Soft pole-climbing robot based on dielectric hydraulic driving and sensing and control method thereof

Abstract

The invention discloses a soft pole-climbing robot based on dielectric hydraulic driving and sensing and a control method of the soft pole-climbing robot, and belongs to the field of soft pole-climbing robots. The robot comprises a surrounding type dielectric hydraulic module and a stacked type dielectric hydraulic module. The surrounding type dielectric hydraulic module comprises an upper clamping device and a lower clamping device, and the stacked type dielectric hydraulic module comprises annular telescopic parts which are sequentially stacked from top to bottom. The upper clamp and the lower clamp can clamp the climbing pole when powered on and loosen the climbing pole when powered off. The stacked dielectric hydraulic module can be elongated when powered on and shortened when powered off. The robot can crawl in the rod direction by controlling on-off of circuits of the upper clamp holder, the lower clamp holder and the stacked dielectric hydraulic module. And meanwhile, deformation is fed back in real time through a capacitance self-sensing circuit, and accurate control over the crawling speed and position is achieved. The robot can solve the problem that a pneumatic pole-climbing robot depends on an external complex pneumatic system, so that the structure is heavy, and can be widely applied to pole piece climbing operation in a special environment.

Description

Technical Field

[0001] The present invention belongs to the field of soft pole-climbing robots, and particularly relates to a soft pole-climbing robot based on dielectric hydraulic drive and sensing and a control method thereof. Background Art

[0002] Most of the existing soft pole-climbing robots are driven by gas. It has good flexibility and adaptability, and is light in self-weight and low in manufacturing cost, so it has been widely used. For example, the Chinese invention patent with the application number 201710058195.9 discloses a pneumatic soft pole-climbing robot, including a soft robot body, an electromagnetic clamping device, a drive control system and a remote control device. This invention is constructed with soft materials, has strong environmental adaptability, can be applied to climbing inside or outside rod-shaped tubes, and can climb bent tubes to a certain extent. However, pneumatic drive often requires relying on heavy air compressors and complex pipeline systems, resulting in a relatively large overall structure; moreover, pneumatic robots usually cannot sense their own deformation amount, and external position sensors are needed to sense the deformation amount, and then realize closed-loop control of speed and position.

[0003] Therefore, there is an urgent need to find new actuation and sensing principles to solve this problem. Summary of the Invention

[0004] The purpose of the present invention is to overcome the defects in the prior art and provide a soft pole-climbing robot based on dielectric hydraulic drive and sensing and a control method thereof. The drive mode of the present invention avoids the problems in the prior art through a flexible electro-hydraulic coupling mechanism, and has the advantages of high power density, quietness, strong environmental adaptability, etc. This architecture is soft and fast, and the combination of the rapid deformation of the dielectric elastomer and the force amplification effect of the hydraulic system can significantly improve the driving force and movement efficiency. Compared with pneumatic drive, the dielectric hydraulic material structure of the present invention is more suitable for scenarios that require precise operation.

[0005] The specific technical solutions adopted by the present invention are as follows:

[0006] In the first aspect, the present invention provides a soft pole-climbing robot based on dielectric hydraulic drive and sensing, including a circumferential dielectric hydraulic module and a laminated dielectric hydraulic module;

[0007] The circumferential dielectric hydraulic module includes an upper gripper and a lower gripper; the inside of the upper gripper and the lower gripper are both filled with a first dielectric fluid, which can clamp the climbing pole when powered on and release the climbing pole when powered off through the zipper effect respectively; the top and bottom of the stacked dielectric hydraulic module are fixedly connected to the upper gripper and the lower gripper through an upper connecting plate and a lower connecting plate respectively; the stacked dielectric hydraulic module includes a number of annular telescopic members stacked in sequence from top to bottom; the inside of each annular telescopic member is filled with a second dielectric fluid, which can elongate and shorten up and down when powered on and shorten up and down when powered off through the zipper effect.

[0008] Preferably, the upper gripper and the lower gripper have the same structure and are symmetrically arranged up and down with the stacked dielectric hydraulic module as the center; the upper gripper and the lower gripper both include a number of clamping members, and the clamping members are connected in sequence to form an annular cavity for sleeving the climbing pole; a cavity is provided inside the first dielectric film shell of the clamping member, and the cavity is filled with a first dielectric fluid, and a first flexible electrode is provided on the first dielectric film shell located outside the annular cavity.

[0009] Preferably, both the upper connecting plate and the lower connecting plate are annular plates, and an opening for sleeving the climbing pole is provided in the middle.

[0010] Preferably, the upper gripper, the upper connecting plate, the stacked dielectric hydraulic module, the lower connecting plate and the lower gripper are coaxially arranged from top to bottom.

