A spherical robot and a robot assembly including the same

Abstract

The present invention provides a spherical robot and a robot combination including the same, and relates to the field of electromechanical technology. The spherical robot provided by the present invention includes an inner spherical shell and an outer spherical shell, a control module and a power supply are arranged in the inner spherical shell, the control module is connected to the power supply, a plurality of electrodes are arranged on the outer surface of the inner spherical shell, each electrode is connected to the control module, so that the control module outputs voltage to any two electrodes respectively, a plurality of first magnets are also arranged on the outer surface of the inner spherical shell, a portion of the space region between the outer spherical shell and the inner spherical shell is filled with liquid metal with a melting point lower than room temperature, at least two electrodes are immersed in the liquid metal, a plurality of second magnets are arranged on the inner surface of the outer spherical shell, and the magnetism of the first magnet on the side facing the outer spherical shell is opposite to the magnetism of the second magnet on the side facing the inner spherical shell. The technical solution of the present invention can make the structure of the spherical robot simple and easy to promote and apply.

Description

Technical Field

[0001] This invention relates to the field of electromechanical technology, and more particularly to a spherical robot and a robot assembly including the same. Background Technology

[0002] A spherical robot is a new type of intelligent robot with a spherical shell and movement as its primary mode of locomotion. Due to its excellent dynamic and static balance, as well as its superior sealing properties, spherical robots can operate in various harsh environments, including unmanned, dusty, humid, and corrosive environments. They also possess amphibious capabilities and can be applied in fields such as planetary exploration, environmental monitoring, national defense equipment, and entertainment.

[0003] Existing spherical robots have complex structures, making them difficult to promote and apply in practice. Summary of the Invention

[0004] This invention provides a spherical robot and a robot assembly including the same, which makes the spherical robot simple in structure and easy to promote and apply.

[0005] In a first aspect, the present invention provides a spherical robot, which adopts the following technical solution:

[0006] The spherical robot includes an inner spherical shell and an outer spherical shell. A control module and a power supply are disposed inside the inner spherical shell, and the control module is connected to the power supply. Multiple electrodes are disposed on the outer surface of the inner spherical shell, and each electrode is connected to the control module so that the control module outputs voltage to any two electrodes respectively. Multiple first magnets are also disposed on the outer surface of the inner spherical shell. The space between the outer spherical shell and the inner spherical shell is partially filled with liquid metal with a melting point below room temperature, and at least two electrodes are immersed in the liquid metal. Multiple second magnets are disposed on the inner surface of the outer spherical shell. The magnetism of the first magnets facing the outer spherical shell is opposite to the magnetism of the second magnets facing the inner spherical shell.

[0007] Optionally, the inner spherical shell is fixed in position within the outer spherical shell, and the centers of the inner and outer spherical shells coincide.

[0008] Furthermore, the electrodes are uniformly distributed on the entire outer surface of the inner spherical shell; the first magnet is uniformly distributed on the entire outer surface of the inner spherical shell; the first magnet and the electrodes do not overlap; and the second magnet is uniformly distributed on the entire inner surface of the outer spherical shell.

[0009] Optionally, the inner spherical shell floats in the liquid metal.

[0010] Furthermore, the electrodes are uniformly distributed on the outer surface of the inner spherical shell immersed in the liquid metal; the first magnet is uniformly distributed on the entire outer surface of the inner spherical shell; the first magnet and the electrodes do not overlap; and the second magnet is uniformly distributed on the entire inner surface of the outer spherical shell.

[0011] Optionally, the blank area between the outer spherical shell and the inner spherical shell that is not filled by the liquid metal is in a vacuum or semi-vacuum state, or the blank area is filled with an inert gas, or an oxygen scavenger is provided on the outer surface of the inner spherical shell and / or the inner surface of the outer spherical shell.

