Electronic skin main module and sub-module, system, mechanical arm and robot

Abstract

The invention relates to an electronic skin main module, sub-module and system, a mechanical arm and a robot. The electronic skin main module is characterized in that a main module interface part is additionally arranged on the basis of basic part electrodes and a detection circuit board which form electronic skin, therefore, the main module interface part can output an electric signal of an approaching distance or distance change between a conductor and the electrodes detected by the circuit board to external equipment such as a robot. Through the main module interface part, the electronic skin main module forms modular electronic skin equipment, the electronic skin equipment can be conveniently and detachably mounted on the external equipment through the standardized main module interface part, so that the electronic skin equipment can be conveniently formed into independent equipment to be mounted at a certain position of the external equipment, therefore, the external equipment has the function of detecting approaching of the conductor, and takes an active avoidance measure according to the electric signal of the conductor approaching the external equipment. Therefore, the position is prevented from interfering with the conductor when the external equipment works.

Description

technical field [0001] The invention relates to a main module, a submodule, a system, a mechanical arm and a robot of an electronic skin, and belongs to the technical field of robot control. Background technique [0002] At present, more and more mechanical equipment such as robots, sweepers, balance cars, bumper cars or gantry cranes are equipped with electronic skins, so that when a human body such as a human hand approaches or touches the surface of the mechanical equipment, it takes active avoidance actions. To avoid interference with the movement of the human body and to avoid harm to the human body. When some mechanical equipment is working, some exposed parts are limited by the traditional electronic skin installation and no electronic skin is installed. For example, when a robot is working, the end of the tool such as the gripper is not equipped with electronic skin, and these parts are also in contact. The opportunity of the human body, which also brings about the ...

AI Technical Summary

Problems solved by technology

[0003] The technical problem to be solved in the present invention is to solve the problem that the electronic skin of the existing robot is only installed on

Images