Capacitative element, proximity sensor, robot, and proximity detection system

Abstract

To provide a capacitative element, a proximity sensor, a robot, and a proximity detection system, that can be used by being attached to a deformed part.SOLUTION: A capacitative element 2 comprises: a detection electrode 10 having conductivity; a guard electrode 11 having conductivity; and an insulation film that is constructed by an insulation body, and of which one surface is adhered to one surface of the detection electrode 10, and the other surface is adhered to one surface of the guard electrode 11. The capacitative element 2 is a foldable sheet-like member.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a capacitive element, a proximity sensor, a robot, and a proximity detection system. [Background technology]

[0002] Patent Document 1 discloses a proximity sensor that is provided on the outer surface of a robot arm and includes a capacitive element made up of a detection electrode that detects an object approaching the arm by a change in electrostatic capacitance. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2010-10116 A Summary of the Invention [Problem to be solved by the invention]

[0004] The proximity sensor described above has a detection electrode made of a metal plate, which may be damaged by repeated bending and straightening. For this reason, it is difficult to use the capacitive element in a part that deforms, such as by mounting it across two arms that are connected to the joints of the arms.

[0005] The present invention has been made in light of the above-mentioned circumstances, and an object of the present invention is to provide a capacitive element, a proximity sensor, a robot, and a proximity detection system that can be attached to a deforming part and used. [Means for solving the problem]

[0006] In order to achieve the above object, a capacitive element according to a first aspect of the present invention comprises: A first electrode cloth having electrical conductivity; A second electrode cloth having electrical conductivity; an insulating film made of an insulator, one side of which is in close contact with one side of the first electrode cloth and the other side of which is in close contact with one side of the second electrode cloth; It is a foldable sheet-like member.

[0007] A proximity sensor according to a second aspect of the present invention comprises: A capacitive element according to a first aspect of the present invention that covers at least a part of an object to be protected; a detection circuit that detects an object approaching the protection target based on a change in capacitance of the capacitive element; Equipped with.

[0008] A robot according to a third aspect of the present invention comprises: The robot body, a capacitive element according to a first aspect of the present invention that covers at least a part of the robot body as an object to be protected; a detection circuit that detects an object approaching the robot body based on a change in capacitance of the capacitive element; Equipped with.

[0009] A robot according to a fourth aspect of the present invention comprises: a robot arm having a first arm, a second arm, and a joint portion connecting the first arm and the second arm; a capacitive element according to a first aspect of the present invention that covers the robot arm as an object to be protected; a detection circuit that detects an object approaching the robot arm based on a change in capacitance of the capacitive element; Equipped with.

[0010] A proximity detection system according to a fifth aspect of the present invention comprises: The object of protection, a capacitive element according to a first aspect of the present invention that covers at least a part of the object to be protected; a detection circuit that detects an object approaching the protection target based on a change in capacitance of the capacitive element; Equipped with. Effect of the Invention

[0011] According to the present invention, it is possible to use the device by attaching it to a part that deforms. [Brief description of the drawings]

[0012] [Figure 1] 1 is a schematic diagram showing a configuration of a proximity sensor according to an embodiment of the present invention; [Diagram 2] 2 is a schematic diagram showing a state in which a part of the capacitive element in FIG. 1 is folded back. FIG. [Diagram 3] 1A is a schematic diagram showing an electric field formed by a capacitive element when no object is in the vicinity, and FIG. 1B is a schematic diagram showing an electric field formed by a capacitive element when an object is in the vicinity. [Figure 4] 1A is a schematic diagram of a capacitive element when it is flat, FIG. 1B is a schematic diagram of a capacitive element when it is deformed, and FIG. 1C is a schematic diagram of a capacitive element when it does not have a guard electrode. [Diagram 5] 1 is a graph showing an example of a change in capacitance over time. [Figure 6] 1A and 1B are perspective views showing a human-collaborative robot. [Figure 7] FIG. 2 is a perspective view showing a vertical articulated robot. [Figure 8] FIG. 2 is a perspective view showing a SCARA robot. [Figure 9] FIG. 1 is a perspective view showing a mobile robot. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings. In each drawing, the same or equivalent parts are denoted by the same reference numerals.

