Telescopic device and robot with electronic skin functionality

Abstract

The present invention relates to a telescopic device and robot with electronic skin functionality. The telescopic device comprises a fixed sleeve and at least one sliding sleeve slidably engaged with the fixed sleeve, and is fitted with a first actuator for driving the sliding sleeve to extend or retract, wherein at least one side wall of each sleeve is provided with two detection electrodes arranged in the direction of extension and retraction, and the inside of each sleeve is provided with a processing module, a switch array and a capacitance-to-digital conversion circuit coupled with the processing module, the capacitance-to-digital conversion circuit on each sleeve being coupled with each electrode on said sleeve by means of a corresponding switch array. The telescopic device is provided with a distance measurement sensor for measuring the distance of extension of the sliding sleeve; the distance measurement sensor is coupled with the processing modules, and the processing modules are mutually coupled, thereby selectively acquiring, on the basis of the output of the distance measurement sensor, a capacitance value of an electrode which is not nested within the sleeve.

Description

A telescopic device and robot with electronic skin function Technical Field

[0001] The present invention relates to the field of robots, and in particular to a telescopic device and a robot with contact and / or proximity sensing. Background Art

[0002] Robots are complex, highly precise, and tightly coupled systems. Their operational flexibility has long been a key concern for industrial applications. However, operator safety has always been a key concern during robotic operations. Preventing collisions and injuries to the human body is crucial for robotic operations.

[0003] Capacitance detection technology has advantages such as ease of layout, structure, and cost. In particular, the existing mature capacitance-to-digital conversion circuit (CDC), such as DAI7142 and ADI7147, uses a Δ-Σ modulation method to directly convert the measured capacitance value into a digital value by repeatedly charging and discharging the measured capacitance and comparing it with a reference capacitance (see: US Patent Number: 5,134,401). This can increase the measurement sensitivity of the capacitance to the 1ff level, easily meeting the measurement system's requirements for capacitance measurement sensitivity. At the same time, it also has the characteristic of being immune to stray capacitance. In particular, the design of these chips has multiple channels, making the circuit design simple and convenient, thereby effectively reducing costs and installation difficulty. Therefore, they are favored in the implementation of robot collision avoidance.

[0004] After extensive research, we found that the implementation of capacitive electronic skin for robot collision prevention can be divided into three categories:

[0005] (1) Sense the proximity or contact of an object in the form of self-capacitance

[0006] For example, patent document 202110581850.5 discloses that a robotic arm obtains approach sensing signals or even contact sensing signals of obstacles through monitoring data of electronic skin and then avoids them. The electronic skin detects the two plates of a capacitor formed by the electrodes on the robotic arm and the obstacles. The approach or contact of the obstacle causes the self-capacitance between the two plates to change, thereby achieving detection.

[0007] Patent document 202220470898.9 discloses an electronic skin, a robotic arm and a robot. The electronic skin includes a sheet electrode. The sheet electrode and the adjacent conductor form a self-capacitance. The proximity or contact of the conductor is detected by the change of self-capacitance to prevent the robotic arm from colliding.

[0008] (2) Mutual capacitance form

[0009] For example, JP7251262B2 forms a mutual capacitance type capacitive sensor by providing electrodes 321 and 322 on the arms. Compared with self-capacitance detection of object proximity, it can detect human approach or contact with higher accuracy and is less susceptible to external environmental influences.

[0010] (3) Self-capacitance and mutual capacitance forms

[0011] For example, PCT / US2016 / 050870 discloses a method for controlling a robotic arm. By providing a set of electrodes in each of two or more arm segments, a controller implements self-capacitance and mutual-capacitance sensing technologies to measure capacitance, or the capacitance across two or more arm segments within a single sampling period, thereby detecting objects nearby and / or in contact with the arm. Self-capacitance offers the advantage of long detection distance, while mutual capacitance offers the advantage of precision. The combination of the two yields superior performance.

[0012] On the other hand, home service robots are a new application field and environment for robots, and have been listed as one of the key development areas. It is hoped that robots will not only be used in industry but also enter people's home lives.

