Mechanical arm electronic skin
By introducing hydrophobic layer and water conduction layer design on the electronic skin of the robot arm, the sensor damage caused by water penetration is solved, achieving better waterproofing effect and extended service life.
Patent Information
- Application Number
- CN202421689202.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-07-16
- Publication Date
- 2025-07-25
- Estimated Expiration
- 2034-07-16
AI Technical Summary
After the existing robotic arm electronic skin sticks to water, the water easily penetrates the inside, causing damage to the sensor and affecting normal use.
The design of hydrophobic layer and water conduction layer is made of polyolefin plastic. The water conduction layer is made of silicone material and coated with fluoroplastic hydrophobic material. It combines the water conduction tank and a diversion pad to achieve rapid slipping and diversion of water and avoid water penetration.
Improves the waterproofness of electronic skin, avoids sensor damage, extends service life, and ensures the normal operation of electronic skin in a wet environment.
Smart Images
Figure CN223147918U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the field of electronic skin, in particular to an electronic skin for a robotic arm. Background Art
[0002] In the technical fields such as intelligent interaction, human bionics, and intelligent robot manufacturing, electronic skin plays a very important role. With the increasing demands in fields such as medical monitoring and human-machine communication, it has become an urgent need to develop artificial electronic skin with high sensitivity, more powerful functions, and more precisely simulating the functions of human skin. Sensors are the key part of electronic skin. Most of the sensors on the market have single functions and insufficient flexibility, unable to meet the requirements of future intelligent skin. At the same time, the most common at present is the in-plane stress-strain sensor, but it is not suitable for or is not conducive to detecting in-plane external forces and cannot well detect the changes of in-plane external forces. For the electronic skin used on robotic arms in the prior art, generally, waterproof treatment cannot be carried out. When the electronic skin adheres to water, the water easily penetrates into the electronic skin, resulting in damage to the sensors inside the electronic skin, thus affecting the normal use of the electronic skin. Summary of the Utility Model
[0003] (1) Technical Problems to be Solved
[0004] In order to overcome the problem that when the electronic skin adheres to water, the water easily penetrates into the electronic skin, resulting in damage to the sensors inside the electronic skin, thus affecting the normal use of the electronic skin.
[0005] (2) Technical Solutions
[0006] The technical solution of the utility model is: an electronic skin for a robotic arm, including an electronic skin body, a movably arranged robotic arm component, and a driving member for driving the movement of the robotic arm component. The electronic skin body is arranged on the outer side of the robotic arm component; the electronic skin body includes a flexible substrate layer and a plurality of sensing units arranged in parallel on the flexible substrate layer. The plurality of sensing units are arranged along the length direction and the width direction of the flexible substrate layer. The flexible substrate layer is provided with a wire unit or an electrical connector unit electrically connected to a control box unit; when the movable robotic arm drives the electronic skin body to touch an external human body, the sensing unit triggers the control box unit via the wire unit or the electrical connector unit, so that the control box unit regulates and controls the driving member to stop running;
[0007] The electronic skin for a robotic arm further includes a hydrophobic layer and a water guiding layer. The water guiding layer is arranged on the upper surface of the hydrophobic layer. The hydrophobic layer is arranged between the water guiding layer and the electronic skin body. The hydrophobic layer is prepared from polyolefin plastics. The electronic skin body, the hydrophobic layer, and the water guiding layer are filled with gaskets around.
[0008] Furthermore, the electronic skin body further includes a flexible buffer layer covering the sensing unit, and the flexible buffer layer is made of sponge or silica gel.
[0009] Furthermore, the electronic skin body further includes a release layer. A paste layer is provided on the side of the flexible substrate layer away from the sensing unit, and the release layer is attached to the flexible substrate layer and covers the protective paste layer; the electronic skin body is attached to the outer side of the robotic arm member via the paste layer, and the electronic skin body is wound around and covers the outer side of the robotic arm member.
[0010] Furthermore, the electronic skin body has a first electrode layer, a second electrode layer, and an insulating isolation layer located between the first electrode layer and the second electrode layer. The first electrode layer and the second electrode layer are respectively provided with a plurality of positive electrode contacts and a plurality of negative electrode contacts for conducting with each other. A positive electrode contact and a negative electrode contact are combined to form a sensor unit; the first electrode layer is disposed on the flexible substrate layer; the insulating isolation layer is provided with a plurality of through holes penetrating the insulating isolation layer, and the through holes and the sensor units correspond one by one. The positive electrode contacts and the negative electrode contacts are in contact and conduct with each other through the through holes and trigger the control box unit.
