Throwable spherical robot

Abstract

The present disclosure provides a throwable spherical robot, comprising a shell assembly, a support shock-absorbing assembly and a driving chassis assembly; the shell assembly is in the shape of a hollow sphere; the support shock-absorbing assembly and the driving chassis assembly are placed inside the shell assembly; wherein the driving chassis assembly is provided with a driving wheel and a counterweight, and the support shock-absorbing assembly is provided with a supporting wheel; the supporting wheel and the driving wheel are arranged relatively up and down; the support shock-absorbing assembly and the driving chassis assembly are connected by a guide groove, so that the distance between the driving wheel and the supporting wheel can be changed; and the elastic force of the support shock-absorbing assembly presses the driving wheel and the supporting wheel against the inner wall of the shell assembly; the counterweight is used to keep the driving chassis assembly below the support shock-absorbing assembly; the driving wheel drives the shell assembly to roll forward through friction. The overall structure is simple and compact, with a small volume, which enhances the flexibility of movement and balance control.

Description

Technical Field

[0001] The present disclosure relates to the technical field of spherical robots, and in particular to a throwable spherical robot. Background Art

[0002] The research on spherical robots has long been one of the hot topics in the field of robotics at home and abroad. This type of robot can walk stably in complex unstructured environments and can replace people to complete many dangerous tasks. For example, when encountering natural disasters such as earthquakes, many houses will collapse after each earthquake. At this time, rescue teams are needed to rescue people. However, some refugees deep underground are still difficult to find. On the one hand, there are personal safety risks for searchers, and on the other hand, due to limited space, searchers cannot carry out search and rescue tasks. The spherical robot is small in size and flexible in movement, which can assist searchers in carrying out search and rescue work. In addition, the spherical robot can also replace people to carry out reconnaissance tasks, or when fighting against some dangerous criminals, the spherical robot can be thrown into the criminal's building and take corresponding photos of all the situations in the room.

[0003] In short, spherical robots have many potential applications in the military, mining, nuclear energy industry, planetary surface exploration, firefighting and rescue, construction, teaching and entertainment, etc. It has a spherical or nearly spherical shell, and other mechanisms and devices are encapsulated in the spherical shell, which prevents the external environment from causing damage to the components; when the robot collides or falls from a height, the spherical shell makes it easy to adjust and restore the movement posture, and it will not "turn over". Compared with traditional wheeled and footed mobile robots, spherical robots are more suitable for humid, dusty, rugged and complex environments.

[0004] The existing spherical robots have the following shortcomings, such as complex structure, large size, poor movement flexibility and difficult balance control. Summary of the invention

[0005] In order to solve or at least alleviate at least one of the above technical problems, the present disclosure provides a throwable spherical robot with a compact structure and good movement balance and stability.

[0006] According to one aspect of the present disclosure, a throwable spherical robot includes a housing assembly, a support and shock absorbing assembly, and a driving chassis assembly;

[0007] The shell assembly is in the shape of a hollow sphere; the support and shock-absorbing assembly and the driving chassis assembly are placed inside the shell assembly; wherein the driving chassis assembly is provided with a driving wheel and a counterweight, and the support and shock-absorbing assembly is provided with a supporting wheel; the supporting wheel and the driving wheel are arranged opposite to each other up and down; the support and shock-absorbing assembly and the driving chassis assembly are connected by a guide groove so that the distance between the driving wheel and the supporting wheel can be changed; and the elastic force of the support and shock-absorbing assembly causes the driving wheel and the supporting wheel to be pressed against the inner wall of the shell assembly;

[0008] The counterweight block is used to keep the driving chassis assembly below the supporting shock-absorbing assembly; the driving wheel drives the housing assembly to roll forward through friction.

[0009] According to at least one embodiment of the present disclosure, the support shock-absorbing assembly also includes a support frame, a guide column, a shock-absorbing spring and a guide sleeve; the guide column is slidably installed in the center hole of the support frame, the guide sleeve is fixedly mounted on the guide column, and the shock-absorbing spring is mounted on the guide sleeve; the support wheel is installed on the support frame; the guide groove is arranged on the driving chassis assembly, and the guide column is cooperatively connected with the guide groove.

