Dielectric elastomer actuator and crawling robot

Abstract

The present application relates to the technical field of dielectric elastomer, and provides a dielectric elastomer driver and a crawling robot, the dielectric elastomer driver comprising a first dielectric elastomer, an elastic structural member and a connecting rod assembly.The elastic structural member is arranged in a spaced manner with the first dielectric elastomer; one end of the connecting rod assembly is connected to the first dielectric elastomer and the other end is connected to the elastic structural member; wherein the spacing between the first dielectric elastomer and the elastic structural member is less than the length of the connecting rod assembly; the first dielectric elastomer drives the connecting rod assembly to perform oscillation movement under the power supply of an oscillation circuit.Under the power frequency of the first dielectric elastomer, the connecting rod assembly obtains periodic vibration, and the dielectric elastomer driver of the present application has a simple overall structure and can solve the problem that the driving power of the self-propelled capsule robot is limited.

Description

Technical Field

[0001] This invention relates to the field of dielectric elastomer technology, and in particular to a dielectric elastomer actuator and a crawling robot having the dielectric elastomer actuator. Background Technology

[0002] Due to factors such as dietary changes, environmental pollution, and mental stress, an increasing number of people are suffering from gastrointestinal diseases. These diseases include colorectal cancer, intestinal tumors, digestive disorders, and inflammatory bowel disease. These diseases cannot be reliably diagnosed using indirect methods such as X-rays. On the other hand, direct methods such as endoscopy are more reliable than indirect methods and are therefore more favored. 。

[0003] Traditional endoscopes, such as colonoscopes and gastroscopes, require considerable structural strength to operate, making them quite rigid and causing significant pain to patients during use. Furthermore, their limited length from any opening makes it difficult to monitor certain areas of the gastrointestinal tract, including much of the small intestine. In addition, traditional endoscopes require specialized personnel to operate, necessitating extensive training.

[0004] These issues have driven the development of wireless capsule endoscopes. Due to their wireless nature, capsule endoscopes offer advantages in reducing patient pain and discomfort. However, they must be passively traversed through the gastrointestinal tract via peristalsis. While passive capsule endoscopy technology is in a mature stage of development, many unavoidable drawbacks limit its application. For example, it cannot remain stationary for diagnostic purposes and may lead to capsule retention or other complications.

[0005] Therefore, to more accurately diagnose digestive system diseases, a drive system needs to be added to optimize the current capabilities of capsule endoscopy. This need has led to research on the movement of microrobots in the gastrointestinal tract, resulting in the development of self-propelled capsule robots. Crawling motion, commonly used in robotics, is mainly achieved through the dual-anchor crawling principle or the anisotropic friction principle. The dual-anchor crawling principle mimics the movement of inchworms in nature, using the sequential attachment and release of anchoring mechanisms and the elongation / contraction of the body to achieve directional movement. The anisotropic friction principle typically relies on the asymmetric friction force obtained by the inclined bristles on the robot's bottom, where the direction of lower friction is the robot's forward direction. Despite the advancements in crawling robot designs, significant limitations remain, affecting their reliability in medical applications. Dual-anchor crawling requires a dedicated anchoring mechanism, greatly increasing the design and manufacturing complexity of the system; the anisotropic friction principle typically uses flexible bristles that are susceptible to contamination and wear.

[0006] In summary, it is urgent to solve the problem of driving power for self-propelled capsule robots. Summary of the Invention

[0007] The purpose of this application is to provide a dielectric elastomer actuator, which aims to solve the problem of limited driving power in existing self-propelled capsule robots.

[0008] To achieve the above objectives, the technical solution adopted in the embodiments of this application is as follows:

[0009] This application provides a dielectric elastomer actuator, comprising:

[0010] First dielectric elastomer;

[0011] An elastic structural component, wherein the elastic structural component is disposed at a distance from the first dielectric elastomer;

[0012] A connecting rod assembly, one end of which is connected to the first dielectric elastomer and the other end of which is connected to the elastic structural member;

[0013] Wherein, the distance between the first dielectric elastomer and the elastic structural member is less than the length of the connecting rod assembly; the first dielectric elastomer drives the connecting rod assembly to oscillate under the power supply of the oscillation circuit.

