Counterweight structure, robot, and control method for a robot

Abstract

The application discloses a counterweight structure, a robot and a control method of the robot. The counterweight structure comprises an electromagnetic device, a counterweight block and a reset member, and the reset member is clamped between the electromagnetic device and the counterweight block. The electromagnetic device generates magnetism after being electrified, attracts the counterweight block to move towards the electromagnetic device and extrudes the reset member. The counterweight structure can realize the movement of the counterweight block to adjust the barycenter position of the counterweight structure.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a counterweight structure, a robot, and a method for controlling the robot. Background Technology

[0002] With societal progress and the development of network technology, increasingly diverse robot forms have emerged. In recent years, spherical robots have garnered growing attention, with a growing focus on their user experience. To ensure stable operation, spherical robots are typically equipped with counterweights to lower their center of gravity. However, in current technologies, the positions of these counterweights are fixed. During acceleration or deceleration, the counterweights cannot be adjusted, resulting in less smooth and fluid operation. Summary of the Invention

[0003] The main objective of this invention is to propose a counterweight structure, a robot, and a control method for the robot, with the aim of making the center of gravity position of the counterweight structure adjustable.

[0004] To achieve the above objectives, the counterweight structure proposed in this invention includes an electromagnetic device, a counterweight block, and a reset component, wherein the reset component is sandwiched between the electromagnetic device and the counterweight block.

[0005] When the electromagnetic device is energized, it generates magnetism, attracting the counterweight to move toward the electromagnetic device and squeezing the reset component.

[0006] In one embodiment of the present invention, the electromagnetic device includes:

[0007] The inner core is provided corresponding to the counterweight, and the reset member is clamped between the inner core and the counterweight;

[0008] A coil, the coil being wound around the outer periphery of the inner core;

[0009] When the coil is energized, the inner core is magnetized, thereby attracting the counterweight to move toward the inner core.

[0010] In one embodiment of the present invention, the inner core is provided with a mating hole, the counterweight is provided with a sliding rod, and the sliding rod is movably disposed in the mating hole; the reset member is sleeved on the sliding rod.

[0011] In one embodiment of the present invention, the counterweight has an annular protrusion, the annular protrusion is sleeved on the sliding rod and forms an installation gap with the sliding rod, and the reset member is disposed in the installation gap.

[0012] In one embodiment of the present invention, there are two electromagnetic devices and two reset members, with the two electromagnetic devices located on opposite sides of the counterweight; each reset member is sandwiched between the counterweight and one of the electromagnetic devices.

[0013] And / or, the reset element is a spring.

[0014] The present invention also proposes a robot, the robot comprising:

[0015] The robot body has a mounting cavity, and a control component is installed within the mounting cavity; and

[0016] The aforementioned counterweight structure is located within the mounting cavity. The electromagnetic device of the counterweight structure is electrically connected to the control component, and the control component controls the electromagnetic device to be energized or de-energized.

[0017] In one embodiment of the present invention, the cavity wall of the mounting cavity is provided with a limiting groove, and a portion of the counterweight block of the counterweight structure is movably limited within the limiting groove.

[0018] In one embodiment of the present invention, the robot body includes a main body and two drive wheels, the main body being provided with the mounting cavity; the two drive wheels are respectively disposed on opposite sides of the main body; each drive wheel includes:

[0019] A rotating assembly, wherein the rotating assembly is provided with a receiving groove, the opening of the receiving groove is fitted onto the outer side wall of the main body so that the receiving groove communicates with the mounting cavity;

[0020] A support base, connected to the main body, located within the mounting cavity or the receiving groove, and rotatably connected to the rotating assembly via a bearing; and

[0021] A driving component is located within the mounting cavity or the receiving groove; the driving component is disposed on the support base and electrically connected to the control component; the output end of the driving component is connected to the rotating assembly.

[0022] In one embodiment of the present invention, the rotating component includes:

[0023] The housing, wherein the housing is provided with the receiving groove; and

[0024] A transmission component is disposed within the receiving groove and located between the housing and the support base; the transmission component is connected to the bearing and is detachably connected to the housing.

[0025] The present invention also proposes a control method for a robot as described above, the control method comprising the following steps:

[0026] Obtain the robot's running acceleration;

[0027] If the robot's acceleration is greater than or less than zero, the electromagnetic device is energized to make the counterweight move in the same direction as the acceleration.