[0010] According to at least one embodiment of the present disclosure, the support frame extends in a straight direction, and the center hole is located in the middle of the support frame; and one support wheel is installed at each end of the support frame.

[0011] According to at least one embodiment of the present disclosure, wheel axle supports are respectively provided at both ends of the support frame, and the wheel axle of the support wheel is rotatably mounted on the wheel axle supports.

[0012] According to at least one embodiment of the present disclosure, the surface of the support wheel in contact with the inner wall of the housing assembly is a conical surface.

[0013] According to at least one embodiment of the present disclosure, the driving chassis assembly also includes a driving chassis bracket, a driving motor fixing seat, a driving motor and a gear transmission mechanism; the driving motor fixing seat is fixed to the driving chassis bracket, and the driving motor is fixed to the driving motor fixing seat; one driving wheel is fixed to opposite sides of the driving chassis bracket via a driving wheel axle; the driving motor is connected to the driving wheel via the gear transmission mechanism to drive the driving wheel to rotate; the counterweight block is fixed to the bottom of the driving chassis bracket.

[0014] According to at least one embodiment of the present disclosure, the gear transmission mechanism includes a large gear and a small gear, the small gear is fixedly connected to the output shaft of the drive motor, and the large gear is concentrically fixedly connected to the drive wheel; the small gear is meshed with the large gear for transmission; the drive motor includes an integral planetary gear transmission, and the output shaft is the output shaft of the planetary gear transmission.

[0015] According to at least one embodiment of the present disclosure, a positioning sleeve is fixed on the driving wheel shaft to locate the axial position of the driving wheel.

[0016] According to at least one embodiment of the present disclosure, the drive chassis assembly also includes an encoder, a fixing bracket, a wireless charging module, a control circuit board and an audio and video return module; the drive motor is connected to the encoder; the wireless charging module is fixed to the drive motor fixing seat through the fixing bracket, and the wireless charging module surrounds the counterweight; the control circuit board is fixed to the drive chassis bracket, and the control circuit board is connected to the audio and video return module.

[0017] According to at least one embodiment of the present disclosure, the shell assembly includes a spherical rubber sleeve, an upper hemispherical shell and a lower hemispherical shell; the upper hemispherical shell and the lower hemispherical shell are connected by snaps to form a hollow spherical shape; the spherical rubber sleeve is covered on the outside of the upper hemispherical shell and the lower hemispherical shell; and the outer surface of the spherical rubber sleeve is provided with a plurality of elastic protrusions. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings illustrate exemplary embodiments of the present disclosure and together with the description serve to explain the principles of the present disclosure. These drawings are included to provide a further understanding of the present disclosure and are incorporated in and constitute a part of this specification.

[0019] Figure 1 It is a schematic diagram of the three-dimensional structure of an exemplary embodiment of the throwable spherical robot disclosed in the present invention.

[0020] Figure 2 is a schematic perspective structural diagram of an exemplary embodiment of a housing assembly in the present disclosure.

[0021] Figure 3 It is a schematic three-dimensional structural diagram of an exemplary embodiment of a support and shock absorbing assembly in the present disclosure.

[0022] Figure 4 is a schematic diagram of a three-dimensional structure of an exemplary embodiment of a driving chassis assembly in the present disclosure, wherein the upper and lower positions are opposite to those when the robot is in a normal working posture. Description of the drawings:

[0024] 101-shell assembly; 102-support shock-absorbing assembly; 103-drive chassis assembly; 201-shockproof rubber sleeve; 202-upper hemisphere shell; 203-lower hemisphere shell; 301-support frame; 302-guide column; 303-shock-absorbing spring; 304-guide sleeve; 305-support wheel; 401-drive chassis bracket; 402-drive motor fixing seat; 403-small gear; 404-drive motor; 405-encoder; 406-positioning shaft sleeve; 407-large gear; 408-counterweight; 409-wireless charging module; 410-fixed frame; 411-drive wheel; 412-drive wheel shaft; 413-control circuit board; 414-audio and video return module. DETAILED DESCRIPTION

[0025] The present disclosure is further described in detail below in conjunction with the accompanying drawings and implementations. It is understood that the specific implementations described herein are only used to explain the relevant content, rather than to limit the present disclosure. It should also be noted that, for ease of description, only the parts related to the present disclosure are shown in the accompanying drawings.