[0014] 1, a proximity sensor 1 according to this embodiment detects a nearby object H. The proximity sensor 1 includes a capacitive element 2 and a detection circuit 3. The capacitive element 2 and the detection circuit 3 are electrically connected to each other.

[0015] [Capacitive element] The capacitive element 2 is a sheet-like member and includes a detection electrode 10 as a first electrode cloth having electrical conductivity, a guard electrode 11 as a second electrode cloth having electrical conductivity, and an insulating film 12 made of an insulator.

[0016] [Detection electrode and guard electrode] The detection electrode 10 and the guard electrode 11 are formed of yarns made of fibrous material spun in parallel or twisted yarns. The detection electrode 10 and the guard electrode 11 are formed by bonding or intertwining conductive yarns. The detection electrode 10 and the guard electrode 11 may be woven or knitted fabrics made of conductive yarns. The detection electrode 10 and the guard electrode 11 may also be nonwoven fabrics (including felt).

[0017] The threads constituting the detection electrode 10 and the guard electrode 11 may be made of fibrous resin plated with a metal. More specifically, the threads constituting the detection electrode 10 and the guard electrode 11 may be made of, for example, nylon plated with silver. The threads constituting the detection electrode 10 and the guard electrode 11 may also be made of conductive fibers (for example, fibrous metal). These threads are regularly or irregularly bonded or entangled to be conductive with each other, forming a sheet of electrode cloth.

[0018] The detection electrode 10 and the guard electrode 11 are soft and thin enough to be foldable. The detection electrode 10 and the guard electrode 11 can be folded back without leaving any gaps. In the detection electrode 10 and the guard electrode 11, the yarn is bent and the gap between the yarn is deformed, which enables the folding back.

[0019] In this embodiment, the shape and size of the surface of the detection electrode 10 are the same as those of the surface of the guard electrode 11. However, the shape of the surface of the detection electrode 10 may be different from that of the surface of the guard electrode 11, and the size of the surface of the detection electrode 10 may be smaller than that of the surface of the guard electrode 11. In this embodiment, the surfaces of the detection electrode 10 and the guard electrode 11 are shown as rectangular in FIG. 1, but are not limited to this. Also, in this embodiment, the film thickness of the detection electrode 10 and the film thickness of the guard electrode 11 are the same, but are not limited to this.

[0020] [Insulating film] The insulating film 12 is made of a soft material that is flexible and stretchable, and is a film-like member that is thin enough to be folded back without leaving a gap (so that the surfaces before and after the folding point are in contact). The insulating film 12 is made of an insulating material that is flexible and foldable, that is, that can be folded back without leaving a gap. The insulating film 12 is configured to have a uniform thickness.

[0021] The insulating film 12 can be a film-like member made of resin, rubber, or other elastomers, but in this embodiment, the insulating film 12 is an insulating cloth made by bonding or intertwining insulating threads. The threads that make up the insulating film 12 are made of resin, for example, nylon. These threads are bonded or intertwined with each other regularly or irregularly to form a sheet of insulating cloth. In the insulating film 12, the threads are bent and the gaps between the threads are deformed, allowing the insulating film 12 to be folded back.

[0022] The shape and size of the surface of the insulating film 12 are the same as those of the detection electrode 10 and the guard electrode 11. However, the surface of the insulating film 12 may be larger than the surface of the detection electrode 10. Also, although the shape of the surface of the insulating film 12 is shown as a rectangle in Fig. 1, it is not limited to this. The thickness of the insulating film 12 does not need to be the same as that of the detection electrode 10.

