CN209453597U - A kind of robot balance mechanism that there is adjusting positioning function convenient for calibration - Google Patents

Abstract

Using the utility model relates to a kind of robot has the balance mechanism for adjusting positioning function convenient for calibration, mouth is worn including batter side seat and screw rod, the antetheca of the batter side seat, which is equipped with, flanks set screw, and the top linking of batter side seat flanks fixed bar, the inside for flanking fixed bar bottom end is provided through default bolt hole, the inside of the batter side seat, which is run through, is mounted with bar convergence hole, the beneficial effects of the utility model are: the robot, which uses, has the balance mechanism for adjusting positioning function convenient for calibration, pass through the setting of cooling fin and buffer spring, it is acted on by the linking of cooling fin, the heat dissipation performance of central supported disk column can be improved, and then increase the heat dissipation performance of apparatus body, in order to improve the heat dissipation performance for being connected the robot used with apparatus body, and the linking of buffer spring can be passed through, it can allow central supported disk There is better resiliency between column and footstock, while can allow footstock that there is reseting performance, keep balance convenient for footstock.

Description

A kind of robot balance mechanism that there is adjusting positioning function convenient for calibration

Technical field

The present invention relates to robotic technology field, specially a kind of robot, which uses to have convenient for calibration, adjusts positioning function Balance mechanism.

Background technique

Robot (Robot) is the automatic installations for executing work, it can not only receive mankind commander, but also can run The program of preparatory layout, can also be according to principle program action formulated with artificial intelligence technology, and its task is to assist or take For the work of human work, such as production industry, construction industry, or dangerous work, and the balances that are equipped with are tied more in robot Structure carries out self-balancing running for robot, prevents robot from toppling over.

A kind of autobalance machine people disclosed in 107685321 A of Chinese invention patent application prospectus CN, A kind of autobalance machine people, although carrying out flexible running by telescopic resilience arm by built-in idler wheel and spring, and Autobalance foot stressing device improves the stationarity in walking process, but its main structure carry out using when deposit It is being connected the problem for being not sufficiently stable and facilitating with robot, can not such as adjusting the position of the fixed mechanism of itself, while main body There is a problem of that balance is not ideal enough, carry out self-balancing running that can not be quick and stable.

Summary of the invention

Using the purpose of the present invention is to provide a kind of robot has the balance mechanism for adjusting positioning function convenient for calibration, with It solves mentioned above in the background art one disclosed in 107685321 A of Chinese invention patent application prospectus CN Kind autobalance machine people, a kind of autobalance machine people, although, by built-in idler wheel and spring by telescopic resilience arm Carry out flexible running, and autobalance foot stressing device improves the stationarity in walking process, but it is in main body knot Structure carry out using when there is a problem of being connected with robot and be not sufficiently stable and facilitate, as the fixed mechanism of itself can not be adjusted Position, while the problem that main body is not ideal enough there is also balance, carry out self-balancing running that can not be quick and stable.

To achieve the above object, have adjusting fixed convenient for calibration the invention provides the following technical scheme: a kind of robot uses The balance mechanism of bit function, including batter side seat and screw rod wear mouth, and the antetheca of the batter side seat, which is equipped with, flanks set screw, And the top linking of batter side seat flanks fixed bar, the inside for flanking fixed bar bottom end is provided through default spiral shell Keyhole, the inside of the batter side seat, which is run through, is mounted with bar convergence hole, and the outer wall linking of batter side seat has linking prick post, institute The outer wall of batter side seat is stated with being connected between prick post to be fixedly connected, is provided with engaging column slot on the outside of the linking prick post, and Central chassis is mounted on the outside of engaging column slot, the front end of the central chassis is equipped with disk side positioning screw, and central chassis The upper end at middle part is fixed with central supported disk column.

Preferably, the batter side seat is fixedly connected by flanking set screw with fixed bar composition is flanked, and is flanked To be flexibly connected between fixed bar and bar convergence hole, and bar convergence hole is provided with 12, and flanks fixation and wear Bar is provided with eight, while flanking fixed bar and bar convergence hole about the central symmetry of central chassis.

