65 results about "Passive walking" patented technology

The invention relates to an external skeleton robot for exercising lower limbs and an exercise control method thereof. The robot comprises the following four parts of a support balance frame, external skeleton mechanical legs, a running machine and a control system. The exercise control method has two modes, namely a passive walking exercise mode and an active walking exercise mode. In the passive walking exercise mode, the robot is controlled to drive an operator to complete specific exercise or exercise by a correct physiological gait trajectory; in the active walking exercise mode, the robot inhibits the limited abnormal exercise of the operator, directly corrects the limited abnormal exercise or generates gait exercise trajectories expected by the operator through a self-adaptive controller and indirectly fulfills the aim that the robot supplies walking exercise auxiliary force and resistance. The external skeleton robot can improve the exercise ability of limbs of human bodies, can assist persons walking and can reduce the exercise intensity under the condition that the persons bear load or walk for a long time.

A power-typed walking method for a biped robot belongs to the technical field of robot walking control. The method is characterized in that the robot realizes fully power-typed walking similar to passive walking by rapidly swinging two legs and controlling landing collision of the swinging legs in a gait cycle T which is more than 0.2s and less than 0.5s, the robot creates a virtual slope by bending the knee joint of a swinging leg and supplements energy by straitening the knee joint of a supporting leg, each gait of the gait cycle is determined by three key frames and described by four parameters, a first derivative continuous smooth curve connects the key frames. In the experiment, single gait of the robot reaches a relative walking speed of 4.48 leg lengths per second, which improves by 29 percent compared with the record created by RunBot; moreover, a plurality of gaits of the robot realizes continuous variable speed walking from 1.24 leg lengths per second to 3.88 leg lengths per second.

The invention discloses a travelling mechanism, a mechanical structure of an inspection robot and an obstacle crossing method of the mechanical structure, belonging to the technical field of a robot. The mechanical structure of the inspection robot comprises a rack, wherein a travelling wheel and a clamping wheel combined travelling mechanism is arranged on the rack and comprises at least one travelling unit, the travelling unit comprises a pair of travelling split wheels, each travelling split wheel comprises a driving traveling split wheel and a driven travelling split wheel, a first travelling wheel arm and a second travelling wheel arm are separately arranged below the driving traveling split wheel and the driven travelling split wheel, clamping split wheels are arranged below the travelling split wheels and comprise a first clamping split wheel and a second clamping split wheel, and a screw rod motor and a screw rod are arranged at the lower end of each clamping split wheel. Compared with the prior art, the mechanical structure has the advantages that the labor intensity is reduced, the running cost is reduced, and an obstacle can be crossed.

The invention discloses a narrow-foot type passive walking device which comprises a hip part, a driving device, a fixed frame, a data collecting device and a main control board, wherein the hip part comprises a left hip and a right hip, each hip is fixedly connected with a straight leg, and each straight leg is fixedly connected with a foot; the driving device provides power for the walking device to walk, the main control board conducts analysis according to data collected by the data collecting device so as to control the swinging frequency and swinging angle of the straight legs, the top end of the right hip is connected with the fixed frame, and the left hip is movably connected with the fixed frame. The narrow-foot type passive walking device has a complete double-foot walking form, is simple and ingenious in structure, and achieves lateral balance during walking with a brand new foot design; knees are not needed, the self-stabilization and natural gait dynamic characteristics of passive walking are utilized, and the control method is simple. The narrow-foot type passive walking device has substantial application prospect in the field of leg and foot rehabilitation therapy and the field of toys, and is of great potential application value even in the field of military application.

The invention relates to a gear transmission halving upper body energy-saving passive moving device. The gear transmission halving upper body energy-saving passive walking device comprises an upper body, legs, a driving unit and a data acquisition unit and further comprises a hip, knees, a main control unit and a spring unit. The driving unit comprises a battery, a direct current motor and a servo motor. The upper body is directly connected to the hip of the robot. The hip is of a symmetrical structure and in connection with the upper body and both sides of the hip are connected to the legs respectively. The hip comprises partial leg connecting shafts, bearings, an absolute encoder connecting shaft and bevel gears. The bevel gears of the hip are of a triple-bevel-gear symmetrical structure and the two bevel gears in bilateral symmetry are connected to the legs through the partial leg connecting shafts respectively. The partial leg connecting shafts are connected to the bearings. The third bevel gear is directly connected to a transmission shaft of the motor. The gear transmission halving upper body energy-saving passive walking device is a bipedal walking device which is simple and compact in structure, ingenious in design and energy-saving.