[0026] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in the present disclosure may be combined with each other. The present disclosure will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0027] According to one aspect of the present disclosure, see Figure 1The three-dimensional structural schematic diagram of an exemplary embodiment of the throwable spherical robot of the present disclosure is shown, which provides a throwable spherical robot, including a shell assembly 101, a support shock absorbing assembly 102 and a driving chassis assembly 103. The shell assembly 101 is in the shape of a hollow sphere; the support shock absorbing assembly 102 and the driving chassis assembly 103 are placed inside the shell assembly 101. Among them, the driving chassis assembly 103 is provided with a driving wheel 411 and a counterweight block 408, and the support shock absorbing assembly 102 is provided with a supporting wheel 305. The supporting wheel 305 and the driving wheel 411 are arranged opposite to each other up and down. When the robot is in a normal working posture, the driving wheel 411 is at the bottom and the supporting wheel 305 is at the top. The support and shock absorbing assembly 102 and the driving chassis assembly 103 are connected by the guide groove, and can generate relative movement, so that the distance between the driving wheel 411 and the supporting wheel 305 can be changed, and the elastic force of the support and shock absorbing assembly 102 makes the driving wheel 411 and the supporting wheel 305 pressed against the inner wall of the shell assembly 101. For example, when subjected to vibration impact, the distance between the driving wheel 411 and the supporting wheel 305 may be instantly reduced to buffer the impact, and then return to the original position under the action of the elastic force to contact the inner wall of the shell assembly 101. The counterweight block 408 is used to keep the driving chassis assembly 103 below the support and shock absorbing assembly 102. When the positions of the driving chassis assembly 103 and the supporting and shock absorbing assembly 102 are interchanged or tilted, the driving chassis assembly 103 is tilted downward and finally stabilized at the bottom due to the presence of the counterweight block 408. The driving wheel 411 drives the shell assembly 101 to roll forward through friction, so that the spherical robot moves as a whole.

[0028] The throwable spherical robot disclosed in the present invention adopts a matching connection structure of a support shock-absorbing assembly 102 and a driving chassis assembly 103, so that the driving wheel 411 and the supporting wheel 305 are compactly arranged in the housing assembly 101, and the movement is generated by the friction between the driving wheel 411 and the inner wall of the housing assembly 101. The overall structure is simple and compact, and the volume is small. By setting a counterweight block 408, the driving chassis assembly 103 can be stably maintained at the bottom, thereby enhancing the flexibility of movement and balance control.

[0029] In one embodiment of the present disclosure, see Figure 3The three-dimensional structural diagram of an exemplary embodiment of the support and shock absorbing assembly 102 in the present disclosure is shown, and the support and shock absorbing assembly 102 also includes a support frame 301, a guide column 302, a shock absorbing spring 303 and a guide sleeve 304. The guide column 302 is slidably installed in the central hole of the support frame 301, and the guide sleeve 304 is fixedly sleeved on the guide column 302. The guide sleeve 304 and the guide column 302 slide up and down relative to the support frame 301 together. The shock absorbing spring 303 is sleeved on the guide sleeve 304, and one end of the shock absorbing spring 303 abuts on the support frame 301, and the other end abuts on the driving chassis assembly; the support wheel 305 is installed on the support frame 301. A guide groove is set on the driving chassis assembly 103, and the guide column 302 is connected with the guide groove.

[0030] Furthermore, the support frame 301 extends in a straight line direction, and the center hole is located in the middle of the support frame 301 ; and a support wheel 305 is installed at each end of the support frame 301 .

[0031] Furthermore, axle supports are respectively provided at both ends of the support frame 301, and the axle of the support wheel 305 is rotatably mounted on the axle supports.

[0032] Furthermore, the surface of the support wheel 305 that contacts the inner wall of the housing assembly 101 is a conical surface.