[0023] In FIG. 1, the detection electrode 10, the guard electrode 11, and the insulating film 12 are illustrated as being shifted in the planar direction. However, in reality, the detection electrode 10, the guard electrode 11, and the insulating film 12 are laminated so that they overlap with their outer edges aligned. One surface of the insulating film 12 is in close contact with one surface of the detection electrode 10. The other surface of the insulating film 12 is in close contact with one surface of the guard electrode 11. In summary, the surface size of the detection electrode 10 is equal to or smaller than the surface size of the insulating film 12, and equal to or smaller than the surface size of the guard electrode 11. Even if the surface sizes are different, the detection electrode 10 is insulated from the guard electrode 10 by the insulating film 12.

[0024] In this embodiment, the insulating film 12 is adhered to the detection electrode 10 and the guard electrode 11 by an adhesive. In FIG. 1, the adhesive between the insulating film 12 and the detection electrode 10 is shown as an adhesive layer 13, and the adhesive between the insulating film 12 and the guard electrode 11 is shown as an adhesive layer 14. The adhesive layers 13 and 14 are insulating, but may be conductive. Preferably, the adhesive used is a hot melt adhesive that is melted by applying heat to adhere the layers, but other types of adhesives may be used.

[0025] The detection electrode 10 and the guard electrode 11 may be sewn to the insulating film 12. In this case, they need to be sewn together finely so that no gaps are formed between the opposing surfaces of the detection electrode 10 and the insulating film 12 and between the opposing surfaces of the guard electrode 11 and the insulating film 12 even when the capacitive element 2 is folded.

[0026] As shown in FIG. 2, the capacitive element 2 is foldable, that is, configured to be able to be folded back without creating gaps. In other words, the capacitive element 2 has flexibility and thickness that allows it to be folded back. Even when the capacitive element 2 is folded back, the detection electrode 10 and the insulating film 12 are bonded with an adhesive, so that the adhesion between the detection electrode 10 and the insulating film 12 is maintained, and the guard electrode 11 and the insulating film 12 are bonded with an adhesive, so that the adhesion between the guard electrode 11 and the insulating film 12 is maintained. This is because the detection electrode 10, the guard electrode 11, and the insulating film 12 are configured by bonding or intertwining threads together, so that when a part of the capacitive element 2 is folded back, the gaps between the threads at the folded back part are deformed, so that the capacitive element 2 can be deformed without generating stress inside the capacitive element 2.

[0027] 1, the guard electrode 11 has a connection terminal 11a. The guard electrode 11 is grounded via the connection terminal 11a. On the other hand, the detection electrode 10 has a connection terminal 10a, and the detection circuit 3 has a pair of connection terminals 3a, 3b. The detection circuit 3 is connected to the connection terminal 10a of the detection electrode 10 at one connection terminal 3a and is grounded at the other connection terminal 3b.

[0028] 3(A) and 3(B), the capacitive element 2 is used as a cover for protecting an object to be protected G. In the capacitive element 2, the guard electrode 11 faces the object to be protected G.

[0029] [Detection circuit] Returning to FIG. 1, the detection circuit 3 detects the approach of an object H to the protection target G (see FIG. 3(A) and FIG. 3(B)) based on the change in the capacitance of the capacitance element 2. The detection circuit 3 has an electric circuit that forms a circuit for detecting the capacitance in which the capacitance element 2 is incorporated. When the object H approaches the detection electrode 10, the capacitance of the capacitance element 2 increases due to an increase in the charge of the detection electrode 10, and the phase and frequency of the circuit that detects the capacitance change. The detection circuit 3 converts the change in the phase and frequency of the circuit that detects this capacitance into a change in the capacitance between the detection electrode 10 and the ground, and detects the presence or absence of the approach of the object H when the change in capacitance exceeds a threshold value. In FIG. 1, a human hand is shown as the approaching object H. However, the approaching object H is not limited to a human hand.