Preferably, the linking prick post constitutes snap-in structure by engaging column slot and central chassis, and is connected prick post and passes through Disk side positioning screw is fixedly connected with central chassis composition, and is connected prick post and engaging column slot about the center of central chassis Symmetrically.

Preferably, the outside linking of the central supported disk column bottom end has cooling fin, and central supported disk column middle section is outer Side is mounted with buffer spring, is fixedly connected between the outer wall and buffer spring of the central supported disk column middle-end, the buffering The outside linking of spring has spring to be connected pedestal.

Preferably, the central supported disk column is fixedly connected with being between cooling fin and central chassis, and buffer spring Center about central supported disk column is distributed in a ring, and there are four buffer spring settings.

Preferably, the upper end linking of the central supported disk column has center to balance ball seat, and the outside of center balance ball seat It is provided with center sliding slot, the outside linking of the center sliding slot has footstock, and the inside at left and right sides of footstock bottom end is provided with Seat interior room, the front end of institute's seat interior room is mounted with outdoor fixed frame.

Preferably, to be welded to connect between the bottom end of the center balance ball seat and the top of central supported disk column, and in The shape and structure of heart balance ball seat matches with the shape and structure of center sliding slot, and the vertical central axes of center sliding slot and footstock Vertical central axes coincide, and the vertical central axes of footstock and the vertical central axes of central supported disk column coincide.

Preferably, the inside at left and right sides of the footstock top be provided in wear mouth, and interior wear is mounted in the middle part of mouth It is connected screw rod, the outside linking of the linking screw rod has wire rod thread seat, and the outer end of wire rod thread seat is fixed with connection pedestal, The upper end linking of the connection pedestal has adjusting shaft, and the upper end for adjusting shaft is fixed with fixed footstock, the fixed footstock Be internally provided with direct-connected screw hole, and the upper end of fixed footstock is mounted with perpendicular even screw hole, and the screw rod, which is worn mouth and is located at, interior wears mouth Top, and screw rod is worn and is equipped with rotating handles on the outside of mouth, the outside of footstock bottom left and right ends is mounted with glove room.

Preferably, the rotating handles constitute drive mechanism by linking screw rod and wire rod thread seat, and are connected screw rod Helicitic texture matches with the helicitic texture of wire rod thread seat, and connection pedestal constitutes rotation knot by adjusting shaft and fixed footstock Structure, and the center of direct-connected screw hole and perpendicular even screw hole about fixed footstock is distributed in a ring.

Compared with prior art, beneficial effects of the present invention are as follows:

1, the present invention passes through batter side seat, flanks set screw, flanks fixed bar, default bolt hole and bar convergence hole Setting, by bar convergence hole and flank the activity between fixed bar, can slidable adjustment flank fixed bar in batter Side seat inner side, and set screw is flanked by rotation, fixed wear can be flanked by flanking the screw rod abutting of set screw Bar and be fixed to fixed bar is flanked, and by the transmission mechanism of robot and can flank to fix and wear by default bolt hole Bar is connected, and is carried out being connected fixation with the transmission mechanism of robot by apparatus body to facilitate, is achieved the purpose that group connects.

2, the present invention is worn by the setting of linking prick post, engaging column slot, central chassis and disk side positioning screw by linking Between column and engaging column slot be connected sliding, can slidable adjustment linking prick post position, and then reach and extend linking prick post Purpose carries out more convenient fixed operation to facilitate controlling the position of batter side seat, while can be fixed by rotating disk side Position screw fixes the position of linking prick post, convenient for more stable adjusting uses linking prick post.

3, the present invention passes through the setting of central supported disk column, cooling fin and buffer spring, acts on by the linking of cooling fin, The heat dissipation performance of central supported disk column can be improved, and then increase the heat dissipation performance of apparatus body, held in the mouth in order to improve with apparatus body The heat dissipation performance of the robot used is connect, and can be allowed between central supported disk column and footstock by the linking of buffer spring It with better resiliency, while can allow footstock that there is reseting performance, keep balance convenient for footstock.