[0013] Robots can be categorized into rotary drive and linear drive types. In industrial applications, due to the large force required for the operation, rotary drive is generally used. The rotary drive structure is shown in the above patent, and the motion trajectory is similar to the motion of human joints. The electronic skin setting method has been described above, and it is already a relatively mature solution in the industry. Since home service robots are a new development direction, most teams are currently developing home service robots in an anthropomorphic direction. The robots use a rotary drive method to form joints similar to those of the human body to achieve anthropomorphism. However, anthropomorphic robots are limited by complex joint design, volume, and cost, and are still a long way from being integrated into users' daily home lives.

[0014] Regarding linear-drive robots, US20210170583A1 proposes a mobile operating robot that performs objective tasks in a human environment. It intends to construct an XZ-axis linear motion system through a linear drive method, and complement the Y-axis movement capability with a bottom mobile base to achieve the purpose of simplification and lightness, and is expected to enter home life relatively quickly. However, linear-drive robots, especially telescopic robots, have problems with the setting of tactile electronic skin. Specifically, the telescopic arm of the telescopic robot is a sliding sleeve relationship of multiple segments. For each sleeve, as with the rotary robot, the electrode is laid out as a whole. When the sleeve is fully extended, capacitance detection can be achieved. However, when the sleeve is half-extended or partially extended, the detection electrode partially sinks into the adjacent sleeve. The covering of the electrode by the adjacent sleeve will introduce a large parasitic capacitance, which ultimately leads to poor sensitivity of electrode detection and inaccurate perception of the proximity or contact of objects. Summary of the Invention

[0015] The purpose of the present invention is to provide a hardware structure that can accurately realize tactile perception (proximity perception and / or contact perception) of robot extension and contraction, especially multi-tube sliding extension and contraction, for realizing tactile electronic skin perception of the telescopic robot.

[0016] To achieve the purpose, a telescopic device with an electronic skin function is provided, wherein the telescopic device includes a fixed sleeve and at least one sliding sleeve slidably engaged with the fixed sleeve, and is equipped with a first actuator for driving the sliding sleeve to extend or retract; at least two detection electrodes are arranged on at least one side wall of each sleeve along the telescopic direction, and each sleeve is equipped with a processing module, a switch array and a capacitance-to-digital conversion circuit coupled with the processing module. The capacitance-to-digital conversion circuit on the sleeve is coupled to each electrode on the sleeve through the corresponding switch array; the telescopic device is equipped with a distance detection sensor for detecting the extension distance of the sliding sleeve, the distance detection sensor is coupled with the processing module, and the processing modules are coupled to each other for selectively obtaining the capacitance value of the electrode not nested in the sleeve based on the output of the distance detection sensor.

[0017] The telescopic device of the present invention realizes tactile perception under the sliding and telescopic operation of multiple sleeves of a robot, with high detection accuracy and strong sensitivity. Each sleeve is integrated with chips such as a CDC and a processing module. The analog signal transmission line from the electrode to the CDC is confined to each sleeve. Signal transmission between sleeves utilizes coupling between processing modules, such as a bus or wireless routing, and transmits digital quantities, avoiding the introduction of parasitic capacitance.

[0018] In the present invention, the sleeves should be understood to be sleeved one by one in sequence.

[0019] In the present invention, the distance detection sensor can be implemented in various ways, such as laser, infrared, ultrasonic, etc. As an improvement, it can be implemented in a visual manner. In this case, the distance detection sensor is configured as a camera, and each sleeve end is provided with an identifier for camera positioning, such as a QR code. Since robots are basically equipped with a camera on their heads for visual needs, the existing camera can be reused for distance detection. In combination with the positioning identifier, distance detection can be achieved conveniently and at low cost.

[0020] Alternatively, considering that the robot may operate in a dark environment where insufficient light may affect visual distance detection, another improved solution is to use electrodes to cost-effectively and conveniently detect the extension distance. Specifically, the remaining sleeves, except for the outermost sleeve, are referred to as the inner sleeve. The distance detection sensor may include at least one electrode pair arranged on the sidewall of the inner sleeve. The electrode pair is configured to sense the extension distance of the sleeve. The two electrodes in the electrode pair are asymmetrically arranged relative to the projected area of ​​the sleeve. The capacitance-to-digital conversion circuit on the inner sleeve couples the two electrodes in the electrode pair on the sleeve. When the sleeve is extended, due to the asymmetry of the two electrodes in the electrode pair, the areas covered by the adjacent sleeve are different. The self-capacitance is correlated with the covered area. The self-capacitance of the two electrodes can be used to reflect the respective covered areas, and the extended length of the sleeve can be calculated using the covered area ratio.

