CN110000759A - Complementary education intelligent robot and its method before a kind of - Google Patents

Abstract

The invention discloses complementary education intelligent robot before a kind of, including robot ambulation pedestal, the upper side of the robot ambulation pedestal is horizontal platform；Standing on the horizontal platform has outer profile in the robot of " egg " form for erectting appearance；The lower part of the robot is divided into robot body, and the top of the robot is divided into robot head；The lower end cambered surface of the robot body tangentially contacts the centre of the horizontal platform；The present invention realizes bend over tilting action and nodding action that the robot can actively in either direction in the structure of draught line cooperation hoist engine, inclination can be selected to bend over by way of changing center of gravity, direction of nodding, facilitate and realize more intelligent interaction effect.

Description

Complementary education intelligent robot and its method before a kind of

Technical field

The invention belongs to preschool education fields.

Background technique

Before existing complementary education intelligent robot often only on the shell of a robot apperance install additional audio, The players such as video realize aided education, or in order to further increase interest, the shell of robot apperance are made into " tumbler " structure of egg-shape, the structure of " tumbler " are passive not reversed structure, cannot actively select inclined direction, can not It realizes more intelligent interaction, and then can not effectively excite the curiosity of children.

Summary of the invention

Goal of the invention: in order to overcome the deficiencies in the prior art, the present invention provide it is a kind of can by change center of gravity come Control bow direction a kind of before complementary education intelligent robot and its method.

Technical solution: to achieve the above object, complementary education intelligent robot before a kind of of the invention, including robot Walking basal seat, the upper side of the robot ambulation pedestal are horizontal platform；Standing on the horizontal platform has outer profile in setting appearance " egg " form robot；The lower part of the robot is divided into robot body, and the top of the robot is divided into machine The number of people；The lower end cambered surface of the robot body tangentially contacts the centre of the horizontal platform.

Further, the robot body shell structure, the robot body enclosure interior is body shell chamber, described The intracavitary bottom integrated setting of body shell has the bottom weight of solid metal material, and the weight of the bottom weight at least accounts for The one third of robot gross mass；The push rod being provided at the axle center of the bottom weight up and down passes through channel；It is described Support disk body is provided with above bottom weight, the support disk body is fixedly connected with the bottom weight by several support rods, Circumferentially array distribution, the support plate body are located at the intracorporal axle center seat of robot body to each support rod；The support plate First straight line push-rod electric machine is fixedly installed on body；First push rod lower end of the first straight line push-rod electric machine it is concentric activity to The lower insertion push rod passes through in channel, and the lower end of first push rod is in taper structure；The robot ambulation pedestal It is internally provided with hoist engine accommodating cavity, is fixedly installed with hoist engine in the hoist engine accommodating cavity；The hoist engine accommodating cavity Top is provided with threading channel up and down, and the threading channel passes through that channel is concentric to be aligned with the push rod, and described It is identical across the internal diameter in channel as the push rod to thread channel；The draught line that the hoist engine is drawn is worn upwards along plummet direction The threading channel is crossed, and the upper end of the draught line is fixedly connected with the taper tip of first push rod；The elevator The draught line that machine is drawn tightens setting, and the lower end of first push rod can be advanced downwardly to the insertion threading channel.

Further, the intracavitary upper part of the body shell is fixedly installed electric machine support, the middle part of the electric machine support Upside is fixedly installed with vertical upper motor, is fixedly installed with vertical lower motor on the downside of the middle part of the electric machine support；It is described Upper motor and lower motor are respectively positioned on the intracavitary shaft core position of the body shell；The fixed suspension setting in the shaft lower end of the lower motor There is a swivel mount, the both ends of the swivel mount are symmetrically arranged with the first weight arm and the second weight arm being laterally extended, and described first The end of weight arm is fixedly installed fixed weight ball；It further include moving counterweight ball, perforation setting is also worn on moving counterweight ball Via hole, the second weight arm activity pass through and pass through hole on moving counterweight ball, and the moving counterweight ball can match along described second The length direction of weighing arm slides；The end of the moving counterweight ball is fixedly installed spring block plate, goes back on second weight arm It is socketed with spring, the spring folder is between the spring block plate and the moving counterweight ball；Pacify on the swivel mount Equipped with second straight line motor, the extension side of the extending direction of the second push rod of the second straight line motor and second weight arm To parallel, and the end of second push rod is provided with top dome face, and the top dome face contact simultaneously presses the moving counterweight ball Left side spherical surface；The elongation of second push rod can push the moving counterweight ball to be gradually distance from the movement of second straight line motor.