4, the present invention balances the setting of ball seat, center sliding slot and footstock by center, balances ball seat and center by center Linking sliding between sliding slot, can slidable adjustment footstock position, and due to footstock, center balance ball seat and central chassis Vertical central axes coincide, and then so that footstock is maintained at equilibrium state under the action of by gravity, and pass through buffer spring Use can further increase the performance that footstock keeps balance, effectively prevent being engaged on the robot run-off the straight of footstock upper end, With preferable protective performance, while the structure is also very easy, there is being simple to manufacture, economical and practical problem.

5, the present invention by linking screw rod, wire rod thread seat, connection pedestal, adjust shaft, fixed footstock, direct-connected screw hole, The setting that perpendicular even screw hole, screw rod wear mouth and rotating handles is rotatably connected screw rod, and then reach by rotating rotating handles The purpose for the wire rod thread seat being connected with linking screw rod is adjusted, and passes through the i.e. adjustable fixed footstock of the linking of connection pedestal Position, to conveniently adjust the fixation position of fixed footstock, convenient for preferably using fixed footstock carrying out linking fixation, and By adjusting the rotation of shaft, that is, it is adjusted by rotation the orientation for adjusting shaft, so that further increasing fixed footstock linking makes Convenience, while control circuit, STC89C52 single chip, the gyroscope angle of MPU6050 can be installed by seat interior room Sensor and LTD-1101J combined aural and visual alarm, thus when the gyroscope angular transducer of MPU6050 obtains the inclination angle of footstock After degree by STC89C52 single chip processing, analysis, determine after controlled by control circuit LTD-1101J combined aural and visual alarm into Row sound-light alarm, to warn user of service.

Detailed description of the invention

Fig. 1 is a kind of structural representation for having the balance mechanism for adjusting positioning function convenient for calibration of robot of the present invention Figure；

Fig. 2 is that a kind of robot of the present invention is bowed with convenient for calibration with the fixation footstock for the balance mechanism for adjusting positioning function Depending on structural schematic diagram；

Fig. 3 is that a kind of robot of the present invention is bowed with convenient for calibration with the buffer spring for the balance mechanism for adjusting positioning function Depending on structural schematic diagram；

Fig. 4 is that a kind of robot of the present invention is put at A with convenient for calibrating in the Fig. 1 with the balance mechanism for adjusting positioning function Big structure schematic diagram；

Fig. 5 is that a kind of robot of the present invention is put at B with convenient for calibrating in the Fig. 1 with the balance mechanism for adjusting positioning function Big structure schematic diagram.

In figure: 1, batter side seat；2, set screw is flanked；3, fixed bar is flanked；4, bolt hole is preset；5, bar is connected Hole；6, it is connected prick post；7, engaging column slot；8, central chassis；9, disk side positioning screw；10, central supported disk column；11, cooling fin； 12, buffer spring；13, spring is connected pedestal；14, center balances ball seat；15, center sliding slot；16, footstock；17, seat interior room；18, Outdoor fixed frame；19, interior to wear mouth；20, it is connected screw rod；21, wire rod thread seat；22, pedestal is connected；23, shaft is adjusted；4, fixed Footstock；25, direct-connected screw hole；26, the company's of erecting screw hole；27, screw rod wears mouth；28, rotating handles；29, glove room.

Specific embodiment

Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.

In the description of the present invention, unless otherwise indicated, the meaning of " plurality " is two or more；Term " on ", The orientation or positional relationship of the instructions such as "lower", "left", "right", "inner", "outside", " front end ", " rear end ", " head ", " tail portion " is It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description of the present invention and simplification of the description, rather than instruction or dark Show that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as pair Limitation of the invention, in addition, term " first ", " second ", " third " etc. are used for description purposes only, and should not be understood as instruction or Imply relative importance.

In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " connected " " connects Connect " it shall be understood in a broad sense, for example, it may be being fixedly connected, it may be a detachable connection, or be integrally connected；It can be machine Tool connection, is also possible to be electrically connected；It can be directly connected, it can also indirectly connected through an intermediary, for this field For those of ordinary skill, the concrete meaning of above-mentioned term in the present invention can be understood with concrete condition.