[0030] [Detection principle of nearby objects] 3A, in the capacitive element 2, a capacitor is formed between the detection electrode 10 and the guard electrode 11. A capacitor is also formed between the detection electrode 10 and the ground. However, since the ground is sufficiently far from the detection electrode 10, the capacitance of the capacitor between the detection electrode 10 and the guard electrode 11 is large enough that the capacitance of the capacitor between the detection electrode 10 and the ground can be ignored.

[0031] 3(B), when an object H approaches the detection electrode 10, a capacitor is formed between the detection electrode 10 and the object H. Since the capacitance of this capacitor is sufficiently larger than the capacitance of the capacitor between the detection electrode 10 and the ground, the capacitance of the entire capacitive element 2 changes significantly. This change enables the detection circuit 3 to detect that an object is approaching the detection electrode 10.

[0032] 4(A), in the capacitive element 2, the areas of the detection electrode 10, the guard electrode 11, and the insulating film 12 are S1, and the film thickness of the insulating film 12 is L. In this case, the electrostatic capacitance C between the detection electrode 10 and the guard electrode 11 is expressed by the following equation. C = ε0·ε S (S1 / L) (1) where ε0 is the dielectric constant of a vacuum and ε S is the dielectric constant of the insulating film 12.

[0033] 4(B), even if a part of the capacitance element 2 is deformed and wrinkled, the area S1 of the portion where the detection electrode 10 and the guard electrode 11 face each other (effective area determining the capacitance) does not change, and the distance L between the detection electrode 10 and the guard electrode 11 does not change either. Therefore, the capacitance of the capacitor formed by the detection electrode 10 and the guard electrode 11 does not change. In other words, regardless of the deformation of the capacitance element 2, the capacitance element 2 can accurately determine whether or not an object H is approaching.

[0034] 4(C), when the guard electrode 11 is removed from the capacitance element 2, the effective area that determines the capacitance of the detection electrode 10, which determines the capacitance of the capacitance element 2, changes from S1 to S2. Therefore, when the guard electrode 11 is not provided, the capacitance of the entire capacitance element 2 changes significantly even if the object H is not in proximity. This change becomes an error component included in the detection signal used to determine whether the object H is in proximity.

[0035] As shown in Fig. 5, when the capacitive element 2 is deformed, for example, as shown in Fig. 4(B), the deformation causes a slight variation in the capacitance of the entire capacitive element 2 detected by the detection circuit 3. In Fig. 5, the range of this variation is shown by a gray zone. In this case, a first threshold value larger than the level of the variation range must be set as a threshold value for determining whether or not the object H is approaching.

[0036] When the capacitance element 2 according to the present embodiment is caused to detect the presence or absence of the approach of the object H, the capacitance of the entire capacitance element 2 detected by the detection circuit 3 increases. When this capacitance exceeds the first threshold value, it is possible to detect that the object H is approaching. In the graph shown in Fig. 5, the time point at which it is determined that the object H is approaching is indicated as time t1.

[0037] Here, if the guard electrode 11 is removed, the capacitance of the entire capacitance element 2 will fluctuate significantly. For this reason, as a threshold for determining whether the object H is approaching, it is necessary to set a second threshold that is higher than the first threshold that exceeds the range of variation. In this case, the time when it is determined that the object H is approaching is time t2, which is later than time t1. This indicates that the spatial range in which it is possible to determine whether the object H is approaching is narrowed.

[0038] In this way, since the capacitive element 2 according to the present embodiment includes the guard electrode 11, fluctuations in the capacitance of the capacitive element 2 are suppressed and the capacitance is stable. Therefore, the threshold value for determining whether the object H is approaching or not is set to the first threshold value, and the detection area in which the presence or absence of the object H can be detected is expanded, making it possible to quickly detect the presence of the object H.

[0039] [Usage example] The capacitive element 2 functions as a cover that covers at least a part of the object to be protected, with the guard electrode 11 facing the object to be protected (with the guard electrode 11 facing inside). For example, as shown in Figs. 6(A) and 6(B), 7 and 8, the capacitive element 2 can be used as a cover for an articulated robot.