Further, the upper rotary shaft of the upper motor is upward through the via hole at the top of the robot body on wall body, The top of the upper rotary shaft is concentric to be provided with carrier, and circumferentially there are three support bullet for array distribution on the carrier Spring, the bottom of the robot head are fixedly supported at the top of three support springs；Wall body is upper at the top of the robot body Surface is fixedly installed a circle iron hoop；Side in the head cavity of the robot head is fixedly installed with electromagnet, the electromagnet The pole pair of lower end should be right above the iron hoop, and after the electromagnet is powered, the magnetic pole attracts each other with the iron hoop；Institute It states the side in head cavity far from the electromagnet and is fixedly installed with weight balancing block；Display screen is provided on the robot head Frame, it is described display mask on display screen on be provided with simulated eyeballs；The electromagnet is located at one close to the display mask Side；Antenna is provided at the top of the robot head.

Further, before a kind of complementary education intelligent robot application method:

The fixed form of the robot body of robot: control hoist engine persistently keeps the pulling force to draught line, makes to draw Line is in plummet tensioned state, threads channel and push rod at this time across channel and is in the concentric state being aligned, and starts the at this time One line handspike motor, makes the first push rod do downward advancing movement, and the lower end of the first push rod is finally enable to advance downwardly to slotting Enter in the threading channel, the first push rod at this time is equivalent to the effect of guide pile, its robot body is effectively prevent to shake Dynamic, which uses in robot ambulation or idle state；

The operating method of the orientation nodding action of robot: motor in starting, and then rotary shaft and carrier occurs Rotation, and then the rotation of carrier drives robot head synchronous rotary by three support springs, by controlling upper rotary shaft Rotational steps control the direction of robot head, and after the direction adjustment to robot head, if desired robot head is nodded Movement, then allow electromagnet to be powered, and be gradually increased the magnetic attraction of electromagnet, magnetic pole attracts each other with the iron hoop at this time, beats Original dynamic balance is broken, robot head has one end of electromagnet that can tilt down, and the display mask of robot head begins Final position is in the side of electromagnet, therefore, no matter robot head towards where, as long as electromagnet is powered, robot head will be done a little Head movement；If desired cancel and nodding, gradually decrease the electromagnetic adsorption power of electromagnet, until disconnecting the power supply of electromagnet, this opportunity The device number of people restores beginning state under the action of the elastic-restoring force of support spring automatically；

The orientation of robot bend over movement operating method: control second straight line motor, do the second push rod and gradually extend Movement, the top dome face of the second push rod end pushes moving counterweight ball to move to the second push rod end at this time, moving counterweight at this time Ball and fixed weight ball, which are constituted, to be balanced, and then the center of robot body is made to be located at axial location；Starting first straight line pushes away at this time Bar motor rises to the taper tip of the first push rod lower end equal with horizontal platform, then passes through first straight line push-rod electric machine It controls the first push rod and remains motionless, and the pulling force to draught line is persistently kept by hoist engine, keep draught line taut in plummet Tight state, robot body at this time are still within setting posture；At this point, starting upper motor, send out rotary shaft and carrier Raw rotation, and then the rotation of carrier drives robot head synchronous rotary by three support springs, by controlling upper rotary shaft Rotational steps control the direction of robot head, after the direction adjustment to robot head start lower motor, lower motor Shaft drives swivel mount rotation, and then swivel mount passes through the first weight arm and the second weight arm drive fixed weight ball and work at this time It is straight to control second until the place orientation of fixed weight ball is consistent with the display orientation of mask at this time for dynamic weighted spherical ball synchronous rotary Line motor, make the second push rod do shrink shorten movement, at this time moving counterweight ball spring relaxation power elastic force effect under do by Gradually close to the movement of robot body axis, at this time since moving counterweight ball moves closer to the movement of robot body axis, The center of gravity of robot body is gradually tilted to fixed weight ball side at this time in turn, at this time the centre-of gravity shift side of robot body Direction to the display mask with robot head is consistent；Hoist engine is controlled at this time, so that draught line is become loose, and gradually increase Add the extraction length of draught line, at this time due to the relaxation of draught line, and display of the center of gravity of robot body to robot head Mask offset, the orientation run-off the straight towards the display mask of robot head can occur under the effect of gravity for robot body at this time, The amplitude of bending over of robot body is controlled by controlling the extraction length of draught line, and then the orientation for realizing robot is bent over Movement, according to the method described above, may be implemented robot body and bends over to any direction；