[0033] In one embodiment of the present disclosure, see Figure 4 The three-dimensional structural schematic diagram of an exemplary embodiment of the driving chassis assembly 103 in the present disclosure is shown, and the driving chassis assembly 103 also includes a driving chassis bracket 401, a driving motor fixing seat 402, a driving motor 404 and a gear transmission mechanism; the driving motor fixing seat 402 is fixed to the driving chassis bracket 401, and the driving motor 404 is fixed to the driving motor fixing seat 402; one driving wheel 411 is fixed to the opposite sides of the driving chassis bracket 401 through a driving wheel shaft 412 respectively; the driving motor 404 is connected to the driving wheel 411 through the gear transmission mechanism to drive the driving wheel 411 to rotate; the counterweight block 408 is fixed to the bottom of the driving chassis bracket 401.

[0034] Further, the gear transmission mechanism includes a large gear 407 and a small gear 403, wherein the small gear 403 is fixedly connected to the output shaft of the drive motor 404, and the large gear 407 is fixedly connected to the drive wheel 411 concentrically; the small gear 403 is meshed with the large gear 407 for transmission. In this embodiment, the drive motor 404 includes an integrated planetary gear transmission (not shown in the figure), that is, the planetary gear transmission is directly integrated with the drive motor, and the output shaft of the drive motor is also the output shaft of the planetary gear transmission.

[0035] Furthermore, a positioning sleeve 406 is fixed on the driving wheel shaft 412 to locate the axial position of the driving wheel 411 .

[0036] Furthermore, the driving chassis assembly 103 also includes an encoder 405, a fixing bracket 410, a wireless charging module 409, a control circuit board 413, and an audio and video return module 414; the driving motor 404 is connected to the encoder 405; the wireless charging module 409 is fixed to the driving motor fixing seat 402 through the fixing bracket 410, and the wireless charging module 409 surrounds the counterweight 408; the control circuit board 413 is fixed to the driving chassis bracket 401, and the control circuit board 413 is connected to the audio and video return module 414. The function of the wireless charging module 409 is to supply power to the driving battery, and it is not directly connected to the driving motor.

[0037] In one embodiment of the present disclosure, see Figure 2 The three-dimensional structural schematic diagram of an exemplary embodiment of the shell component 101 in the present disclosure is shown, and the shell component 101 includes a spherical rubber sleeve, an upper hemispherical shell 202 and a lower hemispherical shell 203; the upper hemispherical shell 202 and the lower hemispherical shell 203 are connected by snaps to form a hollow spherical shape. The spherical rubber sleeve is coated on the outside of the upper hemispherical shell 202 and the lower hemispherical shell 203; and the outer surface of the spherical rubber sleeve is provided with a plurality of elastic protrusions. The spherical rubber sleeve can also be called a shockproof rubber sleeve 201. The shell component is fully enclosed and is specially treated to ensure that light is not blocked by the shell from the inside to the outside, thereby not affecting the image acquisition of the audio and video return module 414.

[0038] The following is combined with Figure 1 To Attachment Figure 4 A preferred embodiment of the present disclosure is specifically described. A throwable spherical robot comprises three parts: a shell assembly 101, a support and shock absorbing assembly 102, and a driving chassis assembly 103. The support and shock absorbing assembly 102 and the driving chassis assembly 103 are placed inside the shell assembly 101, and the support and shock absorbing assembly 102 and the driving chassis assembly 103 are connected through a guide groove.

[0039] like Figure 2 As shown, the housing assembly 101 includes a shockproof rubber sleeve 201, an upper hemispherical housing 202 and a lower hemispherical housing 203. The shockproof rubber sleeve 201 has a certain elasticity and is coated on the upper hemispherical housing 202 and the lower hemispherical housing 203. The upper hemispherical housing 202 and the lower hemispherical housing 203 are connected by a connecting buckle.

[0040] like Figure 3 As shown, the support and shock absorbing assembly 102 includes a support frame 301, a guide column 302, a shock absorbing spring 303, a guide sleeve 304 and a support wheel 305. Among them, the guide column 302 is sleeved on the central hole of the support frame 301, the guide sleeve 304 is sleeved on the guide column 302, and the shock absorbing spring 303 is sleeved on the guide sleeve 304. The top of the guide column 302 is large, and the diameter of the bottom is smaller than the diameter of the guide sleeve 304. The guide column 302 and the support frame 301 are relatively slidable. The guide sleeve 304 cannot slide up and down along the guide column 302. One end of the shock absorbing spring 303 abuts on the support frame 301, and the other end abuts on the driving chassis assembly 103. The support frame 301 can slide up and down along the direction of the guide column 302. The support wheels 305 on both sides are connected to the support frame 301 through a rotating shaft. The guide column 302 supporting the shock absorbing assembly 102 is connected with the guide groove of the driving chassis assembly 103. The middle guide column 302 is equipped with a shock absorbing spring 303. The shell assembly 101 presses the supporting shock absorbing assembly 102 and the driving chassis assembly 103 together and ensures a certain amount of movement between the two. When the ball is impacted, the shock absorbing spring 303 can achieve a certain shock absorbing effect.