[0014] The beneficial effects of the embodiments of this application are as follows: The dielectric elastomer actuator provided in this application operates as follows: In the initial stage, since the length of the connecting rod assembly is greater than the distance between the first dielectric elastomer and the elastic structure, both the first dielectric elastomer and the elastic structure are in an expanded deformation state. Under the interaction force between the first dielectric elastomer and the elastic structure, the connecting rod assembly is in a force balance state, that is, in a static state. In the power output stage, the first dielectric elastomer is energized. At this time, the membrane tension of the first dielectric elastomer decreases, thus reducing the force on the connecting rod assembly. While the force exerted by the elastic structure on the connecting rod assembly remains unchanged, the force balance state of the connecting rod assembly is broken, and it moves towards the first dielectric elastomer. In this way, the connecting rod assembly completes a vibration cycle. Therefore, at the energizing frequency of the first dielectric elastomer, the connecting rod assembly obtains periodic vibration. The dielectric elastomer actuator of this application has a simple overall structure and can solve the problem of limited driving power for self-propelled capsule robots.

[0015] In one embodiment, the elastic structural member is a second dielectric elastomer, and the first dielectric elastomer and the second dielectric elastomer drive the connecting rod assembly to oscillate under alternating power supply.

[0016] In one embodiment, the connecting rod assembly includes a rod body and a first support plate and a second support plate respectively disposed at opposite ends of the rod body, wherein the first support plate is connected to the first dielectric elastomer and the second support plate is connected to the elastic structural member.

[0017] In one embodiment, the center point of the first support disk coincides with the center point of the first dielectric elastomer; and / or, the center point of the second support disk coincides with the center point of the second dielectric elastomer.

[0018] In one embodiment, in the oscillation direction of the connecting rod assembly, the projected area of ​​the first dielectric elastomer is equal to the projected area of ​​the elastic structure.

[0019] In one embodiment, in the oscillation direction of the connecting rod assembly, the projected area of ​​the first dielectric elastomer is not equal to the projected area of ​​the elastic structure.

[0020] In one embodiment, the dielectric elastomer driver further includes a first clamping member for securing the first dielectric elastomer and a second clamping member for securing the elastic structural member.

[0021] In one embodiment, the distance between the first clamp and the second clamp is adjustable.

[0022] Secondly, this application also provides a crawling robot, including a housing, a first impact portion disposed within the housing, and a dielectric elastomer actuator as described above. The dielectric elastomer actuator is disposed within the housing, and the connecting rod assembly driven by the dielectric elastomer abuts against the first impact portion during oscillating motion to move the housing in a first impact direction.

[0023] The beneficial effects of the embodiments of this application are as follows: The crawling robot provided by this application has a simple overall structure and is more suitable for miniaturization design, based on the above-mentioned dielectric elastic actuator.

[0024] In one embodiment, the crawling robot further includes a second impact portion disposed within the housing, the second impact portion being disposed opposite to the first impact portion, and the connecting rod assembly driven by the dielectric elastomer abutting against the second impact portion during oscillating motion to move the housing toward a second impact direction, the first impact direction being opposite to the second impact direction. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 A cross-sectional view of a dielectric elastomer actuator provided in an embodiment of the present invention;

[0027] Figure 2 This is a schematic diagram of the dielectric elastomer actuator in a static state provided in an embodiment of the present invention;

[0028] Figure 3 This is a schematic diagram of the dielectric elastomer actuator in its working state according to an embodiment of the present invention;

[0029] Figure 4 This is a schematic diagram of the structure of the crawling robot provided in an embodiment of the present invention;

[0030] Figure 5 This is another structural schematic diagram of the crawling robot provided in an embodiment of the present invention.

[0031] The following are the labeling elements in the figure:

[0032] 100. Dielectric elastomer actuator;

[0033] 10. First dielectric elastomer; 20. Elastic structural component; 30. Connecting rod assembly; 31. Rod body; 32. First support plate; 33. Second support plate; 41. First clamping member; 42. Second clamping member;

[0034] 200, shell; 201, first impact part; 202, second impact part. Detailed Implementation

[0035] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0036] In the description of this invention, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0037] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0038] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0039] Please refer to Figures 1 to 3 The dielectric elastomer actuator 100 provided in this embodiment includes a first dielectric elastomer 10, an elastic structural member 20, and a connecting rod assembly 30. The first dielectric elastomer 10 is an elastomer material with a high dielectric constant, which can change its shape or volume under external electrical stimulation, thereby generating stress and strain, and converting electrical energy into mechanical energy. Here, the first dielectric elastomer 10 can be a membrane structure or a columnar structure, etc. The elastic structural member 20 is also an elastic structure, that is, it can deform under the action of external force. Here, the shape, structure, and material of the elastic structural member 20 are not limited. For example, the elastic structural member 20 can be a membrane structure such as rubber or polyurethane; of course, the elastic structural member 20 can also be a dielectric elastomer. The connecting rod assembly 30 is used to connect the first dielectric elastomer 10 and the elastic structural member 20.

