CN212099123U - Full-automatic spherical robot - Google Patents

Abstract

The utility model provides a full-automatic spherical robot belongs to the robotechnology field. It has solved the current poor problem of full-automatic spherical robot steering effect. This full-automatic spherical robot, including the spherical shell, link firmly a back shaft that extends along the radial level of spherical shell in the spherical shell, the cover is equipped with the connecting seat on the back shaft, be equipped with the weight on the connecting seat, be used for driving the weight along the length direction linear motion's of back shaft first drive assembly and be used for driving the back shaft around self axis pivoted second drive assembly, by the connecting seat, the weight, the holistic focus that first drive assembly and second drive assembly constitute is located the back shaft axis under. The utility model discloses because the horizontal extension of the counter weight body, the external force that the gear receives is little when the counter weight body motion targets in place, is favorable to making the counter weight body keep at the current position, improves the reliability of full-automatic spherical robot walking and turning to, has advantages such as the flexibility is high, trafficability characteristic is good.

Description

Full-automatic spherical robot

Technical Field

The utility model belongs to the technical field of the robot, a full-automatic spherical robot is related to.

Background

At present, the application of a full-automatic robot for making a video recording and detecting in a pipeline or a complex terrain is more and more extensive, and the full-automatic robot can execute some tasks which are dangerous to a human body and even can not be completed manually, such as executing the tasks in narrow space, polluted environment and dangerous environment, and has the advantages of low labor cost, high durability, no fatigue feeling and the like. The existing robot is mostly a quadruped robot or a tracked robot, is large in size, is not beneficial to carrying, is poor in steering capacity, and is weak in capacity of adapting to complex narrow environments.

Therefore, the Chinese patent discloses a novel full-symmetric spherical robot [ application publication No. CN103895726A ], which comprises an external rigid spherical shell, two supporting disks, two servo motors, two linear motors and two counterweight swing arms, wherein two ends of the external rigid spherical shell are opened and are fixedly connected with the two supporting disks through set screws; the two servo motors and the two linear motors are symmetrically arranged in the direction of the maximum diameter of the spherical shell through two supporting disks; the two balance weight swing arms are respectively and fixedly connected with the output shafts of the linear motors, and the positions of the two balance weight swing arms are changed through the two linear motors; two linear electric motors are connected with two servo motor cooperations respectively, rotate through two servo motor drive two linear electric motors, drive counter weight swing arm rotation simultaneously, realize robot linear motion.

The spherical robot described above has the following problems: the servo motor is positioned outside the rigid spherical shell, so that the servo motor cannot be protected and is easy to damage; the servo motor and the supporting disc are positioned outside the rigid spherical shell, so that the transverse size of the robot in the left and right directions is increased, the robot is not beneficial to completing tasks in a narrow space, and the application range is small; the robot needs two linear motors to act for steering, the steering operation is complex, and the steering effect is poor.

SUMMERY OF THE UTILITY MODEL

The utility model aims at having the above-mentioned problem to current technique, provided a turn to effectual full-automatic spherical robot.

The purpose of the utility model can be realized by the following technical proposal:

full-automatic spherical robot, including the spherical shell, the spherical shell in link firmly a back shaft that extends along the radial level of spherical shell, the back shaft on the cover be equipped with the connecting seat, the connecting seat on be equipped with the weight body, be used for driving the weight body along the length direction linear motion's of back shaft first drive assembly and be used for driving the back shaft around self axis pivoted second drive assembly, by connecting seat, weight body, first drive assembly and second drive assembly constitute holistic focus be located the back shaft axis under.

