AI-enabled horse-riding rehabilitation redundant drive hybrid robot

Abstract

The AI-enabled horse-riding rehabilitation redundant drive hybrid robot comprises a robot body and a robot system, the robot body comprises a base disc and four supporting legs arranged on the lower wall of the base disc, a saddle is arranged above the base disc, a horse head is arranged on the front side wall of the upper end of the saddle, and a horse head is arranged on the front side wall of the lower end of the saddle. The base disc and the saddle are connected with each other through a redundant mechanism, an auxiliary mechanism is further arranged on the side wall of one side of the base disc, and the auxiliary mechanism comprises an upper horse assembly and a supporting assembly; the redundant mechanism comprises four branch chains, the four branch chains are arranged in the four directions below the saddle respectively, and each branch chain comprises a linear electric cylinder arranged between the base disc and the saddle. The invention relates to the technical field of rehabilitation robots. The AI energized horse-riding rehabilitation redundant drive hybrid robot has the advantages of being large in motion range adjustability, simple in structure, high in rigidity, high in bearing capacity, small in occupied space, stable in work and the like.

Description

Technical Field

[0001] The present invention relates to the technical field of rehabilitation robots, and in particular to an AI-enabled horse-riding rehabilitation redundant drive hybrid robot. Background Art

[0002] Cerebral palsy is a neurological syndrome that occurs in early infancy. The symptoms can seriously affect the body's muscle coordination, movement and balance abilities. Clinical practice and scientific research results have shown that after long-term equestrian therapy, patients with cerebral palsy have greatly improved in gait balance, verbal expression and emotional control. Equestrian therapy is one of the most popular and effective rehabilitation treatment technologies, but it cannot be promoted and applied on a large scale due to the various requirements and restrictions of biological horses, specific scenarios and specific rehabilitation personnel. Currently, there is little research on robotic technology for equestrian rehabilitation training. Therefore, with the rapid development of robotic technology, it is particularly important to design a robotic mechanism to simulate and reproduce the equestrian rehabilitation treatment of biological horses to help patients with cerebral palsy with rehabilitation training.

[0003] The existing use of biological horses for equestrian rehabilitation therapy has many requirements, venue restrictions, and issues such as personal safety and health safety. When using equestrian simulation robots for rehabilitation training, due to the inconvenience of cerebral palsy patients, personnel are needed to assist in mounting the horse. Personnel need to completely lift the patient and place him on the saddle, which is very inconvenient for some older patients.

[0004] To this end, the present invention provides an AI-enabled horse-riding rehabilitation redundant drive hybrid robot to solve the above-mentioned problems. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present invention provides an AI-enabled horse-riding rehabilitation redundant drive hybrid robot to solve the above problems.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: an AI-enabled horse-riding rehabilitation redundant drive hybrid robot, comprising a machine body and a machine system, wherein the machine body comprises a base plate and four supporting legs arranged at the lower wall of the base plate, a saddle is arranged above the base plate, a horse head is arranged at the upper front side wall of the saddle, the base plate and the saddle are connected to each other through a redundant mechanism, an auxiliary mechanism is also arranged at one side wall of the base plate, and the auxiliary mechanism comprises a mounting assembly and a supporting assembly; The redundant mechanism includes four branch chains, which are respectively arranged in four directions below the saddle, and each of the four branch chains includes a linear electric cylinder arranged between the base plate and the saddle, the lower ends of the linear electric cylinders on the left and right sides of the saddle are movably connected to the base plate through a lower rotating secondary shaft, and the upper ends thereof are movably connected to the saddle through an upper rotating secondary shaft, and the lower ends of the lower rotating secondary shafts on the front and rear sides of the saddle are movably connected to the base plate through a lower Hooke's hinge, and the upper ends thereof are movably connected to the saddle through an upper Hooke's hinge; The machine system includes a language module and a control module.

[0007] Preferably, a rein is provided at the front end side wall of the saddle, and a torque sensor is provided at the connection between the saddle and the rein.

