An unpowered tai-chi pushing hand robot

Abstract

The application provides a kind of unpowered Tai Chi pushing hand robot, it relates to auxiliary robot field, to the problem that the effect of active mechanical arm simulating Tai Chi pushing hand training action is poor at present, adopts arm assembly to connect pushing handle and base, relative rotation is formed between the multiple section arm of arm assembly, relative swing is formed between arm assembly and base, and elastic resistance effect is realized through elastic assembly when rotating and swinging, to simulate the resistance action when training by the accumulation and release of elastic assembly, meet the demand of Tai Chi pushing hand training, without additional active force, so as to save driving element, reduce floor area and equipment complexity, improve applicability.

Description

Technical Field

[0001] This invention relates to the field of assistive robots, specifically to a non-powered Tai Chi push-hands robot. Background Technology

[0002] Tai Chi Push Hands is a training method in Tai Chi Chuan. Among them, drawing circles is a very important training method. By constantly practicing drawing circles, trainees can improve their ability to master the dynamic balance of the body, enhance their agility and adaptability, and at the same time help to improve their understanding and response to the opponent's techniques.

[0003] Chinese patent (publication number: CN108621164A) discloses a Tai Chi push-hands robot based on a depth camera. The robot collects human pose information in real time using a depth camera, processes the data, and transmits it to the robot, enabling it to track the participant and perform Tai Chi push-hands movements. However, it only simulates the movement process after collecting human pose data and cannot provide the trainee with antagonistic movements. Current Tai Chi push-hands training equipment mostly uses a double-disc structure, which is difficult to provide active resistance. While robotic arms have movable arms and flexible joints, enabling them to create antagonistic movements with the trainee, current robotic arms are mostly industrial robots. For example, a robot disclosed in Chinese patent (publication number: CN107756433A) can use a multi-segment arm to simulate antagonistic movements and provide active resistance, but it still requires joint motors for drive, resulting in a large overall footprint and high control precision requirements, making it unsuitable for ordinary exercise scenarios. Summary of the Invention

[0004] The purpose of this invention is to address the shortcomings of existing technologies by providing a non-powered Tai Chi push-hands robot. This robot uses an arm assembly to connect the push handle and the base. The multi-segment arms of the arm assembly rotate relative to each other, and the arm assembly and the base swing relative to each other. During rotation and swinging, an elastic component provides elastic resistance. The accumulation and release of this elastic component simulates the resistance movements during training, meeting the needs of Tai Chi push-hands training. It requires no external power source, thus eliminating the need for drive components, reducing floor space and equipment complexity, and improving applicability.

[0005] To solve the above problems, the following solution is adopted:

[0006] A non-powered Tai Chi push-hands robot, comprising:

[0007] The base is equipped with columns;

[0008] The arm assembly has a push handle connected to one end and a pivot joint connected to the column at the other end. The arm assembly includes multiple segmented arms connected in sequence. Adjacent segmented arms are connected by a rotary joint. The axis of the rotary joint is spatially perpendicular to the axis of the pivot joint.

[0009] The elastic components include a horizontal return gas spring and a joint gas spring. The horizontal return gas spring is located on both sides of the segment arm connecting the column and is connected to the segment arm and the base respectively through ball joints. The joint gas spring is connected between adjacent segment arms.

[0010] Furthermore, the arm assembly includes a first segment arm and a second segment arm connected by a rotary joint, and the elastic assembly also includes a support gas spring. The second segment arm is supported on the base by the support gas spring, and a horizontal reset gas spring is connected to the first segment arm. The first segment arm is connected to the column by a swing joint.

[0011] Furthermore, the horizontal return gas springs on both sides of the first segment arm are symmetrically distributed with respect to the axis of the first segment arm, and the axes of the horizontal return gas springs are inclined with respect to the axis of the column.

[0012] Furthermore, one end of the second segment arm is connected to the first segment arm, and the other end is connected to other segment arms, with the support gas spring located on the side of the column away from the first segment arm to which it is connected.

[0013] Furthermore, the horizontal reset gas spring is fitted with ball joints at both ends, which connect it to the first segment arm and the base.

[0014] Furthermore, the push handle is provided with a ring portion, the push handle is rotatably connected to the arm assembly, the rotation axis of the push handle is collinear with the axis of the connected segment arm, and is spatially perpendicular to the axis of the swing joint and the axis of the rotation joint.