The center of the sphere of the spherical shell is positioned on the central axis of the supporting shaft, and the center of gravity of the whole body formed by the supporting shaft and the spherical shell is superposed with the center of the sphere of the spherical shell. When the full-automatic spherical robot moves linearly, the center of gravity of the whole body consisting of the connecting seat, the counterweight body, the first driving assembly and the second driving assembly is positioned right below the spherical center of the spherical shell. When the full-automatic spherical robot needs to turn to, the first driving assembly drives the counterweight body to linearly move along the length direction of the supporting shaft, so that the gravity center of the whole body formed by the connecting seat, the counterweight body, the first driving assembly and the second driving assembly is deviated leftwards or rightwards, the spherical shell is deflected leftwards or rightwards, and the turning is realized.

In foretell full-automatic spherical robot, first drive assembly including locate on the counter weight body rack portion, with the gear of rack portion meshing and be used for driving gear pivoted first motor, the extending direction and the back shaft of rack portion are parallel, the connecting seat on be equipped with and be used for carrying out the guide structure who leads to the counter weight body.

When the first motor works, the gear is driven to rotate around the central axis of the first motor, and the gear drives the rack portion to do linear motion due to the fact that the gear is meshed with the rack portion, so that the counterweight body is driven to do linear motion, the gravity center of the whole formed by the connecting seat, the counterweight body, the first driving assembly and the second driving assembly is changed, and the robot is enabled to steer.

In the above full-automatic spherical robot, the guide structure comprises a guide groove arranged on the connecting seat, the extending direction of the guide groove is parallel to the supporting shaft, and the counterweight body is arranged in the guide groove in a sliding manner.

In foretell full-automatic spherical robot, the connecting seat on be equipped with the guide holder that is located gear side, the guide way locate the one side of guide holder towards the gear, rack portion be located the one side that the guide holder was kept away from to the counter weight body.

When first motor stop work, can effectively spacing to the counter weight body under the combined action of gear and guide way, improve the stability of the counter weight body. In order to ensure that the toothed wheel meshes exactly with the transversely running rack portion, the central axis of the toothed wheel extends vertically. Because the counterweight body extends horizontally, the external force applied to the gear is small after the counterweight body moves in place, so that the counterweight body is favorably kept at the current position, and the walking and steering reliability of the full-automatic spherical robot is improved.

In foretell full-automatic spherical robot, second drive assembly including fix the second motor on the connecting seat, locate the epaxial action wheel of second motor pivot and coaxial link firmly from the driving wheel on supporting the axle, the action wheel with follow the driving wheel transmission and be connected.

When the second motor works, the driving wheel is driven to rotate around the central axis of the rotating shaft of the second motor, and the driving wheel is in transmission connection with the driven wheel and drives the driven wheel to rotate around the central axis of the supporting shaft, so that the supporting shaft is driven to synchronously rotate, and the rolling of the ball body is realized.

In foretell full-automatic spherical robot, the connecting seat establish the second connecting plate that sets up with first connecting plate relatively on the back shaft including the cover establish the first connecting plate on the back shaft, cover, fix at the supporting baseplate of first connecting plate and second connecting plate lower extreme and fix the roof support in first connecting plate and second connecting plate upper end, the second motor fix on the supporting baseplate.

The supporting bottom plate is positioned below the supporting shaft, and the supporting top plate is positioned above the supporting shaft. In order to enable the supporting shaft to flexibly rotate in the connecting seat, a first bearing sleeved on the supporting shaft is arranged between the first connecting plate and the supporting shaft, and a second bearing sleeved on the supporting shaft is arranged between the second connecting plate and the supporting shaft. In order to balance the stress of the supporting shaft, the first connecting plate and the second connecting plate are symmetrically arranged along the longitudinal central line of the spherical shell, namely the distance from the spherical center of the spherical shell to the first connecting plate and the distance from the spherical center to the second connecting plate are equal.