[0021] Considering that each sleeve also contains different mechanical and circuit structures, the dielectric constant of the sleeve body is not uniformly distributed, but rather non-uniform in most cases. When only one electrode pair is used for distance detection, the non-uniform dielectric distribution can easily affect the accuracy of distance detection. Therefore, based on the above-mentioned improvement, at least two electrode pairs are further provided on the sidewall of each inner sleeve, and each electrode pair is arranged along the corresponding inner sleeve sidewall along the extension direction. During distance detection, the capacitance values ​​of each electrode pair on the inner sleeve are differentiated for each two adjacent segments. Based on the differential results, the position of the electrode pair on which the end edge of the adjacent inner sleeve is located is determined. Then, based on the self-capacitance ratio of the two electrodes in the electrode pair where the end edge is located, the extension distance of the inner sleeve is determined. To facilitate computing power, rolling differentials can be performed in pairs along the extension direction. On the one hand, differentials are used to remove environmental interference. On the other hand, the difference in the capacitance effect of each segment of the electrode pair due to coverage and uncovering is large enough to overcome the interference caused by surface dielectric non-uniformity. Therefore, based on the differential results, it is possible to accurately determine which segment of the electrode pair the end edge of the adjacent sleeve is within. At this time, the self-capacitance ratio of the segment of the electrode pair can be taken to determine the more specific position of the end edge within the electrode pair. Since the area of ​​the segment of the electrode pair is reduced, the influence of dielectric non-uniformity on it is reduced, so even the accuracy of position detection within the segment of the electrode pair can be improved. More preferably, the above-mentioned method of differentiating the capacitance values ​​of each segment of the electrode pair on the inner sleeve for each adjacent segment can be further set to: connect the two electrodes in each segment of the electrode pair on the inner sleeve in parallel to form a large electrode, obtain the self-capacitance of each segment of the large electrode, and differentiate the self-capacitance of the two adjacent segments of the large electrode; or connect the two electrodes in each segment of the electrode pair on the inner sleeve in parallel to form a large electrode, obtain the mutual capacitance of the two adjacent segments of the large electrode, and differentiate the two adjacent mutual capacitances. On the one hand, parallel connection into large electrodes has more sensitive detection capabilities, and on the other hand, the advantage of mutual capacitance in resisting environmental interference compared to self-capacitance is used to further improve accuracy.

[0022] Furthermore, at least one electrode pair may be arranged on the side wall of the outermost sleeve; and / or the electrode pair of each sleeve is located on the same side, and the electrodes on each sleeve overlap each other when the sleeve is fully retracted. The overlapping arrangement of the electrodes in the retracted state forces the dielectric of the sleeve surface to be relatively uniform, thereby improving the distance detection effect.

[0023] In the present invention, the detection electrode can be composed of two electrodes with the same structure as the electrode pair. When used, one surface is used for distance detection, and the other surface or surfaces are used for tactile sensing. The advantage of setting the detection electrode with the same structure as the electrode pair is that it is easy to manufacture and the electrodes can be manufactured to a unified specification.

[0024] In the present invention, the telescopic device can be placed horizontally or vertically. The electrode pair is arranged on one side of the sleeve side wall. For example, when the telescopic device is placed horizontally, the electrode pair is arranged on the bottom or top surface. The probability of collision on the bottom or top surface is low, while the probability on the left and right surfaces is higher. At least two detection electrodes are arranged along the telescopic direction on all other surfaces of the sleeve side wall for tactile perception.

[0025] As another improved solution, the cannula extending to the farthest end serves as the terminal cannula, and at least one detection electrode is positioned at the end of the terminal cannula, away from the fixed cannula. With a single electrode, self-capacitance can be used to detect whether an object is approaching or contacting the end, or whether the end effector is loaded. With two or more electrodes, self-capacitance and / or mutual capacitance can be used to detect proximity, contact, or loading of the end effector.