[0008] Preferably: the mounting assembly comprises a moving plate arranged at a side wall of one side of the base plate, an electric slide rail is arranged at a side of the moving plate away from the base plate, a slide groove is arranged at the side wall of the electric slide rail, a driving machine is fixedly arranged at the outer wall of the electric slide rail, a top plate is slidably arranged at the side wall of the electric slide rail, the top plate slides in the slide groove under the control of the driving machine, and the top plate is arranged at the lower wall of the moving plate; A movable cavity is fixedly provided at the lower wall of the saddle, a movable plate is movably provided below the movable cavity, damping fluid is sealed in the movable cavity, a U-shaped plate is fixedly provided at the side wall of the movable plate, and the other side of the U-shaped plate is correspondingly provided below the movable plate.

[0009] Preferably: the supporting assembly includes a fixed block fixedly arranged on the upper wall of the U-shaped plate away from the movable plate, a movable cavity is opened on both sides of the fixed block, the movable cavity is arranged on the upper wall of the U-shaped plate, a second connecting ball is movably arranged in the movable cavity, a corresponding first connecting ball is movably arranged on the lower wall of the movable plate, and a connecting rod is fixedly arranged between the first connecting ball and the movable cavity.

[0010] Preferably, a telescopic rod is fixedly provided on the upper wall of the base plate, and the upper end of the telescopic rod is fixedly connected to the lower wall of the U-shaped plate.

[0011] Preferably, the language module and the control module are electrically connected to recognize and understand the patient's voice commands, thereby realizing interaction with the machine body.

[0012] The present invention provides an AI-enabled horse-riding rehabilitation redundant drive hybrid robot. Compared with the prior art, it has the following beneficial effects: (1) The AI-enabled redundant drive hybrid robot for horse riding rehabilitation, through the setting of four branches and the coordination of the machine system, makes the horse body structure compact and greatly improves the stiffness and load-bearing capacity of the mechanism, which can realize the vertical translational freedom and two rotational degrees of freedom of the saddle center; a drivable linear moving component is connected in series on the moving platform of the parallel mechanism to realize the translational freedom of the saddle center in the front-to-back direction; therefore, the motion control of the hybrid mechanism can realize the motion trajectory of the saddle center in different gaits such as slow walking, fast walking, running, jumping and galloping of biological horses.

[0013] (2) This AI-enabled horse riding rehabilitation redundant drive hybrid robot can measure the rider's pulling force on the reins in real time during movement through the interaction of torque sensors and reins and other structures, thereby driving the pitch movement of the horse's neck through the linear motor in the horse's neck, increasing the realism of the simulated movement, and can also achieve real-time adjustment of the horse's movement speed by sensing the torque.

[0014] (3) The AI-enabled horse-riding rehabilitation redundant drive hybrid robot pushes the movable plate upward to reduce the space in the movable cavity. With the buffering of the damping fluid, it exerts an upward support force on the saddle, making the saddle more stable in the horizontal direction. When the patient is assisted to mount the horse on the movable plate, the saddle gradually becomes more stable as the patient contacts the saddle, preventing the patient from falling due to the shaking of the saddle in the last step of mounting the saddle.

[0015] (4) The AI-enabled redundant drive hybrid robot for horse riding rehabilitation can prevent the saddle from moving too much and causing cerebral palsy patients to fall accidentally through the limiting effects of damping fluid, connecting rods and moving chambers. When the saddle is about to move too much, the connecting rod supports the saddle within the length limit of the moving chamber, and with the help of damping fluid, the process is relatively slow and has little impact on the patient. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall structure of an AI-enabled horse-riding rehabilitation redundant drive hybrid robot proposed in the present invention; Figure 2 This is a schematic diagram of the overall structure of an AI-enabled horse-riding rehabilitation redundant drive hybrid robot from another angle proposed by the present invention; Figure 3 This is a schematic diagram of the overall structure of an AI-enabled horse-riding rehabilitation redundant drive hybrid robot from another angle proposed by the present invention; Figure 4 This is a schematic diagram of the overall structure of an AI-enabled horse-riding rehabilitation redundant drive hybrid robot from another angle proposed by the present invention; Figure 5This is a schematic diagram of the overall structure of an AI-enabled horse-riding rehabilitation redundant drive hybrid robot from another angle proposed by the present invention; Figure 6 yes Figure 2 Schematic diagram of the structure at A in the middle.