The second motor is fixed in the bottom of supporting baseplate, is equipped with on the supporting baseplate to be located and wears the hole from the driving wheel under, and the action wheel is located and wears the hole under, and the action wheel passes through the drive belt and is connected with the transmission of follow driving wheel. The escape hole provides the space of stepping down for the drive belt, and the axis of second motor shaft is parallel with the axis of back shaft and is located the back shaft axis under, follows the middle part that the driving wheel is located the back shaft, follows the focus of driving wheel and the centre of sphere coincidence of spherical shell. Set up the second motor in the bottom of supporting baseplate, further reduce the holistic focus position that constitutes by connecting seat, the counter weight body, first drive assembly and second drive assembly to improve full-automatic spherical robot's stability.

Wherein the first drive assembly is disposed on the top support plate.

In the above full-automatic spherical robot, the outer part of the spherical shell has a plurality of anti-slip raised lines uniformly distributed along the transverse center line extending from left to right of the spherical shell. The anti-skidding sand grip that sets up can improve the adhesive force of spherical shell, prevents that the spherical shell from skidding to improve the trafficability ability of spherical shell.

In the full-automatic spherical robot, a third motor is arranged on the left side of the spherical shell, a rotating shaft of the third motor is coaxial with the supporting shaft, and a first workpiece is arranged on the rotating shaft of the third motor; the right side of spherical shell is equipped with the fourth motor, the pivot and the back shaft of fourth motor are coaxial, be equipped with the second work piece in the pivot of fourth motor, third motor and fourth motor along the longitudinal centerline symmetry setting of spherical shell.

The first workpiece and the second workpiece are camera/sensor/light source/cable interfaces, the detection/illumination angle of the first workpiece can be controlled through rotation of the third motor rotating shaft, the illumination/detection angle of the second workpiece can be controlled through rotation of the fourth motor rotating shaft, different detection and illumination requirements are met, and the application range is wide.

In the full-automatic spherical robot, a first mounting cylinder which is coaxially arranged with the supporting shaft is arranged inside the left side of the spherical shell, the left end of the supporting shaft is coaxially and fixedly connected with the first mounting cylinder, and the third motor is arranged in the first mounting cylinder; the right side of the inside of the spherical shell is provided with a second installation cylinder which is coaxially arranged with the support shaft, the right end of the support shaft is coaxially and fixedly connected with the second installation cylinder, and the fourth motor is arranged in the second installation cylinder.

The first installation cylinder is fixedly connected with the spherical shell in a sealing mode, the left end of the supporting shaft is fixedly connected with the first installation cylinder in a sealing mode, the second installation cylinder is fixedly connected with the spherical shell in a sealing mode, the right end of the supporting shaft is fixedly connected with the second installation cylinder in a sealing mode, water can be prevented from entering the spherical shell, and the waterproof performance is good.

In the full-automatic spherical robot, a third bearing which is coaxial with the supporting shaft is arranged between the third motor and the first mounting cylinder, and the gravity center of the third motor is lower than the central axis of the rotating shaft of the third motor; and a fourth bearing which is coaxially arranged with the supporting shaft is arranged between the fourth motor and the second mounting cylinder, and the gravity center of the fourth motor is lower than the central axis of the rotating shaft of the fourth motor.

Because the gravity center of the third motor is lower than the central axis of the third motor rotating shaft, the third motor always keeps the same state and cannot rotate along with the rolling of the spherical shell. In the same way, the fourth motor is always kept in the same state and cannot rotate along with the rolling of the spherical shell. Or the third motor and the fourth motor are both provided with gyroscope motors, and can be kept in the same state and cannot rotate along with the rolling of the spherical shell.

The spherical shell is respectively provided with a left half shell and a right half shell, so that the internal components can be conveniently installed.

Compared with the prior art, the full-automatic spherical robot has the following advantages:

the spherical shell can be driven to flexibly move according to a preset track by utilizing the principles of gravity center shift and angular momentum conservation, and the trafficability characteristic is good; because the counterweight body extends horizontally, when the counterweight body moves in place, the external force applied to the gear is small, so that the counterweight body is kept at the current position, and the walking and steering reliability of the full-automatic spherical robot is improved; the main components are positioned inside the spherical shell and are assembled in a sealing manner, so that the waterproof performance is good and the protection capability is strong; easy deployment and portability.