[0026] As another improved solution, the processing module is further configured to: control the capacitance-to-digital conversion circuit to obtain the capacitance value of the detection electrode not nested in the sleeve based on the extension distance of the sliding sleeve detected by the distance detection sensor; and output a proximity and / or contact sensing signal of the electronic skin sensing an external object based on the capacitance value. It should be understood that for a mechanical structure, once the position of the detection electrode on the sleeve is fixed, it is easy for the logic processing module to determine which detection electrodes are not nested in the sleeve and exposed and which are already nested in the sleeve based on the extension distance of the sleeve. A simpler approach can be to establish a mapping relationship table, for example, when the sleeve is extended by 10 cm, the first segment of the detection electrode on the sleeve is exposed, and when it is extended by 20 cm, the first and second segments of the electrode are exposed. By using the switch array, the capacitance value of the detection electrode nested in the sleeve is shielded, and the capacitance value of the detection electrode not nested in the sleeve is selected to reflect the proximity and / or contact of the object. This can isolate the parasitic capacitance introduced by the adjacent sleeve covering the electrode, thereby improving the accuracy of the perception judgment of the object's proximity or contact.

[0027] Considering the telescopic sleeve's need to be lightweight, sliding, and capable of transmitting electrical signals, as another improvement, each sleeve incorporates a built-in wireless communication module coupled to a corresponding processing module for signal exchange, and an energy storage module to power the electrical appliances on the sleeve. Wireless signal communication avoids the structural complexity of the telescopic sleeve caused by wired transmission, providing an optimized foundation for overall lightweighting of the telescopic device. Furthermore, considering the charging of the energy storage module based on wireless communication, a wireless charging device can be installed on the fixed sleeve. Each sliding sleeve is equipped with a charging coil for charging the corresponding energy storage module. The charging coils of each sliding sleeve are positioned so that when the sliding sleeve is fully retracted, they can be offset from each other in a direction perpendicular to the telescopic direction and aligned with the wireless charging device to receive power.

[0028] A robot with electronic skin function is also provided, comprising:

[0029] A base configured to be driven to move on a loading surface or to be fixed to the loading surface;

[0030] At least one of the above-mentioned telescopic devices, which is placed horizontally;

[0031] At least one vertical lifting mechanism, fixed to the top surface of the base, for driving the telescopic device to move up and down;

[0032] The end effector is connected to the extendable or retractable end of the telescopic device.

[0033] As an improved solution, the vertical lifting mechanism of the present invention can also be implemented by vertically placing the same structure as the telescopic device, or by implementing it in the form of a hydraulic rod. Alternatively, the vertical lifting mechanism can be configured as a mast, which is vertically fixed to the top surface of the base. The mast is provided with a connecting block that can move along the mast. The telescopic device is fixed to the connecting block. The mast is equipped with a second actuator to drive the connecting block to move up and down along the mast. For tactile perception of the mast, at least two detection electrodes can be arranged radially on the surface of the mast shaft. Each detection electrode segment includes at least one strip electrode arranged along the shaft. The mast is equipped with a processing module and a capacitance-to-digital conversion circuit coupled to the processing module. The capacitance-to-digital conversion circuit is coupled to each strip electrode on the mast. More preferably, to account for interference with detection caused by the sliding of the connecting block on the mast, each detection electrode segment is configured to include at least two strip electrodes arranged along the shaft, that is, multiple electrode segments are distributed along the vertical direction of the mast. During use, the electrode segment where the connecting block is located is shielded, and tactile perception is performed using the capacitance of the other electrode segments, thereby improving detection accuracy and also being used to distinguish the height position of surrounding obstacles. More preferably, the connecting block is sleeved outside the mast, a groove is provided on the surface of the mast body, and the strip electrodes on the surface of the mast body are accommodated in the groove to avoid position.