[0011] Preferably, the structures of the annular telescopic members are the same, and from the inside to the outside, they include an annular second flexible electrode and an annular second dielectric film shell; an opening for sleeving the climbing pole is provided in the middle of the second flexible electrode, and a cavity for containing the second dielectric fluid is provided inside the second dielectric film shell.

[0012] In a second aspect, the present invention provides a control system for a soft climbing pole robot using the dielectric hydraulic drive and sensing described in the first aspect, further including a capacitance self-sensing circuit and a power control circuit;

[0013] The capacitance self-sensing circuit is respectively connected to the first dielectric film shell and the second dielectric film shell, and is used for real-time monitoring of the capacitance changes of the first dielectric fluid and the second dielectric fluid, and transmitting the data to the power control circuit;

[0014] The power control circuit is connected to the capacitance self-sensing circuit, the first flexible electrode and the second flexible electrode, and is used for adjusting the electric field frequency applied to the first flexible electrode and the second flexible electrode according to the deformation signal fed back by the capacitance self-sensing circuit, and regulating the climbing speed of the robot by controlling the deformation of the circumferential dielectric hydraulic module and the stacked dielectric hydraulic module.

[0015] Preferably, the capacitance self-sensing circuit includes an operational amplifier A1, a measuring resistor R connected in sequence to form a path m, the equivalent circuit of the stacked dielectric hydraulic module and the grounding section containing the capacitor C for filtering noise and improving circuit stability t ;

[0016] The operational amplifier A1 is used to amplify the high-frequency low voltage V s ; The measuring resistor R m is used to obtain the measured voltage vector affected by the variable capacitor C a ; The equivalent circuit of the stacked dielectric hydraulic module includes the stacked dielectric hydraulic module capacitor C connected in sequence and the electrode resistance R a and the stacked dielectric hydraulic module impedance Z s to obtain the stacked dielectric hydraulic module capacitor C in real time through the high-frequency low voltage frequency f, and its formula is a a :

[0017]

[0018] where f is the high-frequency low voltage frequency of the sine wave generator, and the stacked dielectric hydraulic module impedance Z a is expressed as

[0019]

[0020] where and are the voltage drop and current amplitude at both ends of C a respectively; β is and the phase difference between, and β is obtained according to the following current identity and voltage identity:

[0021]

[0022] where is the node voltage vector, is the amplified high-frequency low voltage signal vector, is the measured voltage V m vector, is the current vector flowing through the stacked dielectric hydraulic module, is the current vector flowing through R m ; is the current vector flowing through the grounding section containing the capacitor C t ; is the DC high voltage vector and the vector difference between the node voltage vector, representing the voltage vector acting on the stacked dielectric hydraulic module; is the DC high voltage vector, is​​ The phase angle of is the phase angle of.

[0023] Preferably, the power control circuit includes a control chip, a programmable power supply, a high-voltage amplifier, a normally closed relay, a first normally open relay, and a second normally open relay;

[0024] The control chip is connected to the programmable power supply. The programmable power supply includes a first channel of 6V, a second channel of 8V, and a third channel of 6V. The first channel is respectively connected to the normally closed relay and the first normally open relay. The second channel is respectively connected to the normally closed relay, the first normally open relay, and the second normally open relay after passing through the high-voltage amplifier. The third channel is connected to the second normally open relay. The normally closed relay is connected to the lower gripper through a third port. The first normally open relay is connected to the upper gripper through a first port. The second normally open relay is connected to the stacked dielectric hydraulic module through a second port.

[0025] In a third aspect, the present invention provides a control method using the control system described in the second aspect, specifically as follows:

[0026] Connect the upper gripper, the upper connecting plate, the stacked dielectric hydraulic module, the lower connecting plate, and the lower gripper from top to bottom in sequence and sleeved on the climbing pole, and then connect the capacitance self-sensing circuit and the power control circuit;

[0027] In the non-powered state, the first dielectric liquid in the first dielectric film shell and the second dielectric liquid in the second dielectric film shell are evenly distributed, and the upper gripper, the stacked dielectric hydraulic module, and the lower gripper are all in an initial flat state;

[0028] When a high-voltage electric field is applied, the Maxwell stress causes the first flexible electrode and the second flexible electrode to generate a zipper-like closure. The first dielectric liquid and the second dielectric liquid are pressured to flow to the side of the film shell where the electrode is not covered, resulting in the expansion of the film shell on the side where the electrode is not covered, thereby clamping the climbing pole by the upper gripper and the lower gripper, and stretching the stacked dielectric hydraulic module up and down. At the same time, since the bottom of the upper gripper and the lower gripper are respectively connected and fixed to the stacked dielectric hydraulic module through the upper connecting plate and the lower connecting plate, therefore, the upper gripper and the lower gripper generate a gradient zipper-like closure from the fixed end to the free end;