Drawings

Fig. 1 is a schematic structural diagram of a preferred embodiment of the present invention.

Fig. 2 is a front view of the preferred embodiment of the present invention.

Fig. 3 is a longitudinal sectional view of the preferred embodiment of the present invention.

Fig. 4 is a cross-sectional view taken along line a-a of fig. 3 according to the present invention.

Fig. 5 is a schematic diagram of the internal structure of the preferred embodiment of the present invention.

In the figure, 1, a spherical shell; 2. a support shaft; 3. a counterweight body; 4. a rack portion; 5. a gear; 6. a first motor; 7. a guide seat; 8. a second motor; 9. a driving wheel; 10. a driven wheel; 11. a first connecting plate; 12. a second connecting plate; 13. a support base plate; 14. supporting a top plate; 15. anti-skid convex strips; 16. a third motor; 17. a first work piece; 18. a fourth motor; 19. a second work piece; 20. a first mounting cylinder; 21. a second mounting cylinder; 22. a third bearing; 23. a fourth bearing; 24. a battery; 25. an electrical box.

Detailed Description

The following are specific embodiments of the present invention and the accompanying drawings are used to further describe the technical solution of the present invention, but the present invention is not limited to these embodiments.

The full-automatic spherical robot as shown in fig. 1 and 2 comprises a spherical shell 1, wherein the spherical shell 1 is respectively provided with a left half shell and a right half shell, so that the internal components can be conveniently installed. As shown in fig. 3, a supporting shaft 2 horizontally extending along the radial direction of the spherical shell 1 is fixedly connected in the spherical shell 1, and a connecting seat is sleeved on the supporting shaft 2, namely, the connecting shaft can freely rotate relative to the connecting seat. The center of the sphere of the spherical shell 1 is positioned on the central axis of the supporting shaft 2, and the center of gravity of the whole body formed by the supporting shaft 2 and the spherical shell 1 is superposed with the center of the sphere of the spherical shell 1. As shown in fig. 3, the connecting seat includes a first connecting plate 11 sleeved on the supporting shaft 2, a second connecting plate 12 sleeved on the supporting shaft 2 and disposed opposite to the first connecting plate 11, a supporting bottom plate 13 fixed at the lower end of the first connecting plate 11 and the lower end of the second connecting plate 12, and a supporting top plate 14 fixed at the upper end of the first connecting plate 11 and the upper end of the second connecting plate 12, wherein the supporting bottom plate 13 is located below the supporting shaft 2, and the supporting top plate 14 is located above the supporting shaft 2. In order to enable the supporting shaft 2 to flexibly rotate in the connecting seat, a first bearing sleeved on the supporting shaft 2 is arranged between the first connecting plate 11 and the supporting shaft 2, and a second bearing sleeved on the supporting shaft 2 is arranged between the second connecting plate 12 and the supporting shaft 2. In order to balance the stress of the support shaft 2, the first connecting plate 11 and the second connecting plate 12 are symmetrically arranged along the longitudinal center line of the spherical shell 1, i.e. the distance from the spherical center of the spherical shell 1 to the first connecting plate 11, and the like, and the distance from the spherical center to the second connecting plate 12.

As shown in fig. 4 and 5, the supporting top plate 14 is provided with a guide seat 7, a guide groove is provided on a side portion of the guide seat 7, an extending direction of the guide groove is parallel to the supporting shaft 2, the long-shaped weight body 3 is slidably provided in the guide groove, and the supporting top plate 14 is further provided with a first driving assembly for driving the weight body 3 to linearly move along a length direction of the supporting shaft 2.