[0017] In the figure, 1 is the base plate; 2 is the supporting foot; 3 is the saddle; 4 is the reins; 5 is the horse head; 6 is the linear electric cylinder; 7 is the lower rotating countershaft; 8 is the lower Hooker's hinge; 9 is the upper Hooker's hinge; 10 is the upper rotating countershaft; 11 is the torque sensor; 12 is the moving plate; 13 is the U-shaped plate; 14 is the electric slide rail; 15 is the slide groove; 16 is the movable cavity; 17 is the movable plate; 18 is the first connecting ball; 19 is the driving machine; 20 is the top plate; 21 is the fixed block; 22 is the moving cavity; 23 is the connecting rod; 24 is the telescopic rod; 25 is the second connecting ball. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. Example 1

[0019] An AI-enabled horse-riding rehabilitation redundant drive hybrid robot comprises a machine body and a machine system, wherein the machine body comprises a base plate 1 and four supporting legs 2 arranged at the lower wall of the base plate 1, a saddle 3 is arranged above the base plate 1, a horse head 5 is arranged at the upper front side wall of the saddle 3, the base plate 1 and the saddle 3 are connected to each other through a redundant mechanism, an auxiliary mechanism is also arranged at one side wall of the base plate 1, and the auxiliary mechanism comprises a mounting assembly and a supporting assembly; The redundant mechanism includes four branch chains, which are respectively arranged in four directions below the saddle 3. The four branch chains all include a linear electric cylinder 6 arranged between the base plate 1 and the saddle 3. The lower ends of the linear electric cylinders 6 on the left and right sides of the saddle 3 are movably connected to the base plate 1 through a lower rotating secondary shaft 7, and the upper ends thereof are movably connected to the saddle 3 through an upper rotating secondary shaft 10. The lower ends of the lower rotating secondary shafts 7 on the front and rear sides of the saddle 3 are movably connected to the base plate 1 through a lower Hooke's hinge 8, and the upper ends thereof are movably connected to the saddle 3 through an upper Hooke's hinge 9. By setting four branches and cooperating with the machine system, the horse body structure is made compact and the rigidity and load-bearing capacity of the mechanism are greatly improved, so that the translational freedom and two rotational freedoms of the center of the saddle 3 in the vertical direction can be realized; a drivable linear moving component is connected in series on the moving platform of the parallel mechanism to realize the translational freedom of the center of the saddle 3 in the front-back direction; therefore, the motion control of the hybrid mechanism can realize the motion trajectory of the center of the saddle 3 when the biological horse is walking, trotting, running, jumping and galloping in different gaits; The four branches form two rotational degrees of freedom and one translational degree of freedom of the robot. Through the drivable linear motion components on the moving platform, one translational degree of freedom is added. It has the characteristics of large adjustable range of motion, simple structure, high rigidity, strong load-bearing capacity, small space occupation and stable operation. It can be widely used in equestrian rehabilitation training occasions. The machine system includes a language module and a control module.

[0020] In an optional embodiment: a rein 4 is provided at the front end side wall of the saddle 3 , and a torque sensor 11 is provided at the connection between the saddle 3 and the rein 4 .

[0021] It should be noted that the pulling force of the rider on the reins during the movement can be measured in real time, so that the pitching movement of the horse's neck can be driven by the linear motor in the horse's neck, which increases the realism of the simulated movement. The horse's movement speed can also be adjusted in real time by sensing the torque. In this case, the torque sensor 11 can be a Futek TRS series torque sensor, which is known for its reliability and durability, can provide high-precision torque measurement, and has a variety of output options. It is suitable for rehabilitation equipment that requires long-term stability and high reliability.