If desired it releases robot body to bend over to act, controls second straight line motor, do the second push rod and gradually extend Movement, the top dome face of the second push rod end pushes moving counterweight ball to move to the second push rod end at this time, moving counterweight at this time Ball and fixed weight ball, which are constituted, to be balanced, and then the center of robot body is made to be located at axial location；Then hoist engine is controlled again Withdraw draught line, make draught line restore plummet tensioned state, at this time draught line tighten effect under, robot body is again extensive Posture is erect again.

The utility model has the advantages that structure of the present invention in draught line cooperation hoist engine, realizing the robot can be actively towards either one To bend over tilting action and nodding action, can be selected by way of changing center of gravity inclination bend over, direction of nodding, facilitate realization More intelligent interaction effect.

Detailed description of the invention

Attached drawing 1 is the whole first structure diagram of robot；

Attached drawing 2 is the second structural schematic diagram of robot；

Attached drawing 3 is that robot is bowed schematic diagram when bending over；

Attached drawing 4 is robot head structural schematic diagram；

Attached drawing 5 is that robot solid splits structural schematic diagram；

Attached drawing 6 is that robot just cuts open structural schematic diagram；

Attached drawing 7 is the partial structurtes enlarged diagram at the label 13 of attached drawing 6；

Attached drawing 8 is the partial structurtes enlarged diagram at the label 8 of attached drawing 6；

Attached drawing 9 is just to cut open structural schematic diagram when robot bends over to act；

Attached drawing 10 is the partial enlargement diagram at the label 25 of attached drawing 9.

Specific embodiment

The present invention will be further explained with reference to the accompanying drawing.

As attached drawing 1 to 10 a kind of before complementary education intelligent robot, including robot ambulation pedestal 12, the machine The upper side of people's walking basal seat 12 is horizontal platform 40；Standing on the horizontal platform 40 has outer profile in " egg " form for erectting appearance Robot；The lower part of the robot is divided into robot body 5, and the top of the robot is divided into robot head 18；It is described The lower end cambered surface 39 of robot body 5 tangentially contacts the centre of the horizontal platform 40.

5 shell structure of robot body, 5 enclosure interior of robot body are body shell chamber 15, the body Bottom integrated setting in shell chamber 5 has the bottom weight 34 of solid metal material, and the weight of the bottom weight 34 is at least Account for the one third of robot gross mass；The push rod being provided at the axle center of the bottom weight 34 up and down passes through channel 35；The top of the bottom weight 34 is provided with support disk body 71, and the support disk body 71 connects by the way that several support rods 41 are fixed The bottom weight 34 is connect, circumferentially array distribution, the support disk body 71 are located in robot body 5 each support rod 41 Axle center seat；First straight line push-rod electric machine 42 is fixedly installed on the support disk body 71；The first straight line push-rod electric machine The 42 concentric activity in 38 lower end of the first push rod is downwardly into the push rod in channel 35, the lower end of first push rod 38 In 27 structure of taper；The robot ambulation pedestal 12 is internally provided with hoist engine accommodating cavity 10, the hoist engine accommodating Hoist engine 11 is fixedly installed in chamber 10；The top of the hoist engine accommodating cavity 10 is provided with threading channel 36 up and down, The threading channel 36 and the push rod pass through that channel 35 is concentric to be aligned, and the threading channel 36 and the push rod pass through and lead to The internal diameter in road 35 is identical；The draught line 33 that the hoist engine 11 is drawn is upward through the threading channel 36 along plummet direction, And the upper end of the draught line 33 is fixedly connected with 27 tip of taper of first push rod 38；The hoist engine 11 is drawn Draught line 33 tighten setting, and the lower end of first push rod 38 can be advanced downwardly to being inserted into the threading channel 36.