[0040] The elastic structural member 20 and the first dielectric elastomer 10 are disposed at intervals. Understandably, a gap is formed between the elastic structural member 20 and the first dielectric elastomer 10. Here, when both the elastic structural member 20 and the first dielectric elastomer 10 are film structures, the gap between them is the distance between the plane containing the elastic structural member 20 and the plane containing the first dielectric elastomer 10. Of course, the two planes can be parallel or form an acute angle. Alternatively, when the elastic structural member 20 is a columnar structure and the first dielectric elastomer 10 is a film structure, the gap between them is the distance between the plane containing the end face of the elastic structural member 20 and the plane containing the first dielectric elastomer 10.

[0041] One end of the connecting rod assembly 30 is connected to the first dielectric elastomer 10, and the other end is connected to the elastic structural member 20. Understandably, the shape and connection position of the connecting rod assembly 30 can be adjusted depending on the spacing between the first dielectric elastomer 10 and the elastic structural member 20. For example, when the first dielectric elastomer 10 and the elastic structural member 20 are arranged parallel to each other, the opposite ends of the connecting rod assembly 30 are perpendicular to the plane containing the first dielectric elastomer 10 and the plane containing the elastic structural member 20, respectively. Of course, when an angle is formed between the plane containing the first dielectric elastomer 10 and the plane containing the elastic structural member 20, the opposite ends of the connecting rod assembly 30 also form acute angles with their respective planes.

[0042] The distance between the first dielectric elastomer 10 and the elastic structural member 20 is less than the length of the connecting rod assembly 30. Understandably, the distance between the first dielectric elastomer 10 and the elastic structural member 20 refers to the minimum distance between the plane containing the end face of the first dielectric elastomer 10 facing the elastic structural member 20 and the plane containing the elastic structural member 20 facing the first dielectric elastomer 10. The length of the connecting rod assembly 30 refers to its axial length. When the distance between the first dielectric elastomer 10 and the elastic structural member 20 has the above-described relationship with the length of the connecting rod assembly 30, in the initial state, both the first dielectric elastomer 10 and the elastic structural member 20 are in an expanded deformation state. For example, when both the first dielectric elastomer 10 and the elastic structural member 20 are membrane structures, they protrude outwards along the axial direction of the connecting rod assembly 30. Furthermore, the connecting rod assembly 30 is in a state of force equilibrium under the combined clamping action of the first dielectric elastomer 10 and the elastic structural member 20.

[0043] The first dielectric elastomer 10, powered by the oscillation circuit, drives the connecting rod assembly 30 to oscillate. Understandably, when the first dielectric elastomer 10 is charged, its film tension decreases, reducing the force exerted by the first dielectric elastomer 10 on the connecting rod assembly 30. With the force exerted by the elastic structure 20 on the connecting rod assembly 30 remaining constant, the force balance of the connecting rod assembly 30 is broken, and it moves towards the first dielectric elastomer 10. Thus, when the first dielectric elastomer 10 is powered by the oscillation circuit, the connecting rod assembly 30 undergoes periodic oscillation to achieve power output. Here, the power output cycle of the connecting rod assembly 30 is related to the power supply cycle of the first dielectric elastomer 10.

[0044] The dielectric elastomer actuator 100 provided in this application operates as follows: In the initial stage, since the length of the connecting rod assembly 30 is greater than the distance between the first dielectric elastomer 10 and the elastic structural member 20, both the first dielectric elastomer 10 and the elastic structural member 20 are in an expanded deformation state. Under the interaction force between the first dielectric elastomer 10 and the elastic structural member 20, the connecting rod assembly 30 is in a force balance state, that is, in a static state. In the power output stage, the first dielectric elastomer 10 is energized. At this time, the film tension of the first dielectric elastomer 10 decreases, thus reducing the force on the connecting rod assembly 30. While the force exerted by the elastic structural member 20 on the connecting rod assembly 30 remains unchanged, the force balance state of the connecting rod assembly 30 is broken, and it moves towards the first dielectric elastomer 10. In this way, the connecting rod assembly 30 completes a vibration cycle. Therefore, at the energizing frequency of the first dielectric elastomer 10, the connecting rod assembly 30 obtains periodic vibration. The dielectric elastomer actuator 100 of this application has a simple overall structure and can solve the problem of limited driving power for self-propelled capsule robots.

