Double-twisted rocker type passive walking device

Abstract

The invention discloses a double-twisted rocker type passive walking device which comprises a leg part composed of two inside legs and two outside legs. The inside legs and the outside legs are connected through a crank. The crank comprises an upper transverse shaft, two middle transverse shafts, two lower transverse shafts and rockers for connecting the transverse shafts. The two inside legs are rotationally arranged on the upper transverse shaft. The two outside legs are rotationally arranged on the lower transverse shafts at the two ends. The inside legs and the outside legs are provided with sliding pipes capable of sliding on the inside legs and the outside legs. The sliding pipes on the two inside legs are connected into a synchronous moving whole through a synchronous shaft. Torsion springs are arranged between the sliding pipes on the inside legs and the sliding pipes of the corresponding outside legs. H-shaped supporting pieces are arranged between the torsion springs and the middle transverse shafts. The middle transverse shafts rotationally penetrate through the upper ends of the H-shaped supporting pieces and the torsion springs penetrate through the lower ends of the H-shaped supporting pieces. The problem that the legs and the feet rub with the ground when swinging is solved, robustness is higher, and the device has wider space in actual application.

Description

technical field [0001] The invention belongs to the field of passive walking robots, and in particular relates to a double torsion rocker type passive walking device. Background technique [0002] Nowadays, robot technology is a research hotspot all over the world, especially the research of passive walking robot is the cutting-edge technology in this field. Good results have been achieved in the research of passive walking robots at home and abroad, and many representative physical prototypes have been developed. However, these passive walking models are designed for big feet, which take up a lot of space and are not of high use value. Moreover, these passive models all involve the problem of swinging legs and feet to wipe the ground. During the experiment, special slopes need to be built to walk normally. Contents of the invention [0003] In view of this, the purpose of the present invention is to provide a double torsion rocker type passive walker, which can not only ...

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