Upper part in the body shell chamber 15 is fixedly installed electric machine support 2, and the middle part upside of the electric machine support 2 is solid Dingan County is fixedly installed with vertical lower motor 1 equipped with vertical upper motor 14, the middle part downside of the electric machine support 2；On described Motor 14 and lower motor 1 are respectively positioned on the shaft core position in the body shell chamber 15；The fixed suspension in the shaft lower end of the lower motor 1 It is provided with swivel mount 7, the both ends of the swivel mount 7 are symmetrically arranged with the first weight arm 6 and the second weight arm 29 being laterally extended, The end of first weight arm 6 is fixedly installed fixed weight ball 4；It further include moving counterweight ball 32, on moving counterweight ball 32 Perforation setting also has across hole, and 29 activity of the second weight arm, which passes through, passes through hole on moving counterweight ball 32, and the activity is matched Heavy ball 32 can be slided along the length direction of second weight arm 29；The end of the moving counterweight ball 32 is fixedly installed spring Block plate 26, is also socketed with spring 27 on second weight arm 29,27 elastic clip of spring be located at the spring block plate 26 with Between the moving counterweight ball 32；Second straight line motor 3 is installed on the swivel mount 7, the second of the second straight line motor 3 The extending direction of push rod 31 is parallel with the extending direction of second weight arm 29, and the end of second push rod 31 is provided with Top dome face 30, the top dome face 30 contact and press the left side spherical surface of the moving counterweight ball 32；Second push rod 31 is stretched The long movement that the moving counterweight ball 32 can be pushed to be gradually distance from second straight line motor 3.

The upper rotary shaft 052 of the upper motor 14 is upward through the via hole 051 on the 5 top wall body of robot body, The top of the upper rotary shaft 052 is concentric to be provided with carrier 24, on the carrier 24 circumferentially there are three array distributions Support spring 21, the bottom of the robot head 18 are fixedly supported on three 21 tops of support spring；The robot body 5 The upper surface of top wall body is fixedly installed a circle iron hoop 16；Side in the head cavity 19 of the robot head 18 is fixedly installed with Electromagnet 22, the magnetic pole 23 of 22 lower end of electromagnet is corresponding right above the iron hoop 16, after the electromagnet 22 is powered, institute Magnetic pole 23 is stated to attract each other with the iron hoop 16；Side in the head cavity 19 far from the electromagnet 22 is fixedly installed with weight Balance weight 17；It is provided with display mask 44 on the robot head 18, is provided on the display screen on the display mask 44 imitative True eyeball 43；The electromagnet 22 is located at close to the side of the display mask 44；The top of the robot head 18 is provided with Antenna 20.

Application method, operating process and the technological progress of the robot of the invention patent arrange as follows:

The fixed form of the robot body 5 of robot: control hoist engine 11 persistently keeps making the pulling force of draught line 33 Draught line 33 is in plummet tensioned state, threads channel 36 at this time with push rod and is in the concentric state being aligned across channel 35, Start first straight line push-rod electric machine 42 at this time, so that the first push rod 38 is done downward advancing movement, finally make under the first push rod 38 End can be advanced downwardly to being inserted into the threading channel 36, and the first push rod 38 at this time is equivalent to the effect of guide pile, effectively anti- Only its robot body 5 shakes, which uses in robot ambulation or idle state；

The operating method of the orientation nodding action of robot: motor 14 in starting, and then make rotary shaft 052 and carrier 24 rotate, and then the rotation of carrier 24 drives 18 synchronous rotary of robot head by three support springs 21, passes through control The rotational steps of rotary shaft 052 control the direction of robot head 18 in system, after the direction adjustment to robot head 18, if It needs robot head 18 to do nodding action, then allows electromagnet 22 to be powered, and be gradually increased the magnetic attraction of electromagnet 22, at this time magnetic Pole 23 attracts each other with the iron hoop 16, has broken original dynamic balance, and robot head 18 has one end of electromagnet 22 that can occur Tilt down, and the display mask 44 of robot head 18 is always positioned at the side of electromagnet 22, therefore, no matter 18 court of robot head To where, as long as electromagnet 22 is powered, robot head 18 will do nodding action；If desired cancel and nodding, gradually decrease electromagnetism The electromagnetic adsorption power of iron 22, until disconnecting the power supply of electromagnet 22, at this time elastic recovery of the robot head 18 in support spring 21 Automatically restore beginning state under the action of power；