[0041] like Figure 4As shown, the driving chassis assembly 103 includes a driving chassis bracket 401, a driving motor fixing seat 402, a small gear 403, a driving motor 404, an encoder 405, a positioning sleeve 406, a large gear 407, a counterweight 408, a wireless charging module 409, a fixing frame 410, a driving wheel 411, a driving wheel shaft 412, a control circuit board 413 and an audio and video return module 414. Among them, the driving motor fixing seat 402 is fixed to the driving chassis bracket 401 by screws, and the driving motor 404 is fixed to the motor fixing seat 402 by screws. The driving motor 404 can be a DC brushless motor. The driving motor 404 is connected to the encoder 405. The driving motor 404 is a double output shaft, and the output shafts on both sides are respectively fixedly connected to a small gear 403 and an encoder 405. There are two sets of motor and gear structures. In this embodiment, the driving motor 404 includes an integrated planetary gearbox (not shown in the figure), that is, the planetary gearbox is directly integrated with the driving motor, and the output shaft of the driving motor is also the output shaft of the planetary gearbox. The pinion 403 is fixedly connected to the output shaft of the driving motor 404, the pinion 403 is meshed with the large gear 407, the large gear 407 is concentrically fixedly connected to the driving wheel 411 by screws, and the large gear 407 is gap-connected with the driving wheel shaft 412, and the material is self-lubricating. The driving wheel 411 is fixed to both sides of the driving chassis bracket 401 through the driving wheel shaft 412, and the positioning sleeve 406 is fixed on the driving wheel shaft 412. The positioning sleeve 406 is similar to a shoulder, which is stuck on the driving chassis bracket 401 to prevent the wheel shaft from axial movement. In this embodiment, two sets of independent wheel shafts and driving wheels are used, and the driving wheel shaft 412 and the chassis bracket 401 are relatively fixed, and no bearing is set between the two. The counterweight 408 is fixed to the driving chassis bracket 401 by screws. The counterweight 408 cooperates with the wireless charging module 409 on one side and abuts against the driving motor 404 on the other side. The wireless charging module 409 is fixed to the driving motor fixing seat 402 by the buckle of the fixing frame 410. There is a through hole in the middle of the wireless charging module 409, and the counterweight 408 is embedded in the through hole. At the same time, the bottom of the wireless charging module 409 forms a spherical crown shape. The function of the wireless charging module 409 is to supply power to the driving battery and is not directly connected to the driving motor 404. The counterweight 408 cooperates with the wireless charging module 409 on one side and abuts against the driving motor 404 on the other side. The control circuit board 413 is fixed to the driving chassis bracket 401, and the control circuit board 413 is connected to the audio and video return module 414. The shell assembly is fully enclosed and specially processed to ensure that the light from the inside to the outside is not blocked by the shell, so as not to affect the image acquisition of the audio and video return module.

[0042] This implementation uses a drive motor, a small gear and a large gear to transmit power to the drive wheels on both sides, and has a simple and compact structure. The setting of the counterweight makes the robot similar to the characteristics of a tumbler, which can maintain the balance and stability of the system in static and dynamic conditions. It can automatically recover to a stable state after a collision or a fall from a height. It has strong movement continuity and can adapt to more complex terrains. In addition, the outer layer of the spherical shell is made of shock-proof rubber, and the sound will be very light when thrown. Coupled with the role of the supporting shock-absorbing components, it can well complete tasks such as throwing reconnaissance.

[0043] In the description of this specification, the description with reference to the terms "one embodiment / method", "some embodiments / methods", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment / method or example are included in at least one embodiment / method or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment / method or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments / methods or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments / methods or examples described in this specification and the features of the different embodiments / methods or examples, unless they are contradictory.

