47results about How to "Implement scrolling" patented technology

The invention discloses a pallet fork mechanism with a quick change function. The pallet fork is characterized in that a baffle mechanism is connected with a folding arm mechanism and rotates around the folding arm mechanism; the baffle mechanism is provided with two quick change handles and two limiting blocks; the two quick change handles lift the two limiting blocks by pin shafts; a hanging plate mechanism is provided with a camera mounting hole and two limiting holes; the baffle mechanism is inserted in the two limiting holes of the hanging plate mechanism by the two limiting blocks and is connected with the hanging plate mechanism; the hanging plate mechanism is connected with a pallet fork frame through a rotary shaft; a leveling cylinder is arranged between the pallet fork frame and the hanging plate mechanism; one end of the leveling cylinder is connected with the hanging plate mechanism, and the other end of the leveling cylinder is connected with the pallet fork frame by the pin shaft; and the leveling cylinder pushes the pallet fork frame to rotate around the rotary shaft of the hanging plate mechanism by the pin shaft. The quick change function of the pallet fork mechanism of a handler with a high-speed telescopic arm can be realized to meet the left-and-right transverse movement function of the pallet fork mechanism, and a cylinder and a cylinder roller can be supported to realize rolling and moving in the case that the transported materials are overloaded.

The invention discloses a rolling robot which comprises first and second cross-shaped components (1-1, 1-2), first to fourth connecting rods (3-1, 3-2, 3-3, 3-4), first to eighth joint crosses (4-1, 4-2, 4-3, 4-4, 4-5, 4-6, 4-7, 4-8) and first and second driving motors (2-1, 2-2). The first and second cross-shaped components (1-1, 1-2) are connected with the first to fourth connecting rods (3-1, 3-2, 3-3, 3-4) through the first to eighth joint crosses (4-1, 4-2, 4-3, 4-4, 4-5, 4-6, 4-7, 4-8). The first and second driving motors (2-1, 2-2) are respectively arranged on the first and second cross-shaped components (1-1, 1-2). The formed rolling robot can realize rolling in the random direction in the plane by utilizing inertia and can be used for application such as planetary exploration, military reconnaissance and the like.

The invention discloses a composite configuration amphibious robot based on epicyclic gear trains and provided with wheel paddle legs. The robot comprises a machine frame, wheel paddle leg devices, a transmission system, a driving system and a control system, wherein the four independent wheel paddle leg devices are symmetrically arranged on two sides of the machine frame, the driving system is connected with the wheel paddle leg devices through the transmission system, each wheel paddle leg device comprises an epicyclic gear train, a paddle leg device and an outer wheel, the driving system comprises three independent driving motors, all the driving motors are connected with the control system and the rotary speed of the driving motors is controlled by the control system. A synchronous belt drive mode is adopted in the robot, and the robot has various gait motion modes and is suitable for various complex road condition environments.

The invention provides a husking device for processing and remaining rice germs, and relates to the husking device. According to the husking device, the problems that germs are ground off by an existing rice husking device in the machining process, the filling rate of rice is low, and consumers are liable to purchase fake rice on the market are solved. The husking device comprises a plurality of blades, a conveyor, electric brushes and a plurality of hoppers; the conveyor is a chain plate conveyor of which the input end is obliquely arranged downwards, and the output end of the chain plate conveyor is arranged horizontally; each chain plate of the chain plate conveyor is provided with a plurality of rows of rice slots in multiple columns, and each rice groove is able to hold only one ricegrain; the center of the rice grooves in each column in the width direction is provided with a cutter groove, and each hopper is internally provided with the electric brushes and baffles; and each hopper is arranged on one side of the input end of the chain plate conveyor, and a certain clearance is provided between a port of each hopper and the corresponding chain plate. The husking device is applicable for husking germ-remaining rice.

The invention discloses a device for expanding a temporomandibular joint. The device comprises a fixed supporting piece, a movable supporting piece, a sliding body, a rotating mechanism and a connecting piece, wherein one end of the sliding body is connected with the upper portion of a fixed arm of the fixed supporting piece and is perpendicular to the fixed arm; a fixed arm hook is located at thebottom of the fixed arm and faces away from the sliding body, and a movable arm hook is located at the bottom of the movable arm and faces opposite to the fixed arm hook. The sliding body is a flat cuboid, the top surface of the sliding body is provided with a rack, the side surface of the sliding body is provided with a track, the rotating mechanism comprises a gear, a rotating handle and a locking device, the rotating handle is connected with the gear, and the gear can roll on the rack by turning the rotating handle or be locked by the locking device, the connecting piece is fixed to the sliding body and is connected with and linked with the rotating mechanism and the movable arm, and the connecting piece can be driven by the rotating mechanism to translate or be locked along the trackso as to enable the movable arm to translate or be locked on the sliding body.

