Flexible electrodes, electronic skin, device housings, robotic arms and robots

Abstract

The present invention discloses a flexible electrode, an electronic skin, a housing of a device, a mechanical arm and a robot. The flexible electrode comprises an insulating substrate layer, an electrode and a shielding layer. The insulating substrate layer is made of a flexible material. The electrode is arranged on one side of the insulating substrate layer, and the shielding layer is arranged on the other side of the insulating substrate layer. The electrode can form a capacitor with a conductor approaching. The flexible electrode of the present invention can shield the electromagnetic interference signal generated by the device inside the housing, and ensure the detection effect of the electronic skin on the approaching conductor.

Description

Technical Field

[0001] The present invention relates to the technical field of electronic skin, and in particular to a flexible electrode, electronic skin, a housing of a device, a mechanical arm and a robot. Background Art

[0002] At present, the main method for mechanical devices to detect approaching objects is through physical contact between the shell and the object. Taking the contact-type resistive shell as an example, the resistive shell relies on the deformation of the shell caused by the contact between the approaching object and the robot, and sends a contact signal representing the deformation. However, if the approaching object does not directly contact the electronic skin, the mechanical device cannot achieve non-contact distance detection of the approaching object, and when the mechanical device is in motion, the contact between the mechanical device and the object is likely to cause damage to the object.

[0003] For example, the shell, shell assembly, mechanical arm and robot of the mechanical equipment disclosed in the patent application No. 201980041854.5, and the sensor circuit, logic circuit board, joint control board, main controller board and robot disclosed in the patent No. 201980041894.X, provide an electronic skin based on the principle of self-capacitance sensing and its working method, wherein the electrodes of the electronic skin are formed by a conductive metal sheet set on the shell or by coating copper paste on the shell; when the mechanical equipment is running, the devices inside the shell will generate interference signals to cause electromagnetic interference to the electrodes of the electronic skin, thereby affecting the detection effect of the electronic skin on approaching conductors. Summary of the invention

[0004] The main technical problem solved by the present invention is that the electrodes of the electronic skin may be interfered by the electromagnetic interference signals inside the shell, thereby affecting the detection effect of the electronic skin on the approaching conductor.

[0005] To achieve the above-mentioned purpose, the flexible electrode of the electronic skin proposed in the present invention comprises:

[0006] An insulating base material layer, wherein the insulating base material layer is made of a flexible material;

[0007] An electrode, wherein the electrode is disposed on one side of the insulating substrate layer;

[0008] A shielding layer, the shielding layer is arranged on the other side of the insulating substrate layer;

[0009] Electrodes can form capacitance with nearby conductors.

[0010] The electrodes and the shielding layer are flexible, or the electrodes and the shielding layer are formed on an insulating substrate layer.

[0011] The orthographic projections of the electrodes on the plane where the shielding layer is located all fall on the shielding layer.

[0012] The shielding layer has a folded edge, and the electrode is located in a shielding frame surrounded by a plurality of folded edges.

[0013] The electrode comprises a first electrode layer and a second electrode layer which are stacked, and an insulating spacer layer is arranged between the first electrode layer and the second electrode layer.

[0014] The invention also comprises two insulating protective layers, which respectively cover the electrode and the shielding layer.

[0015] The insulating substrate layer is made of a material formed of polyimide or polyethylene terephthalate, and the electrode and the shielding layer are made of a conductive material.

[0016] The present invention further proposes an electronic skin, comprising a detection circuit and the above-mentioned flexible electrode, wherein the detection circuit is electrically connected to the electrode and the shielding layer.

[0017] The detection end of the detection circuit is electrically connected to the electrode, and the detection end of the detection circuit is also electrically connected to the shielding layer via an operational amplifier.

[0018] The present invention further provides a housing of a device, comprising:

[0019] A housing and the electronic skin;

[0020] The electronic skin is arranged on the shell.

[0021] The shell includes a flexible layer located on the inner side and / or the outer side of the electronic skin.

[0022] The present invention further provides a mechanical arm, comprising:

[0023] ontology;

[0024] Control panel; and

[0025] The shells of several of the above devices are arranged on the outer surface of the body, and the control board is electrically connected with the detection circuit.

[0026] The present invention further provides a robot comprising the above-mentioned robotic arm.