[0045] In one embodiment, the elastic structural member 20 is a second dielectric elastomer. The first dielectric elastomer 10 and the second dielectric elastomer drive the connecting rod assembly 30 to oscillate under alternating power supply. Understandably, in this embodiment, the elastic structural member 20 is also a dielectric elastomer. To distinguish it from the first dielectric elastomer 10, the elastic structural member 20 can be a second dielectric elastomer. Here, the dielectric constant of the second dielectric elastomer can be the same as that of the first dielectric elastomer 10. Thus, in the power output state, the amount of movement of the connecting rod assembly 30 towards the first dielectric elastomer 10 and the amount of movement towards the second dielectric elastomer are the same. Furthermore, based on the ability of the second dielectric elastomer to convert kinetic energy into mechanical energy, the power output cycle of the connecting rod assembly 30 is shortened, and the output frequency is higher. Of course, the dielectric constant of the second dielectric elastomer may also be different from that of the first dielectric elastomer 10. In this case, under the power output state, the amount of movement of the connecting rod assembly 30 toward the first dielectric elastomer 10 and the amount of movement toward the second dielectric elastomer are different, which facilitates differentiated design.

[0046] Furthermore, the alternating power supply of the first dielectric elastomer 10 and the second dielectric elastomer means that when the first dielectric elastomer 10 is energized, the second dielectric elastomer is de-energized, and vice versa. Therefore, under the alternating power supply, the first dielectric elastomer 10 and the second dielectric elastomer alternately elastically expand and contract, thereby achieving periodic force on the opposite ends of the connecting rod assembly 30, that is, periodic oscillation along its own axial direction.

[0047] For example, as shown in the figure, both the first dielectric elastomer 10 and the second dielectric elastomer are film structures, and the planes containing the two dielectric elastomers are arranged parallel to each other. They are made of the same material, have the same size, and the same dielectric constant. In the initial state, the first dielectric elastomer 10 and the second dielectric elastomer are in the same expanded state. In the power output state, the first dielectric elastomer 10 and the second dielectric elastomer are alternately powered, and they elastically expand and contract alternately. The connecting rod assembly 30 oscillates periodically along its own axial direction. Of course, the power supply cycles of the first dielectric elastomer 10 and the second dielectric elastomer may partially overlap; that is, at one or several moments, both the first dielectric elastomer 10 and the second dielectric elastomer are in a powered state, and the duration of power supply is different.

[0048] In other embodiments, both the first dielectric elastomer 10 and the second dielectric elastomer are film structures, and the planes containing the two dielectric elastomers are arranged parallel to each other. However, they are made of different materials and have different dielectric constants. Thus, the first dielectric elastomer 10 and the second dielectric elastomer can be energized simultaneously, and the energization time can also be the same. Due to the difference in their surface tensions, even when both the first dielectric elastomer 10 and the second dielectric elastomer are energized, the connecting rod assembly 30 can still swing along its own axial direction.

[0049] Please refer to Figure 1 In one embodiment, the connecting rod assembly 30 includes a rod body 31 and a first support plate 32 and a second support plate 33 respectively disposed at opposite ends of the rod body 31. The first support plate 32 is connected to the first dielectric elastomer 10, and the second support plate 33 is connected to the elastic structural member 20. Understandably, the first support plate 32 can increase the contact area between the rod body 31 and the first dielectric elastomer 10, and the second support plate 33 can increase the contact area between the rod body 31 and the elastic structural member 20, thereby reducing the degree of damage caused by the rod body 31 to the first dielectric elastomer 10 or the elastic structural member 20. Meanwhile, the placement position and shape of the first support plate 32 on the first dielectric elastomer 10, and the placement position and shape of the second support plate 33 on the elastic structural member 20, are not limited here.

[0050] For example, both the first support disk 32 and the second support disk 33 are circular support disks, and the two circular support disks are respectively located at the center of the first dielectric elastomer 10 and the center of the elastic structural member 20. Of course, the first support disk 32 and the second support disk 33 can also be support disks of other shapes, such as polygons. And, their positions can also be at non-central locations.