[0029] When the robot climbs upward, in the initial state, the upper gripper and the stacked dielectric hydraulic module are powered off and remain in a relaxed state, while the lower gripper is powered on and remains in a clamped state. Subsequently, the stacked dielectric hydraulic module is powered on through the power control circuit to drive the upper and lower elongation of each annular telescopic member. Then, the upper gripper is powered on and clamped to the climbing pole through the power control circuit. At the same time, the lower gripper is controlled to be powered off to release the climbing pole. Subsequently, the stacked dielectric hydraulic module is powered off through the power control circuit to drive the upper and lower shortening of each annular telescopic member. At the same time, the lower gripper rises following the bottom of the stacked dielectric hydraulic module. When the lower gripper rises to the set position, the power-on states of the upper gripper and the lower gripper are switched simultaneously, so that the robot returns to the initial state to be climbed. Repeat the operation to make the robot climb to the required position.

[0030] Compared with the prior art, the present invention has the following beneficial effects:

[0031] The present invention utilizes the zipper effect of the dielectric hydraulic actuator bag (i.e., the dielectric film shell) when a high voltage is applied. The upper gripper and the lower gripper can grip the climbing pole when powered on and release the climbing pole when powered off. The stacked dielectric hydraulic module (i.e., the intermediate telescopic structure) can elongate when powered on and shorten when powered off. By controlling the on-off of the circuits of the upper gripper, the lower gripper and the stacked dielectric hydraulic module, the robot can be made to crawl along the pole. At the same time, the deformation is real-time feedback through the capacitive self-sensing circuit to achieve precise control of the crawling speed and position. This soft-body climbing pole robot can solve the problem in the prior art that the pneumatic climbing pole robot relies on an external complex pneumatic system, resulting in a bulky structure, and can be widely applied to the climbing operation of poles in special environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a schematic diagram of the soft-body climbing pole robot and its control system of the present invention;

[0033] Figure 2 It is an exploded view of the structural parts of the soft-body climbing pole robot of the present invention;

[0034] Figure 3 It is a schematic diagram before (a) and after (b) the circumferential dielectric hydraulic module in the soft-body climbing pole robot of the present invention is powered on;

[0035] Figure 4 It is a schematic diagram of the structure before (a) and after (b) and the cross-section (c) of the stacked dielectric hydraulic module in the soft-body climbing pole robot of the present invention;

[0036] Figure 5 It is a schematic diagram of the capacitive self-sensing circuit in the soft-body climbing pole robot of the present invention;

[0037] Figure 6 It is a power control circuit diagram of the soft-body climbing pole robot of the present invention;

[0038] Figure 7 This is a schematic cross-sectional view of the crawling process of the soft pole-climbing robot of the present invention.

[0039] In the figure: the circumferential dielectric hydraulic module 1, the upper gripper 11, the lower gripper 12, the upper connecting plate 21, the lower connecting plate 22, the stacked dielectric hydraulic module 3, the first flexible electrode 1-1, the second flexible electrode 3-1, the first dielectric liquid 1-2, the second dielectric liquid 3-2, the first dielectric film shell 1-3, the second dielectric film shell 3-3, the pole 4, the capacitance self-sensing circuit 5, the power control circuit 6, the control chip 6-1, the programmable power supply 6-2, the high-voltage amplifier 6-3, the normally closed relay 6-4, the first normally open relay 6-5, the second normally open relay 6-6. Specific embodiments

[0040] To make the above objects, features, and advantages of the present invention more obvious and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to fully understand the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the connotation of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed below. The technical features in each embodiment of the present invention can be combined correspondingly without conflict.

[0041] In the description of the present invention, it should be understood that when an element is considered to be "connected" to another element, it can be directly connected to the other element or indirectly connected, that is, there is an intermediate element. On the contrary, when an element is referred to as being "directly" connected to another element, there is no intermediate element.

[0042] In the description of the present invention, it should be understood that the terms "first" and "second" are only used for the purpose of distinguishing descriptions, and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of the features.

[0043] In the description of the present invention, it should be understood that the expression "thin" in the components "the first dielectric film shell 1-3, the second dielectric film shell 3-3" is only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the thickness limitation of the indicated technical features.

[0044] In the description of the present invention, it should be understood that the expression "high voltage" in the component "high-voltage amplifier" refers to the relative high-voltage value in the same circuit, and cannot be understood as indicating or implying relative importance or implicitly indicating the pressure limitation of the indicated technical features.

[0045] In the present invention, for the convenience of description, taking Figure 1 the up-and-down position of the device in the present invention as the reference, the position adjacent to the climbing pole is taken as the "inner side", and the position far from the climbing pole is taken as the "outer side". Without special instructions, the positional relationship of the present invention is described according to this.

[0046] The present invention provides a soft robotic climber based on dielectric hydraulic drive and sensing. The movement of the robot mainly depends on the alternating contraction and extension of each joint, and through the action of an electric field, the dielectric fluid undergoes controllable stretching or bending deformation, thereby simulating the peristaltic crawling of a biological soft body climbing a pole.