[0022] In an optional embodiment: the mounting assembly includes a moving plate 12 arranged at a side wall of one side of the base plate 1, an electric slide rail 14 is arranged at a side of the moving plate 12 away from the base plate 1, a slide groove 15 is arranged at the side wall of the electric slide rail 14, a driving machine 19 is fixedly arranged at the outer wall of the electric slide rail 14, a top plate 20 is slidably arranged at the side wall of the electric slide rail 14, the top plate 20 slides in the slide groove 15 under the control of the driving machine 19, and the top plate 20 is arranged at the lower wall of the moving plate 12; A movable cavity 16 is fixedly provided at the lower wall of the saddle 3, a movable plate 17 is movably provided below the movable cavity 16, damping fluid is sealed in the movable cavity 16, a U-shaped plate 13 is fixedly provided at the side wall of the movable plate 12, and the other side of the U-shaped plate 13 is correspondingly provided below the movable plate 17.

[0023] It should be noted that when a cerebral palsy patient needs to get on a horse for rehabilitation training, the patient can be placed on the movable plate 12 with the help of nursing staff, and the driving machine 19 can be started at the same time to make the movable plate 12 rise slowly. When the movable plate 12 rises, the U-shaped plate 13 rises at the same time. As the U-shaped plate 13 rises, when it contacts the bottom of the movable plate 17, the movable plate 17 is pushed to move upward, so that the space in the movable cavity 16 becomes smaller. Under the buffering of the damping fluid, the saddle 3 has an upward supporting force, so that the saddle 3 is more stable in the horizontal direction, and when the patient is assisted to get on the horse on the movable plate 12, as the patient contacts the saddle 3, the saddle 3 gradually becomes more stable, preventing the patient from falling due to the shaking of the saddle 3 in the last step of stepping on the saddle 3.

[0024] In an optional embodiment: the supporting assembly includes a fixed block 21 fixedly arranged on the upper wall of the U-shaped plate 13 away from the movable plate 12, and a movable cavity 22 is opened on both sides of the fixed block 21. The movable cavity 22 is arranged on the upper wall of the U-shaped plate 13, and a second connecting ball 25 is movably arranged in the movable cavity 22. A corresponding first connecting ball 18 is movably arranged on the lower wall of the movable plate 17, and a connecting rod 23 is fixedly arranged between the first connecting ball 18 and the movable cavity 22.

[0025] It should be noted that when the machine body is operating normally, when the patient on the saddle 3 is undergoing simulated rehabilitation on horseback, the first connecting ball 18 at its lower end moves between the movable plate 17, and at the same time, the second connecting ball 25 moves in the movable cavity 22, and through the limiting action of the damping fluid, the connecting rod 23 and the movable cavity 22, the saddle 3 is prevented from moving too much and causing the cerebral palsy patient to fall accidentally. When the saddle 3 is about to move too much, under the length limit of the movable cavity 22, the connecting rod 23 supports the saddle 3, and with the cooperation of the damping fluid, the process is relatively slow and the impact on the patient is very small.

[0026] In an optional embodiment: a telescopic rod 24 is fixedly provided on the upper wall of the base plate 1 , and the upper end of the telescopic rod 24 is fixedly connected to the lower wall of the U-shaped plate 13 .

[0027] It should be noted that there is support of the telescopic rod 24 between the side of the U-shaped plate 13 and the base plate 1 to prevent the side of the U-shaped plate 13 from being suspended in the air, which may cause structural damage after long-term operation.

[0028] In an optional embodiment: the language module and the control module are electrically connected to recognize and understand the patient's voice commands, thereby achieving interaction with the machine body.

[0029] It should be noted that the language module and control module in this case can use the language model automatic training method and system in the case with publication number CN113539245B, which can enable patients to adjust the robot's movements and parameters in real time during training to meet personalized rehabilitation needs. In equestrian rehabilitation training, patients can issue instructions to the robot through the language recognition module, such as "start training", "increase speed" or "reduce intensity". After receiving the instructions, the robot will adjust its movement mode and parameters in real time to meet the patient's rehabilitation needs. This interactive method not only improves the flexibility and efficiency of training, but also enhances the patient's sense of participation and satisfaction.