The orientation of robot bend over movement operating method: control second straight line motor 3, do the second push rod 31 and gradually stretch Long movement, the top dome face 30 of 31 end of the second push rod pushes moving counterweight ball 32 to move to 31 end of the second push rod at this time, this When moving counterweight ball 32 constitute and balance with fixed weight ball 4, and then the center of robot body 5 is made to be located at axial location；At this time Start first straight line push-rod electric machine 42, rises to 27 tip of taper of 38 lower end of the first push rod equal with horizontal platform 40, so The first push rod 38 is controlled by first straight line push-rod electric machine 42 afterwards and remains motionless, and is persistently kept to traction by hoist engine 11 The pulling force of line 33 makes draught line 33 be in plummet tensioned state, and robot body 5 at this time is still within setting posture；At this point, Motor 14 in starting rotate rotary shaft 052 and carrier 24, and then the rotation of carrier 24 passes through three support bullets Spring 21 drives 18 synchronous rotary of robot head, controls the court of robot head 18 by controlling the rotational steps of upper rotary shaft 052 To motor 1 under starting after the direction adjustment to robot head 18, the shaft of lower motor 1 drives swivel mount 7 to rotate, in turn Swivel mount 7 drives the rotation synchronous with moving counterweight ball 32 of fixed weight ball 4 with the second weight arm 29 by the first weight arm 6 at this time Turn, until the place orientation of fixed weight ball 4 is consistent with the display orientation of mask 44, control second straight line motor 3, makes the at this time Two push rods 31 do the movement shunk and shortened, and moving counterweight ball 32 moves closer under the relaxation power elastic force effect of spring 27 at this time The movement of 5 axis of robot body, at this time since moving counterweight ball 32 moves closer to the movement of 5 axis of robot body, into And the center of gravity of robot body 5 is gradually tilted to 4 side of fixed weight ball at this time, the centre-of gravity shift of robot body 5 at this time The direction of the display mask 44 of direction and robot head 18 is consistent；Hoist engine 11 is controlled at this time, and draught line 33 is gradually made to become pine It relaxes, and gradually increases the extraction length of draught line 33, at this time due to the relaxation of draught line 33, and the center of gravity of robot body 5 It is deviated to the display mask 44 of robot head 18, robot body 5 can occur under the effect of gravity towards robot head 18 at this time The orientation run-off the straight for showing mask 44 controls the width of bending over of robot body 5 by controlling the extraction length of draught line 33 Degree, and then the orientation for realizing robot bends over to act, and according to the method described above, robot body 5 may be implemented to any direction Bend over；

If desired it releases robot body 5 to bend over to act, controls second straight line motor 3, do the second push rod 31 gradually The movement of elongation, the top dome face 30 of 31 end of the second push rod pushes moving counterweight ball 32 to move to 31 end of the second push rod at this time, Moving counterweight ball 32 and fixed weight ball 4, which are constituted, at this time balances, and then the center of robot body 5 is made to be located at axial location；So Control hoist engine 11 withdraws draught line 33 again afterwards, and draught line 33 is made to restore plummet tensioned state, at this time in the taut of draught line 33 Under tight effect, robot body 5 restores to erect posture again.

The above is only a preferred embodiment of the present invention, it should be pointed out that: for the ordinary skill people of the art For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered It is considered as protection scope of the present invention.

Claims (5)

1. complementary education intelligent robot before a kind of, it is characterised in that: including robot ambulation pedestal (12), the robot The upper side of walking basal seat (12) is horizontal platform (40)；Standing on the horizontal platform (40) has outer profile in " egg " for erectting appearance The robot of form；The lower part of the robot is divided into robot body (5), and the top of the robot is divided into robot head (18)；The lower end cambered surface (39) of the robot body (5) tangentially contacts the centre of the horizontal platform (40).