[0040] As shown in Fig. 6(A), the capacitive element 2 according to this embodiment can be used as a cover for a human-collaborative robot 20. The human-collaborative robot 20 is a robot designed to be able to work together with humans while sharing the same space, without the need for isolation by a fence for safety. Since the human-collaborative robot 20 shares the same space as humans, it is desirable to use the capacitive element 2 as a cover so as to be able to detect the proximity of the human to avoid contact with the human.

[0041] In Fig. 6(A), the capacitive element 2 is transparent. As shown in Fig. 6(A), the human collaborative robot 20 includes a base unit 20a, a plurality of joint units 20b to 20e, arm units 21a to 21d, and a hand unit 22. The base unit 20a and the joint units 20a to 20e each include a built-in motor, and are configured such that, when the motor is driven, the positions and postures of the connected arm units 21a to 21d (first arm, second arm) and the hand unit 22 at the tip are changed. In summary, the human-collaborative robot 20 is a robot arm having a base portion 20a, arm portions 21a to 21d, a joint portion 20b connecting arm portion 21a and arm portion 21b, a joint portion 20c connecting arm portion 21b and arm 21c, a joint portion 20d connecting arm portion 21c and arm portion 21d, and a hand portion 22 connected to arm portion 21d via joint portion 20e.

[0042] As shown in FIG. 6(B), the capacitive element 2 covers the portion of the human-collaborative robot 20 other than the hand unit 22. The capacitive element 2 has a through hole 2a, through which the hand unit 22 protrudes to the outside and can perform work. The capacitive element 2 is sized to have a certain margin relative to the human-collaborative robot 20. Even if the human-collaborative robot 20 deforms, the capacitive element 2 deforms to match the human-collaborative robot 20. Even during this deformation, the capacitance of the capacitive element 2 does not change significantly unless another object (e.g., a person) H (see FIG. 1) approaches. When the object H approaches, the capacitance of the capacitive element 2 changes significantly. This makes it possible to detect that the object H has approached.

[0043] In addition, the capacitive element 2 can also be used as a cover for the vertical articulated robot 23 shown in FIG. 7 and the SCARA robot 25 shown in FIG. 8. In both FIG. 7 and FIG. 8, the cover (capacitive element 2) is illustrated as being transparent. As shown in FIG. 7, the vertical articulated robot 23 has a base 23a, arm sections 23b and 23c, and a hand section 24, and joint sections having built-in motors are provided between the base 23a and the arm section 23b, between the arm section 23b and the arm section 23c, and between the arm section 23c and the hand section 24. As shown in FIG. 8, the SCARA robot 25 has a base 25a, arm sections 25b and 25c, and a hand section 26, and joint sections having built-in motors are provided between the base 25a and the arm section 25b, between the arm section 25b and the arm section 25c, and between the arm section 25c and the hand section 26.

[0044] 7 and 8, the capacitance element 2 is sized to have a sufficient margin relative to the vertical articulated robot 23 and the SCARA robot 25, and covers the vertical articulated robot 23 and the SCARA robot 25 with the respective hand parts 24, 26 protruding to the outside through the through-holes 2a. Therefore, even if the joints of the vertical articulated robot 23 and the SCARA robot 25 rotate, the capacitance element 2 deforms to match the shape of the robot. Even during this deformation, the capacitance of the capacitance element 2 does not change significantly unless another object H (see FIG. 1, for example a person) is brought close.

[0045] The capacitive element 2 can also be used as a cover for a mobile robot 27 as shown in FIG. 9. The mobile robot 27 includes a robot body 27a and wheels 27b for movement. The robot body 27a is provided with a drive unit for rotating the wheels 27b, and the mobile robot 27 moves by driving the wheels 27b. The mobile robot 27 has functions suited to its purpose, such as monitoring the surroundings, cleaning the floor, or serving food. The capacitive element 2 is attached to at least a part of the robot body 27a, for example, to a side surface. The approach of an object H (see FIG. 1) to the robot body 27a can be detected by a change in the electrostatic capacitance of the capacitive element 2.

