CN110000759B - Preschool auxiliary education intelligent robot and method thereof - Google Patents
Preschool auxiliary education intelligent robot and method thereof Download PDFInfo
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- CN110000759B CN110000759B CN201910311447.3A CN201910311447A CN110000759B CN 110000759 B CN110000759 B CN 110000759B CN 201910311447 A CN201910311447 A CN 201910311447A CN 110000759 B CN110000759 B CN 110000759B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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Abstract
The invention discloses an intelligent robot for preschool auxiliary education, which comprises a robot walking base, wherein the upper side surface of the robot walking base is a horizontal table; a robot in an egg shape with a vertical outer contour stands on the horizontal table; the lower part of the robot is a robot body, and the upper part of the robot is a robot head; the lower end cambered surface of the robot body tangentially contacts the central part of the horizontal table; the robot can actively bend and tilt in any direction and perform nodding action by matching the structure of the traction wire with the winch, can select the directions of bending and nodding by changing the center of gravity, and is convenient to realize more intelligent interaction effect.
Description
Technical Field
The invention belongs to the field of preschool education.
Background
The prior preschool auxiliary education intelligent robot is usually only provided with players such as audio and video on a shell of a robot model to realize auxiliary teaching, or the shell of the robot model is made into an egg-shaped tumbler structure for further increasing interestingness, the tumbler structure is a passive tumbler structure, the inclination direction cannot be actively selected, more intelligent interaction cannot be realized, and the curiosity of children cannot be effectively excited.
Disclosure of Invention
The purpose of the invention is as follows: in order to overcome the defects in the prior art, the invention provides a preschool auxiliary education intelligent robot capable of controlling a bow direction by changing the center of gravity and a method thereof.
The technical scheme is as follows: in order to achieve the purpose, the preschool auxiliary education intelligent robot comprises a robot walking base, wherein the upper side surface of the robot walking base is a horizontal table; a robot in an egg shape with a vertical outer contour stands on the horizontal table; the lower part of the robot is a robot body, and the upper part of the robot is a robot head; the lower end cambered surface of the robot body tangentially contacts the central part of the horizontal table.
Further, in the robot body shell structure, a body shell cavity is formed inside the robot body shell, a bottom counterweight made of solid metal is integrally arranged at the bottom inside the body shell cavity, and the weight of the bottom counterweight at least accounts for one third of the total mass of the robot; a push rod penetrating channel which is communicated up and down is arranged at the axis of the bottom counterweight; a supporting disc body is arranged above the bottom balance weight, the supporting disc body is fixedly connected with the bottom balance weight through a plurality of supporting rods, the supporting rods are distributed in a circumferential array mode, and the supporting disc body is located at an axis position in the body of the robot; a first linear push rod motor is fixedly arranged on the supporting disc body; the lower end of a first push rod of the first linear push rod motor is coaxially and movably inserted downwards into the push rod penetrating channel, and the lower end of the first push rod is of a pointed cone structure; a winch accommodating cavity is formed in the robot walking base, and a winch is fixedly installed in the winch accommodating cavity; the top of the winch accommodating cavity is provided with a threading channel which is communicated up and down, the threading channel is coaxially aligned with the push rod passing channel, and the inner diameter of the threading channel is the same as that of the push rod passing channel; a traction wire led out by the winch upwards passes through the threading channel along the plumb direction, and the upper end of the traction wire is fixedly connected with the pointed cone tip of the first push rod; the traction wire led out from the winch is tightly arranged, and the lower end of the first push rod can be pushed downwards to be inserted into the threading channel.