[0011] Furthermore, the water guiding layer is made of silica gel material, and the surface of the water guiding layer is coated with a fluoroplastic hydrophobic material.
[0012] Furthermore, the electronic skin body, the hydrophobic layer and the water guiding layer are adhered to each other by any one of silicone rubber, epoxy resin glue and acrylic glue.
[0013] Furthermore, a plurality of water guiding grooves are formed on the surface of the water guiding layer, and the water guiding grooves are symmetrically formed on both sides of the water guiding layer.
[0014] Furthermore, a flow dividing pad is installed on the central surface of the water guiding layer, and the flow dividing pad is close to the water guiding grooves.
[0015] Furthermore, there is a small height difference between the flow dividing pad and the water guiding layer.
[0016] (3) Beneficial effects
[0017] Compared with the prior art, the beneficial effects of the present utility model are as follows: When the electronic skin adheres to water, through the water-conducting layer on the electronic skin, the adhered water can slide off the electronic skin, avoiding the attached water from affecting the normal use of the electronic skin, improving the overall waterproof property of the electronic skin, preventing water from entering the sensors inside the electronic skin and causing damage to the sensors inside the electronic skin. It can quickly drain the attached water along the water guide groove. This design structure is simple, meets the actual use requirements, and through the hydrophobic layer between the electronic skin and the water-conducting layer, it can prevent water from penetrating into the interior of the electronic skin, thereby preventing damage to the precision components inside the electronic skin, further improving the waterproof effect of the electronic skin, increasing the service life of the electronic skin, and the flow dividing pads on the water-conducting layer can conduct flow division treatment on the water, thereby being able to disperse the water flow, avoiding water accumulation in the same place and affecting the waterproof working effect, and the flow dividing pads can divert the water into the water guide groove, thereby discharging the water from the water guide groove, having a good drainage effect, preventing water from penetrating into the interior of the electronic skin, greatly improving the waterproof efficiency of the electronic skin, and having a good use effect. Description of the Drawings
[0018] Figure 1 Shown is the first three-dimensional structural schematic diagram of the present utility model;
[0019] Figure 2 Shown is the disassembled structural schematic diagram of the present utility model;
[0020] Figure 3 Shown is the three-dimensional structural schematic diagram of the water guide groove and the flow dividing pads of the present utility model when unfolded;
[0021] Figure 4 Shown is the three-dimensional structural schematic diagram of the flow dividing pads of the present utility model;
[0022] Figure 5 Shown is the three-dimensional structural schematic diagram of the hydrophobic layer of the present utility model;
[0023] Figure 6 Shown is the three-dimensional structural schematic diagram of the water-conducting layer and the water guide groove of the present utility model.
[0024] Description of the reference numerals: 1 - Electronic skin body, 2 - Hydrophobic layer, 3 - Water-conducting layer, 4 - Water guide groove, 5 - Flow dividing pads. Detailed Embodiment
[0025] The present utility model will be further described below in conjunction with the drawings and embodiments.
[0026] Embodiment 1:
[0027] Please refer to Figures 1-6, this utility model provides an embodiment: a robotic arm electronic skin, which includes an electronic skin body 1, and also includes a hydrophobic layer 2 and a water-conducting layer 3. The upper surface of the hydrophobic layer 2 is provided with the water-conducting layer 3, and the hydrophobic layer 2 is arranged between the water-conducting layer 3 and the electronic skin body 1. The hydrophobic layer 2 is prepared from polyolefin plastics. Sealing gaskets are filled around the electronic skin body 1, the hydrophobic layer 2 and the water-conducting layer 3. The water-conducting layer 3 is made of silica gel material, and the surface of the water-conducting layer 3 is coated with a fluoroplastic hydrophobic material. The electronic skin body 1, the hydrophobic layer 2 and the water-conducting layer 3 are adhered by any one of silicone rubber, epoxy resin glue and acrylic glue. This design waterproofs the attached water through the two layers of the hydrophobic layer 2 and the water-conducting layer 3 on the electronic skin body 1. When the electronic skin body 1 adheres to water, through the water-conducting layer 3 on the electronic skin body 1, the adhered water can slide off the electronic skin body 1, avoiding the attached water from affecting the normal use of the electronic skin body 1, improving the overall waterproofness of the electronic skin body 1, and preventing the sensors inside the electronic skin body 1 from getting water and being damaged. The hydrophobic layer 2 on the electronic skin body 1 can prevent water from penetrating into the electronic skin, thus preventing damage to the precision components inside the electronic skin body 1, and further improving the waterproof effect of the electronic skin body 1.