The invention discloses a bipedal semi-passive walker which comprises a hip portion and two leg portions. The hip portion comprises a hip portion balance plate and supports arranged on the lower sides of the two ends of the hip portion balance plate respectively; each leg portion comprises a connecting plate, a thigh and a shank, the bottom of each shank is provided with a simulation foot plate, the thighs and the connecting plates are in hinged connection, the shanks and the thighs are in hinged connection, a knee joint mechanism is formed between each thigh and the corresponding shank, and each connecting plate is hinged to the corresponding support; hip twisting mechanisms for driving the hip portions to twist are arranged between the hip balance plate and the supports respectively; leg portion stretching mechanisms for driving the thighs to swing left and right are arranged between the supports and the connecting plates; leg portion advancing mechanisms for driving the thighs to swing front and back are arranged between the connecting plates and the thighs; knee joint acting mechanisms for driving the knee joint mechanisms to do bending and straightening motion are arranged between the connecting plates and the knee joint mechanisms. The invention further discloses a walking control method of the bipedal semi-passive walker.

The invention discloses a completely passive both-foot walking machine with bionic ankle and subtalar joints, comprising a hip assembly, leg assemblies, ankle joint assemblies, subtalar joint assemblies, a left foot, a right foot and toe assemblies, wherein each leg assembly is arranged between the hip assembly and the ankle joint assembly, and a main body of the walking machine is constructed; each subtalar joint assembly is arranged between the ankle joint assembly and a foot, the toe assemblies are distributed at two sides of each foot. Foot joints disclosed by the invention comprise the ankle joint assemblies and the subtalar joint assemblies, the foot joints of the walking machine are designed by simulating the physiological angles of the ankle joints and the subtalar joints of a human in the space. Meanwhile, toes can realize an elastic start in the walking process under the effect of springs. According to the walking machine disclosed by the invention, the beneficial effects of the optimal walking energy efficiency, improvement of walking stability and naturality of the both-foot walking machine are achieved according to the passive walking principle and the introduction of the bionic ankle and subtalar joints.

The invention discloses an all-landform walking device and a control method thereof. The all-landform walking device comprises at least four sets of walking mechanism units which are connected in sequence. Each walking mechanism unit comprises a straight leg used for walking and a hip used for driving the straight leg to move up and down and swing. The hips are connected through couplers. According to the all-landform walking device and the control method thereof, through the passive walking device with the straight legs capable of being driven to move up and down and swing, the dynamic characteristics of being high in self-stability during passive walking, natural in gait, efficient and capable of saving energy are achieved; meanwhile, the all-landform walking device has the advantages of being simple in structure and convenient to operate; the all-landform walking device has broad application prospects in the rehabilitation medical field and the toy field and even has high potential military application value.

The invention discloses a two-foot straight leg walker provided with an upper body. The body of the walker is composed of two portions which are the hip and upper body connecting portion and the hip and leg and foot part connecting portion, wherein the hip and upper body connecting portion comprises the upper body to which a main device control panel is fixed, motors M1 and M2 which are connected with the hip and the upper body and control the included angle between each leg and the upper body, and spring systems R and L, and the hip and leg and foot part connecting portion comprises legs fixedly connected with the hip, feet hinged to the bottom ends of the legs, motors A and B which control the feet to rise and fall, and spring systems A and B with two ends fixed to the legs and middle connected with the motor A and the foot L and also connected with the motor B and the foot R through belts. The walker further comprises sensors placed in all the control units. According to the walker, semi-passive walking is achieved through energy compensation; the legs are straight legs without knees, so that control method is simple; collision between the feet and the ground can be avoided by controlling foot lifting; furthermore, the gait of the passive walker can be affected by the upper body, so that natural and energy-saving walking is achieved.

The invention discloses a novel semi-passive walking barrier crossing device and a control method thereof. The novel semi-passive walking barrier crossing device comprises a walking mechanism, a driving device used for driving the walking mechanism to walk, a data collecting device used for collecting walking data of the walking mechanism, and a main control device used for providing a real-time walking scheme for the walking mechanism. According to the novel semi-passive walking barrier crossing device, a leg is connected with a ball screw nut, so that movement of the leg and movement of the nut on a lead screw are made to be synchronous, namely telescoping of the leg in the barrier crossing process is achieved. The problem of complex control after a knee joint is additionally arranged is solved, and the purpose of barrier crossing can be achieved through a simple leg telescoping device. The novel semi-passive walking barrier crossing device has the advantages of being simple in structure, easy to operate and stable in walking and can be widely applied to the fields such as rescue, toys and medical treatment.