[0030] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0031] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An AI-enabled horse-riding rehabilitation redundant drive hybrid robot, comprising a machine body and a machine system, characterized in that: The machine body comprises a base plate (1) and four supporting legs (2) arranged on the lower wall of the base plate (1); a saddle (3) is arranged above the base plate (1); a horse head (5) is arranged on the upper front side wall of the saddle (3); the base plate (1) and the saddle (3) are connected to each other via a redundant mechanism; an auxiliary mechanism is also arranged on one side wall of the base plate (1); the auxiliary mechanism comprises a mounting assembly and a supporting assembly; The redundant mechanism comprises four branch chains, which are respectively arranged in four directions below the saddle (3), and each of the four branch chains comprises a linear electric cylinder (6) arranged between the base plate (1) and the saddle (3). The lower ends of the linear electric cylinders (6) on the left and right sides of the saddle (3) are movably connected to the base plate (1) via a lower rotating secondary shaft (7), and the upper ends thereof are movably connected to the saddle (3) via an upper rotating secondary shaft (10). The lower ends of the lower rotating secondary shafts (7) on the front and rear sides of the saddle (3) are movably connected to the base plate (1) via a lower Hooke's hinge (8), and the upper ends thereof are movably connected to the saddle (3) via an upper Hooke's hinge (9); The machine system includes a language module and a control module.

2. According to claim 1, an AI-enabled horse-riding rehabilitation redundant drive hybrid robot is characterized by: A rein (4) is provided at the front end side wall of the saddle (3), and a torque sensor (11) is provided at the connection between the saddle (3) and the rein (4).

3. The AI-enabled horse-riding rehabilitation redundant drive hybrid robot according to claim 1, characterized in that: The mounting assembly comprises a movable plate (12) arranged on a side wall of one side of a base plate (1); an electric slide rail (14) is arranged on a side of the movable plate (12) away from the base plate (1); a slide groove (15) is arranged on the side wall of the electric slide rail (14); a driving machine (19) is fixedly arranged on the outer wall of the electric slide rail (14); a top plate (20) is slidably arranged on the side wall of the electric slide rail (14); the top plate (20) slides in the slide groove (15) under the control of the driving machine (19); and the top plate (20) is arranged on the lower wall of the movable plate (12); A movable cavity (16) is fixedly provided on the lower wall of the saddle (3), a movable plate (17) is movably provided below the movable cavity (16), a damping fluid is sealed in the movable cavity (16), a U-shaped plate (13) is fixedly provided on the side wall of the movable plate (12), and the other side of the U-shaped plate (13) is correspondingly provided below the movable plate (17).

4. The AI-enabled horse-riding rehabilitation redundant drive hybrid robot according to claim 3, characterized in that: The support assembly comprises a fixed block (21) fixedly arranged on the upper wall of the U-shaped plate (13) away from the movable plate (12), and movable cavities (22) are provided on both sides of the fixed block (21). The movable cavity (22) is arranged on the upper wall of the U-shaped plate (13), and a second connecting ball (25) is movably arranged in the movable cavity (22). A corresponding first connecting ball (18) is movably arranged on the lower wall of the movable plate (17), and a connecting rod (23) is fixedly arranged between the first connecting ball (18) and the movable cavity (22).

5. The AI-enabled horse-riding rehabilitation redundant drive hybrid robot according to claim 3, characterized in that: A telescopic rod (24) is fixedly provided on the upper wall of the base plate (1), and the upper end of the telescopic rod (24) is fixedly connected to the lower wall of the U-shaped plate (13).

6. The AI-enabled horse-riding rehabilitation redundant drive hybrid robot according to claim 1, characterized in that: The language module is electrically connected to the control module and is used to recognize and understand the patient's voice commands, thereby achieving interaction with the machine body.

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