Further, a motor support is fixedly arranged at the upper part in the body shell cavity, a vertical upper motor is fixedly arranged on the upper side of the middle part of the motor support, and a vertical lower motor is fixedly arranged on the lower side of the middle part of the motor support; the upper motor and the lower motor are both positioned at the axle center position in the body shell cavity; a rotating frame is fixedly suspended at the lower end of a rotating shaft of the lower motor, a first counterweight arm and a second counterweight arm which extend transversely are symmetrically arranged at two ends of the rotating frame, and a fixed counterweight ball is fixedly arranged at the tail end of the first counterweight arm; the movable counterweight ball is provided with a through hole in a penetrating manner, the second counterweight arm movably penetrates through the through hole in the movable counterweight ball, and the movable counterweight ball can slide along the length direction of the second counterweight arm; a spring baffle disc is fixedly arranged at the tail end of the movable counterweight ball, a spring is further sleeved on the second counterweight arm, and the spring elastic clamp is positioned between the spring baffle disc and the movable counterweight ball; a second linear motor is installed on the rotating frame, the extending direction of a second push rod of the second linear motor is parallel to the extending direction of the second counterweight arm, the tail end of the second push rod is provided with a ball top surface, and the ball top surface is in contact with and abuts against the left spherical surface of the movable counterweight ball; the extension of the second push rod can push the movable counterweight ball to move away from the second linear motor gradually.
Furthermore, an upper rotating shaft of the upper motor upwards penetrates through a through hole in the wall body at the top of the robot body, a bearing disc is coaxially arranged at the top of the upper rotating shaft, three support springs are circumferentially distributed on the bearing disc in an array manner, and the bottom of the robot head is fixedly supported at the tops of the three support springs; a circle of iron ring is fixedly arranged on the upper surface of the top wall body of the robot body; an electromagnet is fixedly installed on one side in a head cavity of the robot head, a magnetic pole at the lower end of the electromagnet corresponds to the position right above the iron ring, and the magnetic pole and the iron ring are mutually attracted after the electromagnet is electrified; a weight balance block is fixedly arranged on one side, far away from the electromagnet, in the head cavity; the robot head is provided with a display screen frame, and a display screen on the display screen frame is provided with a simulation eyeball; the electromagnet is positioned at one side close to the display screen frame; and an antenna is arranged at the top of the robot head.
Further, a using method of the preschool auxiliary education intelligent robot comprises the following steps:
the fixing mode of the robot body of the robot is as follows: controlling a winch to continuously keep the pulling force on a traction wire, enabling the traction wire to be in a plumb tightening state, enabling a threading channel and a push rod to pass through the channel to be in a coaxial alignment state, starting a first linear push rod motor at the moment, enabling a first push rod to do downward propelling movement, and finally enabling the lower end of the first push rod to be capable of being pushed downward to be inserted into the threading channel, wherein the first push rod at the moment is equivalent to the function of a positioning pile, so that the body of a robot is effectively prevented from shaking, and the state is used when the robot walks or is in an idle state;
the operation method of the directional nodding action of the robot comprises the following steps: starting an upper motor, further enabling an upper rotating shaft and a bearing disc to rotate, further enabling the bearing disc to rotate to drive a robot head to synchronously rotate through three supporting springs, controlling the orientation of the robot head by controlling the rotation amplitude of the upper rotating shaft, and after the orientation of the robot head is adjusted, if the robot head is required to do nodding action, enabling an electromagnet to be electrified and gradually increasing the magnetic attraction force of the electromagnet, wherein the magnetic pole and an iron ring are mutually attracted, the original force balance is broken, one end of the robot head with the electromagnet is inclined downwards, and a display screen frame of the robot head is always positioned on one side of the electromagnet, so that the robot head can do nodding action as long as the electromagnet is electrified no matter where the robot head faces; if the nod head needs to be cancelled, the electromagnetic adsorption force of the electromagnet is gradually reduced until the power supply of the electromagnet is disconnected, and at the moment, the robot head automatically restores to the starting state under the action of the elastic restoring force of the supporting spring;