The invention discloses a semi-passive walking device and a control method thereof. The device comprises a walking mechanism, a driving device used for driving the walking mechanism to walk, a data collection device used for collecting walking data of the walking mechanism, and a master control device for providing a real-time walking scheme for walking. The problem that swing legs and feet make friction with the ground is solved through vertical movement of a lead screw; meanwhile, the driving device provides power for the walking device through multiple motors, a synchronous pulley mechanism drives inner and outer legs to swing, and therefore waking is achieved. The semi-passive walking device has the advantages of being simple in structure, elaborate in design and stable in walking, and can be widely applied in the fields of industry, rescuing, toys, medical treatment and the like.

The present disclosure provides a fixed point stabilization device for a legged mobile body having a generating mechanism for generating a fixed point. The present disclosure also provides a fixed point stabilization device for a legged mobile body comprising a stabilizing device for stabilizing the fixed point in accordance with a leg grounding position of the legged mobile body. The fixed point is generated by inputting a predetermined constant torque to a joint of a leg of the legged mobile body on the basis of the energy balance in the legged mobile body, leg switching, and a leg swinging motion. The fixed point is stabilized globally by keeping the leg grounding position of the legged mobile body constant using a stopper.

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.

The invention relates to a double-feet passive walking state control method with knee bending behavior. The control method comprises the following steps of: 1) using the moment of converting a swinging leg into a supporting leg after touching the ground as the starting moment of a period walking state, and converting the original supporting leg into the swinging leg; 2) freely swinging the swinging leg forwards until the knee joint of the swinging leg is collided, and locking the knee joint of the swinging leg; 3) freely swinging the swinging leg forwards, simultaneously rotating the supporting leg for certain angle with a fulcrum as a shaft, and unlocking the knee joint of the swinging leg; and 4) converting the swinging leg into the supporting leg when the swinging leg freely swings to collide the ground, converting the original supporting leg into the swinging leg, and beginning a new period. Compared with the prior art, the double-feet passive walking state control method provided by the invention is used for improving the slope walking capability of a double-feet robot, reinforcing the inherent walking stability of the double-feet robot, guaranteeing good stability of double-feet passive walking state on a large slope and greatly widening the stable working slope range.

The invention discloses a massaging chair. The massaging chair comprises a chair back framework and a massaging mechanism sliding up and down along the chair back framework, wherein the massaging mechanism comprises a mounting plate, crank arms and massaging wheels; the massaging wheels are mounted on the crank arms; a massaging assembly for driving the massaging wheels on the crank arms to achieve a massaging action is mounted on the mounting plate; the chair back framework is provided with a linear track plate and a curved track plate which extend in the up-and-down direction; an active walking mechanism which is mounted on the linear track plate and walks up and down and a passive walking mechanism which is mounted on the curved track plate and walks up and down are mounted at the upper end and the lower end of the mounting plate respectively. By adopting the structure, the massaging mechanism can generate curved fluctuating vibration while the massaging mechanism walks along a straight line, so that the massaging action done by the massaging mechanism becomes more flexible; meanwhile, the massaging chair fits the back curve of a human body better, so that a user has a more comfortable massaging experience on the massaging chair.

The invention discloses an automatic cleaning device for photovoltaic plates. The automatic cleaning device for the photovoltaic plates is put forward mainly for the problem that a large amount of manpower is consumed in the photovoltaic plate cleaning process. The automatic cleaning device comprises a frame, walking devices, a cleaning device and a control device. The walking devices include the active walking device and the passive walking device. The active walking device comprises a walking drive device, a walking transmission shaft and driving walking wheels. The passive walking device comprises a passive walking shaft and passive walking wheels. The passive walking shaft and the walking transmission shaft are arranged in parallel in a spaced manner. The cleaning device at least comprises a cleaning mechanism. Each cleaning mechanism comprises a cleaning drive mechanism, a cleaning brush and an atomization flushing device. Each cleaning brush comprises a cleaning transmission shaft arranged parallel to the walking transmission shaft. Bristles are arranged on the outer surfaces of the cleaning transmission shafts. One end of each cleaning transmission shaft is connected with the corresponding cleaning drive mechanism. The walking drive device and the cleaning drive mechanisms are all electrically connected with the control device. The automatic cleaning device can automatically clean the photovoltaic plates and saves manpower.