[0028] In this invention, after the electromagnetic device generates magnetism, it attracts the counterweight towards the electromagnetic device. After the magnetism of the electromagnetic device disappears, the counterweight moves away from the electromagnetic device under the action of the resetting component. This invention utilizes the characteristic that the electromagnetic device generates magnetism when energized and loses magnetism when de-energized to realize the movement of the counterweight, thereby adjusting the center of gravity of the counterweight structure.

[0029] The robot with this counterweight structure can adjust the position of the counterweight by controlling the energization or de-energization of the electromagnetic device during robot operation, so that the direction of movement of the counterweight is consistent with the direction of acceleration. This allows the counterweight structure to adjust the center of gravity by quickly adjusting the position of the counterweight, making the robot's operation more free and smooth. Attached Figure Description

[0030] 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 only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0031] Figure 1 This is a schematic diagram of the structure of an embodiment of the robot of the present invention;

[0032] Figure 2 for Figure 1 A schematic diagram of the decomposition;

[0033] Figure 3 for Figure 1 A cross-sectional schematic diagram;

[0034] Figure 4 This is a schematic diagram of one embodiment of the counterweight structure of the present invention;

[0035] Figure 5 for Figure 1 Schematic diagram of the drive wheel structure;

[0036] Figure 6 for Figure 5 A cross-sectional schematic diagram;

[0037] Figure 7 for Figure 5 A schematic diagram of the decomposition process;

[0038] Figure 8 for Figure 5 A schematic diagram of the structure without the rotating component;

[0039] Figure 9 for Figure 5 Schematic diagram of the middle support base;

[0040] Figure 10 for Figure 6 Schematic diagram of the transmission component;

[0041] Figure 11 for Figure 10 A structural diagram from another angle;

[0042] Figure 12 for Figure 5 Schematic diagram of the middle shell structure. (Illustration of reference numerals:)

[0043]

[0044]

[0045] The implementation, functional features, and advantages of this invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0046] 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 a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0047] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0048] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the word "and / or" throughout the text means including three parallel solutions; for example, "A and / or B" includes solution A, solution B, or a solution that simultaneously satisfies A and B. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0049] This invention proposes a counterweight structure 250 that can be applied to motion equipment, such as a robot.

[0050] In embodiments of the present invention, such as Figure 2 , Figure 3 and Figure 4 As shown, the counterweight structure 250 includes an electromagnetic device 251, a counterweight block 252, and a reset member 253, wherein the reset member 253 is sandwiched between the electromagnetic device 251 and the counterweight block 252.

[0051] When the electromagnetic device 251 is energized, it generates magnetism, attracting the counterweight 252 to move toward the electromagnetic device 251 and pressing the reset member 253.

[0052] In this embodiment, after the electromagnetic device 251 generates magnetism, it attracts the counterweight 252 to move towards the electromagnetic device 251. After the magnetism of the electromagnetic device 251 disappears, the counterweight 252 moves away from the electromagnetic device 251 under the action of the reset member 253. This invention utilizes the characteristic that the electromagnetic device 251 generates magnetism when energized and loses magnetism when de-energized to realize the movement of the counterweight 252, thereby adjusting the center of gravity position of the counterweight structure 250.

[0053] When this counterweight structure 250 is applied to a robot, during robot operation, the position of the counterweight 252 can be adjusted by controlling the energization or de-energization of the electromagnetic device 251 to align the movement direction of the counterweight 252 with the acceleration direction. This allows the counterweight structure 250 to quickly adjust the center of gravity by rapidly adjusting the position of the counterweight 252, resulting in smoother and more fluid robot operation. Figure 1As shown, the robot includes a main body 200 and two drive wheels 100. The main body 200 has many functional components and needs to remain stable at all times. However, in related technologies, when the robot starts, the main body 200 rotates along a first direction due to inertia; when the robot stops, the main body 200 rotates along a second direction due to inertia. This embodiment solves this problem by setting a counterweight structure 250, ensuring that the robot's main body 200 remains stable at all times.

[0054] In some embodiments, the electromagnetic device 251 is a single unit. This electromagnetic device 251 adjusts the center of gravity of the counterweight structure 250 by acting on the counterweight block 252 as the robot accelerates, thereby adjusting the robot's center of gravity and making its operation more fluid and smooth. Specifically, when the robot starts or accelerates during operation, the direction of acceleration is the same as the robot's running direction. At this time, the electromagnetic device 251 is energized, attracting the counterweight block 252 to move in the same direction as the acceleration, thus adjusting the robot's center of gravity and making its operation more fluid and smooth. It also shortens the acceleration or start-up time, saving power. When the robot completes its acceleration and moves at a constant speed, the electromagnetic device 251 is de-energized, the magnetism disappears, and the counterweight block 252 slides back to its initial position under the action of the reset member 253, ensuring the robot remains stable during uniform speed operation.