[0051] Please refer to Figure 2 and Figure 3 In one embodiment, the center point of the first support disk 32 coincides with the center point of the first dielectric elastomer 10; and / or, the center point of the second support disk 33 coincides with the center point of the elastic structural member 20. Understandably, the first support disk 32 and the second support disk 33 serve as the force transmission medium between the rod 31 and the first dielectric elastomer and the elastic structural member 20, respectively. When the geometric center of the first support disk 32 coincides with the geometric center of the first dielectric elastomer 10, all or most of the elastic force can be transmitted to the rod 31; similarly, when the geometric center of the second support disk 33 coincides with the geometric center of the elastic structural member 20, all or most of the mechanical energy can be transmitted to the rod 31.

[0052] For example, when the center point of the first support disk 32 coincides with the center point of the first dielectric elastomer 10, and the center point of the second support disk 33 coincides with the center point of the elastic structural member 20, the extension line of the axis of the rod 31 passes through the center point of the first support disk 32 and the center point of the second support disk 33. In this way, all the mechanical energy of the first dielectric elastomer 10 or the elastic structural member 20 can be transferred to the rod 31.

[0053] In one embodiment, in the oscillation direction of the connecting rod assembly 30, the projected area of ​​the first dielectric elastomer 10 is equal to the projected area of ​​the elastic structural member 20. Understandably, the first dielectric elastomer 10 and the elastic structural member 20 have the same shape and outline, and their center points coincide, thus the axis of the rod 31 coincides with the line connecting their center points. This reduces the loss of mechanical energy during transmission.

[0054] In some embodiments, the projected area of ​​the first dielectric elastomer 10 is not equal to the projected area of ​​the elastic structure 20 in the oscillation direction of the connecting rod assembly 30. Understandably, the shape and profile of the first dielectric elastomer 10 and the elastic structure 20 differ to adapt to different driving applications.

[0055] Please refer to Figure 1 In one embodiment, the dielectric elastomer driver 100 further includes a first clamping member 41 for fixing the first dielectric elastomer 10 and a second clamping member 42 for fixing the elastic structural member 20. Understandably, the first clamping member 41 is used to fix the first dielectric elastomer 10 to achieve a taut state, and similarly, the second clamping member 42 is used to achieve a taut state for the second dielectric elastomer. Here, the first clamping member 41 and the second clamping member 42 can have the same structure; that is, the clamping member includes two clamping rings disposed opposite each other. The first dielectric elastomer 10 or the elastic structural member 20 is fixed between the two clamping rings by the upper and lower clamping action of the two clamping rings, and the middle region of the clamping rings is the taut portion of the first dielectric elastomer 10 or the elastic structural member 20.

[0056] In one embodiment, the distance between the first clamping member 41 and the second clamping member 42 is adjustable. Understandably, the positions of the first clamping member 41 and the second clamping member 42 can be adjusted according to actual usage requirements; that is, the distance between them is not fixed.

[0057] For example, the first clamping member 41 and / or the second clamping member 42 are slidably connected to the peripheral device mounting bracket, such that the first clamping member 41 can slide relative to the second clamping member 42 on the peripheral device mounting bracket; or, the second clamping member 42 can slide relative to the first clamping member 41 on the peripheral device mounting bracket; or, both the first clamping member 41 and the second clamping member 42 can slide towards or away from each other on the peripheral device mounting bracket.

[0058] For example, a plurality of telescopic support rods are provided between the first clamping member 41 and the second clamping member 42, that is, the distance between the first clamping member 41 and the second clamping member 42 is achieved by adjusting the length of the telescopic support rods.

[0059] Please refer to Figure 4 Secondly, embodiments of this application also provide a crawling robot, including a housing 200, a first impact part 201, and the aforementioned dielectric elastomer actuator 100. The housing 200 serves as a carrier for the first impact part 201 and the dielectric elastomer actuator 100. The dielectric elastomer actuator 100 serves as a power source for the movement of the housing 200.

[0060] Specifically, the first impact part 201 is disposed within the housing 200, and the dielectric elastomer actuator 100 is placed within the housing 200. The connecting rod assembly 30 driven by the dielectric elastomer abuts against the first impact part 201 during oscillating motion, causing the housing 200 to move in the first impact direction. Understandably, the dielectric elastomer actuator 100 outputs power through the connecting rod assembly 30, and the mechanical energy output by the connecting rod assembly 30 impacts the first impact part 201. Under the action of inertia, the housing 200 moves along the impact direction of the connecting rod assembly 30, which is the first impact direction.