Please refer to Fig. 1-5, the present invention provides a kind of technical solution: a kind of robot, which uses to have convenient for calibration, adjusts positioning function Can balance mechanism, including batter side seat 1, flank set screw 2, flank fixed bar 3, default bolt hole 4, bar convergence hole 5, it is connected prick post 6, engaging column slot 7, central chassis 8, disk side positioning screw 9, central supported disk column 10, cooling fin 11, buffering elastic It is spring 12, spring linking pedestal 13, center balance ball seat 14, center sliding slot 15, footstock 16, seat interior room 17, outdoor fixed frame 18, interior Mouth 19 is worn, linking screw rod 20, wire rod thread seat 21, connection pedestal 22, shaft 23 is adjusted, fixed footstock 24, direct-connected screw hole 25, erects Even screw hole 26, screw rod wear mouth 27, rotating handles 28 and glove room 29, and the antetheca of batter side seat 1, which is equipped with, flanks set screw 2, And the top linking of batter side seat 1 flanks fixed bar 3, batter side seat 1 is by flanking set screw 2 and flanking fixed bar 3 compositions are fixedly connected, and are flanked to be flexibly connected between fixed bar 3 and bar convergence hole 5, and bar convergence hole 5 is arranged There are 12, and flank fixed bar 3 and be provided with eight, while flanking fixed bar 3 and bar convergence hole 5 about center The central symmetry on chassis 8 by bar convergence hole 5 and flanks the activity between fixed bar 3, can slidable adjustment flank fixation Bar 3 flanks set screw 2 by rotation in 1 inner side of batter side seat, can pass through the screw rod for flanking set screw 2 Abutting flanks fixed bar 3 and is fixed to fixed bar 3 is flanked, and can be by presetting bolt hole 4 for the biography of robot Motivation structure is connected with fixed bar 3 is flanked, and carries out apparatus body with the transmission mechanism of robot to be connected fixation to facilitate, Achieve the purpose that group connects, the inside for flanking fixed 3 bottom end of bar is provided through default bolt hole 4, and the inside of batter side seat 1 is passed through It wears and is mounted with bar convergence hole 5, and the outer wall linking of batter side seat 1 has linking prick post 6, the outer wall of batter side seat 1 is worn with being connected To be fixedly connected between column 6, the outside of linking prick post 6 is provided with engaging column slot 7, and the outside of engaging column slot 7 is mounted with center Chassis 8, linking prick post 6 constitute snap-in structure by engaging column slot 7 and central chassis 8, and are connected prick post 6 and pass through disk side positioning spiral shell Silk 9 is fixedly connected with the composition of central chassis 8, and is connected the central symmetry of prick post 6 and engaging column slot 7 about central chassis 8, By being connected sliding between linking prick post 6 and engaging column slot 7, can slidable adjustment be connected the position of prick post 6, and then reach and prolong The purpose of long linking prick post 6 carries out more convenient fixed operation to facilitate controlling the position of batter side seat 1, while can The position of linking prick post 6 is fixed by rotating disk side positioning screw 9, uses linking convenient for more stable adjusting Prick post 6, the front end of central chassis 8 is equipped with disk side positioning screw 9, and the upper end at 8 middle part of central chassis is fixed with central supported Disk column 10, the outside linking of 10 bottom end of central supported disk column have cooling fin 11, and the outside placement in 10 middle section of central supported disk column There is buffer spring 12, is fixedly connected between the outer wall and buffer spring 12 of 10 middle-end of central supported disk column, buffer spring 12 Outside linking have spring be connected pedestal 13, central supported disk column 10 be to be fixedly connected between cooling fin 11 and central chassis 8, And buffer spring 12 is distributed in a ring about the center of central supported disk column 10, and there are four the settings of buffer spring 12, is passed through The linking of cooling fin 11 acts on, that is, the heat dissipation performance of central supported disk column 10 can be improved, and then increase the heat dissipation performance of apparatus body, In order to improve the heat