[0047] As Figure 2 shown, the soft robotic climber of the present invention mainly includes two modules: a circumferential dielectric hydraulic module 1 and a stacked dielectric hydraulic module 3. Among them, the circumferential dielectric hydraulic module 1 includes an upper gripper 11 and a lower gripper 12, which are used to grip the climbing pole to realize the fixed connection between the upper and lower parts of the robot and the climbing pole; the stacked dielectric hydraulic module 3 is used to realize the elongation or shortening of the up-and-down height, and realize the up-and-down movement of the whole robot along the climbing pole.

[0048] Next, in combination with the accompanying drawings, the implementation forms of the two modules will be described in detail.

[0049] In the device of the present invention, the upper gripper 11 and the lower gripper 12 are both internally filled with a first dielectric fluid 1-2, which can respectively grip the climbing pole 4 when powered on and release the climbing pole 4 when powered off through the zipper effect.

[0050] As a preferred embodiment of the present invention, as Figure 3 shown, the upper gripper 11 and the lower gripper 12 have the same structure and are symmetrically arranged up and down with the stacked dielectric hydraulic module 3 as the center. The upper gripper 11 and the lower gripper 12 both include a plurality of clamping members (four in this embodiment), and each clamping member is sequentially connected in a ring to form an annular cavity for sleeving the climbing pole 4. A cavity is provided inside the first dielectric film shell 1-3 of the clamping member, and the cavity is filled with a first dielectric fluid 1-2. A first flexible electrode 1-1 is provided on the first dielectric film shell 1-3 located outside the annular cavity.

[0051] In the device of the present invention, the top of the stacked dielectric hydraulic module 3 is fixedly connected to the upper gripper 11 through an upper connecting plate 21, and the bottom of the stacked dielectric hydraulic module 3 is fixedly connected to the lower gripper 12 through a lower connecting plate 22. The stacked dielectric hydraulic module 3 includes a plurality of annular telescopic members stacked in sequence from top to bottom. Each annular telescopic member is internally filled with a second dielectric fluid 3-2, which can elongate up and down when powered on and shorten up and down when powered off through the zipper effect.

[0052] As a preferred embodiment of the present invention, as Figure 4As shown, the structures of the annular telescopic members (seven annular telescopic members in the present invention) are all the same. From the inside to the outside, they include an annular second flexible electrode 3-1 and an annular second dielectric film shell 3-3. An opening for sleeving the climbing rod 4 is provided in the middle of the second flexible electrode 3-1, and a cavity for containing the second dielectric liquid 3-2 is provided inside the second dielectric film shell 3-3.

[0053] In actual use, through the dielectric hydraulic drive technology, after the first flexible electrode 1-1 and the second flexible electrode 3-1 outside the first dielectric film shell 1-3 and the second dielectric film shell 3-3 are affected by the electric field, pressure will be generated to push the first dielectric liquid 1-2 and the second dielectric liquid 3-2 to flow towards the part without the covered electrode. As Figure 3 and Figure 4 shown, a comparison diagram before and after the upper gripper 11, the lower gripper 12 and the stacked dielectric hydraulic module 3 are powered on is presented. In the non-powered state, the circumferential dielectric hydraulic module 1 and the stacked dielectric hydraulic module 3 remain in a straight state, and the first dielectric liquid 1-2 and the second dielectric liquid 3-2 between the first flexible electrode 1-1 and the second flexible electrode 3-1 are evenly distributed. When a high-voltage electric field is applied, the Maxwell stress causes the first flexible electrode 1-1 to produce a "zipper-like" closure. The first dielectric liquid 1-2 is compressed and flows towards the side without the covered electrode, resulting in the expansion of the unit on the side without the covered electrode, thereby enabling the upper gripper 11 and the lower gripper 12 to clamp the climbing rod 4. When a high-voltage electric field is applied, the Maxwell stress causes the second flexible electrode 3-1 to produce a "zipper-like" closure. The second dielectric liquid 3-2 is compressed and flows towards the side without the covered electrode, resulting in the expansion of the unit on the side without the covered electrode, thereby enabling the intermediate telescopic structure 4 to elongate. Additionally, since one side of the upper gripper 11 and the lower gripper 12 are respectively connected and fixed to the upper connecting plate 21 and the lower connecting plate 22, therefore, the upper gripper 11 and the lower gripper 12 produce a gradient "zipper-like" closure from the fixed end to the free end.

[0054] As a preferred embodiment of the present invention, both the upper connecting plate 21 and the lower connecting plate 22 are annular plates, and an opening for sleeving the climbing rod 4 is provided in the middle.

[0055] As a preferred embodiment of the present invention, the upper gripper 11, the upper connecting plate 21, the stacked dielectric hydraulic module 3, the lower connecting plate 22 and the lower gripper 12 are coaxially arranged from top to bottom.