[0046] In the above embodiment, the detection electrode 10 and the guard electrode 11 made of conductive threads, and the insulating film 12 made of insulating threads are attached to an adhesive to form the capacitive element 2. However, this is not limited to this. The capacitive element 2 may be formed by knitting or weaving a combination of conductive threads and insulating threads, so that a layer made of insulating threads is formed between two layers made of conductive threads.

[0047] Furthermore, when the object to be protected G is large, a cover for the entire object may be formed by connecting a plurality of capacitive elements 2. In this case, a detection circuit 3 is formed for each capacitive element 2. In this case, the capacitive elements 2 may be connected to each other with an adhesive or may be connected by sewing.

[0048] [summary] (1) As described above in detail, the capacitive element 2 according to this embodiment is a foldable sheet-like member including the conductive detection electrode 10, the conductive guard electrode 11, and the insulating film 12 made of an insulator, one surface of which is in close contact with one surface of the detection electrode 10 and the other surface of which is in close contact with one surface of the guard electrode 11. In this way, even if the object to be protected G is deformed, the capacitive element 2 can cover the object to be protected G while freely deforming in response to the deformation, and therefore can be attached to the deforming part for use.

[0049] (2) In the capacitive element 2 according to the present embodiment, the detection electrode 10 and the guard electrode 11 are formed by bonding or intertwining conductive threads. This makes it possible to bend the capacitive element 2 smoothly by bending the threads and deforming the gaps between the threads.

[0050] (3) In the capacitive element 2 according to the present embodiment, the insulating film 12 is an insulating cloth formed by bonding or intertwining insulating threads together. This makes it possible to easily bend the capacitive element 2 by bending the insulating cloth and deforming the gaps between the threads.

[0051] (4) In the capacitive element 2 according to the present embodiment, the insulating film 12 may be made of a flexible, foldable insulating material. In other words, it is not limited to an insulating cloth made of thread.

[0052] (5) In the capacitive element 2 according to the present embodiment, the insulating film 12 is configured to have a uniform thickness. This makes it possible to reduce variations in capacitance depending on the location where the object H is in proximity.

[0053] (6) In the capacitive element 2 according to the present embodiment, the detection electrode 10 and the guard electrode 11 are adhered to the insulating film 12. In this manner, the detection electrode 10 and the insulating film 12 are in close contact with each other, and the capacitive element 2 can be deformed while the guard electrode 11 and the insulating film 12 are kept in close contact with each other.

[0054] (7) In the capacitive element 2 according to the present embodiment, the detection electrode 10 and the guard electrode 11 may be sewn to the insulating film 12. By sewing them together, the capacitive element 2 can be used even in an environment where the use of an adhesive is undesirable.

[0055] (8) In the capacitive element 2 according to the present embodiment, the guard electrode 11 faces the object to be protected (with the guard electrode 11 facing inside) and functions as a cover that covers at least a part of the object to be protected G. In other words, the capacitive element 2 can be used as a cover that protects the object to be protected G.

[0056] (9) The proximity sensor 1 according to this embodiment may include a capacitive element 2 and a detection circuit 3 that detects the approach of an object H to a protection target G based on a change in the electrostatic capacitance of the capacitive element 2. This proximity sensor 1 may be used for any object G to be protected, such as a stationary object or a moving object.

[0057] (10) The robot according to this embodiment may include a robot body 27a of a mobile robot 27, a capacitive element 2 covering at least a portion of the robot body 27a as a protected object G, and a detection circuit 3 that detects the approach of an object H to the robot body 27a based on a change in the capacitance of the capacitive element 2.

