, rubber or foam material.

10. A robotic arm, characterized in that: include: control circuits, and; According to any one of the sensing devices of claims 1-9, the control circuit is electrically connected to each of the sensing devices respectively.

11. A device, characterized in that: include: control circuits, and; According to any one of the sensing devices of claims 1-9, the control circuit is electrically connected to each of the sensing devices respectively.

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