[0034] As an improved solution, at least two detection electrodes are arranged on the side walls around the base. The base is equipped with a processing module and a capacitance-to-digital conversion circuit coupled to the processing module. The capacitance-to-digital conversion circuit is coupled to each electrode on the base respectively. The side walls around the chassis are covered with electronic skin, which can detect obstacles such as human bodies around the chassis. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] FIG1 shows a schematic diagram of the overall appearance of a telescopic arm and a robot with electronic skin function;

[0036] FIG2 shows a schematic diagram of a telescopic arm with electronic skin function and a base driving wheel of a robot;

[0037] FIG3 shows a schematic diagram of a telescopic arm and a robot base structure with electronic skin function;

[0038] FIG4 shows a schematic diagram of a telescopic arm and a lifting mechanism of a robot with electronic skin function;

[0039] FIG5 shows a schematic diagram of the electrode arrangement of a telescopic arm and a lifting mechanism of a robot with electronic skin function;

[0040] FIG6 shows a schematic diagram of a telescopic arm and a horizontal movement mechanism of a robot with electronic skin function;

[0041] FIG7 shows a schematic diagram of a telescopic arm with electronic skin function and a horizontal telescopic arm structure of a robot;

[0042] FIG8 shows a schematic diagram of a telescopic arm with electronic skin function and electrodes of the horizontal telescopic arm of a robot;

[0043] FIG9 shows a schematic diagram illustrating the visual positioning of a telescopic arm with an electronic skin function and a horizontal telescopic arm of a robot;

[0044] FIG10 shows a schematic diagram of various end effectors of a double-telescopic protection robot. DETAILED DESCRIPTION

[0045] The technical solutions in the embodiments of the present invention will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present invention.

[0046] As shown in Figure 1, the double telescopic protection robot mainly includes a movable chassis 10, two vertical lifting rods 20, a horizontal guide rail module 30, two telescopic robotic arms 40, and an end mechanism 50. The movable chassis 10 has the ability to move freely and can also achieve the ability to turn as a whole through the different rotation speeds of the wheels. On the base 10, there are two vertical masts, and there are synchronous belts inside the masts, which are connected to the two ends of the horizontal guide rail module 30. The synchronous belts drive the horizontal guide rail module 30 and the telescopic robotic arms 40 to move up and down. The two telescopic robotic arms 40 are fixed on the two sliders of the horizontal guide rail module 30, and the sliders drive the telescopic robotic arms 40 to move left and right on the horizontal guide rail module 30. The end actuator 50 is fixed to the end of the telescopic robotic arm 40, and the telescopic movement of the telescopic robotic arm 40 drives the end actuator to move forward and backward.

[0047] As shown in Figure 2, the movable chassis 10 mainly includes three wheels: drive wheel 101, drive wheel 102, and drive wheel 103. When drive wheels 101, 102, and 103 rotate simultaneously in the same direction and at the same speed, the robot moves forward or backward; when the speeds of drive wheels 102 and 103 are inconsistent, the robot turns left or right during movement.

[0048] As shown in Figure 3, the movable chassis 10 is equipped with two vertical lift mast mounts 104, two battery packs 105, two drive motors 106, and a base structure housing 107. Detection electrodes 108 and 109 are alternately arranged on the sidewalls of the base structure housing 107. Electrodes 108 and 109 form a mutual capacitance that can detect the proximity and touch signals of a person or object. Drive motor 106 is used to drive the synchronous belt on the vertical mast 20. Controlled by a unified drive circuit, the two vertical masts achieve synchronous movement.

[0049] As shown in Figure 4, the vertical mast 20 mainly includes a mast 201, a synchronous pulley 202 and a synchronous belt 203, and a slider 204 fixed on the synchronous belt 203. A camera 2041 is arranged on the slider 204 for observing the environment around the robot and detecting the end position of the horizontal telescopic arm 40.

[0050] As shown in Figure 5, mast 201 is arranged with vertical strip electrodes, divided into two sections: upper and lower. The upper section consists of four evenly spaced electrodes 2011, 2012, 2013, and 2014, while the lower section also consists of four evenly spaced electrodes 2015, 2016, 2017, and 2018. The four electrodes in the upper section form a mutual capacitance, while the four electrodes in the lower section form a mutual capacitance, which is used to detect signals from people or objects approaching the mast.