The invention relates to a set of vehicle storage and handling equipment, in particular to a set of simple multi-storey vehicle storage and handling equipment based on a comb-shaped handling robot. These include handling lifts, multi-storey parking racks, cranes with forklifts or forklifts or lifts. The handling heightened frame shall at least consist of a heightened frame, a carrier plate on the top of the heightened frame, a robot accommodating frame under the heightened frame, two centering fixing plates located in the robot accommodating frame, and passive walking wheels installed under the robot accommodating frame composed of other parts. Each layer of the multi-layer parking rack should be composed of a supporting frame, a parking space comb frame, and a robot walking board. This set of equipment is low-cost and can be set flexibly, so that the comb-shaped handling robot that can only handle and store vehicles on a single floor on the same floor can realize the handling and storage of multi-layer vehicles, which greatly improves the efficiency of vehicle storage.

The invention relates to an elastic energy-saving upper body half-dividing passive walking device. The elastic energy-saving upper body half-dividing passive walking device comprises a hip, legs, knees, an upper body, a spring unit, a drive unit, a data acquisition unit and a main control unit. The upper body and the hip are directly connected to each other and fix the drive unit together. The drive unit is in transmission from driving transmission wheels, to driven transmission wheels and to thighs, the left belt transmission is backward transmission, and the right belt transmission is forward transmission. The thighs are respectively fixed to the left side and the right side of the lower end of a hip support and respectively connected to the driven transmission wheels L and R on both left and right sides through transmission shafts for achieving real-time equal back and forth swing amplitude of the thighs on both left and right sides. The spring unit connected to belts stores and releases energy all the time during the swing of the upper body. The elastic energy-saving upper body half-dividing passive walking device is a two-leg walking device being simple and compact in structure, ingenious in design and capable of saving energy.

The invention discloses walking balance training equipment, which comprises a base, a turning platform and a gait training aid, wherein the base is provided with a protective device; the turning platform is arranged in correspondence to the base; and the gait trainer is connected to the turning platform. The protective device is arranged on a preset position at the upper side of the gait trainer by virtue of the base. The gait trainer comprises a pedal device on which a user can pedal; and by virtue of the gait trainer, gait training can be conducted on the user in a mode of simulating a walking posture. The turning platform can drive the gait trainer to turn, so that balance training can be conducted on the user. The walking balance training equipment and method provided by the inventionare conducive to the user to do passive walking gait training, active walking gait training and balance training, and through the training, user's gait stability in walking can be improved and motiontransient blocking before and during walking can be reduced, so that normal walking gaits of the user can be recovered.

The invention discloses orthotropic steel bridge deck fatigue crack detection equipment which comprises a walking assembly and a detection platform assembly, the walking assembly comprises a driving walking mechanism, a driven walking mechanism and a third driving mechanism, and the driving walking mechanism and the driven walking mechanism are each of an arc-shaped structure; electromagnets are arranged at the tops of the two ends of the driving walking mechanism and the driven walking mechanism, a transmission shaft of the third driving mechanism penetrates through the driven walking mechanism and then is in threaded connection with the driving walking mechanism, and when the third driving mechanism drives the transmission shaft to rotate, the driving walking mechanism can get close to or get away from the driven walking mechanism. The orthotropic plate fatigue crack is automatically detected by carrying a phased array ultrasonic detector, meanwhile, in the moving process of the orthotropic plate fatigue crack on the orthotropic steel bridge deck, the vibration of the equipment can be reduced, and the detection accuracy is improved.

The invention discloses a sole control type lower limb energy storage power-assisted mechanism. The sole control type lower limb energy storage power-assisted mechanism comprises a thigh rod, a thigh bandage, a knee joint energy storage device, a shank rod, an air spring, a ball joint, a bottom plate and a spring. In the using process, the thigh rod is bound to a thigh through the bandage. Man-machine coupling and multi-degree-of-freedom passive walking assistance are achieved according to the human body walking gait principle, the energy storage requirement is met through bending of a coil spring, full utilization of energy is achieved through cooperative use of the air spring, and free and smooth switching between a working state and a non-working state is achieved through cooperative use of an electromagnet and meshing teeth. In the daily walking process, the sole control type lower limb energy storage power-assisted mechanism can help people to share loads of knee joints and achieve load bearing and energy storage in the supporting phase so as to assist stretching in the later period of the supporting middle period; and meanwhile, sufficient power is provided for lifting the legs in the pre-swinging period, and the legs can swing freely in the swinging period without interfering with normal movement of the human body.