[0027] The technical solution of the flexible electrode of the present invention is to set a shielding layer on the side of the insulating substrate layer opposite to the electrode. When the electronic skin using the flexible electrode is installed on a device shell for use, the electromagnetic interference signal generated by the device inside the device shell will be shielded and blocked by the shielding layer and cannot reach the electrode, so that the electrode will not be disturbed by the electromagnetic interference signal generated by the device inside the shell, thereby ensuring the electronic skin's detection effect on approaching conductors. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1is a schematic structural diagram of a flexible electrode in an embodiment of the present invention;

[0029] Figure 2 is a schematic structural diagram of a flexible electrode in an embodiment of the present invention;

[0030] Figure 3 is a schematic structural diagram of a flexible electrode in an embodiment of the present invention;

[0031] Figure 4 is a schematic structural diagram of a flexible electrode in an embodiment of the present invention;

[0032] Figure 5 is a schematic structural diagram of a flexible electrode in an embodiment of the present invention;

[0033] Figure 6 is a schematic structural diagram of a flexible electrode in an embodiment of the present invention;

[0034] Figure 7 is a schematic structural diagram of a flexible electrode in an embodiment of the present invention;

[0035] Figure 8 is a schematic structural diagram of a flexible electrode in an embodiment of the present invention;

[0036] Fig. 9 is a schematic structural diagram of a flexible electrode in an embodiment of the present invention;

[0037] Fig.10 is a schematic structural diagram of a flexible electrode in an embodiment of the present invention;

[0038] Fig.11 is a diagram of the electrical connection relationship between the detection circuit and the flexible electrode of the electronic skin in one embodiment of the present invention;

[0039] Fig.12 Schematic diagram of the electrical connection relationship between the detection circuit and the flexible electrode of the electronic skin in one embodiment of the present invention.

[0040] Fig.13 Schematic diagram of the structure of a robotic arm in one embodiment of the present invention. DETAILED DESCRIPTION

[0041] 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 are not to be construed as limiting the present invention. All other embodiments obtained by ordinary technicians in the field without creative work based on the embodiments of the present invention are within the scope of protection of the present invention.

[0042] The invention provides a flexible electrode for electronic skin.

[0043] See also Figure 1 , Figure 1 Schematic diagram of the structure of a flexible electrode in one embodiment of the present invention.

[0044] In this embodiment, the flexible electrode of the electronic skin includes an insulating substrate layer 10, an electrode 20 and a shielding layer 30. The insulating substrate layer 10 is made of a flexible material, the electrode 20 is arranged on one side of the insulating substrate layer 10, and the shielding layer 30 is arranged on the other side of the insulating substrate layer 10; the electrode 20 can form a capacitor with the approaching conductor, and the circuit of the electronic skin obtains the approach distance and approach speed of the approaching conductor and the electronic skin by detecting the capacitance value or capacitance change of the capacitance formed by the electrode 20 and the approaching conductor.

[0045] The flexible electrode of this embodiment has a shielding layer 30 provided on the side of the insulating substrate layer 10 opposite to the electrode 20. When the electronic skin using this flexible electrode is installed on the housing of a device (such as a robotic arm) for use, the electromagnetic interference signal generated by the device inside the device housing will be shielded and blocked by the shielding layer 30 and cannot reach the electrode 20, so that the electrode 20 will not be interfered by the electromagnetic interference signal generated by the device inside the housing, thereby ensuring the detection effect of the electronic skin on approaching conductors, improving the detection distance and detection accuracy of the electronic skin, and avoiding the occurrence of inaccurate detection distance or misjudgment of detection.

[0046] In one embodiment, the insulating substrate layer 10 is made of a material formed of polyimide or polyethylene terephthalate.

[0047] In some embodiments, the electrode 20 and the shielding layer 30 are made of conductive materials. The electrode 20 can be a flexible conductive sheet, which is bonded to the insulating substrate layer 10 by pasting or the like, or the electrode 20 can be directly formed on the substrate by electrodeposition, vapor deposition, or printing or the like; the shielding layer 30 can be a flexible conductive sheet, which is bonded to the insulating substrate layer 10 by pasting or the like, or the shielding layer 30 can be directly formed on the substrate by electrodeposition, vapor deposition, or printing or the like.