[0015] Furthermore, one end of the joint gas spring is hinged to a segment arm, and the other end is hinged to another segment arm adjacent to the segment arm. The hinge axis of the joint gas spring is parallel to the axis of the rotating joint.

[0016] Furthermore, the axis of the swing joint is parallel to the axis of the column, and the arm assembly forms a cantilever structure relative to the column.

[0017] Furthermore, the axis of the swing joint is vertically distributed, the arm assembly swings horizontally around the axis of the swing joint, the axis of the rotation joint is horizontally distributed, and the segmental arm rotates vertically around the axis of the rotation joint to which it is connected.

[0018] Furthermore, the push handle is provided in multiple parts, and different push handles are provided with different contact parts. The push handle is detachably connected to the arm assembly.

[0019] Compared with the prior art, the advantages and positive effects of this invention are:

[0020] (1) In view of the problem that the current active robotic arm is not effective in simulating Tai Chi push hands training, an arm assembly is used to connect the push handle and the base. The multi-segment arm of the arm assembly forms a relative rotation, and the arm assembly and the base form a relative swing. During rotation and swing, the elastic component realizes the elastic resistance. The accumulation and release of the elastic component simulates the resistance action during training, which meets the training requirements of Tai Chi push hands. No external active force is required, thus saving the drive element, reducing the floor space and equipment complexity, and improving applicability.

[0021] (2) The reaction force of the elastic component is used to simulate the resistance. The specifications of the elastic component can be adjusted according to the needs, thereby adjusting the magnitude of the corresponding force to suit the different needs of the trainees and effectively train their strength. The unpowered Tai Chi push-hands robot can follow the trainee's movements and has high coordination, thus ensuring the training effect.

[0022] (3) The segmented arm is connected in sequence with multiple segments and a push handle is installed at the end. The ring on the push handle can be adapted to the wrist of the trainee, so that the pushing, pulling, lifting and pressing movements during Tai Chi push hands training can be effectively transmitted to the arm assembly, and the arm assembly can transmit the corresponding resistance to meet the diverse training needs.

[0023] (4) A rotary joint is set to adjust the push handle in the vertical direction, and a swing joint is set to adjust the push handle in the horizontal direction, so as to meet the needs of drawing circles horizontally and vertically during practice. In addition, the push handle and the segment arm are connected by rotation. When performing different drawing circles, the push handle can be rotated to the corresponding angle to adapt to the trainee's wrist, so as to facilitate the transmission of force and meet diverse training needs. Attached Figure Description

[0024] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0025] Figure 1 This is a schematic diagram of the unpowered Tai Chi push-hands robot in Embodiment 1 of the present invention.

[0026] Figure 2 This is a schematic diagram of the unpowered Tai Chi push-hands robot in its stored state in Embodiment 1 of the present invention.

[0027] Figure 3 This is a schematic diagram of the horizontal reset gas spring in Embodiment 1 of the present invention.

[0028] Figure 4 This is a schematic diagram of the joint gas spring in Embodiment 1 of the present invention.

[0029] Figure 5 This is a schematic diagram of the swing joint in Embodiment 1 of the present invention.

[0030] Figure 6 This is a schematic diagram of a push handle in Embodiment 1 of the present invention.

[0031] Figure 7 This is a schematic diagram of another push handle in Embodiment 1 of the present invention.

[0032] Figure 8 This is a schematic diagram of another push handle in Embodiment 1 of the present invention.

[0033] Figure 9 This is a schematic diagram of the unpowered Tai Chi push-hands robot drawing a flat circle in Embodiment 1 of the present invention.

[0034] Figure 10 This is a schematic diagram of the unpowered Tai Chi push-hands robot drawing a vertical circle in Embodiment 1 of the present invention.

[0035] In the diagram, 1. Base, 2. Support gas spring, 3. First segment arm, 4. Swing joint, 5. Second segment arm, 6. First gas spring, 7. Third segment arm, 8. Second gas spring, 9. Fourth segment arm, 10. Third gas spring, 11. Fifth segment arm, 12. Push handle, 13. Horizontal return gas spring, 14. Ball joint, 15. Horizontal return gas strut tube, 16. Horizontal return gas strut rod, 17. Joint gas strut seat, 18. Joint gas strut tube, 19. Joint gas strut rod, 20. Rotating component, 21. Fixed seat, 22. Flat circle, 23. Vertical circle, 24. Arm assembly. Detailed Implementation

[0036] Example 1

[0037] In a typical embodiment of the present invention, such as Figures 1-10 As shown, a non-powered Tai Chi push-hands robot is presented.