[0056] As a preferred embodiment of the present invention, both the first dielectric film shell 1-3 and the second dielectric film shell 3-3 are made of flexible deformable materials, such as biaxially oriented polypropylene (BOPP) film, polydimethylsiloxane (PDMS) film, polyethylene (PE) film, etc., so that the circumferential dielectric hydraulic module 1 and the stacked dielectric hydraulic module 3 can deform under the action of the electric field and then complete the crawling motion.

[0057] AsFigure 1 As shown in the figure, based on the above-mentioned software climbing rod robot, the present invention also provides a control system, which further includes a capacitance self-sensing circuit 5 and a power control circuit 6. Among them, the capacitance self-sensing circuit 5 is respectively connected to the first dielectric film shell 1-3 and the second dielectric film shell 3-3, and is used to monitor the capacitance changes of the first dielectric liquid 1-2 and the second dielectric liquid 3-2 in real time, and transmit the data to the power control circuit 6; the power control circuit 6 is connected to the capacitance self-sensing circuit 5, the first flexible electrode 1-1 and the second flexible electrode 3-1, and is used to adjust the electric field frequency applied to the first flexible electrode 1-1 and the second flexible electrode 3-1 according to the deformation signal fed back by the capacitance self-sensing circuit 5, and regulate the climbing speed of the robot by controlling the deformation of the surrounding dielectric hydraulic module 1 and the stacked dielectric hydraulic module 3.

[0058] As a preferred embodiment of the present invention, as Figure 5 shown, the capacitance self-sensing circuit 5 includes a low-frequency high-voltage V o , a high-frequency sine low-voltage V s , a measuring resistor R m , an operational amplifier A1, and an equivalent circuit of the stacked dielectric hydraulic module, etc. Among them, the operational amplifier A1 is used to amplify the high-frequency low-voltage V s . The measuring resistor R m is used to obtain the amplitude and phase of the measured voltage vector a affected by the variable capacitance C . The equivalent circuit of the stacked dielectric hydraulic module includes a stacked dielectric hydraulic module capacitor C a and an electrode resistor R s connected in sequence. Through the impedance Z a of the stacked dielectric hydraulic module and the high-frequency low-voltage frequency f, the capacitance C a of the stacked dielectric hydraulic module 3 can be obtained in real time. The formula is

[0059]

[0060] In the formula, f is the high-frequency low-voltage frequency of the sine wave generator, and the impedance Z a of the stacked dielectric hydraulic module is expressed as

[0061]

[0062] In the formula, and are the voltage drop and current amplitude across C a respectively. β is the phase difference between and , and β is obtained according to the following current identity and voltage identity:

[0063]

[0064] In the formula, is the node voltage vector, is the amplified high-frequency low-voltage voltage signal vector, is the measured voltage V m vector, is the current vector flowing through the stacked dielectric hydraulic module, is the current vector flowing through R m ; is the current vector flowing through the grounding section containing the capacitor C t ; C t is used to filter out noise and improve the circuit stability; is the DC high voltage vector and the vector difference between the node voltage vector, representing the voltage vector acting on the stacked dielectric hydraulic module; is the DC high voltage vector.

[0065] First, the amplitude and phase angle of are obtained by discrete Fourier transform, and the amplitude and reference phase of are known to be 0. Thus, the phase and amplitude of can be determined according to (11-1); since the capacitor voltage lags the capacitor current by 90 degrees, the phase of can be used to obtain the phase of , and the phase of is the same as the phase of . Thus, the phase and amplitude of can be determined according to (11-2); since is a DC voltage, its phase is 0, and the phase and amplitude of can be determined according to (11-3). Finally, the phase difference between and

[0066]

[0067] In the formula, is 's phase angle, is 's phase angle.

[0068] The capacitance value increases with the increase of the electrode closing area. The phase difference β, as well as and After substituting the parameters such as into (10) and then into (9), the real-time capacitance value can be obtained, thereby reflecting the telescopic amount of the intermediate telescopic structure 3. To precisely control the crawling speed of the pole-climbing robot, it can be controlled according to the telescopic amount and the driving frequency. For example, when fast crawling is required, the telescopic frequency and the driving voltage can be increased to achieve it; when slow crawling is required, the telescopic frequency and the driving voltage can be decreased to achieve it.

[0069] As a preferred embodiment of the present invention, as Figure 6 shown, the power control circuit 6 includes a control chip 6-1, a programmable power supply 6-2, a high-voltage amplifier 6-3, a normally closed relay 6-4, a first normally open relay 6-5, and a second normally open relay 6-6.