[0048] In some embodiments, the electrode 20 and the shielding layer 30 are made of metal materials (e.g., copper, gold, silver, etc.). Under macroscopic conditions, the metal layer has poor flexibility and is difficult to deform, but when the thickness of the metal layer is reduced to a certain extent, it will be flexible and also have a certain toughness. For example, when the electrode 20 and the shielding layer 30 are made of copper, when the thickness is between 100 microns and 500 microns, the toughness is strong and the flexibility is poor. When the thickness is between 10 microns and 70 microns, the flexibility is good and non-plastic deformation is easy to occur.

[0049] Flexible electrodes are easy to set up because of their flexibility (easy to set in the casing of a device with complex curved surfaces). Specifically, because they are easy to be processed into a specific shape and are flexible and easy to set up in any shape, they are very easy to set up in a specific deployment environment. They can be set up in any shape, can be attached, or can be sandwiched between two layers of shells.

[0050] See also Figure 2 , Figure 2 Schematic diagram of the structure of a flexible electrode in one embodiment of the present invention.

[0051] In this embodiment, the orthographic projections of the electrode 20 on the plane where the shielding layer 30 is located all fall on the shielding layer 30, that is, the area of ​​the shielding layer 30 is larger than the area of ​​the electrode 20, and each edge of the electrode 20 is on the inner side of the edge of the shielding layer 30. In this way, it is ensured that a small amount of interference signals coming from the side where the shielding layer 30 is located will not pass through the edge of the shielding layer 30 and reach the electrode 20, thereby achieving a better shielding effect.

[0052] See also Figure 3 and Figure 4 , Figure 3 is a schematic diagram of the structure of a flexible electrode in an embodiment of the present invention, Figure 4 Schematic diagram of the structure of a flexible electrode in one embodiment of the present invention.

[0053] In this embodiment, the shielding layer 30 has a folded edge 31, and the electrode 20 is located in a shielding frame surrounded by several folded edges 31. Most devices usually have more joints or devices. When the electronic skin is installed on the shell of the device for use, during the operation of the device, other joints or devices of the device may move to the peripheral side of the electronic skin, and may transmit a small amount of interference signals to the electronic skin. In this embodiment, the shielding frame surrounded by this side of the shielding layer 30 is used to shield and block the interference signals coming from the peripheral side of the electronic skin, further ensuring the detection effect of the electronic skin during the operation of the device. The folded edge 31 in the figure of this embodiment is illustrated as a situation of approximately 90° bending, which is only to make the boundary between the folded edge 31 and the shielding layer 30 in the figure clearer, and does not limit the bending angle of the folded edge 31; in fact, the angle of the folded edge 31 to the insulating substrate layer 10 this time can be any angle from 0 to 90° (for example, 20°, 30°, 45°, 60°); in addition, the bending part of the folded edge 31 can also be a transitional arc surface.

[0054] In some embodiments, the folded edge 31 is disposed through the insulating substrate layer 10 (see Figure 3 ), that is, a gap is provided on the insulating substrate layer 10 for the folded edge 31 to pass through, and the folded edge 31 is inserted in the gap.

[0055] In some embodiments, the insulating substrate layer 10 is completely located within the shielding frame formed by the folded edge 31 (see Figure 4 ).

[0056] See also Figure 5 and Figure 6 , Figure 5 Schematic diagram of the structure of a flexible electrode in one embodiment of the present invention.

[0057] In this embodiment, the electrode 20 includes a first electrode layer 21 and a second electrode layer 22 which are stacked, and an insulating spacer layer 40 is disposed between the first electrode layer 21 and the second electrode layer 22 .

[0058] The flexible electrode of this embodiment is provided with a stacked first electrode layer 21 and a second electrode layer 22. When one of the first electrode layer 21 or the second electrode layer 22 is damaged or fails, the other can continue to be used for normal working detection, thereby increasing the service life of the flexible electrode and reducing the maintenance and replacement frequency of the flexible electrode of the electronic skin using the flexible electrode. Alternatively, the first electrode layer 21 and the second electrode layer 22 can be used to jointly detect adjacent conductors, and the detection of the first electrode layer 21 and the second electrode layer 22 can be mutually verified to ensure the accuracy and precision of the detection results.

[0059] See also Figure 6 , Figure 6 Schematic diagram of the structure of a flexible electrode in one embodiment of the present invention.