[0055] In some embodiments, there is only one electromagnetic device 251. This electromagnetic device 251 adjusts the center of gravity of the counterweight structure 250 by acting on the counterweight block 252 when the counterweight structure 250 decelerates with the robot, thereby adjusting the robot's center of gravity and making the robot's operation more smooth and agile. Specifically, when the robot stops or decelerates during operation, the direction of the robot's acceleration is opposite to its direction of movement. At this time, the electromagnetic device 251 is energized and attracts the counterweight block 252 to move. The direction of movement of the counterweight block 252 is the same as the direction of acceleration, that is, the direction of movement of the counterweight block 252 is opposite to the robot's direction of movement. This not only adjusts the robot's center of gravity, making the robot's operation more smooth and agile, but also shortens the time of deceleration or stopping, and saves some power. When the robot completes its deceleration process and enters a state of constant speed or stops, the electromagnetic device 251 is de-energized, the magnetism disappears, and the counterweight 252 slides back to its initial position under the action of the reset component 253, ensuring that the robot can remain stable when running at a constant speed or stopping.

[0056] In some other embodiments, the number of electromagnetic devices 251 is two, such as... Figure 3and Figure 4 As shown, there are also two reset members 253, and two electromagnetic devices 251 are located on opposite sides of the counterweight 252 respectively; each reset member 253 is sandwiched between the counterweight 252 and one of the electromagnetic devices 251.

[0057] It is understandable that by setting two electromagnetic devices 251 and two reset components 253, the center of gravity of the counterweight structure 250 can be adjusted through the action of the electromagnetic devices 251 on the counterweight block 252 when the counterweight structure 250 accelerates or decelerates with the robot. This adjustment allows for better center of gravity adjustment of the robot, making its operation more smooth and fluid. By setting electromagnetic devices 251 and reset components 253 on opposite sides of the counterweight block 252, the center of gravity of the counterweight structure 250 can adaptively adjust according to the robot's operating state, ensuring smooth and fluid operation throughout the entire process.

[0058] In this embodiment, the reset element 253 is a spring. The two ends of the spring abut against the electromagnetic device 251 and the counterweight 252, respectively.

[0059] In one embodiment of the present invention, such as Figure 3 and Figure 4 As shown, the electromagnetic device 251 includes:

[0060] The inner core 2511 is provided corresponding to the counterweight 252, and the reset member 253 is sandwiched between the inner core 2511 and the counterweight 252.

[0061] Coil 2512, the coil 2512 being wound around the outer periphery of the inner core 2511;

[0062] When the coil 2512 is energized, the inner core 2511 is magnetized, thereby attracting the counterweight 252 to move toward the inner core 2511.

[0063] Understandably, when current flows through coil 2512, a magnetic field is generated around coil 2512, magnetizing the inner core 2511 and greatly enhancing the magnetic field. Under the influence of the magnetic force, counterweight 252 moves towards the inner core 2511 and compresses the reset piece 253. When the coil 2512 is de-energized, the magnetic field disappears, the magnetism of the inner core 2511 disappears, and counterweight 252 resets under the action of reset piece 253.

[0064] In this embodiment, the inner core 2511 is made of ferromagnetic material. To ensure that the inner core 2511 is demagnetized more quickly after the coil 2512 is de-energized, soft iron or silicon steel materials that demagnetize faster can be used.

[0065] In this embodiment, as Figure 3 and Figure 4 The inner core 2511 is provided with an abutment portion 2515, and the reset member 253 abuts against the abutment portion 2515. The inner core 2511 is also provided with a mounting portion 2514, which can be used to fix the inner core 2511 to the robot with screws.

[0066] In this embodiment, as Figure 3 and Figure 4 The mounting part 2514 and the abutment part 2515 are respectively provided at both ends of the inner core 2511, and together form a coil groove 2516, and the coil 2512 is wound in the coil groove 2516.

[0067] In one embodiment of the present invention, such as Figure 3 and Figure 4 The inner core 2511 is provided with a mating hole 2513, the counterweight 252 is provided with a sliding rod 2521, and the sliding rod 2521 is movably disposed in the mating hole 2513; the reset member 253 is sleeved on the sliding rod 2521.