[0038] Existing multi-segment arms can actively simulate resistance movements and provide active countermeasures, but they still require joint motors for drive, resulting in a large overall footprint and high control precision requirements, making them unsuitable for ordinary training scenarios. Therefore, this embodiment provides a non-powered Tai Chi push-hands robot. It utilizes elastic components combined with a multi-segment arm assembly 24 to form a resistance simulation component that requires no external power. The accumulation and release of elastic components simulate resistance movements during training, meeting the needs of Tai Chi push-hands training. This eliminates the need for external active power, thereby reducing the need for drive components, lowering the footprint and equipment complexity, and improving applicability.

[0039] like Figure 1As shown, a non-powered Tai Chi push-hand robot includes a base 1, an arm assembly 24, and an elastic component. The base 1 is provided with a column. One end of the arm assembly 24 is connected to a push handle 12, and the other end is connected to the column through a swing joint 4. The arm assembly 24 includes multiple segmented arms connected in sequence. Adjacent segmented arms are connected by a rotary joint, and the axis of the rotary joint is spatially perpendicular to the axis of the swing joint 4. The elastic component includes a horizontal return gas spring 13 and a joint gas spring. The horizontal return gas spring 13 is located on both sides of the segmented arm connected to the column and is connected to the segmented arm and the base 1 respectively through a ball joint 14. Adjacent segmented arms are connected by joint gas springs.

[0040] By utilizing the stretching and resetting of gas springs, resistance can be simulated. Apart from the trainee, there is no external power input, no need for motor control, and movement is achieved solely through reaction.

[0041] The arm assembly 24 includes a first segment arm 3 and a second segment arm 5 connected by a rotary joint. The elastic assembly also includes a support gas spring 2. The second segment arm 5 is supported on the base 1 by the support gas spring 2. The horizontal reset gas spring 13 is connected to the first segment arm 3. The first segment arm 3 is connected to the column by a swing joint 4.

[0042] The base 1 includes a base plate and a column. The base plate has three threaded holes for fixing. The elastic components include a horizontal return gas spring 13, a joint gas spring, and a support gas spring 2. For example... Figure 3 As shown, the horizontal return gas spring 13 includes a horizontal return gas support tube 15, a ball joint 14, and a horizontal return gas support rod 16. The horizontal return gas support tube 15 and the horizontal return gas support rod 16 are slidably engaged to achieve axial elongation and shortening, thereby achieving an elastic effect. One end of the horizontal return gas support tube 15 is connected to the ball joint 14, and the first segment arm 3 is connected through the ball joint 14. One end of the horizontal return gas support rod 16 is connected to the ball joint 14, and the base 1 is connected through the ball joint 14.

[0043] The horizontal return gas springs 13 on both sides of the first segment arm 3 are symmetrically distributed with respect to the axis of the first segment arm 3, and the axes of the horizontal return gas springs 13 are inclined with respect to the axis of the column. One end of the second segment arm 5 is connected to the first segment arm 3, and the other end is connected to other segment arms. The support gas spring 2 is located on the side of the column away from the first segment arm 3 to which it is connected.

[0044] In this embodiment, the arm assembly 24 is a five-segment unit, comprising a first segment arm 3, a second segment arm 5, a third segment arm 7, a fourth segment arm 9, and a fifth segment arm 11 connected sequentially by rotary joints. The rotary joints enable hinged connections between adjacent segment arms. The joint springs include a first gas spring 6, a second gas spring 8, and a third gas spring 10. One end of each gas spring is hinged to a segment arm, and the other end is hinged to another segment arm adjacent to that segment arm. The hinge axis of the gas spring is parallel to the axis of the rotary joint.

[0045] like Figure 4 As shown, the joint gas spring includes a joint gas strut tube 18 and a joint gas strut rod 19. The joint gas strut tube 18 and the joint gas strut rod 19 are slidably engaged, enabling elastic extension and contraction along the axial direction, thereby providing rebound resistance and rebound force. A joint support seat is hinged to the end of the joint gas spring, and the joint support seat is used to mount it to the segmental arm.

[0046] The first gas spring 6 connects the second segment arm 5 and the third segment arm 7, the second gas spring 8 connects the third segment arm 7 and the fourth segment arm 9, and the third gas spring 10 connects the fourth segment arm 9 and the fifth segment arm 11. The axis of the swing joint 4 is parallel to the axis of the column, and the arm assembly 24 forms a cantilever structure relative to the column.