[0060] In this embodiment, the folded edge 31 of the shielding layer 30 passes through the insulating substrate layer 10 and the insulating spacer layer 40, and the first electrode layer 21 and the second electrode layer 22 are both located in a shielding frame enclosed by the folded edges 31 of the shielding layer 30; corresponding gaps are provided on the insulating substrate layer 10 and the insulating spacer layer 40 for the folded edge 31 to pass through, and the folded edge 31 is inserted in the gaps.

[0061] In some embodiments, the insulating substrate layer 10 and the insulating spacer layer 40 may be located in a shielding frame enclosed by the folded edge 31 of the shielding layer 30; or one of the insulating substrate layer 10 and the insulating spacer layer 40 may be located in the shielding frame enclosed by the folded edge 31 of the shielding layer 30, and the other may be provided with a gap for the folded edge 31 to pass through.

[0062] See also Figure 7 , Figure 7 Schematic diagram of the structure of a flexible electrode in one embodiment of the present invention.

[0063] In this embodiment, the flexible electrode of the electronic skin further includes two insulating protective layers 50, which are respectively covered on the electrode 20 and the shielding layer 30. The two insulating protective layers 50 are respectively covered on the electrode 20 and the shielding layer 30 to protect the electrode 20 and the shielding layer 30 (including physical protection and anti-oxidation protection).

[0064] In some embodiments, the outer edges of the two insulating protective layers 50 are combined to seal and cover the electrode 20, the insulating protective layer 50 and the shielding layer 30. Of course, a window is also opened on the insulating protective layer 50 to expose at least one part of the electrode 20 and the shielding layer 30 for electrical connection with an external circuit.

[0065] See also Figure 8 , Figure 8 Schematic diagram of the structure of a flexible electrode in one embodiment of the present invention.

[0066] In this embodiment, both insulating protective layers 50 are made of flexible insulating materials, for example, materials formed of polyimide or polyethylene terephthalate. Each layer structure of the flexible electrode is flexible, so the flexible electrode can be bent and deformed to adapt to various complex curved surfaces, and can be set according to the shape during installation, making installation easier.

[0067] See also Fig. 9 , Fig. 9 Schematic diagram of the structure of a flexible electrode in one embodiment of the present invention.

[0068] The solution of this embodiment is Figure 3 Example and Figure 7 A solution combining the embodiments.

[0069] See also Fig.10 , Fig.10 Schematic diagram of the structure of a flexible electrode in one embodiment of the present invention.

[0070] The solution of this embodiment is Figure 6 Example and Figure 7 A solution combining the embodiments.

[0071] The invention also provides an electronic skin.

[0072] See also Fig.11 , Fig.11 1 is a diagram showing the electrical connection relationship between the detection circuit 01 of the electronic skin and the flexible electrode in one embodiment of the present invention.

[0073] In this embodiment, the electronic skin includes a detection circuit 01 and a flexible electrode. The specific structure of the flexible electrode refers to the above embodiment and will not be described in detail here. Since the electronic skin of the present invention adopts all the technical solutions of the above flexible electrode, it has at least all the beneficial effects brought by the technical solutions of the above embodiments, which will not be described one by one here. Among them, the detection circuit 01 is electrically connected to the electrode 20 and the shielding layer 30 of the flexible electrode; when the electrode 20 forms a capacitor with a nearby conductor, the detection circuit 01 detects the size of the capacitor or the change in the capacitor; the detection circuit 01 is electrically connected to the shielding layer 30 to form an active shield.

[0074] See also Fig.12 , Fig.12 1 is a diagram showing the electrical connection relationship between the detection circuit 01 of the electronic skin and the flexible electrode in one embodiment of the present invention.

[0075] In this embodiment, the electrical connection scheme of the detection circuit 01 with the electrode 20 and the shielding layer 30 is as follows: the detection end of the detection circuit 01 is electrically connected to the electrode 20, and the detection end of the detection circuit 01 is also electrically connected to the shielding layer 30 via the operational amplifier 02. The specific connection of the operational amplifier 02 is as follows: the detection end of the detection circuit 01 is electrically connected to the non-inverting input end of the operational amplifier 02, and the output end of the operational amplifier 02 is electrically connected to the shielding layer 30 and its inverting input end; wherein the amplification factor of the operational amplifier 02 is 1.