[0068] In this embodiment, the outer peripheral wall of the sliding rod 2521 abuts against the wall of the mating hole 2513. The mating hole 2513 and the sliding rod 2521 guide the movement of the counterweight 252, improving the stability of its movement and thus ensuring the stability of the robot. Simultaneously, the sliding rod 2521 provides a mounting and positioning base for the reset component 253. By also providing the sliding rod 2521, a portion of the weight of the counterweight 252 can be distributed, allowing for a corresponding reduction in the size of the counterweight 252. Furthermore, the even distribution of some of the counterweight along the running direction makes the counterweight structure 250 more stable, resulting in more stable robot operation when applied to a robot.

[0069] In one embodiment of the present invention, such as Figure 3 and Figure 4 The counterweight 252 is provided with an annular protrusion 2522, which is sleeved on the sliding rod 2521 and forms an installation gap 2523 between it and the sliding rod 2521. The reset member 253 is provided in the installation gap 2523.

[0070] Understandably, the annular protrusion 2522 can distribute some of the weight of the counterweight 252, allowing for a further reduction in the size of the counterweight 252. Simultaneously, the counterweight is evenly distributed along the running direction, making the counterweight structure 250 more stable. When applied to a robot, this results in more stable robot operation. Furthermore, the annular protrusion 2522 and the sliding rod 2521 are spaced apart to form an installation gap 2523, providing a location for the reset component 253. This rational structural layout avoids excessively large dimensions of the counterweight structure 250 along the length of the sliding rod 2521. When installed on a robot, especially a spherical robot with a circular mounting cavity 210a, a smaller counterweight structure 250 allows for a lower installation position, lowering the center of gravity and further improving robot stability.

[0071] The present invention also proposes a robot, such as Figure 1 , Figure 2 and Figure 3 As shown, the robot includes:

[0072] The robot body has a mounting cavity 210a, and a control component is disposed within the mounting cavity 210a; and

[0073] The counterweight structure 250 is disposed in the mounting cavity 210a. The electromagnetic device 251 of the counterweight structure 250 is electrically connected to the control component, and the control component controls the electromagnetic device 251 to be energized or de-energized.

[0074] The specific structure of the counterweight structure 250 is as described in the above embodiments. Since this robot adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be described in detail here.

[0075] The control components can control and detect the robot's operating status.

[0076] In some embodiments, an accelerometer or gyroscope is provided within the mounting cavity 210a. The accelerometer or gyroscope is electrically connected to the control component. The accelerometer or gyroscope detects the robot's acceleration and sends the signal to the control component. When the robot accelerates or decelerates, the control component can control the energization or de-energization of the electromagnetic device 251 to promptly and quickly adjust the center of gravity position of the counterweight structure 250. Both the counterweight structure 250 and the control component are housed within the mounting cavity 210a, facilitating the connection between them.

[0077] In other embodiments, the control unit includes a receiving module that can directly receive external control commands. For example, the receiving module can be a Bluetooth, infrared, or audio pickup device. It can receive commands sent by the user via a remote control or mobile phone, or directly acquire and decode the user's voice commands. The control unit then controls the energization or de-energization of the electromagnetic device 251 according to the control commands, thereby promptly adjusting the center of gravity of the counterweight structure 250. When the control command is to start or stop, the robot body may rotate along a first or second direction due to inertia. By controlling the energization of the electromagnetic device 251, the center of gravity of the counterweight structure can be adjusted in a timely manner, thus adjusting the robot's center of gravity to ensure stability. This ensures that all functional components on the robot remain stable, resulting in a better user experience.

[0078] In one embodiment of the present invention, such as Figure 2 and Figure 3 As shown, the cavity wall of the mounting cavity 210a is provided with a limiting groove 260a, and a portion of the counterweight block 252 of the counterweight structure 250 is movably limited within the limiting groove 260a. The limiting groove 260a can limit the extreme position of the movement of the counterweight block 252, thereby preventing the counterweight block 252 from colliding with other components within the mounting cavity 210a.

[0079] In this embodiment, a limiting structure 260 is provided on the side of the receiving groove near the operating surface, and the limiting structure 260 is provided with the limiting groove 260a. The operating surface can be the ground.

[0080] In one embodiment of the present invention, such as Figure 3 and Figure 4 As shown, the counterweight 252 has a boss 2524 on the side facing the limiting groove, and the extension direction of the boss 2524 is at an angle to the moving direction of the counterweight 252.