[0070] Among them, the control chip 6-1 is connected to the programmable power supply 6-2. The programmable power supply 6-2 includes a first channel of 6V, a second channel of 8V, and a third channel of 6V. The first channel is respectively connected to the normally closed relay 6-4 and the first normally open relay 6-5. The second channel is respectively connected to the normally closed relay 6-4, the first normally open relay 6-5, and the second normally open relay 6-6 after passing through the high-voltage amplifier 6-3. The third channel is connected to the second normally open relay 6-6. The normally closed relay 6-4 is connected to the lower gripper 12 through the third port, and the third port controls the lower gripper 12. The first normally open relay 6-5 is connected to the upper gripper 11 through the first port, and the first port controls the upper gripper 11. The second normally open relay 6-6 is connected to the stacked dielectric hydraulic module 3 through the second port, and the second port controls the stacked dielectric hydraulic module 3.

[0071] In practical applications, in the initial state, the upper gripper and the stacked dielectric hydraulic module are in a relaxed state, while the lower gripper is in a tightened state. Then, the normally open relay 6-6 at the second port is controlled to close to drive the stacked dielectric hydraulic module to extend. Next, the normally open relay 6-5 at the first port is controlled to close to drive the upper gripper to clamp, and at the same time, the normally closed relay 6-4 at the third port is controlled to open to release the lower gripper. Finally, the normally open relay 6-6 at the second port is controlled to open to shorten the stacked dielectric hydraulic module, and at the same time, the normally closed relay 6-4 at the third port is controlled to open to release the lower gripper, so that it rises with the lower connecting plate. When the lower gripper reaches a certain position, the tightening and loosening states of the upper and lower grippers are switched simultaneously, so that the pole-climbing robot returns to the initial state. Table 1 below shows the states of the upper and lower grippers and the stacked dielectric hydraulic module in one cycle. In the table, 0 represents the power-off state, 1 represents the power-on state, and at the same time corresponds to Figure 7 the state of the pole-climbing robot in

[0072] Table 1

[0073] First port 0 0 1 1 0 Second port 0 1 1 0 0 Third port 1 1 0 0 1

[0074] Based on the above control system of the present invention, a control method is also provided, and the method is as follows:

[0075] Connect the upper gripper 11, the upper connecting plate 21, the stacked dielectric hydraulic module 3, the lower connecting plate 22 and the lower gripper 12 in sequence from top to bottom and sleeved on the climbing rod 4, and then connect the capacitance self-sensing circuit 5 and the power control circuit 6.

[0076] In the non-energized state, the first dielectric liquid 1-2 in the first dielectric film shell 1-3 and the second dielectric liquid 3-2 in the second dielectric film shell 3-3 are evenly distributed, and the upper gripper 11, the stacked dielectric hydraulic module 3 and the lower gripper 12 are all in the initial straight state.

[0077] When a high-voltage electric field is applied, the Maxwell stress causes the first flexible electrode 1-1 and the second flexible electrode 3-1 to produce a zipper-like closure. The first dielectric liquid 1-2 and the second dielectric liquid 3-2 are pressured to flow to the side of the film shell where the electrode is not covered, resulting in the expansion of the film shell on the side where the electrode is not covered, thereby clamping the climbing rod 4 by the upper gripper 11 and the lower gripper 12, and causing the stacked dielectric hydraulic module 3 to elongate up and down. At the same time, since the bottom of the upper gripper 11 and the lower gripper 12 are respectively connected and fixed to the stacked dielectric hydraulic module 3 through the upper connecting plate 21 and the lower connecting plate 22, therefore, the upper gripper 11 and the lower gripper 12 produce a gradual zipper-like closure from the fixed end to the free end.

[0078] When the robot climbs upward, in the initial state, the upper gripper 11 and the stacked dielectric hydraulic module 3 are powered off and remain in a relaxed state, and the lower gripper 12 is powered on and remains in a clamped state. Subsequently, the stacked dielectric hydraulic module 3 is powered on through the power control circuit 6 to drive the annular telescopic members to elongate up and down. Then, the upper gripper 11 is powered on and clamps the climbing rod 4 through the power control circuit 6. At the same time, the lower gripper 12 is controlled to be powered off to release the climbing rod 4. Subsequently, the stacked dielectric hydraulic module 3 is powered off through the power control circuit 6 to drive the annular telescopic members to shorten up and down. At the same time, the lower gripper 12 rises following the bottom of the stacked dielectric hydraulic module 3. When the lower gripper 12 rises to the set position, the power-on states of the upper gripper 11 and the lower gripper 12 are switched simultaneously, so that the robot returns to the initial state waiting to climb. Repeat the operation to make the robot climb to the required position.