[0012] Optionally, the control module includes an output unit and a charging unit. The charging unit is connected to the power supply and is used to wirelessly connect to an external power supply to wirelessly charge the power supply. The output unit is connected to the power supply and each of the electrodes and is used to output voltage to any two of the electrodes respectively.

[0013] Furthermore, the control module also includes an accelerometer, which is used to detect the motion state of the spherical robot.

[0014] Furthermore, the control module also includes a wireless communication unit, which is connected to the output unit and the accelerometer. The wireless communication unit is used to send the detection signal of the accelerometer to an external device and send the control command of the external device to the output unit.

[0015] Optionally, both the outer surface of the inner spherical shell and the inner surface of the outer spherical shell are provided with a polytetrafluoroethylene layer.

[0016] Optionally, the outer spherical shell is provided with an operating port, and the sealing cover corresponding to the operating port is removable.

[0017] Optionally, a buffer shell or a corrosion-resistant shell may be detachably installed on the outer surface of the outer spherical shell.

[0018] Optionally, the electrode is a columnar electrode, and the columnar electrode extends in the radial direction of the inner spherical shell.

[0019] Optionally, the electrode is a silver chloride electrode, a graphite electrode, a platinum electrode, or a steel electrode.

[0020] Secondly, the present invention provides a robot assembly, which adopts the following technical solution:

[0021] The robot includes at least one spherical robot as described in any one of the above.

[0022] Optionally, the robot further includes a coordination module connected to the control module of each spherical robot, the coordination module being used to coordinate the motion state of each spherical robot.

[0023] This invention provides a spherical robot and a robot assembly including the same. The spherical robot comprises an inner spherical shell and an outer spherical shell. A control module and a power supply are housed within the inner spherical shell. Multiple electrodes and multiple first magnets are disposed on the outer surface of the inner spherical shell. A portion of the space between the inner and outer spherical shells is filled with liquid metal with a melting point below room temperature. At least two electrodes are immersed in the liquid metal. Multiple second magnets are disposed on the inner surface of the outer spherical shell. The magnetism of the first magnets facing the outer spherical shell is opposite to the magnetism of the second magnets facing the inner spherical shell. When the control module applies different voltages to the two electrodes immersed in the liquid metal via the power supply, current flows through the liquid metal, and the liquid metal is placed in the magnetic field formed by the first and second magnets. Consequently, the liquid metal experiences an Ampere force, causing it to flow and shifting the center of gravity of the spherical robot, thus enabling it to move. The spherical robot provided by this invention has a simple structure and is easy to promote and apply. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 A schematic diagram of the structure of the spherical robot provided in an embodiment of the present invention. Figure 1 ;

[0026] Figure 2 A schematic diagram of the structure of the spherical robot provided in an embodiment of the present invention. Figure 2 ;

[0027] Figure 3 A schematic diagram of the structure of the spherical robot provided in an embodiment of the present invention. Figure 3 ;

[0028] Figure 4 A schematic diagram of the control module provided in an embodiment of the present invention. Figure 1 ;

[0029] Figure 5 A schematic diagram of the control module provided in an embodiment of the present invention. Figure 2 ;

[0030] Figure 6A schematic diagram of the control module provided in an embodiment of the present invention. Figure 3 ;

[0031] Figure 7 This is a schematic diagram of the robot assembly provided in an embodiment of the present invention. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0033] It should be noted that, where there is no conflict, the various technical features in the embodiments of the present invention can be combined with each other.