[0051] As shown in Figure 6, the horizontal movement module 30 mainly includes an upper horizontal optical bar guide rail 301, a lower horizontal optical bar guide rail 302, a fixed screw 303, an electric slider 304, and an electric slider 305. The upper horizontal optical bar guide rail 301 and the lower horizontal optical bar guide rail 302 are responsible for bearing the main weight of the horizontal telescopic robot arm 40 and the end effector 50, and the electric sliders 304 and 305 are responsible for driving the horizontal telescopic robot arm 40 and the end effector 50 to move horizontally left and right.

[0052] As shown in Figure 7, the horizontal telescopic robotic arm 40 mainly includes a fixed sleeve 401, a middle sleeve 402, and an end sleeve 403. Electrodes are arranged on the side walls of the three sleeves to detect human body or object signals from different directions.

[0053] As shown in Figure 8, the movable sleeve of the horizontal telescopic manipulator 40 is equipped with segmented electrodes on its left, right, and top sides. Each section of the movable sleeve is equipped with a pair of trapezoidal multi-segment electrodes. Two electrodes are located on the distal end of the distal sleeve 403 to detect proximity signals from the end effector and the object ahead. For example, distal sleeve 403 is equipped with pairs of trapezoidal multi-segment electrodes 40311, 40322, 40313, 40314, 40321, 40322, 40323, and 40324. The distance that the end sleeve 403 extends out of the middle sleeve 402 is detected by the differential signals of the side electrodes 40311 and 40321, electrodes 40312 and 40322, electrodes 40313 and 40323, and electrodes 40314 and 40324. Electrodes 40351 and 40352 are arranged on the end face of the end sleeve 403 away from the fixed sleeve 401 to detect the status of the end actuator 50 and other signals of objects approaching from the front.

[0054] As shown in Figure 9, on the end sleeve 403 of the horizontal telescopic robotic arm 40, at the end away from the fixed sleeve 401, visual positioning marks 40361 are arranged on the left and right sides respectively, which are used to cooperate with the camera 2041 arranged on the slider 204 to position the end actuator 50.

[0055] As shown in FIG10 , the robot can cooperate with a variety of end effectors 50 to handle different tasks, such as 501, 502, 503, 504, 505 and other end effectors to perform different tasks.

[0056] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the scope of protection of the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the essence and scope of the technical solutions of the present invention.

Claims

1. A telescopic device with electronic skin function, The telescopic device includes a fixed sleeve and at least one sliding sleeve slidably engaged with the fixed sleeve, and is equipped with a first actuator for driving the sliding sleeve to extend or retract; It is characterized in that: At least two detection electrodes are arranged along the telescopic direction on at least one side wall of each sleeve. Each sleeve is internally provided with a processing module, a switch array, and a capacitance digital conversion circuit coupled to the processing module. The capacitance digital conversion circuit on the sleeve is respectively coupled to each electrode on the sleeve through the corresponding switch array; The telescopic device is configured with a distance detection sensor for detecting the extension distance of the sliding sleeve. The distance detection sensor is coupled to the processing module, and each processing module is mutually coupled for selectively obtaining the capacitance values of the electrodes not nested into the sleeve according to the output of the distance detection sensor.

2. The telescopic device according to claim 1, characterized in that: The distance detection sensor is configured as a camera; A mark for positioning the camera is provided at the end of each sleeve.

3. The telescopic device according to claim 1, characterized in that: Except for the outermost sleeve, the remaining sleeves are inner sleeves; The distance detection sensor includes at least one pair of electrodes arranged on the side wall of the inner sleeve. The pair of electrodes is configured to sense the extension distance of the sleeve. The projection areas of the two electrodes in the pair of electrodes relative to the sleeve are asymmetrically arranged. The capacitance digital conversion circuit on the inner sleeve is respectively coupled to the two electrodes in the pair of electrodes on the sleeve.

4. The telescopic device according to claim 3, characterized in that: At least two segments of the pair of electrodes are provided on the side wall of each inner sleeve, and each segment of the pair of electrodes is arranged on the side wall of the corresponding inner sleeve along the telescopic direction.