the operation method of the directional bending motion of the robot comprises the following steps: controlling a second linear motor to enable a second push rod to do gradual extension movement, pushing the movable counterweight ball to move to the tail end of the second push rod by the ball top surface at the tail end of the second push rod, and balancing the movable counterweight ball and the fixed counterweight ball to enable the center of the robot body to be located at an axial line position; starting a first linear push rod motor to enable the pointed cone tip at the lower end of the first push rod to rise to be level to a horizontal platform, controlling the first push rod to remain motionless through the first linear push rod motor, continuously keeping the tension on the traction line through a winch, enabling the traction line to be in a plumb tightening state, and enabling the robot body to be still in an upright posture; at the moment, an upper motor is started to enable an upper rotating shaft and a bearing disc to rotate, then the bearing disc rotates to drive a robot head to synchronously rotate through three supporting springs, the orientation of the robot head is controlled by controlling the rotation amplitude of the upper rotating shaft, a lower motor is started after the orientation of the robot head is adjusted, a rotating shaft of the lower motor drives a rotating frame to rotate, then the rotating frame drives a fixed counterweight ball and a movable counterweight ball to synchronously rotate through a first counterweight arm and a second counterweight arm until the orientation of the fixed counterweight ball is consistent with the orientation of a display screen frame, at the moment, a second linear motor is controlled to enable a second push rod to do contraction and shortening movement, at the moment, the movable counterweight ball does movement gradually approaching to the axis of the robot under the action of relaxation force elasticity of the springs, at the moment, the movable counterweight ball does movement gradually approaching to the axis of the robot body, and at the moment, the gravity center of the robot body gradually inclines to one side of the fixed counterweight ball, at the moment, the direction of the gravity center offset of the robot body is consistent with the orientation of the display screen frame of the robot head; at the moment, the winch is controlled to gradually loosen the traction line and gradually increase the leading-out length of the traction line, at the moment, the body of the robot inclines towards the display screen frame of the head of the robot under the action of gravity due to the fact that the traction line is loosened and the gravity center of the body of the robot deviates towards the display screen frame of the head of the robot, the bending amplitude of the body of the robot is controlled by controlling the leading-out length of the traction line, and therefore the directional bending action of the robot is achieved, and the bending of the body of the robot in any direction can be achieved according to the method;
if the bending action of the robot body needs to be relieved, the second linear motor is controlled to enable the second push rod to do gradually-extending movement, the ball top surface at the tail end of the second push rod pushes the movable counterweight ball to move to the tail end of the second push rod, the movable counterweight ball and the fixed counterweight ball form balance at the moment, and then the center of the robot body is located at the axial line position; and then controlling the winch to retract the traction wire again to enable the traction wire to recover the plumb tightening state, and recovering the vertical posture of the robot body under the tightening action of the traction wire.
Has the advantages that: the robot can actively bend and tilt in any direction and perform nodding action by matching the structure of the traction wire with the winch, can select the directions of bending and nodding by changing the center of gravity, and is convenient to realize more intelligent interaction effect.
Drawings
FIG. 1 is a first overall structure diagram of the robot;
FIG. 2 is a second schematic view of the robot;
FIG. 3 is a schematic illustration of a robot bowing;
FIG. 4 is a schematic diagram of a robot head structure;
FIG. 5 is a schematic view of a robot in a three-dimensional cutting structure;
FIG. 6 is a schematic diagram of a front cross-sectional structure of the robot;
FIG. 7 is an enlarged view of a portion of the structure of FIG. 6 at 13;
FIG. 8 is an enlarged view of a portion of the structure of FIG. 6 at 8;
FIG. 9 is a schematic view of a front cross-section structure of the robot during stooping;
fig. 10 is an enlarged partial schematic view of fig. 9 at 25.
Detailed Description
The present invention will be further described with reference to the accompanying drawings.
The preschool auxiliary education intelligent robot as shown in fig. 1 to 10 comprises a robot walking base 12, wherein the upper side surface of the robot walking base 12 is a horizontal platform 40; a robot in an egg shape with a vertical outer contour stands on the horizontal table 40; the lower part of the robot is a robot body 5, and the upper part of the robot is a robot head 18; the lower arc surface 39 of the robot body 5 tangentially contacts the central portion of the horizontal table 40.