[0034] This invention provides a spherical robot, specifically, as shown in the embodiments of the present invention. Figure 1 , Figure 2 and Figure 3 As shown, Figure 1 A schematic diagram of the structure of the spherical robot provided in an embodiment of the present invention. Figure 1 , Figure 2 A schematic diagram of the structure of the spherical robot provided in an embodiment of the present invention. Figure 2 , Figure 3 A schematic diagram of the structure of the spherical robot provided in an embodiment of the present invention. Figure 3 The spherical robot includes an inner spherical shell 1 and an outer spherical shell 2. The inner spherical shell 1 houses a control module 3 and a power supply 4. The control module 3 is connected to the power supply 4. Multiple electrodes 5 are arranged on the outer surface of the inner spherical shell 1. Each electrode 5 is connected to the control module 3 so that the control module 3 can output voltage to any two electrodes 5 respectively (i.e., it can output the same voltage or different voltages to two electrodes 5). Multiple first magnets 6 are also arranged on the outer surface of the inner spherical shell 1. The space between the outer spherical shell 2 and the inner spherical shell 1 is partially filled with liquid metal 8 with a melting point below room temperature. At least two electrodes 5 are immersed in the liquid metal 8. Multiple second magnets 7 are arranged on the inner surface of the outer spherical shell 2. The magnetism of the side of the first magnet 6 facing the outer spherical shell 2 is opposite to the magnetism of the side of the second magnet 7 facing the inner spherical shell 1.

[0035] It should be noted that, in order to Figure 1 , Figure 2 and Figure 3 It can clearly show the positional relationships between other structures. Figure 1 , Figure 2 and Figure 3The diagram only shows the connection between the control module 3 and one electrode 5, but it should be understood that the control module 3 is connected to all electrodes 5.

[0036] Because the magnetism of the first magnet 6 facing the outer spherical shell 2 is opposite to that of the second magnet 7 facing the inner spherical shell 1, a magnetic field is formed between the inner spherical shell 1 and the outer spherical shell 2 along its radial direction. When the control module 3 applies different voltages to the two electrodes 5 entering the liquid metal 8 through the power supply 4, current flows through the liquid metal 8, and the liquid metal 8 is in the magnetic field formed by the first magnet 6 and the second magnet 7. Consequently, the liquid metal 8 is subjected to the Ampere force, which causes the liquid metal 8 to flow, resulting in a change in the center of gravity of the spherical robot and thus, the spherical robot moves. The spherical robot provided in this embodiment of the invention has a simple structure and is easy to promote and apply.

[0037] exist Figure 1 , Figure 2 and Figure 3 In the example shown, if electrode 5a has a positive voltage and electrode 5b has a negative voltage, the current direction in the liquid metal 8 is from left to right. According to the left-hand rule, the liquid metal 8 experiences an Ampere force perpendicular to the paper and inwards. Under the action of the Ampere force, the liquid metal 8 will flow in the direction perpendicular to the paper and inwards, causing the center of gravity of the spherical robot to change, thus causing the spherical robot to move in the direction perpendicular to the paper and inwards. Choosing different positions of electrode 5 results in different directions of movement for the spherical robot. The magnitude of the voltage output to electrode 5 determines the speed of movement of the spherical robot, and the duration of the voltage output to electrode 5 determines the time of movement of the spherical robot in that direction.

[0038] In the above description, the embodiments of the present invention only mention the flow of liquid metal 8, and do not limit whether the positional relationship between the inner spherical shell 1 and the outer spherical shell 2 changes during the movement of the spherical robot.

[0039] In one implementation, such as Figure 1 As shown, the inner spherical shell 1 is fixed in position within the outer spherical shell 2, and the centers of the inner spherical shell 1 and the outer spherical shell 2 coincide. That is, the inner spherical shell 1 is fixed to the inner surface of the outer spherical shell 2 by multiple fasteners 9. In this embodiment, the gap between each position of the inner spherical shell 1 and the outer spherical shell 2 is constant, so that the direction and magnitude of the magnetic field between the inner spherical shell 1 and the outer spherical shell 2 are constant.