As shown in fig. 5, the first driving assembly includes a first motor 6 vertically fixed on the top supporting plate 14, a gear 5 coaxially fixed on the rotating shaft of the first motor 6, and a rack portion 4 disposed on one side of the counterweight body 3 close to the gear 5, the rack portion 4 and the supporting body have the same length and are connected into a whole, and the gear 5 is meshed with the rack portion 4. When 6 during operation of first motor, drive gear 5 and rotate around self axis, because gear 5 and 4 meshes of rack portion, gear 5 drives 4 linear motion of rack portion to drive 3 linear motion of counter weight body, with the holistic focus of change full-automatic spherical robot, thereby make full-automatic spherical robot realize turning to.

When first motor 6 stop work, can effectively be spacing to the counter weight body 3 under the combined action of gear 5 and guide way, improve the stability of the counter weight body 3. In order to ensure that the toothed wheel 5 meshes exactly with the transversely running rack 4, the central axis of the toothed wheel 5 runs vertically. Because the counterweight body 3 extends horizontally, when the counterweight body 3 moves in place, the external force applied to the gear 5 is small, which is beneficial to keeping the counterweight body 3 at the current position and improving the reliability of walking and steering of the full-automatic spherical robot.

In this embodiment, a second driving assembly for driving the support shaft 2 to rotate around its central axis, a battery 24 and an electrical box 25 are further disposed on the connection seat, a control circuit board, a wireless signal transceiver module, and the like are disposed in the electrical box 25, and the center of gravity of a whole body composed of the connection seat, the counterweight body 3, the first driving assembly, the second driving assembly, the battery 24 and the electrical box 25 is located right below the central axis of the support shaft 2, and the whole body does not contact with the inside of the spherical shell 1.

When the full-automatic spherical robot moves linearly, the center of gravity of the whole body consisting of the connecting seat, the counterweight body 3, the first driving component, the second driving component, the battery 24 and the electric box 25 is positioned right below the sphere center of the spherical shell 1. When the full-automatic spherical robot needs to turn, the first driving component drives the counterweight body 3 to linearly move along the length direction of the supporting shaft 2, so that the gravity center of the whole body is deviated leftwards or rightwards, the spherical shell 1 is deflected leftwards or rightwards, and the turning is realized.

As shown in fig. 3 and 5, the second driving assembly includes a second motor 8 fixed on the connecting seat, a driving wheel 9 disposed on a rotating shaft of the second motor 8, and a driven wheel 10 coaxially connected to the supporting shaft 2, and the driving wheel 9 is in transmission connection with the driven wheel 10. As shown in fig. 3, the second motor 8 is fixed at the bottom of the supporting base plate 13, an exit hole is formed in the supporting base plate 13 and located right below the driven wheel 10, the driving wheel 9 is located right below the exit hole, and the driving wheel 9 is in transmission connection with the driven wheel 10 through a transmission belt. The escape hole provides the space of stepping down for the drive belt, and the axis of the 8 pivots of second motor is parallel with the axis of back shaft 2 and is located back shaft 2 axis under, follows the middle part that driving wheel 10 is located back shaft 2, follows the focus of driving wheel 10 and the centre of sphere coincidence of spherical shell 1. Set up second motor 8 in the bottom of supporting baseplate 13, further reduce the holistic focus position that constitutes by connecting seat, the counter weight body 3, first drive assembly and second drive assembly to improve full-automatic spherical robot's stability.

The second motor 8 during operation drives action wheel 9 and rotates around the axis of second motor 8 pivot, because action wheel 9 is connected with the transmission of following driving wheel 10, action wheel 9 drives and rotates around the axis of back shaft 2 from driving wheel 10, and then drives back shaft 2 and rotate in step to realize spheroidal roll.

As shown in fig. 1 and 2, the outer portion of the spherical shell 1 has a plurality of anti-slip raised strips 15 uniformly distributed along the horizontal center line extending from left to right of the spherical shell 1, so as to improve the adhesion of the spherical shell 1, prevent the spherical shell 1 from slipping, and improve the traffic capacity of the spherical shell 1.