The invention discloses a pet toy driving device which is simple in structure, small in volume, and convenient in manufacture and assembly and a wheelless pet toy. The wheelless pet toy comprises a shell; a counterweight device, a battery unit and a PCB (Printed Circuit Board) which are arranged in the shell; a power unit located in the counterweight device, wherein the counterweight device is arranged in the shell in a fixing or rotating manner, the power unit drives the shell to rotate or drives the counterweight device to rotate, the power unit comprises a drive motor, a transmission shaft of the drive motor passes through the counterweight device and is connected with the shell, the PCB is electrically connected with the battery unit and the drive motor. The pet toy driving device and the wheelless pet toy can be widely applied to the field of pet toys.

The invention discloses a method for using a colorful screen in a small-memory embedded system, wherein the method relates to the field of displaying technology, and is particularly suitable for the situation in which a video memory is larger than a system memory. The method comprises the steps of establishing a mapping relation A between target data and an RGB color coding table in a read-only memory (ROM) and a mapping relation B between a color code in the RGB color coding table and an in-table color index number, and setting a color index number of a memory area which corresponds with a to-be-displayed position of the target data in a random access memory; in displaying refreshing, performing successive traversal on color index numbers in the random memory, searching an RGB color coding number table according to the color index number in the random access memory, and acquiring a unique color coding real number which corresponds with the color index number according to the mapping relation B; and transmitting the color code real number to a display screen through a display screen driving interface for displaying. Through storing the color index in the memory for replacing direct storage of RGB color coding number, memory resource consumption is effectively reduced, and use of the colorful screen with relatively large video memory in a small-memory embedded system is realized.

The invention relates to a robot pumping and moving mechanism and an asteroid probing robot. The robot pumping and moving mechanism comprises a telescoping rod, a driving device and a plurality of elastic spokes, wherein the elastic spokes are uniformly arranged around the telescoping rod; two ends of each elastic spoke are correspondingly connected to two ends of the telescoping rod so as to forma cage-shaped spherical structure of the pumping and moving mechanism; the driving device is used for driving the telescoping rod to telescope to enable the deformation of the elastic spokes to appear. According to the robot pumping and moving mechanism, the telescoping rod is driven to telescope through the driving device, so that the elastic spokes are compressed, and the pumping and moving mechanism stores energy; when the elastic spokes are expanded and release energy, the pumping and moving mechanism gains energy for pumping under the counteractive effect of the ground, so that pumping and moving are achieved; in addition, the cage-shaped spherical structure formed by the elastic spokes enables rolling and moving of the pumping and moving mechanism to appear; the elastic spokes can be deformed to absorb the outside impact energy, so that devices in the pumping and moving mechanism can be effectively protected.

The invention discloses a wooden board conveying device convenient in discharging, which comprises a box body, wherein the bottom of one side of the box body is fixedly connected with a transverse plate; the top of the transverse plate is fixedly connected with a vertical plate; the top of the vertical plate is fixedly connected with a top plate; one side of the top plate, away from the vertical plate, is fixedly connected with a fixing plate; one side of the vertical plate is fixedly connected with a first motor, one end of the output shaft of the first motor is fixedly connected with a threaded rod through a coupler, one end of the threaded rod, away from the first motor, is rotatably connected with one side of the fixing plate through a bearing. The invention relates to the technical field of wooden board conveying equipment. The wooden board conveying device can achieve fast and convenient discharging after conveying the wooden boards, manual conveying is not needed, therefore, notonly is the working load of the staff lightened, but also the time spent in the discharging process of the wooden board conveying is greatly saved, thereby improving the conveying efficiency and ensuring better use of the wooden board.