[0044] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0045] Those skilled in the art should understand that the above embodiments are only for the purpose of clearly illustrating the present disclosure, and are not intended to limit the scope of the present disclosure. For those skilled in the art, other changes or modifications may be made based on the above disclosure, and these changes or modifications are still within the scope of the present disclosure.

Claims

1. A throwable spherical robot, characterized in that: It includes a housing assembly, a support and shock absorbing assembly, and a driving chassis assembly; The shell assembly is in the shape of a hollow sphere; the support and shock-absorbing assembly and the driving chassis assembly are placed inside the shell assembly; wherein the driving chassis assembly is provided with a driving wheel and a counterweight, and the support and shock-absorbing assembly is provided with a supporting wheel; the supporting wheel and the driving wheel are arranged opposite to each other up and down; the support and shock-absorbing assembly and the driving chassis assembly are connected by a guide groove so that the distance between the driving wheel and the supporting wheel can be changed; and the elastic force of the support and shock-absorbing assembly causes the driving wheel and the supporting wheel to be pressed against the inner wall of the shell assembly; The counterweight block is used to keep the driving chassis assembly below the supporting shock absorbing assembly; the driving wheel drives the housing assembly to roll forward through friction; The support and shock-absorbing assembly further comprises a support frame, a guide column, a shock-absorbing spring and a guide sleeve; the guide column is slidably mounted in the central hole of the support frame, the guide sleeve is fixedly mounted on the guide column, and the shock-absorbing spring is mounted on the guide sleeve; the support wheel is mounted on the support frame; the guide groove is arranged on the driving chassis assembly, and the guide column is matched and connected with the guide groove; The support frame extends in a straight line direction, and the center hole is located in the middle of the support frame; a support wheel is installed at each end of the support frame; The surface of the support wheel in contact with the inner wall of the housing assembly is a conical surface; The shell assembly comprises a spherical rubber sleeve, an upper hemispherical shell and a lower hemispherical shell; the upper hemispherical shell and the lower hemispherical shell are connected by snaps to form a hollow spherical shape; the spherical rubber sleeve is covered on the outside of the upper hemispherical shell and the lower hemispherical shell; and the outer surface of the spherical rubber sleeve is provided with a plurality of elastic protrusions; The driving chassis assembly also includes a driving chassis bracket, a driving motor fixing seat, a driving motor and a gear transmission mechanism; the driving motor fixing seat is fixed on the driving chassis bracket, and the driving motor is fixed on the driving motor fixing seat; one of the driving wheels is fixed on opposite sides of the driving chassis bracket through a driving wheel shaft; the driving motor is connected to the driving wheel through the gear transmission mechanism to drive the driving wheel to rotate; the counterweight is fixed to the bottom of the driving chassis bracket; the driving chassis assembly also includes an encoder, a fixing frame, a wireless charging module, a control circuit board and an audio and video return module; the driving motor is connected to the encoder; the wireless charging module is fixed to the driving motor fixing seat through the fixing frame, and the wireless charging module surrounds the counterweight; the control circuit board is fixed on the driving chassis bracket, and the control circuit board is connected to the audio and video return module; the counterweight cooperates with the wireless charging module on one side and abuts against the driving motor on the other side; there is a through hole in the middle of the wireless charging module, and the counterweight is embedded in the through hole, and at the same time, the bottom of the wireless charging module forms a spherical crown shape.

2. The throwable spherical robot according to claim 1, characterized in that: Wheel axle supports are respectively arranged at both ends of the support frame, and the wheel axle of the support wheel is rotatably mounted on the wheel axle supports.

3. The throwable spherical robot according to claim 2, characterized in that: The gear transmission mechanism includes a large gear and a small gear, the small gear is fixedly connected to the output shaft of the driving motor, and the large gear is fixedly connected concentrically with the driving wheel; the small gear is meshed with the large gear for transmission; the driving motor includes an integrally arranged planetary gear transmission, and the output shaft is the output shaft of the planetary gear transmission.

4. The throwable spherical robot according to claim 3, characterized in that: A positioning sleeve is fixed on the driving wheel shaft to locate the axial position of the driving wheel.

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