[0028] Embodiment 2:
[0029] Please refer to Figures 5-6 , in this embodiment, in order to further improve the waterproof effect of the electronic skin body 1, on the water-conducting layer 3, a plurality of water guide grooves 4 are opened on the surface of the water-conducting layer 3. The water guide grooves 4 are symmetrically opened on both sides of the water-conducting layer 3. A shunt pad 5 is installed on the central surface of the water-conducting layer 3. The shunt pad 5 is close to the water guide grooves 4, and there is a small height difference between the shunt pad 5 and the water-conducting layer 3. Thus, the water can be shunted and discharged through the water guide grooves 4, avoiding water from accumulating on the surface of the water-conducting layer 3 and penetrating into the inside of the electronic skin body 1, and further improving the waterproof effect of the electronic skin body 1.
[0030] And a shunt pad 5 is installed on the central surface of the water-conducting layer 3. The shunt pad 5 is close to the water guide grooves 4, and there is a small height difference between the shunt pad 5 and the water-conducting layer 3. The shunt pad 5 on the water-conducting layer 3 can shunt the water, thus being able to disperse the water flow, avoiding water from accumulating in the same place and affecting the waterproofing effect. And the shunt pad 5 can shunt the water into the water guide grooves 4, and then discharge the water from the water guide grooves 4, having a good drainage effect, avoiding water from penetrating into the inside of the electronic skin body 1, greatly improving the waterproof efficiency of the electronic skin body 1, and having a good use effect.
[0031] By bringing the diversion pad 5 closer to the water guide groove 4, there is a small height difference between the diversion pad 5 and the water guide layer 3, thereby improving the working efficiency of water diversion, avoiding water accumulation on the water guide layer 3, which may cause water to penetrate into the interior of the electronic skin body 1 and damage the electronic skin body 1. Moreover, the diversion pad 5 can accurately divert water into the water guide groove 4, further improving the working efficiency of water diversion, avoiding the situation where water cannot enter the water guide groove 4 for diversion treatment, causing the water to disperse around and affecting the normal use of the electronic skin body 1.
[0032] The sealing pads filled around the electronic skin body 1, the hydrophobic layer 2, and the water guide layer 3 can waterproof the peripheries of the electronic skin body 1, the hydrophobic layer 2, and the water guide layer 3, avoiding water entering the interior of the electronic skin body 1 from all around, having a good waterproof effect, enabling overall all-round waterproof treatment of the electronic skin body 1, and further improving the waterproof property of the electronic skin body 1.
[0033] Through the above steps, this setting waterproofs the attached water through the two layers of the hydrophobic layer 2 and the water guide layer 3 on the electronic skin body 1. When the electronic skin body 1 adheres to water, the water guide layer 3 on the electronic skin body 1 can make the adhered water slide off the electronic skin body 1, avoiding the attached water from affecting the normal use of the electronic skin body 1, improving the overall waterproof property of the electronic skin body 1, and avoiding the internal sensors of the electronic skin body 1 from getting damaged due to water ingress. The hydrophobic layer 2 on the electronic skin body 1 can prevent water from penetrating into the electronic skin, thus avoiding damage to the precision components inside the electronic skin body 1, further improving the waterproof effect of the electronic skin body 1. The water guide groove 4 can divert and export water, avoiding water accumulation on the surface of the water guide layer 3 and then penetrating into the interior of the electronic skin body 1, further improving the waterproof effect of the electronic skin body 1. The diversion pad 5 on the water guide layer 3 can divert water, thereby dispersing the water flow, avoiding water accumulation in the same place and affecting the waterproof working effect. Moreover, the diversion pad 5 can divert water into the water guide groove 4, and then drain the water from the water guide groove 4, having a good drainage effect, avoiding water from penetrating into the interior of the electronic skin body 1, greatly improving the waterproof efficiency of the electronic skin body 1, and having a good use effect. The sealing pad can prevent water from entering the interior of the electronic skin body 1 from all around, having a good waterproof effect, enabling overall all-round waterproof treatment of the electronic skin body 1, and further improving the waterproof property of the electronic skin body 1.