[0047] The push handle 12 is provided with a ring. The push handle 12 is rotatably connected to the arm assembly 24. The rotation axis of the push handle 12 is collinear with the axis of the connected segment arm and is spatially perpendicular to the axis of the swing joint 4 and the axis of the rotation joint. In this embodiment, the push handle 12 is connected to the end of the fifth segment arm 11, thereby forming a flexible movement.

[0048] By having the trainee push the fifth segment arm 11 of the unpowered Tai Chi push-hands robot, the elastic component changes its length and force to achieve the purpose of exercise.

[0049] The rotating joint can adopt a hinge structure formed by a perforated ear plate and a pin. The swing joint 4 adopts a rotating structure formed by a pin between the rotating part 20 and the fixed seat 21. The rotating part 20 is connected to the arm assembly 24, and the fixed seat 21 is fixed to the column.

[0050] Specifically, such as Figure 1 and Figure 2 As shown, the fifth segment arm 11 and the fourth segment arm 9 are connected by a rotating joint. The third gas spring 10 is fixed to the two segment arms through two joint gas support seats 17, which can realize the conversion of the force and motion input by the trainee in the fifth segment arm 11 into the motion and force of the fourth segment arm 9.

[0051] The fourth segment arm 9 is connected to the third segment arm 7 by a rotating joint. The second gas spring 8 is fixed to the two segment arms by two joint gas support seats 17, which can realize the conversion of the movement of the fourth segment arm 9 into the movement of the third segment arm 7.

[0052] The third segment arm 7 is connected to the second segment arm 5 by a rotating joint. There is a gap in the middle of the rod of the second segment arm 5. The first gas spring 6 can connect the third segment arm 7 and the second segment arm 5 through this gap using two joint gas support seats 17, so that the motion and force of the third segment arm 7 can be converted into the motion and force of the second segment arm 5 and the force of the first segment arm 3.

[0053] The second segment arm 5 is connected to the first segment arm 3 via a rotating joint. The supporting gas spring 2 connects the second segment arm 5 to the base 1 via a ball joint 14, which enables the rotation of the second segment arm 5.

[0054] like Figure 1 and Figure 5 As shown, the first segment arm 3 is connected to the column of the base 1 through a swing joint 4. At the same time, the horizontal return gas spring 13 connects the first segment arm 3 to the base 1 through the gas support head, which can realize the limited left and right rotation of the first segment arm 3.

[0055] The upper side of the first segment arm 3 has a set of two threaded holes. There is one threaded hole on each of the left and right sides of the first segment arm 3. The horizontal return gas spring 13 is fixed to the threaded holes on both sides of the first segment arm 3 through one ball joint 14 of each of them. The other ball joint 14 of each of them is fixed to the two threaded holes of the base 1 respectively. In this way, the first segment arm 3 can only rotate a certain distance to the left and right, and can be returned to the center by reaction action.

[0056] The second segment arm 5 has a threaded hole on its lower side. It can swing up and down by rotating the joint to connect with the first segment arm 3. The support gas spring 2 is fixed to the threaded hole on the lower side of the second segment arm 5 through a ball joint 14. Another gas support head is fixed to a threaded hole in the base 1. Thus, the second segment arm 5 can only swing at a certain angle and can move through reaction.

[0057] The lower side of the third segment arm 7 has two sets of threaded holes. The third segment arm 7 can rotate up and down by connecting to the second segment arm 5 through a rotating joint. The first gas spring 6 is fixed to a set of threaded holes of the third segment arm 7 through a joint gas support seat 17. The first gas spring 6 is fixed to a set of threaded holes on the upper side of the first segment arm 3 through another joint gas support seat 17. Thus, the third segment arm 7 can only rotate a certain angle and can move through reaction action.

[0058] The lower side of the fourth segment arm 9 includes a set of threaded holes, and the upper side includes a set of threaded holes. The fourth segment arm 9 can rotate up and down by connecting to the third segment arm 7 through a rotating joint. The second gas spring 8 is fixed to the threaded hole on the lower side of the fourth segment arm 9 through a joint gas support seat 17, and the second gas spring 8 is fixed to the threaded hole on the third segment arm 7 through another joint gas support seat 17. Thus, the fourth segment arm 9 can only rotate a certain angle, and can move through reaction action.