5. The telescopic device according to claim 4, characterized in that: At least one pair of the electrodes is also arranged on the side wall of the outermost sleeve; and / or The pair of electrodes of each sleeve is located on the same side, and the electrodes on each sleeve overlap up and down in the fully retracted state of the sleeve.

6. The telescopic device according to claim 3, 4 or 5, characterized in that: The detection electrode is configured to be composed of two electrodes with the same structure as the pair of electrodes.

7. The telescopic device according to claim 3, 5 or 5, characterized in that: The pair of electrodes is provided on one side of the sleeve side wall; At least two detection electrodes arranged along the telescopic direction are arranged on other surfaces of the sleeve side wall except this surface.

8. The telescopic device according to claim 1, characterized in that: Taking the sleeve extended to the outermost end as the end sleeve, at least one detection electrode is arranged at the end of the end sleeve far from the fixed sleeve.

9. The telescopic device according to claim 1, wherein The processing module is further configured to: According to the extension distance of the sliding sleeve detected by the distance detection sensor, control the capacitance digital conversion circuit to obtain the capacitance values of the detection electrodes not nested into the sleeve; According to the capacitance values, output a sensing signal for the electronic skin to sense the approach and / or contact of an external object.

10. The telescopic device according to claim 4, characterized in that, The processing module is further configured to: Differentiate the capacitance values of each segment of the pair of electrodes on the inner sleeve, every two adjacent segments, and determine the position of the pair of electrodes on which the end edge of the adjacent sleeve of the inner sleeve is located according to the differentiation result; Determine the extension distance of the inner sleeve according to the self-capacitance ratio of the two electrodes centered on the electrode where the end edge is located.

11. The telescopic device according to claim 10, characterized in that, The capacitance values of each pair of electrodes on the inner sleeve are differentiated for every two adjacent segments, which further includes: Parallelly connecting the two electrodes in each pair of electrodes on the inner sleeve to form a large electrode, obtaining the self-capacitance of each large electrode, and differentiating the self-capacitance of two adjacent large electrodes; Or parallelly connecting the two electrodes in each pair of electrodes on the inner sleeve to form a large electrode, obtaining the mutual capacitance of two adjacent large electrodes, and differentiating the two adjacent mutual capacitances.

12. The telescopic device according to claim 1, wherein: Each sleeve is internally provided with a wireless communication module coupled to a corresponding processing module for mutual signal interaction, and an energy storage module for supplying power to the electrical appliances on the sleeve.

13. The telescopic device according to claim 12, wherein: The fixed sleeve is provided with a wireless charging device; Each sliding sleeve is provided with a charging coil for charging the corresponding energy storage module, and the positions of the charging coils of the sliding sleeves are configured to be misaligned with each other in a direction perpendicular to the telescopic direction and respectively aligned with the wireless charging device to receive power when the sliding sleeves are in a fully retracted state.

14. A robot with electronic skin function, characterized in that, Comprising: A base configured to be driven to move on the carrying surface or to be fixed to the carrying surface; At least one telescopic device according to any one of claims 1-13; At least one vertical lifting mechanism fixed to the top surface of the base for driving the telescopic device to lift; An end effector connected to the extendable or retractable end of the telescopic device.

15. The robot according to claim 14, wherein: The vertical lifting mechanism is configured as a mast, the mast is vertically fixed to the top surface of the base, a connecting block movable along the mast is provided on the mast, the telescopic device is fixed to the connecting block, and the mast is equipped with a second actuator for driving the connecting block to lift along the mast.

16. The robot according to claim 15, wherein: At least two detection electrodes are arranged radially on the surface of the mast body along its radial direction, and each detection electrode includes at least one strip-shaped electrode arranged along the mast body direction; The mast is equipped with a processing module and a capacitance digital conversion circuit coupled to the processing module, and the capacitance digital conversion circuit is respectively coupled to each strip-shaped electrode on the mast.

17. The robot according to claim 16, wherein: Each detection electrode includes at least two strip-shaped electrodes arranged along the mast body direction.

18. The robot according to claim 14, wherein: At least two detection electrodes are arranged on the peripheral side walls of the base, the base is equipped with a processing module and a capacitance digital conversion circuit coupled to the processing module, and the capacitance digital conversion circuit is respectively coupled to each electrode on the base.

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