[0034] The above has described in detail the embodiments of the present utility model in conjunction with the drawings. However, the present utility model is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the gist of the present utility model.
Claims
1. An electronic skin for a robotic arm, comprising an electronic skin body (1); characterized in that: The robotic arm component of the activity setting, the driving member for driving the movement of the robotic arm component, and the electronic skin body (1) are arranged on the outer side of the robotic arm component; the electronic skin body (1) includes a flexible substrate layer and a plurality of sensing units arranged in parallel on the flexible substrate layer. The plurality of sensing units are arranged along the length direction and the width direction of the flexible substrate layer. The flexible substrate layer is provided with a wire unit or an electrical connector unit electrically connected to the control box unit; when the active robotic arm drives the electronic skin body (1) to touch the external human body, the sensing unit triggers the control box unit via the wire unit or the electrical connector unit, so that the control box unit regulates the driving member to stop running; The robotic arm electronic skin further includes a hydrophobic layer (2) and a water guiding layer (3). The water guiding layer (3) is arranged on the upper surface of the hydrophobic layer (2), and the hydrophobic layer (2) is arranged between the water guiding layer (3) and the electronic skin body (1). The hydrophobic layer (2) is made of polyolefin plastics. The peripheries of the electronic skin body (1), the hydrophobic layer (2) and the water guiding layer (3) are filled with gaskets.
2. The robotic arm electronic skin according to claim 1, characterized in that: The electronic skin body (1) further includes a flexible buffer layer covering the sensing unit, and the flexible buffer layer is made of sponge or silica gel.
3. The robotic arm electronic skin according to claim 2, characterized in that: The electronic skin body (1) further includes a release layer. A paste layer is provided on the side of the flexible substrate layer away from the sensing unit, and the release layer is attached to the flexible substrate layer and covers and protects the paste layer; the electronic skin body (1) is attached to the outer side of the robotic arm component via the paste layer, and the electronic skin body (1) is wound and wrapped around the outer side of the robotic arm component.
4. The electronic skin for robotic arm according to claim 3, wherein: The electronic skin body (1) has a first electrode layer, a second electrode layer, and an insulating isolation layer located between the first electrode layer and the second electrode layer. The first electrode layer and the second electrode layer are respectively provided with a plurality of positive electrode contacts and a plurality of negative electrode contacts for conducting with each other. A positive electrode contact and a negative electrode contact are combined to form a sensor unit; the first electrode layer is arranged on the flexible substrate layer; the insulating isolation layer is provided with a plurality of through holes penetrating the insulating isolation layer, and the through holes and the sensor units correspond one by one. The positive electrode contacts and the negative electrode contacts are in contact and conduct with each other through the through holes and trigger the control box unit.
5. The electronic skin for a robotic arm according to claim 4, wherein: The water guiding layer (3) is made of silica gel material, and the surface of the water guiding layer (3) is coated with a fluoroplastic hydrophobic material.
6. The robotic arm electronic skin according to claim 5, characterized in that: The electronic skin body (1), the hydrophobic layer (2) and the water guiding layer (3) are adhered by any one of silicone rubber, epoxy resin glue and acrylic glue.
7. The electronic skin for a robotic arm according to claim 6, wherein: A plurality of water guiding grooves (4) are formed on the surface of the water guiding layer (3), and the water guiding grooves (4) are symmetrically formed on both sides of the water guiding layer (3).
8. The electronic skin for a robotic arm according to claim 7, wherein: A shunt pad (5) is installed on the central surface of the water guiding layer (3), and the shunt pad (5) is close to the water guiding groove (4).
9. The robotic arm electronic skin according to claim 8, characterized in that: There is a height difference between the shunt pad (5) and the water guiding layer (3).