dissipation performance for being connected the robot used with apparatus body, and the linking of buffer spring 12, Ji Kerang can be passed through There is better resiliency between central supported disk column 10 and footstock 16, while can allow footstock 16 that there is reseting performance, convenient for top Seat 16 keeps balance, and the upper end linking of central supported disk column 10 has center to balance ball seat 14, and the outside of center balance ball seat 14 It is provided with center sliding slot 15, the outside linking of center sliding slot 15 has footstock 16, and the inside at left and right sides of 16 bottom end of footstock is all provided with It is equipped with an interior room 17, the front end of institute's seat interior room 17 is mounted with outdoor fixed frame 18, and center balances bottom end and the center branch of ball seat 14 To be welded to connect between the top of support plate column 10, and the shape and structure of the shape and structure of center balance ball seat 14 and center sliding slot 15 It matches, and the vertical central axes of center sliding slot 15 and the vertical central axes of footstock 16 coincide, and footstock 16 is vertical Central axes and the vertical central axes of central supported disk column 10 coincide, and are balanced between ball seat 14 and center sliding slot 15 by center Linking sliding, can slidable adjustment footstock 16 position, and it is perpendicular due to footstock 16, center balance ball seat 14 and central chassis 8 Straight central axes coincide, and then so that footstock 16 is maintained at equilibrium state under the action of by gravity, and pass through buffer spring 12 Use can further increase the performance that footstock 16 keeps balance, the robot for effectivelying prevent being engaged on 16 upper end of footstock occurs Inclination has preferable protective performance, while the structure is also very easy, and there is being simple to manufacture, economical and practical problem is pushed up Mouth 19 is worn in being provided in inside at left and right sides of 16 tops of seat, and the interior middle part for wearing mouth 19 is mounted with linking screw rod 20, linking The outside linking of screw rod 20 has wire rod thread seat 21, and the outer end of wire rod thread seat 21 is fixed with connection pedestal 22, connects pedestal 22 upper end linking, which has, adjusts shaft 23, and the upper end for adjusting shaft 23 is fixed with fixed footstock 24, the inside of fixed footstock 24 It is provided with direct-connected screw hole 25, and the upper end of fixed footstock 24 is mounted with perpendicular even screw hole 26, screw rod wears mouth 27 and wears mouth 19 positioned at interior Top, and screw rod wears the outside of mouth 27 and is equipped with rotating handles 28, the outside of 16 bottom left and right ends of footstock is mounted with glove Room 29, rotating handles 28 constitute drive mechanism by linking screw rod 20 and wire rod thread seat 21, and are connected the screw thread knot of screw rod 20 Structure matches with the helicitic texture of wire rod thread seat 21, and connection pedestal 22 is constituted and rotated by adjusting shaft 23 and fixed footstock 24 Structure, and the center of direct-connected screw hole 25 and perpendicular even screw hole 26 about fixed footstock 24 is distributed in a ring, is rotated by rotation Handle 28 is rotatably connected screw rod 20, and then achieve the purpose that the wire rod thread seat 21 that adjusting is connected with linking screw rod 20, And by the position of the i.e. adjustable fixed footstock 24 of the linking of connection pedestal 22, to conveniently adjust the fixation of fixed footstock 24 Position, convenient for preferably using fixed footstock 24 carrying out linking fixation, and the rotation by adjusting shaft 23, i.e., rotatable tune Section adjusts the orientation of shaft 23, so that further increasing fixed footstock 24 is connected the convenience used, while can be by seat Control circuit, STC89C52 single chip, the gyroscope angular transducer of MPU6050 and LTD-1101J acousto-optic report are installed in room Alert device, thus by STC89C52 single chip after the gyroscope angular transducer of MPU6050 obtains the tilt angle of footstock 16 Processing, analysis control LTD-1101J combined aural and visual alarm progress sound-light alarm by control circuit after determining, used with warning Personnel.