[0059] The upper side of the fifth segment arm 11 includes a set of threaded holes. The fifth segment arm 11 can rotate up and down by connecting to the fourth segment arm 9 through a rotating joint. The third gas spring 10 is fixed to the threaded hole on the upper side of the fifth segment arm 11 through a joint gas support seat 17, and the third gas spring 10 is fixed to the threaded hole on the upper side of the fourth segment arm 9 through another joint gas support seat 17. Thus, the fifth segment arm 11 can only rotate a certain angle and can move through reaction action.

[0060] In this embodiment, Figure 1 Taking the posture shown as an example, the axis of the swing joint 4 is parallel to the axis of the column, and the axis of the swing joint 4 is vertically distributed. The arm assembly 24 swings horizontally around the axis of the swing joint 4, the axis of the rotation joint is horizontally distributed, the segment arm rotates vertically around the axis of the rotation joint it is connected to, and the rotation axis of the push handle 12 is collinear with the axis of the fifth segment arm 11 it is connected to, and is spatially perpendicular to the axis of the swing joint 4 and the axis of the rotation joint. This forms an adaptive movement in three-axis space.

[0061] When the trainee begins to practice drawing circles, step forward with the right foot into a lunge position, and at the same time, push the handle 12 through the end with the right hand and connect it with the wrist joint, place the left hand on the hip, look forward, and can turn into a horizontal circle 22 or a vertical circle 23.

[0062] Below, we will examine the inverse kinematic changes of each joint when the unpowered Tai Chi push-hands robot draws a horizontal circle 22 and a vertical circle 23.

[0063] First is a flat circle 22, such as Figure 9 As shown, when the trainee begins to draw a flat circle 22, they step forward with their right foot into a lunge position, and their right hand passes through the end handle 12 to draw a circle counterclockwise. Initially, the unpowered Tai Chi push-hand robot is in an extended state. When force is applied, it begins to rotate counterclockwise. At this time, the first segment arm 3 begins to rotate counterclockwise around the base 1 column at a certain angle via the swing joint 4, and the supporting gas spring 2 begins to contract. The second segment arm 5 begins to rotate around the first segment arm 3 via the rotation joint, and the angle between them gradually decreases.

[0064] The first air spring 6 begins to extend, the third segment arm 7 begins to rotate around the second segment arm 5 through a rotating joint, and the angle between them gradually increases. The second air spring 8 begins to shorten, the fourth segment arm 9 rotates around the third segment arm 7, and the angle between them decreases. The third air spring 10 begins to shorten, and the fifth segment arm 11 rotates around the fourth segment arm 9, and the angle between them decreases until it has moved half a circle (180°), at which point the Tai Chi Push Hands robot retracts as a whole.

[0065] Entering the lower half-circle, the trainee's arms begin to retract, and the unpowered Tai Chi push-hands robot also begins to extend. The third air spring 10 extends further, and the fifth segment arm 11 and the fourth segment arm 9 maintain a certain angle while moving. The first segment arm 3 moves around the base 1 column to the right side, and the supporting air spring 2 begins to extend. The angle of the second segment arm 5 around the first segment arm 3 increases, and the first air spring 6 begins to extend. The angle of the third segment arm 7 around the second segment arm 5 increases.

[0066] As the supporting gas spring 2 continues to extend, the angle of the second segment arm 5 around the first segment arm 3 continues to increase, the second gas spring 8 begins to extend, the angle of the fourth segment arm 9 around the third segment arm 7 increases, the third gas spring 10 begins to shorten, and the angle of the fifth segment arm 11 around the fourth segment arm 9 decreases. The Tai Chi Push Hands robot tilts forward as a whole until it returns to its initial position. This can be practiced repeatedly.

[0067] Secondly, there is the vertical circle 23, such as Figure 10 As shown, when the trainee begins to draw vertical circle 23, they step forward with their right foot into a forward lunge position, extend their right arm forward to push the handle 12 at the end, connecting it with their wrist joint, and draw vertical circle 23 counterclockwise. Initially, the unpowered Tai Chi push-hand robot is in an extended state. When the trainee begins to push counterclockwise, the third air spring 10 begins to extend, the angle of the fifth segment arm 11 around the fourth segment arm 9 increases, the second air spring 8 begins to extend, the angle of the fourth segment arm 9 around the third segment arm 7 increases, the first air spring 6 begins to shorten, the angle of the third segment arm 7 around the second segment arm 5 decreases, the supporting air spring 2 begins to shorten, the angle of the second segment arm 5 around the first segment arm 3 decreases, and the first segment arm 3 remains stationary. At this point, the Tai Chi push-hand robot rises as a whole until it has moved 90°.