[0081] In this embodiment, the extension direction of the boss 2524 is perpendicular to the moving direction of the counterweight 252. The side of the boss 2524 facing away from the counterweight 252 is an arc-shaped surface. By providing the boss 2524 and the arc-shaped surface on the boss 2524, the contact area with the limiting groove 260a can be reduced, thereby reducing the frictional force experienced by the counterweight 252 during its movement.

[0082] In this embodiment, there are multiple bosses 2524, as shown in Figure N. There are 3 bosses 2524. Multiple bosses 2524 can distribute the load and ensure the stability of the counterweight 252.

[0083] In one embodiment of the present invention, such as Figure 1 , Figure 2 , Figure 5 , Figure 6 and Figure 7As shown, the robot body includes a main body 200 and two drive wheels 100. The main body 200 is provided with the mounting cavity 210a; the two drive wheels 100 are respectively located on opposite sides of the main body 200; each drive wheel 100 includes:

[0084] Rotating component 1, the rotating component 1 is provided with a receiving groove 1, the groove opening of the receiving groove 1 is sleeved on the outer side wall of the main body 200 so that the receiving groove 1 communicates with the mounting cavity 210a;

[0085] Support base 3, connected to the main body 200, located within the mounting cavity 210a or the receiving groove 1, and rotatably connected to the rotating assembly 1 via bearing 2; and

[0086] A driving component 110 is located in the mounting cavity 210a or the receiving groove 1; the driving component 110 is disposed on the support base 3 and electrically connected to the control component; the output end of the driving component 110 is connected to the rotating assembly 1.

[0087] In this embodiment, as Figure 3 As shown, the control unit includes a control module 220 and a power supply module 240, with the power supply module 240 electrically connected to the control module 220. The control module 220 is electrically connected to the electromagnetic device 251.

[0088] In this embodiment, the drive unit 110 is electrically connected to the control module 220.

[0089] The drive wheel 100 is connected to the main body 200 via the support base 3. The support base 3 provides support and a mounting base for the drive component 110. The operation of the drive component 110 can be controlled by the control module 220 to control the operation of the rotating component 1. When the rotating component 1 rotates on the running surface, it can drive the robot to move, thereby controlling the robot's operating state. The groove opening of the receiving groove 1a of the rotating component 1 is fitted onto the outer wall of the main body 200, eliminating gaps and improving the appearance. It also ensures that when the robot is placed on the running surface, the rotating component 1 is in contact with the running surface, while there is a certain gap between the main body 200 and the running surface, preventing friction between the main body 200 and the running surface.

[0090] In this embodiment, the driving component 110 can be a motor. The support base 3 is provided with a first mounting hole 3d, and the driving component 110 is disposed within the first mounting hole 3d.

[0091] In this embodiment, the rotating component 1 and the support base 3 are connected by a bearing 2 to enable the rotating component 1 to rotate. This robot can be a spherical robot, including a main body 200 and two drive components 100. Unlike the four wheels of a car, if the rotating component 1 and the support base 3 are not connected by the bearing 2, the rotating component 1 will only rotate around the motor shaft, i.e., rotate at a single point, which is unstable. However, by setting the bearing 2 to connect the support base 3 and the rotating component 1 together, the rotating component 1 can also rotate around the bearing 2, i.e., rotate around a surface. Therefore, the rotation of the rotating component 1 is more stable, and the surface connection of the bearing 2 has a stronger connection strength compared to the point connection of the motor shaft.

[0092] Meanwhile, when using the robot, it is necessary to ensure that the main body 200 remains as still as possible, unlike a balance cart where a person stands in the middle. If the robot directly drives the rotating component 1 to rotate via a motor, it is easy to cause instability of the main body 200. However, by setting the bearing 2, the relative movement between the main body 200 and the rotating component 1 is reduced, which can make the main body 200 more stable. That is to say, in this embodiment, while setting the counterweight structure 250 of the above embodiment, the bearing 2 is also set to ensure that the main body 200 remains stable, and the functional components of the main body 200 remain stable, thus providing a better user experience.

[0093] In addition, this embodiment eliminates the need for a reduction gear between the drive component 110 and the rotating component 1, thus reducing design complexity.