[0079] Similarly, when the robot moves downward (i.e., descends), in the initial state, the lower gripper 12 and the stacked dielectric hydraulic module 3 are powered off and remain in a relaxed state, while the upper gripper 11 is powered on and remains in a clamped state. Subsequently, the stacked dielectric hydraulic module 3 is powered on through the power control circuit 6 to drive the annular telescopic members to extend and contract up and down. Then, the lower gripper 12 is powered on and clamps the climbing rod 4 through the power control circuit 6. At the same time, the upper gripper 11 is controlled to be powered off to release the climbing rod 4. Subsequently, the stacked dielectric hydraulic module 3 is powered off through the power control circuit 6 to drive the annular telescopic members to shorten up and down. At the same time, the upper gripper 11 rises following the top of the stacked dielectric hydraulic module 3. When the upper gripper 11 descends to the set position, the power-on states of the upper gripper 11 and the lower gripper 12 are switched simultaneously, so that the robot returns to the initial state waiting for descent. Repeat the operation to make the robot descend to the required position.

[0080] The embodiments described above are only a preferred solution of the present invention, but they are not intended to limit the present invention. Those of ordinary skill in the relevant technical field can still make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, all technical solutions obtained by adopting the means of equivalent replacement or equivalent transformation fall within the protection scope of the present invention.

Claims

1. A soft pole-climbing robot based on dielectric hydraulic drive and sensing, characterized in that It includes a wrap-around dielectric hydraulic module (1) and a stacked dielectric hydraulic module (3); The wrap-around dielectric hydraulic module (1) includes an upper clamp (11) and a lower clamp (12); the first dielectric fluid (1-2) is installed inside both the upper clamp (11) and the lower clamp (12), and can clamp the climbing rod (4) when powered on and release the climbing rod (4) when powered off through the zipper effect respectively; the top and bottom of the stacked dielectric hydraulic module (3) are fixedly connected to the upper clamp (11) and the lower clamp (12) through an upper connecting plate (21) and a lower connecting plate (22) respectively; the stacked dielectric hydraulic module (3) includes a number of annular telescopic members stacked in sequence from top to bottom; the second dielectric fluid (3-2) is installed inside each annular telescopic member, and can elongate and shorten up and down when powered on and shorten up and down when powered off through the zipper effect.

2. The dielectric-hydraulic-driven and sensing-based soft pole-climbing robot according to claim 1, wherein The structures of the upper clamp (11) and the lower clamp (12) are the same, and they are symmetrically arranged up and down with the stacked dielectric hydraulic module (3) as the center; both the upper clamp (11) and the lower clamp (12) include a number of clamping members, and each clamping member is connected in sequence to form an annular cavity for sleeving the climbing rod (4); a cavity is provided inside the first dielectric film shell (1-3) of the clamping member, the first dielectric fluid (1-2) is installed in the cavity, and a first flexible electrode (1-1) is provided on the first dielectric film shell (1-3) located outside the annular cavity.

3. The soft pole-climbing robot based on dielectric hydraulic drive and sensing according to claim 1, characterized in that Both the upper connecting plate (21) and the lower connecting plate (22) are annular plates, and an opening for sleeving the climbing rod (4) is provided in the middle.

4. The soft pole-climbing robot based on dielectric hydraulic drive and sensing according to claim 1, wherein The upper clamp (11), the upper connecting plate (21), the stacked dielectric hydraulic module (3), the lower connecting plate (22) and the lower clamp (12) are coaxially arranged from top to bottom.

5. The dielectric-hydraulic-driven and sensing-based soft pole-climbing robot according to claim 2, wherein The structures of each annular telescopic member are the same, and include an annular second flexible electrode (3-1) and an annular second dielectric film shell (3-3) from inside to outside; an opening for sleeving the climbing rod (4) is provided in the middle of the second flexible electrode (3-1), and a cavity for containing the second dielectric fluid (3-2) is provided inside the second dielectric film shell (3-3).

6. A control system for the dielectric hydraulic drive and sensing-based soft pole-climbing robot according to claim 5, characterized in that, It also includes a capacitance self-sensing circuit (5) and a power control circuit (6); The capacitance self-sensing circuit (5) is respectively connected to the first dielectric film shell (1-3) and the second dielectric film shell (3-3), and is used to monitor the capacitance changes of the first dielectric fluid (1-2) and the second dielectric fluid (3-2) in real time, and transmit the data to the power control circuit (6); The power control circuit (6) is connected to the capacitance self-sensing circuit (5), the first flexible electrode (1-1) and the second flexible electrode (3-1), and is used to adjust the electric field frequency applied to the first flexible electrode (1-1) and the second flexible electrode (3-1) according to the deformation signal fed back by the capacitance self-sensing circuit (5), and regulate the climbing speed of the robot by controlling the deformation of the wrap-around dielectric hydraulic module (1) and the stacked dielectric hydraulic module (3).