In the shell structure of the robot body 5, a body shell cavity 15 is formed in the shell of the robot body 5, a bottom counterweight 34 made of solid metal is integrally arranged at the bottom in the body shell cavity 15, and the weight of the bottom counterweight 34 at least accounts for one third of the total mass of the robot; a push rod penetrating channel 35 which is communicated up and down is arranged at the axis of the bottom counterweight 34; a supporting disc body 71 is arranged above the bottom counterweight 34, the supporting disc body 71 is fixedly connected with the bottom counterweight 34 through a plurality of supporting rods 41, the supporting rods 41 are distributed in a circumferential array, and the supporting disc body 71 is positioned at an axis position in the robot body 5; a first linear push rod motor 42 is fixedly arranged on the supporting disc body 71; the lower end of a first push rod 38 of the first linear push rod motor 42 is coaxially and movably inserted downwards into the push rod penetrating channel 35, and the lower end of the first push rod 38 is of a pointed cone 37 structure; a winch accommodating cavity 10 is formed in the robot walking base 12, and a winch 11 is fixedly installed in the winch accommodating cavity 10; the top of the winding machine accommodating cavity 10 is provided with a threading channel 36 which is communicated up and down, the threading channel 36 is coaxially aligned with the push rod passing channel 35, and the inner diameters of the threading channel 36 and the push rod passing channel 35 are the same; the traction wire 33 led out from the windlass 11 passes through the threading channel 36 upwards along the plumb direction, and the upper end of the traction wire 33 is fixedly connected with the tip of a pointed cone 37 of the first push rod 38; the pull wire 33 led out from the winding machine 11 is tightly arranged, and the lower end of the first push rod 38 can be pushed downwards to be inserted into the threading channel 36.
A motor support 2 is fixedly arranged at the upper part in the body shell cavity 15, a vertical upper motor 14 is fixedly arranged at the upper side of the middle part of the motor support 2, and a vertical lower motor 1 is fixedly arranged at the lower side of the middle part of the motor support 2; the upper motor 14 and the lower motor 1 are both positioned at the axis position in the body shell cavity 15; a rotating frame 7 is fixedly suspended at the lower end of a rotating shaft of the lower motor 1, a first counterweight arm 6 and a second counterweight arm 29 which extend transversely are symmetrically arranged at two ends of the rotating frame 7, and a fixed counterweight ball 4 is fixedly arranged at the tail end of the first counterweight arm 6; the movable counterweight ball 32 is provided with a through hole in a penetrating way, the second counterweight arm 29 movably penetrates through the through hole in the movable counterweight ball 32, and the movable counterweight ball 32 can slide along the length direction of the second counterweight arm 29; a spring baffle disc 26 is fixedly arranged at the tail end of the movable counterweight ball 32, a spring 27 is further sleeved on the second counterweight arm 29, and an elastic clamp of the spring 27 is positioned between the spring baffle disc 26 and the movable counterweight ball 32; the rotating frame 7 is provided with a second linear motor 3, the extending direction of a second push rod 31 of the second linear motor 3 is parallel to the extending direction of the second counterweight arm 29, the tail end of the second push rod 31 is provided with a ball top surface 30, and the ball top surface 30 contacts and presses the left spherical surface of the movable counterweight ball 32; the extension of the second push rod 31 can push the movable counterweight ball 32 to move away from the second linear motor 3 gradually.
An upper rotating shaft 052 of the upper motor 14 upwards penetrates through a via hole 051 on the top wall body of the robot body 5, a bearing disc 24 is coaxially arranged at the top of the upper rotating shaft 052, three support springs 21 are distributed on the bearing disc 24 in a circumferential array manner, and the bottom of the robot head 18 is fixedly supported at the tops of the three support springs 21; a ring of iron rings 16 are fixedly arranged on the upper surface of the top wall body of the robot body 5; an electromagnet 22 is fixedly installed on one side in a head cavity 19 of the robot head 18, a magnetic pole 23 at the lower end of the electromagnet 22 corresponds to the position right above the iron ring 16, and after the electromagnet 22 is electrified, the magnetic pole 23 and the iron ring 16 are mutually attracted; a weight balance block 17 is fixedly arranged on one side of the head cavity 19 far away from the electromagnet 22; a display screen frame 44 is arranged on the robot head 18, and a simulation eyeball 43 is arranged on a display screen on the display screen frame 44; the electromagnet 22 is positioned on a side close to the display screen frame 44; an antenna 20 is provided on top of the robot head 18.