[0058] (11) The human-collaborative robot 20 in this embodiment may include robot arms (20a-20e, 21a-21d, 22) having arm portion 21a, arm portion 21b, and joint portion 20b connecting arm portion 21a and arm portion 21b, a capacitive element 2 covering the robot arms (20a-20e, 21a-21d, 22) as objects to be protected, and a detection circuit 3 detecting the approach of an object H to the robot arm (20a-20e, 21a-21d, 22) based on a change in capacitance of the capacitive element 2.

[0059] (12) The proximity detection system according to the present embodiment includes a protection target G, a capacitive element 2 that covers at least a portion of the protection target G, and a detection circuit 3 that detects an object H approaching the protection target G based on a change in the electrostatic capacitance of the capacitive element 2. In this manner, the protection target G is not limited to a robot, and the system can be applied to any protection target G, including moving objects such as vehicles and drones, and stationary objects.

[0060] Various embodiments and modifications of the present invention are possible without departing from the broad spirit and scope of the present invention. The above-described embodiments are for the purpose of explaining the present invention and do not limit the scope of the present invention. That is, the scope of the present invention is indicated by the claims, not the embodiments. Various modifications made within the scope of the claims and the scope of the invention equivalent thereto are considered to be within the scope of the present invention. [Industrial Applicability]

[0061] The present invention can be applied to detecting objects. [Explanation of symbols]

[0062] 1 proximity sensor, 2 capacitance element, 2a through hole, 3 detection circuit, 3a connection terminal, 3b connection terminal, 10 detection electrode (first electrode cloth), 10a connection terminal, 11 guard electrode (second electrode cloth), 11a connection terminal, 12 insulating film, 13, 14 adhesive layer, 20 human collaborative robot, 20a base portion, 20b, 20c, 20d, 20e joint portion, 21a, 21b, 21c, 21d arm portion (first arm, second arm), 22 hand portion, 23 vertical multi-joint robot, 23a base portion, 23b, 23c arm portion, 24 hand portion, 25 SCARA robot, 25a base portion, 25b, 25c arm portion, 26 hand portion, 27 mobile robot, 27a robot body, 27b wheel, 50 proximity detection system, G protection target, H object

Claims

1. A first electrode cloth having electrical conductivity; A second electrode cloth having electrical conductivity; an insulating film made of an insulator, one surface of which is in close contact with one surface of the first electrode cloth and the other surface of which is in close contact with one surface of the second electrode cloth; A foldable sheet-like member, Capacitive element.

2. The first electrode cloth and the second electrode cloth are formed by bonding or intertwining conductive threads together. The capacitive element according to claim 1 .

3. The insulating film is an insulating cloth formed by bonding or intertwining insulating threads together. The capacitive element according to claim 1 .

4. The insulating film is made of a flexible, foldable insulating material. The capacitive element according to claim 1 .

5. The insulating film is configured to have a uniform thickness. The capacitive element according to claim 1 .

6. The first electrode cloth and the second electrode cloth are adhered to the insulating film. The capacitive element according to claim 1 .

7. The first electrode cloth and the second electrode cloth are sewn to the insulating cloth. The capacitive element according to claim 3 .

8. The second electrode cloth faces an object to be protected and functions as a cover for covering at least a part of the object to be protected. The capacitive element according to claim 1 .

9. A capacitive element according to claim 8 which covers at least a part of an object to be protected; a detection circuit that detects an object approaching the protection target based on a change in capacitance of the capacitive element; A proximity sensor comprising:

10. The robot body, The capacitive element according to claim 8 , which covers at least a part of the robot body as a protected object; a detection circuit that detects an object approaching the robot body based on a change in capacitance of the capacitive element; A robot comprising:

11. a robot arm having a first arm, a second arm, and a joint connecting the first arm and the second arm; The capacitive element according to claim 8 , which covers the robot arm as a protected object; a detection circuit that detects an object approaching the robot arm based on a change in capacitance of the capacitive element; A robot comprising:

12. The object of protection, The capacitive element according to claim 8 , which covers at least a part of the object to be protected; a detection circuit that detects an object approaching the protection target based on a change in capacitance of the capacitive element; A proximity detection system comprising:

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