[0040] Furthermore, to ensure that at least two electrodes 5 on the inner spherical shell 1 are immersed in the liquid metal 8 regardless of how the liquid metal 8 flows, thus enabling the spherical robot to have multiple mobility modes and a wide range of applications, the embodiments of the present invention select as follows: Figure 1As shown, electrodes 5 are uniformly distributed on the entire outer surface of the inner spherical shell 1, and the first magnet 6 is uniformly distributed on the entire outer surface of the inner spherical shell 1. The first magnet 6 and electrodes 5 do not overlap. The second magnet 7 is uniformly distributed on the entire inner surface of the outer spherical shell 2. It should be noted that after the liquid metal 8 flows, it is necessary to reselect the two electrodes 5 to which voltage needs to be applied, as well as the magnitude and duration of the voltage applied to each electrode 5.

[0041] In yet another implementation, such as Figure 2 and Figure 3 As shown, the inner spherical shell 1 floats in the liquid metal 8. The position of the inner spherical shell 1 in the outer spherical shell 2 is variable. There are no fixing parts between the inner spherical shell 1 and the outer spherical shell 2. The position of the inner spherical shell 1 in the outer spherical shell 2 will change with the flow of the liquid metal 8. In this embodiment, the position of the inner spherical shell 1 in the outer spherical shell 2 will change with the flow of the liquid metal 8. Therefore, the center of gravity of the inner spherical shell 1 will also change, which is more conducive to the change of the center of gravity of the spherical robot towards the target position.

[0042] Furthermore, such as Figure 2 As shown, electrodes 5 are uniformly distributed on the outer surface of the inner spherical shell 1 immersed in liquid metal 8, first magnets 6 are uniformly distributed on the entire outer surface of the inner spherical shell 1, and the first magnets 6 and electrodes 5 do not overlap; second magnets 7 are uniformly distributed on the entire inner surface of the outer spherical shell 2; or, as shown... Figure 3 As shown, electrodes 5 are evenly distributed on the outer surface of the inner spherical shell 1 in the middle or near the lower part of the middle, ensuring that electrodes 5 can be immersed in liquid metal 8. The first magnet 6 is evenly distributed on the entire outer surface of the inner spherical shell 1, and the first magnet 6 and electrodes 5 do not overlap. The second magnet 7 is evenly distributed on the entire inner surface of the outer spherical shell 2.

[0043] exist Figure 2 and Figure 3 In the illustrated configuration, the inner spherical shell 1 has areas not covered by the electrodes 5 and liquid metal 8. These areas remain on the upper part of the spherical robot during its movement, facilitating manipulation of the structures within the inner spherical shell 1. For example, the control module 3 includes a charging unit for wirelessly charging the power supply 4. This charging unit is located on the upper part of the inner spherical shell 1. When wirelessly charging the power supply 4 within the inner spherical shell 1, neither the liquid metal 8 nor the electrodes 5 adversely affects the charging process. Furthermore, the liquid metal 8 flows, and since the inner spherical shell 1 floats in the liquid metal 8, the portion of the inner spherical shell 1 immersed in the liquid metal 8 remains almost unchanged. Therefore, when the spherical robot's direction of movement remains constant, it is unnecessary to repeatedly select the electrodes 5; only the magnitude and duration of the voltage applied to each electrode 5 need to be confirmed.

[0044] In this embodiment of the invention, the liquid metal 8 is a non-ferromagnetic liquid metal, so that the liquid metal 8 will not be attracted by the first magnet 6 and the second magnet 7. Optionally, the liquid metal 8 in this embodiment of the invention can be one or more of the following liquid metals with melting points below room temperature: elemental mercury, elemental gallium, gallium-indium alloy, gallium-tin alloy, gallium-indium-tin alloy, etc. For example, the liquid metal 8 is a gallium-indium eutectic alloy (melting point 15.9°C), a gallium-tin eutectic alloy (melting point 20.4°C), or a gallium-indium-tin eutectic alloy (melting point 11°C). In addition, particles that improve conductivity can also be doped into the liquid metal 8, but the doping of particles will increase the viscosity of the liquid metal 8 and reduce its fluidity. Those skilled in the art can choose whether to dope with particles that improve conductivity and the amount of doping according to actual needs.