The invention discloses a screening device for plastic masterbatch. The screening device comprises a box body, a connecting box is arranged on the upper side of the box body, a moving plate is arranged on the outer wall of the connecting box in an inserting mode, a connecting plate is fixedly connected with the end, located in the connecting box, of the moving plate, a plurality of brush heads arefixed on the lower side wall of the connecting plate, a limited plate is fixed on the outer wall of the end, located in the connecting box, of the moving plate, two expansion springs are fixed between the side, away from the connecting plate, of the limited plate and the inner wall of the connecting box, a fixing plate is fixed on the outer wall of the connecting box, a first motor is fixed at the end portion of the fixing plate, and an incomplete gear is fixed at the driving end of the first motor. According to the screening device for the plastic masterbatch, by scraping a resin raw material and guiding the resin raw material to a screen, rolling of a vertical raw material is achieved through up and down swing of the screen, impurities in the resin raw material are removed, cleaning ofthe resin raw material is achieved, and the quality and properties of plastic masterbatch produced subsequently are ensured.

This invention refers to a bi-serial inclined roller bearing (8), including an outer bearing ring (9) and an inner bearing ring (10) as well as a number of cylindrical rolling bodies (11, 12) arranged in two rows between two bearing rings (9, 10); the rolling bodies are mutually arranged to an O-arrangement and roll on tracks (14, 15, 23, 24) extending by the means of inclining an angle (Alpha) with a bearing axis (16). The solving method according to the invention is: each row (11, 12) of rolling bodies (11, 12) has filling openings (26, 27) located outside the tracks (14, 15, 23, 24), whose central axis (28, 29) are extension lines of rotation axes (30, 31) of the rolling bodies and both filling openings are closed by fill stoppers (32, 33) after filling the rolling bodies (11, 12).

The invention discloses a rolling robot which comprises first and second cross-shaped components (1-1, 1-2), first to fourth connecting rods (3-1, 3-2, 3-3, 3-4), first to eighth joint crosses (4-1, 4-2, 4-3, 4-4, 4-5, 4-6, 4-7, 4-8) and first and second driving motors (2-1, 2-2). The first and second cross-shaped components (1-1, 1-2) are connected with the first to fourth connecting rods (3-1, 3-2, 3-3, 3-4) through the first to eighth joint crosses (4-1, 4-2, 4-3, 4-4, 4-5, 4-6, 4-7, 4-8). The first and second driving motors (2-1, 2-2) are respectively arranged on the first and second cross-shaped components (1-1, 1-2). The formed rolling robot can realize rolling in the random direction in the plane by utilizing inertia and can be used for application such as planetary exploration, military reconnaissance and the like.

The invention discloses a spherical robot with double pendulum bobs and an application thereof. A spherical shell is installed outside a spherical inner shell so as to form spherical sliding, a first fixed shaft and a second fixed shaft which are mutually perpendicular are installed in the spherical inner shell, the first fixed shaft is mainly formed by two coaxial shafts which are respectively positioned on both sides of the second fixed shaft, the crossing point of axes of the first fixed shaft and the second fixed shaft is positioned in the center of a sphere of the spherical inner shell, one end of the first fixed shaft and one end of the second fixed shaft are connected to output shafts of pendulum bob motors, the other ends of the first fixed shaft and the second fixed shaft are connected to wall holes of the spherical inner shell by virtue of pendulum bob bearings, and the pendulum bobs are fixedly connected to the middle parts of the fixed shafts. The spherical robot can roll in any direction and has the advantages of convenience, easiness in implementation and high stability.

The invention discloses an amphibious robot with wheel-paddle-leg compound configuration based on epicyclic gear trains, which includes a frame, a wheel-paddle leg device, a transmission system, a drive system and a control system, and two sides of the frame are symmetrically arranged with four independent The wheel paddle leg device, the drive system is connected with the wheel paddle leg device through the transmission system; the wheel paddle leg device includes epicyclic gear train, paddle leg device and outer wheel, the drive system includes three independent drive motors, and the drive motors are connected with the control system. The speed of the drive motor is controlled by the control system. The device adopts a synchronous belt transmission mode, has a variety of gait movement modes, and is suitable for a variety of complex road conditions.