7. The control system according to claim 6, characterized in that, The capacitance self-sensing circuit (5) includes an operational amplifier A1, a measurement resistor R that are connected in sequence to form a path m , a stacked dielectric hydraulic module equivalent circuit, and a grounding section containing a capacitor C for filtering out noise and improving circuit stability t ; The operational amplifier A1 is used to amplify the high-frequency low voltage V s ; the measuring resistor R m is used to obtain the measurement voltage vector affected by the variable capacitor C a in terms of amplitude and phase; the equivalent circuit of the stacked dielectric hydraulic module includes the stacked dielectric hydraulic module capacitor C connected in sequence and the electrode resistor R a , and the capacitance C s is obtained in real time through the impedance Z a of the stacked dielectric hydraulic module and the high-frequency low voltage frequency f, and its formula is a ​ where f is the high-frequency low-voltage frequency of the sine-wave generator, and the impedance Z of the stacked dielectric hydraulic module a is expressed as Wherein, and are respectively the voltage drop and current amplitude at both ends of C a ; β is and the phase difference therebetween, and β is obtained according to the following current identity and voltage identity: Wherein, is the node voltage vector, is the amplified high-frequency low-voltage voltage signal vector, is the measured voltage V m vector, is the current vector flowing through the stacked dielectric hydraulic module, is the current vector flowing through R m ; is the current vector flowing through the grounding section containing the capacitor C t ; is the DC high voltage vector and the node voltage vector difference, representing the voltage vector acting on the stacked dielectric hydraulic module; is the DC high voltage vector, is 's phase angle, is 's phase angle.

8. The control system according to claim 6, characterized in that, The power control circuit (6) includes a control chip (6-1), a programmable power supply (6-2), a high-voltage amplifier (6-3), a normally closed relay (6-4), a first normally open relay (6-5), and a second normally open relay (6-6); The control chip (6-1) is connected to the programmable power supply (6-2). The programmable power supply (6-2) includes a first channel of 6V, a second channel of 8V, and a third channel of 6V. The first channel is respectively connected to the normally closed relay (6-4) and the first normally open relay (6-5). The second channel is respectively connected to the normally closed relay (6-4), the first normally open relay (6-5), and the second normally open relay (6-6) after passing through the high-voltage amplifier (6-3). The third channel is connected to the second normally open relay (6-6). The normally closed relay (6-4) is connected to the lower gripper (12) through a third port. The first normally open relay (6-5) is connected to the upper gripper (11) through a first port. The second normally open relay (6-6) is connected to the stacked dielectric hydraulic module (3) through a second port.

9. A control method using the control system according to claim 6, characterized in that, Specifically as follows: Connect the upper gripper (11), the upper connecting plate (21), the stacked dielectric hydraulic module (3), the lower connecting plate (22), and the lower gripper (12) in sequence from top to bottom and sleeved on the climbing rod (4), and then connect the capacitance self-sensing circuit (5) and the power control circuit (6); In the non-powered state, the first dielectric fluid (1-2) in the first dielectric film shell (1-3) and the second dielectric fluid (3-2) in the second dielectric film shell (3-3) are evenly distributed, and the upper gripper (11), the stacked dielectric hydraulic module (3), and the lower gripper (12) are all in an initial straight state; When a high-voltage electric field is applied, the Maxwell stress causes the first flexible electrode (1-1) and the second flexible electrode (3-1) to produce a zipper-like closure. The first dielectric fluid (1-2) and the second dielectric fluid (3-2) are pressured to flow to the side of the film shell where the electrode is not covered, resulting in the expansion of the film shell on the side where the electrode is not covered, thereby clamping the climbing rod (4) by the upper gripper (11) and the lower gripper (12), and causing the stacked dielectric hydraulic module (3) to elongate up and down. At the same time, since the bottom of the upper gripper (11) and the lower gripper (12) are respectively connected and fixed to the stacked dielectric hydraulic module (3) through the upper connecting plate (21) and the lower connecting plate (22), a gradient zipper-like closure is generated from the fixed end to the free end of the upper gripper (11) and the lower gripper (12); When the robot climbs upward, in the initial state, the upper gripper (11) and the stacked dielectric hydraulic module (3) are powered off and remain in a relaxed state, and the lower gripper (12) is powered on and remains in a clamped state. Subsequently, the stacked dielectric hydraulic module (3) is powered on through the power control circuit (6) to drive the upper and lower elongation of each annular telescopic member; Next, the upper gripper (11) is powered on and clamps the climbing pole (4) through the power control circuit (6). At the same time, the lower gripper (12) is powered off to release the climbing pole (4). Subsequently, the laminated dielectric hydraulic module (3) is powered off through the power control circuit (6), driving the upper and lower shortening of each annular telescopic member. At the same time, the lower gripper (12) rises following the bottom of the laminated dielectric hydraulic module (3). When the lower gripper (12) rises to the set position, the power-on states of the upper gripper (11) and the lower gripper (12) are switched simultaneously, so that the robot returns to the initial state waiting for climbing. Repeat the operation to make the robot climb to the required position.

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