As shown in fig. 2 and 3, a third motor 16 is disposed on the left side of the spherical shell 1, a rotating shaft of the third motor 16 is coaxial with the supporting shaft 2, a first working member 17 is disposed on the rotating shaft of the third motor 16, a fourth motor 18 is disposed on the right side of the spherical shell 1, a rotating shaft of the fourth motor 18 is coaxial with the supporting shaft 2, a second working member 19 is disposed on the rotating shaft of the fourth motor 18, and the third motor 16 and the fourth motor 18 are symmetrically disposed along the longitudinal center line of the spherical shell 1. The first working piece 17 and the second working piece 19 are camera/sensor/light source/cable interfaces, the detection/illumination angle of the first working piece 17 can be controlled through the rotation of the rotating shaft of the third motor 16, the illumination/detection angle of the second working piece 19 can be controlled through the rotation of the rotating shaft of the fourth motor 18, different detection and illumination requirements are met, and the application range is wide.

When the device is used, various parameters including a traveling route and detection items and task types are set according to a use scene such as the inside of a pipeline or the flat ground; the robot automatically advances according to various preset parameters and task types, and transmits acquired data back to the user through a wireless network. When the robot is used for the internal work of the pipeline, a plurality of full-automatic spherical robots can be sequentially placed according to the length and the route complexity of the pipeline for signal relay, and the robot can also be used for the traction of cables and the like.

Specifically, as shown in fig. 3, a first mounting cylinder 20 coaxially arranged with the support shaft 2 is arranged inside the left side of the spherical shell 1, the left end of the support shaft 2 is coaxially and fixedly connected with the first mounting cylinder 20, and the third motor 16 is arranged in the first mounting cylinder 20; the inside right side of spherical shell 1 is equipped with the second installation section of thick bamboo 21 with the coaxial setting of back shaft 2, and the right-hand member of back shaft 2 links firmly with the second installation section of thick bamboo 21 is coaxial, and fourth motor 18 is located in the second installation section of thick bamboo 21. Wherein, first installation section of thick bamboo 20 links firmly with spherical shell 1 is sealed, and the left end of back shaft 2 links firmly with first installation section of thick bamboo 20 is sealed, and second installation section of thick bamboo 21 links firmly with spherical shell 1 is sealed, and the right-hand member of back shaft 2 links firmly with second installation section of thick bamboo 21 is sealed, can prevent that water from entering into spherical shell 1 in, waterproof nature is good.

As shown in fig. 3, a third bearing 22 is disposed between the third motor 16 and the first mounting cylinder 20, and is coaxial with the support shaft 2, and the center of gravity of the third motor 16 is lower than the central axis of the rotating shaft of the third motor 16; a fourth bearing 23 which is coaxial with the supporting shaft 2 is arranged between the fourth motor 18 and the second mounting cylinder 21, and the gravity center of the fourth motor 18 is lower than the central axis of the rotating shaft of the fourth motor 18.

Because the gravity center of the third motor 16 is lower than the central axis of the rotating shaft of the third motor 16, the third motor 16 always keeps the same state and cannot rotate along with the rolling of the spherical shell 1. Similarly, the fourth motor 18 always keeps the same state and does not rotate along with the rolling of the spherical shell 1.

As another embodiment, in order to prevent the third motor 16 and the fourth motor 18 from rotating together with the spherical shell 1, a motor with a gyroscope is used for each of the third motor 16 and the fourth motor 18.

The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications, additions and substitutions for the specific embodiments described herein may be made by those skilled in the art without departing from the spirit of the invention or exceeding the scope of the invention as defined in the accompanying claims.

Claims (10)

1. The utility model provides a full-automatic spherical robot, includes spherical shell (1), its characterized in that, spherical shell (1) in link firmly back shaft (2) that the radial level of an edge spherical shell (1) extends, back shaft (2) on the cover be equipped with the connecting seat, the connecting seat on be equipped with the weight body (3), be used for driving the weight body (3) along the length direction linear motion's of back shaft (2) first drive assembly and be used for driving back shaft (2) around self axis pivoted second drive assembly, by connecting seat, weight body (3), first drive assembly and the holistic focus that second drive assembly constitutes be located back shaft (2) axis under.