[0045] To avoid or mitigate the problems of increased viscosity, decreased fluidity, and reduced conductivity caused by oxidation of liquid metal 8, various feasible methods are provided in the embodiments of the present invention. For example, the blank area between the outer spherical shell 2 and the inner spherical shell 1 that is not filled by liquid metal 8 is in a vacuum or semi-vacuum state, or the blank area is filled with an inert gas, or an oxygen scavenger is provided on the outer surface of the inner spherical shell 1 and / or the inner surface of the outer spherical shell 2.

[0046] Furthermore, to ensure good fluidity of the liquid metal 8, in this embodiment of the invention, the outer surface of the inner shell 1 and the inner surface of the outer shell 2 are both designed to be free of adhering liquid metal 8. For example, the outer surface of the inner shell 1 and the inner surface of the outer shell 2 are provided with a polytetrafluoroethylene layer, a boron nitride layer, a silicon nitride layer, a polyoxymethylene layer, a polyimide layer, a molybdenum disulfide layer, a fluorinated graphite layer, etc. It should be noted that the inner shell 1 and the outer shell 2 can be entirely made of a material that is free of adhering liquid metal, or other materials can be selected as the main structure according to actual needs, with only the outer surface of the inner shell 1 and the inner surface of the outer shell 2 being provided with a material that is free of adhering liquid metal 8.

[0047] Optionally, in this embodiment of the invention, the outer spherical shell 2 is provided with an operation port, and the sealing cover corresponding to the operation port is removable, so that various operations can be performed through the operation port, such as placing, removing, and repairing the inner spherical shell 1, pouring and removing the liquid metal 8, charging the power supply, and other operations.

[0048] Optionally, in this embodiment of the invention, a buffer shell or a corrosion-resistant shell may be detachably installed on the outer surface of the outer spherical shell 2, so as to make the spherical robot more widely applicable.

[0049] Optionally, the outer spherical shell 2 can be a single integral structure or a structure assembled from multiple parts; this embodiment of the invention does not limit this. Similarly, the inner spherical shell 1 can be a single integral structure or a structure assembled from multiple parts; this embodiment of the invention does not limit this.

[0050] Optionally, the first magnet 6 is a permanent magnet or an electromagnet; the second magnet 7 is a permanent magnet or an electromagnet. When both the first magnet 6 and the second magnet 7 are permanent magnets, the structure of the spherical robot is simple. When the first magnet 6 and / or the second magnet 7 are electromagnets, the presence or absence of magnetism in the first magnet 6 and the second magnet 7, as well as the direction of the magnetic field formed between them, can be controlled, which is beneficial for controlling the motion state of the spherical robot (including whether it moves, the direction of movement, the speed of movement, the time of movement, etc.). When the first magnet 6 is an electromagnet, it can be controlled by external devices, etc.; when the second magnet 7 is an electromagnet, it can be controlled by external devices, the control module 3, etc.

[0051] Optionally, in this embodiment of the invention, the electrode 5 is a columnar electrode, and the extension direction of the columnar electrode is the radial direction of the inner spherical shell 1, so that the electrode 5 is immersed in the liquid metal 8 to a greater height. This not only helps to increase the current in the liquid metal 8 and the Ampere force on the liquid metal 8, which is beneficial for controlling the motion state of the spherical robot, but also helps to prevent the inner spherical shell 1 from moving too much, avoid the instability of the center of gravity of the spherical robot, and avoid the tipping of the inner spherical shell 1 when there is no fixing part between the inner spherical shell 1 and the outer spherical shell 2.

[0052] Optionally, electrode 5 can be a silver chloride electrode, a graphite electrode, a platinum electrode, or a steel electrode, so that electrode 5 is not easily corroded by liquid metal 8, and the structure of the spherical robot is more stable.