To sum up, which, which uses, has the balance mechanism for adjusting positioning function convenient for calibration, in use, being connected by bar Hole 5 and flank the activity between fixed bar 3, can slidable adjustment flank fixed bar 3 in 1 inner side of batter side seat, and Set screw 2 is flanked by rotation, and it is solid to flanking to flank fixed bar 3 by flanking the screw rod abutting of set screw 2 Determine bar 3 to be fixed, and can hold in the mouth the transmission mechanism of robot with fixed bar 3 is flanked by default bolt hole 4 It connects, carries out being connected fixation with the transmission mechanism of robot by apparatus body to facilitate, achieve the purpose that group connects, and worn by linking Be connected sliding between column 6 and engaging column slot 7, can slidable adjustment linking prick post 6 position, and then reach extension linking prick post 6 purpose carries out more convenient fixed operation to facilitate to control the position of batter side seat 1, while can pass through rotating disk Side positioning screw 9 fixes the position of linking prick post 6, convenient for more stable adjusting using linking prick post 6, and passes through The linking effect for crossing cooling fin 11, that is, can be improved the heat dissipation performance of central supported disk column 10, and then increase the thermal diffusivity of apparatus body Can, in order to improve the heat dissipation performance for being connected the robot used with apparatus body, and the linking of buffer spring 12 can be passed through Allowing has better resiliency between central supported disk column 10 and footstock 16, while footstock 16 can be allowed to have reseting performance, is convenient for Footstock 16 keeps balance, can be also balanced between ball seat 14 and center sliding slot 15 by center and be connected sliding, can slidable adjustment The position of footstock 16, and since the vertical central axes of footstock 16, center balance ball seat 14 and central chassis 8 coincide, in turn Footstock 16 is set to be maintained at equilibrium state under the action of by gravity, and the use for passing through buffer spring 12 can further increase top Seat 16 keeps the performance of balance, effectively prevent being engaged on the robot run-off the straight of 16 upper end of footstock, has preferable protective Can, while the structure is also very easy, there is being simple to manufacture, economical and practical problem, while by rotation rotating handles 28, Rotatably it is connected screw rod 20, and then achievees the purpose that the wire rod thread seat 21 that adjusting is connected with linking screw rod 20, and passes through The position of the i.e. adjustable fixed footstock 24 of linking of pedestal 22 is connected, thus conveniently adjust the fixation position of fixed footstock 24, Convenient for preferably using fixed footstock 24 carrying out linking fixation, and the rotation by adjusting shaft 23, that is, it is adjusted by rotation tune The orientation of shaft 23 is saved, so that further increasing fixed footstock 24 is connected the convenience used, while can be come by seat interior room Installation control circuit, the gyroscope angular transducer and LTD-1101J combined aural and visual alarm of STC89C52 single chip, MPU6050, To be handled after the tilt angle of the gyroscope angular transducer of MPU6050 acquisition footstock 16 by STC89C52 single chip, Analysis controls LTD-1101J combined aural and visual alarm progress sound-light alarm by control circuit after determining, to warn user of service.