2. The robot as claimed in claim 1, wherein the first driving unit comprises a rack portion (4) provided on the weight (3), a gear (5) engaged with the rack portion (4), and a first motor (6) for driving the gear (5) to rotate, the rack portion (4) extends in a direction parallel to the support shaft (2), and the connecting base is provided with a guide structure for guiding the weight (3).

3. The full-automatic spherical robot according to claim 2, wherein the guiding structure comprises a guiding slot disposed on the connecting seat, the extending direction of the guiding slot is parallel to the supporting shaft (2), and the weight body (3) is slidably disposed in the guiding slot.

4. The full-automatic spherical robot according to claim 3, wherein the connecting base is provided with a guide base (7) located on the side of the gear (5), the guide slot is provided on the side of the guide base (7) facing the gear (5), and the rack portion (4) is located on the side of the counterweight (3) away from the guide base (7).

5. The full-automatic spherical robot according to claim 1, 2, 3 or 4, wherein the second driving assembly comprises a second motor (8) fixed on the connecting base, a driving wheel (9) arranged on a rotating shaft of the second motor (8) and a driven wheel (10) coaxially connected to the supporting shaft (2), and the driving wheel (9) is in transmission connection with the driven wheel (10).

6. The full-automatic spherical robot according to claim 5, wherein the connecting base comprises a first connecting plate (11) sleeved on the supporting shaft (2), a second connecting plate (12) sleeved on the supporting shaft (2) and arranged opposite to the first connecting plate (11), a supporting bottom plate (13) fixed at the lower ends of the first connecting plate (11) and the second connecting plate (12), and a supporting top plate (14) fixed at the upper ends of the first connecting plate (11) and the second connecting plate (12), and the second motor (8) is fixed on the supporting bottom plate (13).

7. The full-automatic spherical robot according to claim 6, wherein said spherical shell (1) has a plurality of anti-slip ribs (15) uniformly distributed along the lateral center line extending left and right of the spherical shell (1) on the outside thereof.

8. The full-automatic spherical robot according to claim 1, wherein a third motor (16) is provided on the left side of the spherical shell (1), the rotating shaft of the third motor (16) is coaxial with the supporting shaft (2), and a first working member (17) is provided on the rotating shaft of the third motor (16); the right side of spherical shell (1) is equipped with fourth motor (18), the pivot and back shaft (2) of fourth motor (18) are coaxial, be equipped with second work piece (19) in the pivot of fourth motor (18), third motor (16) and fourth motor (18) along the vertical central line symmetry setting of spherical shell (1).

9. The full-automatic spherical robot according to claim 8, wherein a first mounting cylinder (20) coaxially arranged with the supporting shaft (2) is arranged inside the left side of the spherical shell (1), the left end of the supporting shaft (2) is coaxially and fixedly connected with the first mounting cylinder (20), and the third motor (16) is arranged in the first mounting cylinder (20); the inside right side of spherical shell (1) is equipped with second installation section of thick bamboo (21) with the coaxial setting of back shaft (2), the right-hand member and the coaxial linking firmly of second installation section of thick bamboo (21) of back shaft (2), fourth motor (18) locate in second installation section of thick bamboo (21).

10. The full-automatic spherical robot according to claim 9, wherein a third bearing (22) coaxially arranged with the supporting shaft (2) is provided between the third motor (16) and the first mounting cylinder (20), and the center of gravity of the third motor (16) is lower than the central axis of the rotating shaft of the third motor (16); a fourth bearing (23) which is coaxial with the supporting shaft (2) is arranged between the fourth motor (18) and the second mounting cylinder (21), and the gravity center of the fourth motor (18) is lower than the central axis of the rotating shaft of the fourth motor (18).

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