Single set wheel, shoe composite type rice combine for domestic use comprise chassis, threshing device, reaping platform and walking wheel device. The rear part of chassis is installed with power at front of which one side of chassis is fixedly mounted with a gear box. A output half-axle extends out from one side of gear box and is mounted with cylindrical driving walking wheel rotating following the half-axle. At front of the chassis there is mounted with passive walking axle which is installed with cylindrical passive walking wheel corresponding to the driving walking wheel. The driving walking wheel is interlinked with passive walking wheel and both of them are enveloped with plate pedrail in periphery. The threshing device is longitudinally mounted at rear part of frame, front of which there is transversly mounted with a reaping platform. The front end mouth of reaping device is joined with ear-feeding mouth of reaping platform. The present invention fit the need of reaping of terrace, plot and deep mud field.

The invention relates to a pair of embedded passive walking aid exoskeleton robot trousers. The trousers are composed of A, an embedded elastic device; B, a waist fixator; C, a length-adjustable and tightness-adjustable pedaling part; and D, a pair of carrier trousers. The embedded passive walking aid exoskeleton robot trousers can be worn by people who are weak in legs and feet and are inconvenient to walk so as to achieve assistance and walking aid.

The invention provides passive walking machine. The machine comprises a machine seat, a mechanical structure frame with two upright posts is arranged on the machine seat, arm swing rods and foot-and-leg swing rods are all arranged inside of the two upright posts, the arm swing rods are hinged on the upright posts through a mechanical hinge chain, the foot-and-leg swing rods are hinged on the upright posts through a lower mechanical hinge chain, the output of a motor is through the mechanical drive hinge chains driving the upper mechanical hinge chain and the lower mechanical hinge chain to make alternating rotations, and further driving the arm swing rods and the foot-and-leg swing rods to make alternating forth and back swings. By the passive walking machine, people with legs and feet stiff or even with their ability to walk lost are able to do passive walking driven by the machine, so that these people can do fitness and rehabilitation exercises faster and more secure at home. The passive walking machine is an integrated whole by combining the exercises of the leg and arm parts into one, the integrated performance is good, the machine is high in practicability, good in use effect, and rehabilitation efficiency can be improved.

The invention discloses a virtual passive walking robot speed adjusting method and device, a storage medium and a terminal. The method comprises the steps: a speed adjusting process is executed according to a preset mode, wherein the speed adjusting process comprises the steps of acquiring an executing target speed and calculating an executing target gravitational acceleration and executing targetwalking kinetic energy; the actual speed of the virtual passive walking robot is obtained and the actual walking kinetic energy is calculated; a kinetic energy error is calculated according to the executing target walking kinetic energy and the actual walking kinetic energy; the kinetic energy error and the executing target gravitational acceleration are transmitted to a closed-loop virtual passive walking speed controller, and a control signal output by the closed-loop virtual passive walking speed controller is received. According to the method, parameters of controllers such as the executing target speed gravitational acceleration and the target walking kinetic energy are calculated according to the executing target speed, feedback control is carried out according to the error betweenthe actual kinetic energy and the target walking kinetic energy and the executing target gravitational acceleration, finally, speed switching is achieved, and the whole system is ensued to tend to bein a stable state.

The invention discloses a continuous moving type climbing device for a conical electric pole, relates to the field of robots, and can quickly move up and down along a rod-shaped structure and automatically adapt to the change of the diameter of the rod-shaped structure. The device comprises a device base, at least three active walking enclasping mechanisms which are uniformly arranged in the circumferential direction, at least three passive walking enclasping mechanisms which are uniformly arranged in the circumferential direction, and a pan / tilt which can move along the edge of a supporting ring of the device base; the whole device tightly holds the climbing rod piece by controlling the electric push rod to adapt to the change of the diameter of the climbing rod piece; meanwhile, a driving device is controlled to drive a driving wheel to drive the whole device to quickly move up and down; the pan / tilt moves along the outer circle face of the upper supporting ring and / or the lower supporting ring, so that the periphery of the climbing rod piece is detected or overhauled. The robot can rapidly move up and down along the electric pole and can also automatically adapt to the change of the pole diameter, so that the robot can freely and rapidly move up and down on the electric pole, and overhaul and maintenance tools are carried to complete various overhaul tasks.