More than, it is merely preferred embodiments of the present invention, but scope of protection of the present invention is not limited thereto, it is any Those familiar with the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its invents Design is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.

Claims (9)

1. a kind of robot, which uses, has the balance mechanism for adjusting positioning function convenient for calibration, including batter side seat (1) and screw rod are worn Mouth (27), it is characterised in that: the antetheca of the batter side seat (1), which is equipped with, to be flanked set screw (2), and batter side seat (1) Top linking flanks fixed bar (3), and the inside for flanking fixed bar (3) bottom end is provided through default bolt hole (4), the inside of the batter side seat (1) is run through and is mounted with bar convergence hole (5), and the outer wall linking of batter side seat (1) has rank It connects prick post (6), the outer wall of the batter side seat (1) is fixedly connected with being connected between prick post (6), linking prick post (6) Outside is provided with engaging column slot (7), and central chassis (8) are mounted on the outside of engaging column slot (7), the central chassis (8) Front end is equipped with disk side positioning screw (9), and the upper end in the middle part of central chassis (8) is fixed with central supported disk column (10).

2. a kind of robot according to claim 1, which uses, has the balance mechanism for adjusting positioning function convenient for calibration, special Sign is: the batter side seat (1) is fixedly connected by flanking set screw (2) with fixed bar (3) composition is flanked, and is flanked To be flexibly connected between fixed bar (3) and bar convergence hole (5), and bar convergence hole (5) is provided with 12, and side It connects fixed bar (3) and is provided with eight, while flanking fixed bar (3) and bar convergence hole (5) about central chassis (8) Central symmetry.

3. a kind of robot according to claim 1, which uses, has the balance mechanism for adjusting positioning function convenient for calibration, special Sign is: the linking prick post (6) constitutes snap-in structure by engaging column slot (7) and central chassis (8), and is connected prick post (6) It is made up of and is fixedly connected with central chassis (8) disk side positioning screw (9), and linking prick post (6) and engaging column slot (7) close Central symmetry in central chassis (8).

4. a kind of robot according to claim 1, which uses, has the balance mechanism for adjusting positioning function convenient for calibration, special Sign is: the outside linking of central supported disk column (10) bottom end has cooling fin (11), and central supported disk column (10) middle section Outside be mounted with buffer spring (12), be solid between the outer wall and buffer spring (12) of central supported disk column (10) middle-end The outside linking of fixed connection, the buffer spring (12) has spring to be connected pedestal (13).

5. a kind of robot according to claim 4, which uses, has the balance mechanism for adjusting positioning function convenient for calibration, special Sign is: the central supported disk column (10) is fixedly connected with being between cooling fin (11) and central chassis (8), and buffering elastic Spring (12) is distributed in a ring about the center of central supported disk column (10), and there are four buffer spring (12) settings.

6. a kind of robot according to claim 4, which uses, has the balance mechanism for adjusting positioning function convenient for calibration, special Sign is: the upper end linking of the central supported disk column (10) has center to balance ball seat (14), and center balance ball seat (14) Outside is provided with center sliding slot (15), and the outside linking of the center sliding slot (15) has footstock (16), and footstock (16) bottom end is left The inside of right two sides is provided with an interior room (17), and the front end of institute's seat interior room (17) is mounted with outdoor fixed frame (18).

7. a kind of robot according to claim 6, which uses, has the balance mechanism for adjusting positioning function convenient for calibration, special Sign is: to be welded to connect between the bottom end of center balance ball seat (14) and the top of central supported disk column (10), and in The shape and structure of heart balance ball seat (14) matches with the shape and structure of center sliding slot (15), and center sliding slot (15) is vertical Central axes and the vertical central axes of footstock (16) coincide, and the vertical central axes of footstock (16) and central supported disk column (10) Vertical central axes coincide.

8. a kind of robot according to claim 6, which uses, has the balance mechanism for adjusting positioning function convenient for calibration, special Sign is: the inside at left and right sides of footstock (16) top be provided in wear mouth (19), and it is interior wear mouth (19) middle part peace It is equipped with linking screw rod (20), the outside linking of linking screw rod (20) has wire rod thread seat (21), and wire rod thread seat (21) Outer end be fixed with connection pedestal (22), it is described connection pedestal (22) upper end linking have adjusting shaft (23), and adjust shaft (23) upper end is fixed with fixed footstock (24), and the fixed footstock (24) is internally provided with direct-connected screw hole (25), and fixed The upper end of footstock (24) is mounted with the company of erecting screw hole (26), and the screw rod wears mouth (27) and is located at the interior top for wearing mouth (19), and screw rod It wears and rotating handles (28) is installed on the outside of mouth (27), the outside of footstock (16) the bottom left and right ends is mounted with glove room (29).

9. a kind of robot according to claim 8, which uses, has the balance mechanism for adjusting positioning function convenient for calibration, special Sign is: the rotating handles (28) constitute drive mechanism by linking screw rod (20) and wire rod thread seat (21), and are connected silk The helicitic texture of bar (20) matches with the helicitic texture of wire rod thread seat (21), and connection pedestal (22) is by adjusting shaft (23) Rotational structure is constituted with fixed footstock (24), and direct-connected screw hole (25) He Shulian screw hole (26) is about fixed footstock (24) Center is distributed in a ring.