[0068] When the circular motion reaches 90° to 270°, the third air spring 10 shortens, the fifth segment arm 11 decreases in angle around the fourth segment arm 9, the second air spring 8 first extends and then shortens, the fourth segment arm 9 increases in angle around the third segment arm 7 first and then decreases, the first air spring 6 extends, the third segment arm 7 increases in angle around the second segment arm 5, the support air spring 2 first shortens and then extends, the second segment arm 5 decreases in angle around the first segment arm 3 first and then increases, and the Tai Chi Push Hands robot moves downwards as a whole until it reaches 270°.

[0069] When the circular motion reaches 270° to 360°, the third air spring 10 extends, the fifth segment arm 11 increases its angle around the fourth segment arm 9, the second air spring 8 shortens, the fourth segment arm 9 decreases its angle around the third segment arm 7, the first air spring 6 shortens, the third segment arm 7 decreases its angle around the second segment arm 5, the supporting air spring 2 extends, and the second segment arm 5 increases its angle around the first segment arm 3. The Tai Chi Push Hands robot moves upward as a whole until it returns to the initial angle. This can be practiced repeatedly.

[0070] Multiple push handles 12 are provided, each with a different contact portion. Each push handle 12 is detachably connected to the arm assembly 24. The end push handle 12 can be replaced with different types. For example... Figure 6 , Figure 7 and Figure 8 As shown, different types of push handles 12 can be replaced according to training needs.

[0071] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A non-powered Tai Chi push-hands robot, characterized in that, include: The base is equipped with columns; The arm assembly has a push handle connected to one end and a pivot joint connected to the column at the other end. The arm assembly includes multiple segmented arms connected in sequence. Adjacent segmented arms are connected by a rotary joint. The axis of the rotary joint is spatially perpendicular to the axis of the pivot joint. The axis of the swing joint is vertically distributed, and the arm assembly swings horizontally around the axis of the swing joint. The axis of the rotation joint is horizontally distributed, and the segmental arm rotates vertically around the axis of the rotation joint to which it is connected. The elastic components include a horizontal return gas spring and a joint gas spring. The horizontal return gas spring is located on both sides of the segment arm connecting the column and is connected to the segment arm and the base respectively through ball joints. The joint gas spring is connected between adjacent segment arms.

2. The unpowered Tai Chi push-hands robot as described in claim 1, characterized in that, The arm assembly includes a first segment arm and a second segment arm connected by a rotary joint. The elastic assembly also includes a support gas spring. The second segment arm is supported on the base by the support gas spring. A horizontal reset gas spring is connected to the first segment arm. The first segment arm is connected to the column by a swing joint.

3. The unpowered Tai Chi push-hands robot as described in claim 2, characterized in that, The horizontal return gas springs on both sides of the first segment arm are symmetrically distributed with respect to the axis of the first segment arm, and the axes of the horizontal return gas springs are inclined with respect to the axis of the column.

4. The unpowered Tai Chi push-hands robot as described in claim 2 or 3, characterized in that, One end of the second segment arm is connected to the first segment arm, and the other end is connected to other segment arms. The supporting gas spring is located on the side of the column away from the first segment arm to which it is connected.

5. The unpowered Tai Chi push-hands robot as described in claim 4, characterized in that, The horizontal reset gas spring is fitted with ball joints at both ends, which connect it to the first segment arm and the base.

6. The unpowered Tai Chi push-hands robot as described in claim 1, characterized in that, The push handle is provided with a ring portion, and the push handle is rotatably connected to the arm assembly. The rotation axis of the push handle is collinear with the axis of the connected segment arm, and is spatially perpendicular to the axis of the swing joint and the axis of the rotation joint.

7. The unpowered Tai Chi push-hands robot as described in claim 1 or 6, characterized in that, One end of the joint gas spring is hinged to a segment arm, and the other end is hinged to another segment arm adjacent to that segment arm. The hinge axis of the joint gas spring is parallel to the axis of the rotating joint.

8. The unpowered Tai Chi push-hands robot as described in claim 1, characterized in that, The axis of the swing joint is parallel to the axis of the column, and the arm assembly forms a cantilever structure relative to the column.

9. The unpowered Tai Chi push-hands robot as described in claim 1, characterized in that, The push handle is provided in multiple parts, and different push handles have different contact parts. The push handle is detachably connected to the arm assembly.

Images