The invention discloses a smashing structure of biopharmaceutical equipment. The smashing structure comprises a bottom plate, a grinding assembly and a crushing assembly; a frame plate is fixedly connected to one side of the surface of the bottom plate, a rotating shaft penetrates through the top of the side face of the frame plate, an auxiliary gear fixedly sleeves one end of the rotating shaft, a first motor is fixedly connected to the bottom of the side face of the frame plate, a main gear fixedly sleeves an output shaft of the first motor, and the main gear meshes with the auxiliary gear, wherein an auxiliary assembly and a collecting assembly are arranged on the rotating shaft, wherein an adjusting assembly, a limiting assembly and a control assembly are arranged on the collecting assembly; and the grinding assembly comprises arc-shaped plates, a fixing sleeve, a fixing rod, a support, a fixing shaft, rolling wheels, supporting legs and an arc-shaped groove, wherein the supporting legs are symmetrically and fixedly connected to the two sides of the surface of the bottom plate. According to the smashing structure of the biopharmaceutical equipment, medicine can be thoroughly smashed, smashing is relatively uniform, a good smashing effect is achieved, and the smashed medicine can be conveniently collected, so that the practicality is relatively strong.

The invention relates to a multifunctional anti-collision wireless pointer device. The multifunctional anti-collision wireless pointer device comprises a transmitting end and a receiving end, wherein transmitting end input equipment is used for inputting data or commands to a transmitting end device and comprises eight press keys which simulate upward-moving, downward-moving, leftward-moving, rightward-moving, left, right, upward-rolling and downward-rolling press keys of a mouse; an NRF24L01 wireless interface chip 1 of transmitting end output equipment can transmit data to the receiving end which is bound with a wireless channel through the wireless channel with a unique address; the receiving end comprises receiving end input equipment and receiving end output equipment; an NRF24L01 wireless interface chip 2 of the receiving end input equipment receives data or control command transmitted by the transmitting end from the wireless channel which is bound with the receiving end and has the unique address. The multifunctional anti-collision wireless pointer device can realize a page turning function, also can realize the rolling and clicking functions of the mouse, can quickly start a program, has high responsivity and achieves an anti-collision effect with the accuracy rate up to above 99 percent.

The invention discloses a three-symmetric-point hydraulic rolling head, and the three-symmetric-point hydraulic rolling head is suitable for surface hardening and roll finishing of ferrous metal or nonferrous metal with high hardness so as to improve the surface grain refinement degree, corrosion resistance, abrasion resistance and fatigue resistance of ferrous metal or nonferrous metal parts. Themechanical performance of components can be improved on the premise that materials, weight and hardness are not changed. The three-symmetric-point hydraulic rolling head aims to solve the problems that an existing rolling auxiliary tool adopts mechanical three-point uniform distribution hard contact, steel ball abrasion is large, and the rolling cost is very high. By changing the pressing head structure of the rolling auxiliary tool, three rolling heads are uniformly distributed and pressed on the outer circle of a product for rolling, the resultant force is zero, the product is in a balancedstate, and at the moment, an oil film can be formed between a steel ball and the surface of the product. The piston manufacturing process is relatively simple, an integrated piston is adopted for pressing the steel ball to replace an original supporting roller to transmit the pressure of the piston to the steel ball, the steel ball is in contact with the surface of the product for rolling, the supporting roller is in direct contact with the steel ball and rotates to transmit pressure, and only a supporting cover is used for fixing the steel ball to keep the steel ball fixed.

This invention refers to a bi-serial inclined roller bearing (8), including an outer bearing ring (9) and an inner bearing ring (10) as well as a number of cylindrical rolling bodies (11, 12) arrangedin two rows between two bearing rings (9, 10); the rolling bodies are mutually arranged to an O-arrangement and roll on tracks (14, 15, 23, 24) extending by the means of inclining an angle (Alpha) with a bearing axis (16). The solving method according to the invention is: each row (11, 12) of rolling bodies (11, 12) has filling openings (26, 27) located outside the tracks (14, 15, 23, 24), whosecentral axis (28, 29) are extension lines of rotation axes (30, 31) of the rolling bodies and both filling openings are closed by fill stoppers (32, 33) after filling the rolling bodies (11, 12).