[0061] For example, the first impact part 201 may be a block-shaped or plate-shaped impact structure capable of receiving the impact of the connecting rod assembly 30. At the same time, the plane of the impact structure should be perpendicular to the impact direction of the connecting rod assembly 30, so that the mechanical energy of the connecting rod assembly 30 can be transferred to the first impact part 201 as much as possible.

[0062] For example, the first impact section 201 includes an impact block and a buffer connected to the impact block. The impact block faces the connecting rod assembly 30, and the end of the buffer away from the impact block is connected to the housing 200. Here, the buffer can absorb the impact energy of the connecting rod assembly 30 and reduce the impact of the impact block on the housing 200.

[0063] The crawling robot provided in this application, based on the aforementioned dielectric elastic actuator, has a simple overall structure and is more suitable for miniaturization design.

[0064] Please refer to Figure 5In one embodiment, the crawling robot further includes a second impact portion 202 disposed within the housing 200. The second impact portion 202 is disposed opposite to the first impact portion 201. A connecting rod assembly 30 driven by a dielectric elastomer abuts against the second impact portion 202 during oscillating motion, causing the housing 200 to move in a second impact direction, where the first and second impact directions are opposite. It is understood that the first impact portion 201 and the second impact portion 202 may have the same shape and structure. The connecting rod assembly 30 oscillates between the first impact portion 201 and the second impact portion 202. That is, when the connecting rod assembly 30 impacts the first impact portion 201, the housing 200 moves along the first impact direction, and when the connecting rod assembly 30 impacts the second impact portion 202, the housing 200 moves along the second impact direction.

[0065] It should be noted that the connecting rod assembly 30 does not alternately impact the first impact part 201 and the second impact part 202. When the housing 200 moves along the first impact direction, the connecting rod assembly 30 only impacts the first impact part 201; when the housing 200 moves in the opposite direction along the second abutment, the connecting rod assembly 30 only impacts the second impact part 202.

[0066] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A dielectric elastomer actuator, characterized by, The dielectric elastomer driver comprises: a first dielectric elastomer; an elastic structure, which is spaced apart from the first dielectric elastomer; a connecting rod assembly, one end of which is connected to the first dielectric elastomer and the other end of which is connected to the elastic structure; wherein the distance between the first dielectric elastomer and the elastic structure is less than the length of the connecting rod assembly; and the first dielectric elastomer drives the connecting rod assembly to perform oscillating movement under the power supply of an oscillation circuit.

2. The dielectric elastomer driver of claim 1, wherein: The elastic structure is a second dielectric elastomer, and the first dielectric elastomer and the second dielectric elastomer drive the connecting rod assembly to perform oscillating movement under the power supply in an alternating manner.

3. The dielectric elastomer driver of claim 1, wherein: The connecting rod assembly comprises a rod body, a first support disc and a second support disc respectively arranged at opposite ends of the rod body, the first support disc is connected to the first dielectric elastomer, and the second support disc is connected to the elastic structure.

4. The dielectric elastomer driver of claim 3, wherein: The center point of the first support disc coincides with the center point of the first dielectric elastomer; and / or the center point of the second support disc coincides with the center point of the elastic structure.

5. The dielectric elastomer driver of claim 2, wherein: In the oscillating direction of the connecting rod assembly, the projected area of the first dielectric elastomer is equal to the projected area of the elastic structure.

6. The dielectric elastomer driver of claim 2, wherein: In the oscillating direction of the connecting rod assembly, the projected area of the first dielectric elastomer is not equal to the projected area of the elastic structure.

7. The dielectric elastomer driver of any one of claims 1 to 6, wherein: The dielectric elastomer driver further comprises a first clamping member for fixing the first dielectric elastomer and a second clamping member for fixing the elastic structure.

8. The dielectric elastomer driver of claim 7, wherein: The distance between the first clamping member and the second clamping member is adjustable.

9. A crawling robot characterized by: The crawling robot comprises a shell, a first impact portion arranged in the shell, and the dielectric elastomer driver according to any one of claims 1 to 8, the dielectric elastomer driver is arranged in the shell, and the connecting rod assembly of the dielectric elastomer driver abuts against the first impact portion in the oscillating movement to drive the shell to move in a first impact direction.

10. The crawling robot according to claim 9, characterized in that: The crawling robot further comprises a second impact portion arranged in the shell, the second impact portion is arranged opposite to the first impact portion, and the connecting rod assembly of the dielectric elastomer driver abuts against the second impact portion in the oscillating movement to drive the shell to move in a second impact direction, the first impact direction and the second impact direction are opposite.

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