[0053] Optionally, such as Figure 4 As shown, Figure 4 A schematic diagram of the control module provided in an embodiment of the present invention. Figure 1 The control module 3 includes an output unit 31 and a charging unit 32. The charging unit 32 is connected to the power supply 4 and is used for wireless connection to the external power supply 4 to wirelessly charge the power supply 4. The output unit 31 is connected to the power supply 4 and each electrode 5, and is used to output voltage to any two electrodes 5 respectively. The charging unit 32 may include a charging coil, which is connected to the power supply 4 and can also be fixed to the power supply 4 to make the connection more secure and less likely to break due to the movement of the spherical robot. Any structure that can output voltage or current can be used as the power supply 4 in this embodiment of the invention. For example, the power supply 4 is a battery, a supercapacitor, etc.

[0054] Furthermore, such as Figure 5 As shown, Figure 5 A schematic diagram of the control module provided in an embodiment of the present invention. Figure 2The control module 3 also includes an accelerometer 33, which is used to detect the motion state of the spherical robot, so that the user can obtain the motion state of the spherical robot, which is convenient for controlling the spherical robot and performing problem analysis. Optionally, the accelerometer 33 can be connected to the output unit 31 (including direct connection or indirect connection, etc.), so that the output unit 31 can control the selection of the electrode 5 and the magnitude and duration of the voltage applied to the electrode 5 according to the motion state of the spherical robot.

[0055] Furthermore, such as Figure 6 As shown, Figure 6 A schematic diagram of the control module provided in an embodiment of the present invention. Figure 3 The control module 3 also includes a wireless communication unit 34, which is connected to the output unit 31 and the accelerometer 33. The wireless communication unit 34 transmits the detection signal from the accelerometer 33 to an external device (such as a computer or smartphone) and sends control commands from the external device to the output unit 31. This allows the output unit 31 to control the selection of the electrode 5 and the magnitude and duration of the voltage applied to the electrode 5 according to the control commands. This configuration makes it more convenient and timely for users to control the spherical robot. The wireless communication unit 34 can communicate with external devices using one of several wireless communication methods, such as Wi-Fi, Bluetooth, or NFC.

[0056] For example, the movement process of the spherical robot is as follows: First, a control command is issued through an external device. The external device sends the control command to the output unit 31 through the wireless communication unit 34. Then, the output unit 31 selects two electrodes 5 to which voltage needs to be applied according to the control command and sets the magnitude and time of the voltage applied to each electrode 5. Then, the output unit 31 outputs voltage to the two electrodes 5 respectively. Then, the liquid metal 8 begins to flow under the action of Ampere force. Finally, the center of gravity of the spherical robot changes, and the spherical robot moves.

[0057] Of course, the spherical robot in the embodiments of the present invention may also include other structures and / or modules included in general robots, such as positioning modules, switches, etc., which will not be elaborated here.

[0058] Furthermore, embodiments of the present invention also provide a robot assembly, specifically, such as... Figure 7 As shown, Figure 7 This is a schematic diagram of the structure of a robot assembly provided in an embodiment of the present invention. The robot assembly 100 includes at least one (e.g., two, three, four, etc.) of the spherical robots 200 described above. For example, as Figure 7 As shown, the robot assembly includes four spherical robots 200, which are arranged in a rectangular pattern.

[0059] Optionally, such as Figure 7 As shown, the robot assembly 100 also includes a coordination module 300, which is connected to the control module 3 of each spherical robot 200. The coordination module 300 is used to coordinate the motion state of each spherical robot 200 so that the movement of the robot assembly 100 is more controllable.