2. complementary education intelligent robot before a kind of according to claim 1, it is characterised in that: the robot body (5) shell structure, robot body (5) enclosure interior are body shell chamber (15), the bottom one in the body shell chamber (5) Body is provided with the bottom weight (34) of solid metal material, and the weight of the bottom weight (34) at least accounts for the total matter of robot The one third of amount；The push rod being provided at the axle center of the bottom weight (34) up and down passes through channel (35)；The bottom Support disk body (71) is provided with above portion's counterweight (34), the support disk body (71) is fixedly connected by several support rods (41) The bottom weight (34), circumferentially array distribution, the support disk body (71) are located at robot body to each support rod (41) Axle center seat in body (5)；First straight line push-rod electric machine (42) are fixedly installed on the support disk body (71)；Described first is straight The concentric activity in the first push rod (38) lower end of line push-rod electric machine (42) is downwardly into the push rod in channel (35), described The lower end of first push rod (38) is in taper (27) structure；The robot ambulation pedestal (12) is internally provided with hoist engine appearance It sets chamber (10), is fixedly installed with hoist engine (11) in the hoist engine accommodating cavity (10)；The top of the hoist engine accommodating cavity (10) Portion is provided with threading channel (36) up and down, and the threading channel (36) is concentric right across channel (35) with the push rod Together, and threading channel (36) is identical across the internal diameter of channel (35) as the push rod；What the hoist engine (11) was drawn Draught line (33) is upward through the threading channel (36) along plummet direction, and the upper end of the draught line (33) is fixedly connected Taper (27) tip of first push rod (38)；The draught line (33) that the hoist engine (11) is drawn tightens setting, and The lower end of first push rod (38) can advance downwardly interior to the threading channel (36) is inserted into.

3. complementary education intelligent robot before a kind of according to claim 2, it is characterised in that: the body shell chamber (15) the upper part in is fixedly installed electric machine support (2), is fixedly installed on the upside of the middle part of the electric machine support (2) vertical The middle part downside of upper motor (14), the electric machine support (2) is fixedly installed with vertical lower motor (1)；The upper motor (14) The shaft core position in the body shell chamber (15) is respectively positioned on lower motor (1)；The fixed suspension in the shaft lower end of the lower motor (1) It is provided with swivel mount (7), the both ends of the swivel mount (7) are symmetrically arranged with the first weight arm (6) and second being laterally extended and match The end of weighing arm (29), first weight arm (6) is fixedly installed fixed weight ball (4)；It further include moving counterweight ball (32), Also there is across hole perforation setting on moving counterweight ball (32), the second weight arm (29) activity passes through on moving counterweight ball (32) Pass through hole, the moving counterweight ball (32) can slide along the length direction of second weight arm (29)；The moving counterweight The end of ball (32) is fixedly installed spring block plate (26), is also socketed with spring (27) on second weight arm (29), described Spring (27) elastic clip is between the spring block plate (26) and the moving counterweight ball (32)；Pacify on the swivel mount (7) Equipped with second straight line motor (3), the extending direction of the second push rod (31) of the second straight line motor (3) and second counterweight The extending direction of arm (29) is parallel, and the end of second push rod (31) is provided with top dome face (30), the top dome face (30) Contact and press the left side spherical surface of the moving counterweight ball (32)；The elongation of second push rod (31) can push the activity to match Heavy ball (32) is gradually distance from the movement of second straight line motor (3).

4. complementary education intelligent robot before a kind of according to claim 3, it is characterised in that: the upper motor (14) Upper rotary shaft (052) be upward through the via hole (051) at the top of the robot body (5) on wall body, the upper rotary shaft (052) top is concentric to be provided with carrier (24), and circumferentially there are three support bullet for array distribution on the carrier (24) Spring (21), the bottom of the robot head (18) are fixedly supported at the top of three support springs (21)；The robot body (5) upper surface of top wall body is fixedly installed a circle iron hoop (16)；Side in the head cavity (19) of the robot head (18) It is fixedly installed with electromagnet (22), the magnetic pole (23) of electromagnet (22) lower end is corresponding right above the iron hoop (16), institute After stating electromagnet (22) energization, the magnetic pole (23) attracts each other with the iron hoop (16)；Far from described in the head cavity (19) The side of electromagnet (22) is fixedly installed with weight balancing block (17)；Display mask is provided on the robot head (18) (44), simulated eyeballs (43) are provided on the display screen on display mask (44)；The electromagnet (22) is located at close to institute State the side of display mask (44)；Antenna (20) are provided at the top of the robot head (18).