The use method, the operation process and the technical progress of the robot are summarized as follows:
fixing manner of the robot body 5 of the robot: controlling the winch 11 to continuously keep the pulling force on the traction wire 33, so that the traction wire 33 is in a plumb tightening state, the threading channel 36 and the push rod penetrating channel 35 are in a coaxial alignment state, the first linear push rod motor 42 is started at the moment, the first push rod 38 is driven to move downwards, and finally the lower end of the first push rod 38 can be driven downwards to be inserted into the threading channel 36, the first push rod 38 is equivalent to a positioning pile at the moment, so that the robot body 5 is effectively prevented from shaking, and the state is used when the robot walks or is in an idle state;
the operation method of the directional nodding action of the robot comprises the following steps: the upper motor 14 is started, so that the upper rotating shaft 052 and the bearing disc 24 rotate, the bearing disc 24 rotates to drive the robot head 18 to synchronously rotate through the three supporting springs 21, the orientation of the robot head 18 is controlled by controlling the rotation amplitude of the upper rotating shaft 052, after the orientation of the robot head 18 is adjusted, if the robot head 18 needs to do nodding motion, the electromagnet 22 is electrified, the magnetic attraction force of the electromagnet 22 is gradually increased, the magnetic pole 23 and the iron ring 16 attract each other at the moment, the force balance is broken, one end of the robot head 18 with the electromagnet 22 inclines downwards, and the display screen frame 44 of the robot head 18 is always positioned on one side of the electromagnet 22, so that the robot head 18 can do nodding motion as long as the electromagnet 22 is electrified no matter where the robot head 18 faces; if the nod needs to be cancelled, the electromagnetic adsorption force of the electromagnet 22 is gradually reduced until the power supply of the electromagnet 22 is disconnected, and at the moment, the robot head 18 automatically restores to the starting state under the action of the elastic restoring force of the supporting spring 21;
the operation method of the directional bending motion of the robot comprises the following steps: controlling the second linear motor 3 to enable the second push rod 31 to do gradually-extending movement, wherein the ball top surface 30 at the tail end of the second push rod 31 pushes the movable counterweight ball 32 to move to the tail end of the second push rod 31, and the movable counterweight ball 32 and the fixed counterweight ball 4 form balance, so that the center of the robot body 5 is located at an axial line position; at this time, the first linear push rod motor 42 is started, so that the tip of the pointed cone 37 at the lower end of the first push rod 38 rises to be level with the horizontal table 40, then the first push rod 38 is controlled to be kept still by the first linear push rod motor 42, the pulling force on the pull wire 33 is continuously kept by the winch 11, the pull wire 33 is in a plumb tightening state, and the robot body 5 is still in a vertical posture at this time; at this time, the upper motor 14 is started to rotate the upper rotating shaft 052 and the bearing plate 24, and then the rotation of the bearing plate 24 drives the robot head 18 to synchronously rotate through the three supporting springs 21, the orientation of the robot head 18 is controlled by controlling the rotation amplitude of the upper rotating shaft 052, the lower motor 1 is started after the orientation of the robot head 18 is adjusted, the rotating shaft of the lower motor 1 drives the rotating frame 7 to rotate, and then the rotating frame 7 drives the fixed counterweight ball 4 and the movable counterweight ball 32 to synchronously rotate through the first counterweight arm 6 and the second counterweight arm 29 until the orientation of the fixed counterweight ball 4 is consistent with the orientation of the display screen frame 44, at this time, the second linear motor 3 is controlled to make the second push rod 31 do the motion of contraction and shortening, at this time, the movable counterweight ball 32 makes the motion of gradually approaching the axis of the robot body 5 under the relaxation force of the spring 27, at this time, because the movable counterweight ball 32 makes the motion of gradually approaching the axis of the robot