[0076] The present invention further provides a housing of a device, comprising a housing and the above-mentioned electronic skin, wherein the electronic skin is arranged on the housing. Since the housing of the device of the present invention adopts the above-mentioned electronic skin solution, it at least has all the beneficial effects brought by the above-mentioned electronic skin, which will not be described one by one here.

[0077] In some embodiments, the housing includes a flexible layer located inside and / or outside the electronic skin. The housing is a flexible structure that can be deformed to adapt to the shape of the housing of each device. The housing can be arranged on the housing of the device by wrapping, sleeve, etc.

[0078] The invention also provides a mechanical arm.

[0079] See also Fig.13 , Fig.13 It is a schematic diagram of the structure of a mechanical arm in one embodiment of the present invention.

[0080] In this embodiment, the robot 100 includes a body 101, a control board, and a plurality of housings 102 of the above-mentioned devices. The housings 102 of the devices are arranged on the outer surface of the body 101, and the control board is electrically connected to the detection circuit. The specific structure of the housing 102 of the device is described in the above embodiment. The control board monitors whether there is a conductor approaching each part of each body 101 according to the detection signal fed back by the detection circuit of the housing 102 of each device, avoids collision, and protects the safety of the operation process of the robot 100.

[0081] Since the robot arm 100 of the present invention adopts all technical solutions of the shell 102 of the above-mentioned device, it at least has all the beneficial effects brought by the shell 102 of the device, which will not be described one by one here.

[0082] The present invention further proposes a robot, including a robotic arm 100. The specific structure of the robotic arm 100 refers to the above embodiment. Since the robot of the present invention adopts the technical solution of the above robotic arm 100, it has at least all the beneficial effects of the robotic arm 100, which will not be described one by one here.

[0083] The above description is only a partial or preferred embodiment 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. An electronic skin, characterized in that: The electronic skin comprises a detection circuit and a flexible electrode, wherein the flexible electrode comprises: An insulating substrate layer, wherein the insulating substrate layer is made of a flexible material; An electrode, the electrode is disposed on one side of the insulating substrate layer and comprises a first electrode layer and a second electrode layer stacked together, and an insulating spacer layer is disposed between the first electrode layer and the second electrode layer; A shielding layer, the shielding layer is arranged on the other side of the insulating substrate layer, the shielding layer has a folded edge, and the electrode is located in a shielding frame surrounded by a plurality of folded edges; The electrode and the shielding layer are electrically connected to the detection circuit respectively, so as to use the first electrode layer and the second electrode layer to jointly detect the approaching conductors, further verify each other based on the detection of the first electrode layer and the second electrode layer, and continue to use the other one to detect the approaching conductors after one of the first electrode layer and the second electrode layer is damaged or fails.

2. The electronic skin according to claim 1, characterized in that: The electrodes and the shielding layer are flexible, or the electrodes and the shielding layer are formed on the insulating base layer.

3. The electronic skin according to claim 1, characterized in that: The bending angle of the folded edge toward the insulating substrate is 0° to 90°.

4. The electronic skin according to claim 1, characterized in that: The folded edge is arranged through the insulating substrate layer; Alternatively, the insulating substrate layer is completely located within the shielding frame enclosed by the folded edges.

5. The electronic skin according to claim 1, characterized in that: It also includes two insulating protective layers, which respectively cover the electrode and the shielding layer.

6. The electronic skin according to claim 2, characterized in that: The insulating substrate layer is made of a material formed of polyimide or polyethylene terephthalate, the electrode and the shielding layer are respectively made of copper, and the thickness of the electrode and the shielding layer is respectively between 10 micrometers and 70 micrometers.

7. The electronic skin according to claim 1, characterized in that: The detection end of the detection circuit is electrically connected to the electrode, and the detection end of the detection circuit is also electrically connected to the shielding layer via an operational amplifier.

8. A housing of a device, characterized in that: include: case; as well as The electronic skin according to any one of claims 1 to 7; Wherein, the electronic skin is arranged on the shell.

9. The housing of the device according to claim 8, characterized in that The housing includes a flexible layer located inside and / or outside the electronic skin.

10. A robotic arm, characterized in that: include: ontology; Control panel; as well as Several housings of the devices as claimed in claim 8 or 9, wherein the housings of the devices are arranged on the outer surface of the body, and the control board is electrically connected to the detection circuit.

11. A robot, characterized in that: Comprising the robotic arm as claimed in claim 10.

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