The invention discloses one-step forming production equipment for round inorganic fertilizer particles. The one-step forming production equipment comprises a granulation main body, a thermal expansion and cold contraction oscillation type deslagging mechanism, a three-dimensional surrounding type spheroidizing mechanism, a stirring type feeding device and an oscillation type discharging device. The invention belongs to the technical field of one-time forming production of round inorganic fertilizer particles, and particularly relates to one-time forming production equipment for round inorganic fertilizer particles. On the basis of a mechanical system replacement and reverse action principle, a thermal expansion and cold contraction oscillation type slag removal mechanism is creatively provided, when groove residues are cleaned, through mutual cooperation of a cutting type cold and hot field alternating type filling mechanism and a reverse action type self-service oscillation mechanism, the residues are separated from the inner wall of a groove after thermal expansion and cold contraction in the groove, and the groove residues are removed from the inner wall of the groove. In addition, the knocking particle balls knock the outer walls of the grooves, so that residues in the grooves of the extrusion roller are effectively cleaned, and the plumpness of the chemical fertilizer particles is guaranteed.

The invention discloses a pallet fork mechanism with a quick change function. The pallet fork is characterized in that a baffle mechanism is connected with a folding arm mechanism and rotates around the folding arm mechanism; the baffle mechanism is provided with two quick change handles and two limiting blocks; the two quick change handles lift the two limiting blocks by pin shafts; a hanging plate mechanism is provided with a camera mounting hole and two limiting holes; the baffle mechanism is inserted in the two limiting holes of the hanging plate mechanism by the two limiting blocks and is connected with the hanging plate mechanism; the hanging plate mechanism is connected with a pallet fork frame through a rotary shaft; a leveling cylinder is arranged between the pallet fork frame and the hanging plate mechanism; one end of the leveling cylinder is connected with the hanging plate mechanism, and the other end of the leveling cylinder is connected with the pallet fork frame by the pin shaft; and the leveling cylinder pushes the pallet fork frame to rotate around the rotary shaft of the hanging plate mechanism by the pin shaft. The quick change function of the pallet fork mechanism of a handler with a high-speed telescopic arm can be realized to meet the left-and-right transverse movement function of the pallet fork mechanism, and a cylinder and a cylinder roller can be supported to realize rolling and moving in the case that the transported materials are overloaded.

The invention discloses an auxiliary device for machining an anchor winch drum. The auxiliary device comprises an upper auxiliary mechanism and a lower auxiliary mechanism, and the both sides of the bottom of the upper auxiliary mechanism are provided with grooves; the both sides of the top of the lower auxiliary mechanism are fixedly provided with cylinders of which cylinder rods are located in the grooves, so that the connection between the upper auxiliary mechanism and the lower auxiliary mechanism is achieved; the bottom center of the upper auxiliary mechanism is circularly sunken, and thecenter position of the circular sunken part is provided with driven rollers; the bottom center of the lower auxiliary mechanism is squarely sunken, and the both sides of the square sunken part are provided with driving rollers; the driven rollers are matched with the driving rollers, so that the limit and rolling of the anchor winch drum during machining are achieved; with the above method, according to the auxiliary device disclosed by the invention, not only the anchor winch drum can be clamped and limited, but also the rolling of the anchor winch drum can be achieved during machining of the anchor winch drum, thereby facilitating operators to process the surface of the anchor winch drum.

The invention discloses a method for using a colorful screen in a small-memory embedded system, wherein the method relates to the field of displaying technology, and is particularly suitable for the situation in which a video memory is larger than a system memory. The method comprises the steps of establishing a mapping relation A between target data and an RGB color coding table in a read-only memory (ROM) and a mapping relation B between a color code in the RGB color coding table and an in-table color index number, and setting a color index number of a memory area which corresponds with a to-be-displayed position of the target data in a random access memory; in displaying refreshing, performing successive traversal on color index numbers in the random memory, searching an RGB color coding number table according to the color index number in the random access memory, and acquiring a unique color coding real number which corresponds with the color index number according to the mapping relation B; and transmitting the color code real number to a display screen through a display screen driving interface for displaying. Through storing the color index in the memory for replacing direct storage of RGB color coding number, memory resource consumption is effectively reduced, and use of the colorful screen with relatively large video memory in a small-memory embedded system is realized.

The invention discloses an error detection device for a numerical control machining connector, which comprises a mounting seat, a supporting plate is mounted on the mounting seat, a rotating rod rotationally connected with the supporting plate is arranged on the supporting plate in a penetrating manner, a driving mechanism for driving the rotating rod to rotate is mounted on the supporting plate, a U-shaped plate is arranged on one side of the rotating rod, and the U-shaped plate is arranged on the other side of the rotating rod. The U-shaped plate is connected with the rotating rod through an adjusting mechanism, the inner wall of the U-shaped plate is rotatably connected with a first screw rod, the upper end of the first screw rod is fixedly connected with a second screw rod, the upper end of the second screw rod is fixedly connected with a first round rod, and the upper end of the first round rod penetrates through the U-shaped plate and is rotatably connected with the U-shaped plate. The internal diameter, the external diameter and the wall thickness of the connector can be detected, the operation is simple and rapid, the device can be suitable for various sizes, the practicability is good, meanwhile, the detection result can be clearly known, and a worker can rapidly judge whether the connector is qualified or not.