[0094] In one embodiment of the present invention, such as Figure 2 and Figure 3 As shown, the main body 200 includes:

[0095] The main housing 210 has a mounting cavity 210a and a sound outlet 210b communicating with the mounting cavity 210a; the sound outlet 210b is located on the upper part of the main housing 210; the support base 3 is detachably connected to the main housing 210; and

[0096] A speaker module 230 is located above the counterweight structure 250. The speaker module 230 includes a speaker mounting base 231 and a speaker body 232. The speaker mounting base 231 is disposed on the side wall of the mounting cavity 210a and surrounds the cavity wall of the mounting cavity 210a to form a sound cavity. The speaker body 232 is disposed on the speaker mounting base 231 and located inside the sound cavity. The speaker body 232 is disposed corresponding to the sound outlet 210b.

[0097] In this embodiment, the counterweight structure 250 is disposed on the bottom wall of the mounting cavity 210a. The speaker module 230 and the power module 240 are arranged opposite each other, and the control module 220 and the counterweight structure 250 are located between the speaker module 230 and the power module 240, and are arranged opposite each other. The above arrangement can keep the main body balanced.

[0098] Understandably, the speaker mounting base 231 provides the mounting foundation for the speaker module 230. The speaker body 232 is positioned corresponding to the sound outlet 210b, ensuring that the sound emitted by the speaker module 230 can be transmitted to the outside through the sound outlet 210b. A sound cavity is formed between the speaker mounting base 231 and the main housing 210 to accommodate the speaker body 232, which facilitates the sealing of the sound cavity and thus ensures acoustic performance. In this embodiment, the main body 200 remains stable, ensuring that the sound emission direction of the speaker module 230 remains stable and guaranteeing a good user experience.

[0099] It should be noted that the speaker mounting base 231 can be separate from the main housing 210 or it can be integrally formed.

[0100] In one embodiment of the present invention, such as Figure 3 As shown, the sound output direction of the speaker body 232 is set at an angle to the horizontal plane and tilted upwards towards the horizontal plane.

[0101] In one embodiment of the present invention, as Figure 3 As shown in the figure, line A represents the horizontal plane, and line B represents the sound output direction of the speaker body 232. The sound output direction of the speaker body 232 is set at an angle to the horizontal plane and tilted upwards towards the horizontal plane. This allows the sound output direction of the speaker body 232 to be directed away from the running surface when the robot is placed on the running surface, resulting in better directivity and making it easier for users to receive audio information.

[0102] It should be noted that other functional components can also be installed on the inner and outer sides of the main shell 210. These will not be elaborated upon here.

[0103] In one embodiment of the present invention, such as Figure 6 and Figure 7 As shown, the rotating component 1 includes:

[0104] Housing 11, wherein the housing 11 is provided with the receiving groove 1; and

[0105] The transmission component 12 is disposed in the receiving groove 1 and located between the housing 11 and the support base 3; the transmission component 12 is connected to the bearing 2 and is detachably connected to the housing 11.

[0106] It is understood that the transmission component 12 is connected to the bearing 2, enabling the transmission component 12 to rotate relative to the support base 3. The rotation of the transmission component 12 drives the housing 11 to rotate. When the robot is placed on the ground or in other application scenarios, the housing 11 contacts the ground, and the rotation of the housing 11 drives the robot to move. In this embodiment, the housing 11 is provided with a receiving groove 1a, and the transmission component 12 is located in the receiving groove 1a. This allows the transmission component 12 to be hidden, protecting the transmission component 12 and the bearing 2 from external foreign objects, while also improving the appearance. The housing 11 and the transmission component 12 are snapped together, enabling convenient disassembly and installation of the housing 11 and the transmission component 12, improving efficiency, reducing difficulty, and preventing damage to the housing 11 or the transmission component 12 during installation and disassembly.

[0107] In other embodiments, the rotating component 1 is an integrally formed mechanism, that is, the housing 11 and the transmission component 12 are integrally formed and fixed and cannot be disassembled, that is, the transmission component 12 is not set separately.

[0108] The detachable connection between the transmission component 12 and the housing 11, compared to the integral molding and fixing of the housing 11 and the transmission component 12, can make the robot's appearance more aesthetically pleasing.

[0109] Specifically, if the housing 11 and the transmission component 12 are integrally formed and fixed, then the installation process of the drive wheel is as follows:

[0110] S1: First, assemble the bearing 2 onto the support base 3. The first locking member 4 in the following embodiment of the present invention can be used to fix the bearing 2 and the support base 3 together. Furthermore, the bearing 2 and the support base 3 can be configured as an interference fit.