The invention provides a large heavy-load AGV. The large heavy-load AGV comprises a vehicle body, an active walking assembly, a passive walking assembly and a covering part assembly, wherein the active walking assembly comprises a first active walking unit and a second active walking unit which are symmetrically arranged and can independently control walking and steering; a steering pull rod is arranged between the first active walking unit and the second active walking unit in a threaded mode; the vehicle body comprises a connecting frame and vehicle frames arranged at the two ends of the connecting frame; and battery mounting frames are arranged on the vehicle frames. Compared with a traditional transfer mode in the prior art, the large heavy-load AGV of the invention has the advantages that personnel participation is reduced, and suspended placement of workpieces in a transfer process is avoided. Moreover, an automatic obstacle avoidance function is achieved, the safety coefficient of the transfer process is greatly improved, industrial accidents are reduced, and contribution is made to intelligent unmanned operation of a workshop in the future.

The invention discloses a mobile robot wheel foot structure. The mobile robot wheel foot structure comprises a base table, thighs, shanks, a first driving mechanism, a second driving mechanism, a third driving mechanism and idler wheels. The invention further discloses a control method of the mobile robot wheel foot structure. The ends, away from the idler wheels, of the shanks tilt upwards, the idler wheels make contact with the ground, and then the third driving mechanism is controlled to operate to drive the idler wheels to rotate; and the second driving mechanism is controlled to operate,one ends, away from the idler wheels, of the shanks are in contact with the ground, then the first driving mechanism and the second driving mechanism are controlled to operate, when the robot moves ina gentle area, the robot walks in a rolling manner, when the mobile robot moves to an area with complex terrain, the second driving mechanism drives the ends, away from the idler wheels, of the shanks to make contact with the ground, the first driving mechanism and the second driving mechanism can drive the thighs and the shanks to swing front and back correspondingly to conduct passive walking,so the applicability of the mobile robot to different areas is improved.

The invention discloses an automatic cleaning device for photovoltaic modules, which includes a track, a cleaning shaft, a cleaning brush, a running wheel, a balance wheel and a motor; there are two tracks, which are symmetrically and parallelly arranged on both sides of the photovoltaic component. There are running wheels and balance wheels on both sides of the cleaning shaft, and the running wheels and balance wheels are arranged on the track. The running wheel on one side is driven by a motor; the motor drives the running wheel through the multi-functional shaft while walking. It also drives the cleaning shaft to rotate, and a cleaning brush is provided on the cleaning shaft. The invention has a simple structure and adopts a multi-functional shaft to drive the cleaning shaft and the traveling wheel at the same time, effectively simplifying the structural components of the device and realizing the synchronization function. The multi-functional shaft has a self-locking function, which effectively prevents the cleaning device from being damaged due to the tilted installation of the photovoltaic module. Sliding; an adjustment spring is provided on the balance wheel to effectively balance the torsional shear force generated by the out-of-synchronization of active walking and passive walking, ensuring the smoothness of the device's walking and extending the service life of the product.

A passive walking aid exoskeleton comprises a waist fixing and supporting device, a thigh supporting device, a shank supporting device and a foot supporting device. According to the key freedom degrees of hip, knee and ankle joints in the movement process and the human body space posture in the gait walking process of a healthy human body, ergonomic characteristics of the waist, abdomen, pelvis, thighs, shanks and the like are fully considered, and all main components are designed into curves meeting the mechanical property and bound to the lower limbs of a user to be worn and used. A high-friction-coefficient rubber pad is added at the articulated shaft; the locking effect on the knee joint and the ankle joint can be realized in the walking grounding link; the weight of the upper body ofthe user is downwards conducted to the ground through each component, so that the multi-body use effects such as indoor passive assisted walking, gait posture correction training and standing postureburden reduction are achieved, friendly use of experience, bionic intelligent use functions is achieved, lightweight dead-weight and low processing cost are realized, the blank of the field is filledup, and commercialized production, popularization and promotion are facilitated.