body 5, at the moment, the gravity center of the robot body 5 gradually inclines to one side of the fixed counterweight ball 4, and the direction of the gravity center offset of the robot body 5 is consistent with the orientation of the display screen frame 44 of the robot head 18; at the moment, the winch 11 is controlled to gradually loosen the pull wire 33, the lead-out length of the pull wire 33 is gradually increased, at the moment, due to the fact that the pull wire 33 is loosened, the center of gravity of the robot body 5 deviates towards the display screen frame 44 of the robot head 18, the robot body 5 inclines towards the position of the display screen frame 44 of the robot head 18 under the action of gravity, the bending range of the robot body 5 is controlled by controlling the lead-out length of the pull wire 33, and therefore the directional bending action of the robot is achieved, and bending of the robot body 5 towards any direction can be achieved according to the method;
if the bending action of the robot body 5 needs to be relieved, the second linear motor 3 is controlled to enable the second push rod 31 to do gradually-extending movement, at the moment, the ball top surface 30 at the tail end of the second push rod 31 pushes the movable counterweight ball 32 to move to the tail end of the second push rod 31, at the moment, the movable counterweight ball 32 and the fixed counterweight ball 4 form balance, and then the center of the robot body 5 is located at the axial line position; and then the winch 11 is controlled to retract the traction wire 33 again, so that the traction wire 33 is restored to a plumb tightening state, and at the moment, the robot body 5 is restored to the vertical posture under the tightening action of the traction wire 33. The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.
Claims (4)
1. The utility model provides a preschool auxiliary education intelligent robot which characterized in that: the robot walking device comprises a robot walking base (12), wherein the upper side surface of the robot walking base (12) is a horizontal table (40); a robot in an egg shape with a vertical outer contour stands on the horizontal table (40); the lower part of the robot is a robot body (5), and the upper part of the robot is a robot head (18); the lower end cambered surface (39) of the robot body (5) tangentially contacts the central part of the horizontal table (40);
the robot body (5) is of a shell structure, a body shell cavity (15) is formed in the shell of the robot body (5), a bottom counterweight (34) made of solid metal is integrally arranged at the bottom in the body shell cavity (15), and the weight of the bottom counterweight (34) at least accounts for one third of the total mass of the robot; a push rod penetrating channel (35) which is communicated up and down is arranged at the axis of the bottom counterweight (34); a supporting disc body (71) is arranged above the bottom counterweight (34), the supporting disc body (71) is fixedly connected with the bottom counterweight (34) through a plurality of supporting rods (41), the supporting rods (41) are distributed in a circumferential array, and the supporting disc body (71) is positioned at the axis position in the robot body (5); a first linear push rod motor (42) is fixedly arranged on the supporting disc body (71); the lower end of a first push rod (38) of the first linear push rod motor (42) is coaxially and movably inserted downwards into the push rod penetrating channel (35), and the lower end of the first push rod (38) is of a pointed cone body (37) structure; a winch accommodating cavity (10) is formed in the robot walking base (12), and a winch (11) is fixedly installed in the winch accommodating cavity (10); the top of the winding machine accommodating cavity (10) is provided with a threading channel (36) which is communicated up and down, the threading channel (36) is coaxially aligned with the push rod passing channel (35), and the inner diameters of the threading channel (36) and the push rod passing channel (35) are the same; a traction wire (33) led out by the winch (11) penetrates through the threading channel (36) along the plumb direction, and the upper end of the traction wire (33) is fixedly connected with the tip of a pointed cone (37) of the first push rod (38); the traction wire (33) led out from the winch (11) is tightly arranged, and the lower end of the first push rod (38) can be pushed downwards to be inserted into the threading channel (36).