[0111] S2: Then assemble the rotating component 1 with the bearing 2. The bearing 2 and the rotating component 1 can be fixedly connected by the second locking member 5 in the following embodiment of the present invention. Furthermore, the bearing 2 and the rotating component 1 can be set to an interference fit; at this time, a drive wheel has been formed.

[0112] S3: Connect the support base 3 to the main shell 210 to complete the assembly.

[0113] To conceal the gap between the support base 3 and the main body 200, the support base 3 needs to be located within the receiving groove 1a of the rotating component 1. This means the rotating component 1 is used to cover the gap. However, this would make it inconvenient to use bolts to connect the support base 3 and the main body 200; a snap-fit ​​connection would be necessary, reducing the connection strength. Conversely, if bolts are used, the support base 3 cannot be located within the receiving groove 1a of the rotating component 1. This means the gap is exposed, reducing the robot's overall aesthetics. Furthermore, compared to using the rotating component 1 to cover the gap, an exposed gap is more prone to attracting dust and other foreign objects.

[0114] When the transmission component 12 and the housing 11 are detachably connected, the installation process of the drive wheel is as follows:

[0115] S1: First, assemble the bearing 2 onto the support base 3. The first locking member 4 in the following embodiment of the present invention can be used to fix the bearing 2 and the support base 3 together. Furthermore, the bearing 2 and the support base 3 can be configured as an interference fit.

[0116] S2: Then assemble the transmission component 12 with the bearing 2. The bearing 2 and the transmission component 12 can be fixedly connected by the second locking component 5 in the following embodiments of the present invention. Furthermore, the bearing 2 and the transmission component 12 can be configured as an interference fit.

[0117] S3: Then connect the support base 3 to the main shell 210 with bolts;

[0118] S4: Then connect the housing 11 to the transmission component 12, which can be done by a snap-fit ​​connection.

[0119] like Figure 6 and Figure 7 As shown, since the housing 11 is connected to the transmission component 12 after the support base 3 is connected to the main body 200, the edge of the housing 11 can extend to the side of the support base 3 away from the transmission component 12. In other words, the housing 11 can cover the gap at the connection between the support base 3 and the main body. Therefore, compared with the embodiment without a separate transmission component 12, the transmission component 12 can ensure the connection strength between the support base 3 and the main body 200 (i.e., the two can be connected by bolts), and also ensure the aesthetics of the support base 3 and the main body 200 (i.e., the gap at the connection between the two can be covered).

[0120] In one embodiment of the present invention, such as Figure 6 , Figure 7 and Figure 8As shown, the support base 3 and the transmission component 12 are respectively connected to both sides of the bearing 2. The support base 3 has a support part 31 on the side facing the transmission component 12. The inner ring 21 of the bearing 2 is sleeved on the support part 31, and the inner ring 21 is locked to the support part 31 by the first locking component 4.

[0121] The transmission component 12 has a transmission part 121 on the side facing the support base 3. The transmission part 121 is sleeved on the outer ring 22 of the bearing 2, and the outer ring 22 and the transmission part 121 are locked by the second locking component 5.

[0122] Understandably, the above design allows for a more compact structure. The design of the support part 31 and the transmission part 121, with the bearing 2 fitted onto the support part 31 and the transmission part 121 fitted onto the bearing 2, limits the position of the bearing 2. Simultaneously, the locking action of the first locking member 4 and the second locking member 5 improves the positional stability of the bearing 2, as well as the connection stability between the bearing 2 and the support base 3 and the transmission part 12, thereby improving the stability of the housing 11 and ensuring the stability of the drive wheel 100 during operation. When the drive wheel 100 moves over a step, the locking action of the first locking member 4 and the second locking member 5 ensures that the bearing 2 will not wobble or shift, ensuring that the drive wheel 100 can smoothly pass over the step.

[0123] Meanwhile, the design of the support part 31 can support the bearing 2 and provide positioning for the installation of the bearing 2, so as to achieve the purpose of quick installation.

[0124] In one embodiment of the present invention, such as Figure 6 , Figure 8 and Figure 9 As shown, the outer periphery of the support portion 31 is provided with a first limiting portion 32, and the inner ring 21 abuts against the first limiting portion 32 on the side facing the support base 3.

[0125] The support portion 31 is provided with a first mounting hole 3a. One end of the first locking member 4 abuts against the side of the inner ring 21 away from the first limiting portion 32 and the side of the support base 3 facing the transmission member 12, and the other end is inserted into the first mounting hole 3a so that the support portion 31 and the inner ring 21 are locked together.