5. the application method of complementary education intelligent robot before a kind of according to claim 4, it is characterised in that:

The fixed form of the robot body (5) of robot: control hoist engine (11) persistently keeps the pulling force to draught line (33), So that draught line (33) is in plummet tensioned state, threads channel (36) at this time and be aligned across channel (35) in concentric with push rod State, at this time start first straight line push-rod electric machine (42), so that the first push rod (38) is done downward advancing movement, finally make first The lower end of push rod (38) can be advanced downwardly to being inserted into the threading channel (36), and the first push rod (38) at this time is equivalent to positioning The effect of stake, effectively prevent its robot body (5) to shake, which uses in robot ambulation or idle state；

The operating method of the orientation nodding action of robot: motor (14) in starting, and then make rotary shaft (052) and carrier (24) it rotates, and then the rotation of carrier (24) drives robot head (18) synchronous rotation by three support springs (21) Turn, controls the direction of robot head (18) by controlling the rotational steps of upper rotary shaft (052), the court to robot head (18) After adjustment, if desired robot head (18) does nodding action, then allows electromagnet (22) to be powered, and be gradually increased electromagnetism The magnetic attraction of iron (22), magnetic pole (23) attracts each other with the iron hoop (16) at this time, has broken original dynamic balance, robot head (18) having one end of electromagnet (22) can tilt down, and the display mask (44) of robot head (18) is always positioned at electromagnetism The side of iron (22), therefore, no matter robot head (18) towards where, as long as electromagnet (22) be powered, robot head (18) Nodding action can be done；If desired cancel and nodding, gradually decrease the electromagnetic adsorption power of electromagnet (22), until disconnecting electromagnet (22) Power supply, robot head (18) restores beginning state under the action of the elastic-restoring force of support spring (21) automatically at this time；

The orientation of robot bend over movement operating method: control second straight line motor (3), do the second push rod (31) and gradually stretch Long movement, the top dome face (30) of the second push rod (31) end pushes moving counterweight ball (32) to move to the second push rod (31) at this time End, moving counterweight ball (32) and fixed weight ball (4), which are constituted, at this time balances, and then is located at the center of robot body (5) Axial location；Start first straight line push-rod electric machine (42) at this time, increase taper (27) tip of the first push rod (38) lower end It is extremely equal with horizontal platform (40), then remain motionless by first straight line push-rod electric machine (42) control the first push rod (38), and It persistently keeps making draught line (33) be in plummet tensioned state, at this time the pulling force of draught line (33) by hoist engine (11) Robot body (5) is still within setting posture；At this point, starting upper motor (14), make rotary shaft (052) and carrier (24) It rotates, and then the rotation of carrier (24) drives robot head (18) synchronous rotary by three support springs (21), leads to The rotational steps of control upper rotary shaft (052) are crossed to control the direction of robot head (18), the direction to robot head (18) is adjusted Start after whole lower motor (1), the shaft of lower motor (1) drives swivel mount (7) rotation, and then swivel mount (7) passes through at this time First weight arm (6) and the second weight arm (29) drive fixed weight ball (4) and moving counterweight ball (32) synchronous rotary, until solid The place orientation for determining weighted spherical ball (4) is consistent with the display orientation of mask (44), controls second straight line motor (3) at this time, makes second Push rod (31) does the movement shunk and shortened, and moving counterweight ball (32) is done gradually under the relaxation power elastic force effect of spring (27) at this time Close to the movement of robot body (5) axis, at this time since moving counterweight ball (32) moves closer to robot body (5) axis Movement, and then the center of gravity of robot body (5) is gradually tilted to fixed weight ball (4) side at this time, robot body at this time The direction of the display mask (44) in the centre-of gravity shift direction and robot head (18) of body (5) is consistent；Hoist engine (11) are controlled at this time, So that draught line (33) is become loose, and gradually increase the extraction length of draught line (33), at this time due to draught line (33) It relaxes, and the center of gravity of robot body (5) is deviated to the display mask (44) of robot head (18), at this time robot body (5) the orientation run-off the straight towards the display mask (44) of robot head (18) can occur under the effect of gravity, drawn by control The extraction length of line (33) controls the amplitude of bending over of robot body (5), and then the orientation for realizing robot bends over to act, According to the method described above, robot body (5) may be implemented to bend over to any direction；

If desired robot body (5) are released to bend over to act, are controlled second straight line motor (3), make the second push rod (31) do by The movement gradually extended, the top dome face (30) of the second push rod (31) end pushes moving counterweight ball (32) to move to the second push rod at this time (31) end, moving counterweight ball (32) and fixed weight ball (4), which are constituted, at this time balances, and then makes the center of robot body (5) Positioned at axial location；Then control hoist engine (11) withdraws draught line (33) again, so that draught line (33) is restored plummet and tightens shape State, at this time draught line (33) tighten effect under, robot body (5) restore again erect posture.