Flexible arm device and control method thereof

Abstract

The invention relates to a flexible arm device. The flexible arm device comprises a control unit and an execution unit connected with the control unit through a communication module. The execution unit comprises a fixing seat, a flexible arm body arranged on one side of the fixing seat and a top cover arranged on the other side of the fixing seat, at least three gas pipe joints II are arranged on the side vertical face of the fixing seat, the ends, located outside the fixing seat, of the gas pipe joints II are connected with a proportional valve II, and the proportional valve II is connected with a gas pump II; Airflow channels with the number corresponding to that of the air pipe joints II are arranged in the flexible arm body; The control unit comprises a rocker, a handle and a displacement sensor, the displacement sensor is connected with a controller I of the control unit, the rocker and the controller I are both in communication connection with a controller II of the execution unit through a communication module, and the controller II is connected with the proportional valve II. The system has the advantages of being low in cost, good in affinity and safety, easy to control, good in effect, capable of achieving non-contact consultation or remote consultation, vivid in feedback and the like.

Description

technical field [0001] The invention relates to the field of mechanical arms, in particular to a flexible arm device and a control method thereof. Background technique [0002] Flexible robotic arms have very promising prospects in the fields of medical treatment, rehabilitation, and massage. They can be used for non-contact ultrasonic testing and non-contact massage. When doctors perform testing and diagnosis, they can separate doctors and patients in physical space. For example, under the severe situation of the new crown epidemic infection, it can realize the non-contact consultation between doctors and patients, and reduce the possibility of infectious disease infection. [0003] The soft-body robotic arm has the characteristics of high flexibility, safety, contact friendliness, and multiple degrees of freedom. Compared with rigid robotic arms, flexible robotic arms have greater affinity and safety when in contact with the human body. At present, there are remote ultra...

AI Technical Summary

Problems solved by technology

[0005] 1) The traditional rigid manipulator has complex structure, complex control, poor affinity and safety;

[0006] 2) The existing flexible robotic arm cannot be separated, that is, it cannot be isolated in physical space, and it is not convenient for non-contact consultation and remote consultation;

[0007] 3) The compliance control of the existing remote ultrasonic robot is difficult and the cost is very high;

[0008] 4) Some existing soft-body manipulators have no analog feedback, and some analog feedback is not realistic enough

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