2. The intelligent robot for preschool auxiliary education as claimed in claim 1, wherein: a motor support (2) is fixedly arranged at the upper part in the body shell cavity (15), a vertical upper motor (14) is fixedly arranged at the upper side of the middle part of the motor support (2), and a vertical lower motor (1) is fixedly arranged at the lower side of the middle part of the motor support (2); the upper motor (14) and the lower motor (1) are both positioned at the axis position in the body shell cavity (15); a rotating frame (7) is fixedly suspended at the lower end of a rotating shaft of the lower motor (1), a first counterweight arm (6) and a second counterweight arm (29) which extend transversely are symmetrically arranged at two ends of the rotating frame (7), and a fixed counterweight ball (4) is fixedly arranged at the tail end of the first counterweight arm (6); the movable counterweight ball (32) is provided with a through hole in a penetrating manner, the second counterweight arm (29) movably penetrates through the through hole in the movable counterweight ball (32), and the movable counterweight ball (32) can slide along the length direction of the second counterweight arm (29); a spring baffle disc (26) is fixedly arranged at the tail end of the movable counterweight ball (32), a spring (27) is further sleeved on the second counterweight arm (29), and the spring (27) is elastically clamped between the spring baffle disc (26) and the movable counterweight ball (32); a second linear motor (3) is mounted on the rotating frame (7), the extending direction of a second push rod (31) of the second linear motor (3) is parallel to the extending direction of the second counterweight arm (29), a ball top surface (30) is arranged at the tail end of the second push rod (31), and the ball top surface (30) is in contact with and presses against a left spherical surface of the movable counterweight ball (32); the extension of the second push rod (31) can push the movable counterweight ball (32) to move away from the second linear motor (3) gradually.
3. The intelligent robot for preschool auxiliary education as claimed in claim 2, wherein: an upper rotating shaft (052) of the upper motor (14) upwards penetrates through a through hole (051) in the top wall body of the robot body (5), a bearing disc (24) is coaxially arranged at the top of the upper rotating shaft (052), three supporting springs (21) are distributed on the bearing disc (24) in a circumferential array manner, and the bottom of the robot head (18) is fixedly supported at the tops of the three supporting springs (21); a ring of iron rings (16) is fixedly arranged on the upper surface of the top wall body of the robot body (5); an electromagnet (22) is fixedly installed on one side in a head cavity (19) of the robot head (18), a magnetic pole (23) at the lower end of the electromagnet (22) corresponds to the position right above the iron ring (16), and after the electromagnet (22) is electrified, the magnetic pole (23) and the iron ring (16) are mutually attracted; a weight balance block (17) is fixedly arranged on one side, far away from the electromagnet (22), in the head cavity (19); a display screen frame (44) is arranged on the robot head (18), and a simulation eyeball (43) is arranged on a display screen on the display screen frame (44); the electromagnet (22) is positioned at one side close to the display screen frame (44); an antenna (20) is arranged on the top of the robot head (18).
4. The use method of the preschool auxiliary education intelligent robot according to claim 3, wherein:
fixing mode of robot body (5) of robot: controlling a winch (11) to continuously keep the pulling force on a traction wire (33), enabling the traction wire (33) to be in a plumb tightening state, enabling a threading channel (36) and a push rod to pass through a channel (35) to be in a coaxial alignment state, starting a first linear push rod motor (42) to enable a first push rod (38) to do downward propelling movement, and finally enabling the lower end of the first push rod (38) to be capable of propelling downwards to be inserted into the threading channel (36), wherein the first push rod (38) is equivalent to the function of a positioning pile, so that the robot body (5) is effectively prevented from shaking, and the device is used when the robot walks or is in an idle state;
the operation method of the directional nodding action of the robot comprises the following steps: the upper motor (14) is started, so that the upper rotating shaft (052) and the bearing disc (24) rotate, the bearing disc (24) rotates to drive the robot head (18) to synchronously rotate through the three supporting springs (21), the orientation of the robot head (18) is controlled by controlling the rotation amplitude of the upper rotating shaft (052), after the orientation of the robot head (18) is adjusted, if the robot head (18) is required to do nodding action, the electromagnet (22) is electrified, the magnetic attraction force of the electromagnet (22) is gradually increased, at the moment, the magnetic pole (23) and the iron ring (16) are mutually attracted, the original force balance is broken, one end of the robot head (18) with the electromagnet (22) inclines downwards, the display screen frame (44) of the robot head (18) is always positioned on one side of the electromagnet (22), and therefore, no matter which side the robot head (18) faces, as long as the electromagnet (22) is electrified, the robot head (18) can do nodding action; if the nod needs to be cancelled, the electromagnetic adsorption force of the electromagnet (22) is gradually reduced until the power supply of the electromagnet (22) is disconnected, and at the moment, the robot head (18) automatically restores to the starting state under the action of the elastic restoring force of the supporting spring (21);
