Capacitive Robot Functional Head for Simple Proximity Detection
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Solution Overview
Problem
Existing robots, particularly collaborative robots, face challenges in efficiently and cost-effectively integrating capacitive detection systems due to the complexity of their functional heads, which often have limited space for sensors and are expensive to modify.
Innovation Solution
A capacitive detection system is implemented using the functional head as a capacitive electrode, with electrical insulation and alternating potentials to measure coupling capacitance between the head and surrounding objects, allowing for simple, inexpensive, and robust detection without the need for additional electrodes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If proximity sensors or sensitive surface elements are fastened to the functional head, then capacitive detection capability is improved, but device complexity and manufacturing cost increase significantly
Solution Approach 1:
The functional head, originally designed for a specific task (gripping, processing, or inspecting objects), is made to serve dual purposes: maintaining its primary function while simultaneously acting as a capacitive detection electrode. This eliminates the need for separate detection components, reducing complexity while preserving detection capability
Solution Approach 2:
The detection function is merged with the functional head structure itself. The functional head's conductive parts are electrically isolated from the robot body and polarized to serve as capacitive electrodes, combining the tool's mechanical function with electrical detection function in a single integrated component
2Reliability
If proximity sensors or sensitive surface elements are fastened to the functional head, then capacitive detection capability is improved, but manufacturing cost and integration time increase
Solution Approach 1:
The functional head serves multiple purposes simultaneously - its original mechanical function and capacitive detection function. This eliminates the need for separate detection components, reducing complexity while preserving detection capability
Solution Approach 2:
The functional head's own conductive structure is utilized as the detection electrode, eliminating the need for external sensors. The existing structural components serve the dual purpose of mechanical function and electrical detection, simplifying manufacturing and integration
3Measurement precision
If the robot is equipped with dedicated capacitive electrodes, then detection precision is improved, but adaptability to different functional heads deteriorates
Solution Approach 1:
The solution works universally across different functional heads by utilizing each head's inherent conductive structure. Since each functional head becomes its own detection electrode, the system adapts to any tool without requiring dedicated electrodes, maintaining both precision and versatility
Solution Approach 2:
The detection system is segmented to work independently with each functional head. The electrical isolation means allow each interchangeable head to be electrically separated from the robot body and configured as an independent capacitive electrode, enabling detection precision while maintaining adaptability across different tools
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This solution enables easy detection of object approach and contact, is applicable to existing robots with minimal modifications, and allows for independent intervention on interchangeable functional heads, providing a cost-effective and time-efficient capacitive detection capability.
Implementation Method 1
at least one electrical insulator in order to electrically insulate at least one part, called sensitive part, of said functional head from the rest of said robot
Implementation Method 2
at least one means for electrically polarizing said sensitive part by a first alternating electrical potential (Vg), different from a ground potential (M)
Implementation Method 3
at least one guard polarized at a second alternating potential (VG), called guard potential, identical or substantially identical to the first alternating electrical potential (VG) at a given working frequency, in order to electrically guard said sensitive part
Implementation Method 4
at least one electronics, called detection electronics, for measuring a signal with relating to a coupling capacitance (Ceo), called electrode-object capacitance, between said sensitive part and a surrounding object
Data Source
AI summary
A robot includes a body on which is mounted a functional head also including a capacitive detector, including:at least one electrical insulator in order to electrically insulate the functional head;at least one apparatus for electrically polarizing the functional head at a first alternating electrical potential (Vg), different from a ground potential;at least one guard polarized at an alternating guard potential (VG) identical to the first alternating electrical potential; andat least one electronics, called detection electronics, for measuring a signal relating to a coupling capacitance, called electrode-object capacitance, between the sensitive part and a surrounding object.