The invention discloses a husking device capable of maintaining rice germs being complete in the processing process and relates to a husking device. The husking device aims at solving the problems that by means of an existing rice husking device, germs are ground off in the processing process, the rice filling rate is low, and consumers are likely to buy adulterated rice on the market. The huskingdevice comprises multiple blades, a conveyor, electric brushes and multiple hoppers. The conveyor is a chain scraper conveyor. The input end part of the chain scraper conveyor is inclined downwards.The output end part of the chain scraper conveyor is horizontally arranged. Each chain plate of the chain scraper conveyor is provided with multiple rows and multiple columns of rice grooves. Each rice groove can only contain one rice grain. The center, in the width direction, of each rice column is provided with a tool groove. Each hopper is internally provided with the corresponding electric brush and a baffle. The hoppers are all arranged at the side of the input end of the chain scraper conveyor. A certain gap exists between a material opening of each hopper and the corresponding chain plate. The husking device is applicable to husking of germ rice.

The invention discloses an information comprehensive admitting and filing device used for a reproductive health algorithm. The information comprehensive admitting and filing device comprises a support, an air cylinder, a sliding rail, supporting rotating assemblies, a control main board, a display, a collecting and entering assembly, a classifying input assembly and generalizing assemblies. The sliding rail is installed on a transverse plate on the bottom side of the support. The air cylinder is cooperatively installed on one side of a vertical plate of the support through a bolt. The two supporting rotating assemblies are cooperatively installed on the sliding rail. Due to work of a rotting motor, a rotating gear is driven to rotate, then due to cooperation between the rotating gear and amatching gear, a rotating pillar can be driven to rotate, sliding of a supporting pillar in a limiting rail can be achieved, and rolling of the generalizing assemblies is achieved. During use, the air cylinder can be used for working, a supporting disc can be pulled along the sliding rail, the position of the two generalizing assemblies can be changed and correspond to negative patent materials and positive patient materials correspondingly, distinguishing and generalizing are facilitated, and medical records of patients can be filed more clearly, accurately and efficiently.

This application discloses an entertainment exercise device for pushing and pulling the upper limbs at home, which includes a base, a left movement mechanism, and a right movement mechanism. The right beam is fixed on the base, the right beam fixes the right swing shaft, and the right swing shaft rotates and installs the right swing rod and the right small pulley at the same time, and the right small pulley is fixed on the right swing rod. The right swing plate is fixed by the swing rod, and the left swing plate is fixed by the lower end of the left swing rod of the left movement mechanism, and the transmission belt drives the left large pulley and the left small pulley to reversely move the right swing plate from the right large pulley and the right small pulley through belt transmission There is a right track on the top of the body, and the right track is a semi-circular groove structure. The right swing plate and the left swing plate of the left movement mechanism are symmetrically arranged to realize the reverse movement of the gait of the upper limbs on both sides and improve the comfort of rehabilitation exercise. , the metal ball rolls in the track of the left and right swing boards, which improves the fun of training.

The invention discloses a spherical robot with double pendulum bobs and an application thereof. A spherical shell is installed outside a spherical inner shell so as to form spherical sliding, a first fixed shaft and a second fixed shaft which are mutually perpendicular are installed in the spherical inner shell, the first fixed shaft is mainly formed by two coaxial shafts which are respectively positioned on both sides of the second fixed shaft, the crossing point of axes of the first fixed shaft and the second fixed shaft is positioned in the center of a sphere of the spherical inner shell, one end of the first fixed shaft and one end of the second fixed shaft are connected to output shafts of pendulum bob motors, the other ends of the first fixed shaft and the second fixed shaft are connected to wall holes of the spherical inner shell by virtue of pendulum bob bearings, and the pendulum bobs are fixedly connected to the middle parts of the fixed shafts. The spherical robot can roll in any direction and has the advantages of convenience, easiness in implementation and high stability.