the operation method of the directional bending motion of the robot comprises the following steps: controlling a second linear motor (3) to enable a second push rod (31) to move in a gradually extending mode, wherein the ball top surface (30) at the tail end of the second push rod (31) pushes a movable counterweight ball (32) to move to the tail end of the second push rod (31), the movable counterweight ball (32) and a fixed counterweight ball (4) form balance at the moment, and therefore the center of the robot body (5) is located at an axial line position; at the moment, a first linear push rod motor (42) is started, the tip of a pointed cone (37) at the lower end of a first push rod (38) rises to be level with a horizontal table (40), then the first push rod (38) is controlled to keep still through the first linear push rod motor (42), the pulling force on a traction wire (33) is continuously kept through a winch (11), the traction wire (33) is in a plumb tightening state, and the robot body (5) is still in a vertical posture at the moment; at the moment, the upper motor (14) is started to enable the upper rotating shaft (052) and the bearing disc (24) to rotate, then the bearing disc (24) rotates to drive the robot head (18) to synchronously rotate through the three supporting springs (21), the orientation of the robot head (18) is controlled by controlling the rotation amplitude of the upper rotating shaft (052), the lower motor (1) is started after the orientation of the robot head (18) is adjusted, the rotating shaft of the lower motor (1) drives the rotating frame (7) to rotate, then the rotating frame (7) drives the fixed counterweight ball (4) and the movable counterweight ball (32) to synchronously rotate through the first counterweight arm (6) and the second counterweight arm (29), until the orientation of the fixed counterweight ball (4) is consistent with the orientation of the display screen frame (44), at the moment, the second linear motor (3) is controlled, the second push rod (31) is enabled to do contraction and shortening movement, at the movable counterweight ball (32) is gradually close to the robot under the action of the tension force of the springs (27) The axis of the body (5) moves, at the moment, the movable counterweight ball (32) gradually approaches to the axis of the robot body (5) to move, the gravity center of the robot body (5) gradually inclines to one side of the fixed counterweight ball (4), and the gravity center offset direction of the robot body (5) is consistent with the orientation of the display screen frame (44) of the robot head (18); at the moment, the winch (11) is controlled to gradually loosen the pull wire (33), the extraction length of the pull wire (33) is gradually increased, at the moment, the pull wire (33) is loosened, the center of gravity of the robot body (5) deviates to the display screen frame (44) of the robot head (18), at the moment, the robot body (5) inclines towards the position of the display screen frame (44) of the robot head (18) under the action of gravity, the bending amplitude of the robot body (5) is controlled by controlling the extraction length of the pull wire (33), and then the directional bending action of the robot is realized, and the bending of the robot body (5) to any direction can be realized according to the operation method of the directional bending action of the robot;
if the stooping action of the robot body (5) needs to be relieved, the second linear motor (3) is controlled to enable the second push rod (31) to do gradually-extending movement, the ball top surface (30) at the tail end of the second push rod (31) pushes the movable counterweight ball (32) to move to the tail end of the second push rod (31), the movable counterweight ball (32) and the fixed counterweight ball (4) form balance at the moment, and then the center of the robot body (5) is located at the axial line position; and then the winch (11) is controlled to retract the traction wire (33) again, so that the traction wire (33) is restored to a plumb tightening state, and at the moment, the robot body (5) is restored to the vertical posture under the tightening action of the traction wire (33).
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| CN207805046U (en) * | 2017-11-30 | 2018-09-04 | 东莞盈峰塑胶电子制品有限公司 | The tumbler control system that can be shaken the head |
| JP2019215685A (en) * | 2018-06-12 | 2019-12-19 | 株式会社国際情報ネット | Customer service system using robot |
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