[0060] This invention provides a spherical robot and a robot assembly including the same. The spherical robot includes an inner spherical shell 1 and an outer spherical shell 2. A control module 3 and a power supply 4 are disposed within the inner spherical shell 1. Multiple electrodes 5 and multiple first magnets 6 are disposed on the outer surface of the inner spherical shell 1. The space between the outer spherical shell 2 and the inner spherical shell 1 is partially filled with liquid metal 8 with a melting point below room temperature. At least two electrodes 5 are immersed in the liquid metal 8. Multiple second magnets 7 are disposed on the inner surface of the outer spherical shell 2. The magnetism of the first magnets 6 facing the outer spherical shell 2 is opposite to the magnetism of the second magnets 7 facing the inner spherical shell 1. When the control module 3 applies different voltages to the two electrodes 5 immersed in the liquid metal 8 through the power supply 4, current flows through the liquid metal 8, and the liquid metal 8 is in the magnetic field formed by the first magnets 6 and the second magnets 7. Consequently, the liquid metal 8 is subjected to an Ampere force, causing the liquid metal 8 to flow and the center of gravity of the spherical robot to change, thus causing the spherical robot to move. The spherical robot provided by this invention has a simple structure and is easy to promote and apply.

[0061] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A spherical robot, characterized in that: It includes an inner spherical shell and an outer spherical shell, wherein a control module and a power supply are arranged in the inner spherical shell, wherein the control module is connected to the power supply, wherein a plurality of electrodes are arranged on the outer surface of the inner spherical shell, wherein each of the electrodes is connected to the control module, so that the control module outputs a voltage to any two of the electrodes respectively, wherein a plurality of first magnets are arranged on the outer surface of the inner spherical shell, wherein a portion of the space region between the outer spherical shell and the inner spherical shell is filled with liquid metal having a melting point lower than room temperature, wherein at least two of the electrodes are immersed in the liquid metal, and wherein a plurality of second magnets are arranged on the inner surface of the outer spherical shell, wherein the magnetism of the first magnet on the side facing the outer spherical shell is opposite to the magnetism of the second magnet on the side facing the inner spherical shell.

2. The spherical robot according to claim 1, characterized in that: The position of the inner spherical shell in the outer spherical shell is fixed, and the sphere centers of the inner spherical shell and the outer spherical shell coincide with each other.

3. The spherical robot according to claim 2, characterized in that: The electrodes are evenly distributed on the entire outer surface of the inner spherical shell; the first magnets are evenly distributed on the entire outer surface of the inner spherical shell; the first magnets and the electrodes do not overlap; and the second magnets are evenly distributed on the entire inner surface of the outer spherical shell.

4. The spherical robot according to claim 1, characterized in that: The inner spherical shell floats in the liquid metal.

5. The spherical robot according to claim 4, characterized in that: The electrodes are evenly distributed on the outer surface of the inner spherical shell immersed in the liquid metal; the first magnets are evenly distributed on the entire outer surface of the inner spherical shell; the first magnets and the electrodes do not overlap; and the second magnets are evenly distributed on the entire inner surface of the outer spherical shell.

6. The spherical robot according to any one of claims 1 to 5, characterized in that: The blank area between the outer spherical shell and the inner spherical shell that is not filled with the liquid metal is in a vacuum or semi-vacuum state, or the blank area is filled with an inert gas, or a deoxidizer is provided on the outer surface of the inner spherical shell and / or the inner surface of the outer spherical shell.

7. The spherical robot according to any one of claims 1 to 5, characterized in that: The control module includes an output unit and a charging unit, wherein the charging unit is connected to the power supply and is used to wirelessly connect to an external power supply to wirelessly charge the power supply, and the output unit is connected to the power supply and each of the electrodes and is used to output voltage to any two of the electrodes respectively.

8. The spherical robot according to claim 7, characterized in that: The control module also includes an acceleration sensor, which is used to detect the motion state of the spherical robot.

9. The spherical robot according to claim 8, characterized in that: The control module also includes a wireless communication unit, which is connected to the output unit and the acceleration sensor. The wireless communication unit is used to send the detection signal of the acceleration sensor to an external device and send the control instruction of the external device to the output unit.

10. A robot assembly, characterized in that: The invention comprises at least one spherical robot assembly as claimed in any one of claims 1 to 9.

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