[0126] Understandably, the other ends of the first limiting part 32 and the first locking part 4 abut against the opposite sides of the inner ring 21 to limit the inner ring 21, thereby preventing the inner ring 21 from shaking or shifting and ensuring the positional stability of the inner ring 21.

[0127] In this embodiment, the first locking member 4 includes a first connecting rod and a first snap-fit ​​connector. The first connecting rod is connected to the first snap-fit ​​connector. The outer circumference of the first connecting rod is provided with external threads, and the wall of the first mounting hole 3a is provided with internal threads. The first connecting rod is threadedly connected to the wall of the first mounting hole 3a. The first connecting rod passes through the first snap-fit ​​connector and enters the first mounting hole 3a, pressing the first snap-fit ​​connector against the side of the inner ring 21 away from the first limiting part 32, that is, the side of the inner ring 21 facing the transmission member 12. This creates a limiting space between the first limiting part 32 and the first snap-fit ​​connector, and the inner ring 21 is confined within this limiting space, achieving the purpose of locking the inner ring 21 and the support base 3. During assembly, the first locking member 4 can be installed from the side where the transmission member 12 is located, making installation convenient.

[0128] In some other embodiments, the inner ring 21 of the bearing 2 is provided with a first mounting hole 3a. The bearing 2 and the support 31 are locked by inserting the first locking member 4 into the first mounting hole 3a. However, since the bearing 2 is a standard part and has a large hardness, it is not convenient to open the hole. Therefore, the solution of opening the first mounting hole 3a in the support 31 is better than the solution of providing the first mounting hole 3a in the inner ring 21 of the bearing 2.

[0129] In one embodiment of the present invention, such as Figure 6 , Figure 8 and Figure 10 As shown, the transmission part 121 has a second limiting part 122 on the side facing the bearing 2, and the outer ring 22 abuts against the second limiting part 122 on the side facing the transmission member 12.

[0130] The transmission part 121 is provided with a second mounting hole 12a. One end of the second locking member 5 abuts against the side of the outer ring 22 away from the second limiting part 122 and the side of the transmission part 121 facing the support base 3, and the other end is inserted into the second mounting hole 12a so that the transmission part 121 and the outer ring 22 are locked together.

[0131] Understandably, the other ends of the second limiting part 122 and the second locking member 5 abut against the opposite sides of the outer ring 22 to limit the outer ring 22, thereby preventing the outer ring 22 from shaking or shifting and ensuring the positional stability of the outer ring 22.

[0132] In this embodiment, the second locking member 5 includes a second connecting rod and a second locking connector. The second connecting rod is connected to the second locking connector. The outer periphery of the second connecting rod is provided with external threads, and the wall of the second mounting hole 12a is provided with internal threads. The second connecting rod is threadedly connected to the wall of the second mounting hole 12a. The second connecting rod passes through the second locking connector and enters the second mounting hole 12a, pressing the first locking connector against the side of the inner ring 21 away from the second limiting part 122, that is, the side of the outer ring 22 facing the support base 3. This creates a limiting space between the second limiting part 122 and the second locking connector, and the outer ring 22 is confined within this limiting space, achieving the purpose of locking the outer ring 22 and the transmission member 12. During assembly, the second locking member 5 can be installed from the side where the support base 3 is located, making installation convenient.

[0133] In some other embodiments, the outer ring of the bearing is provided with a second mounting hole 12a. The bearing 2 and the transmission part 121 are locked by inserting the second locking member 5 into the second mounting hole 12a. However, since the bearing 2 is a standard part and has a large hardness, it is not convenient to open the hole. Therefore, the solution of opening the second mounting hole 12a in the transmission part 121 is better than the solution of providing the second mounting hole 12a in the outer ring 22 of the bearing 2.

[0134] In one embodiment of the present invention, such as Figure 5 , Figure 7 and Figure 9 As shown, the support base 3 is provided with a first clearance hole 3b, which corresponds to the second mounting hole 12a;

[0135] It is understandable that the first clearance hole 3b is provided in the support base 3 to provide position clearance for the installation of the second locking member 5, so as to facilitate the installation of the second locking member 5.

[0136] In one embodiment of the present invention, the transmission member 12 is provided with a second clearance hole, which is provided corresponding to the first mounting hole 3a.

[0137] It is understandable that a second clearance hole is provided in the transmission component 12 to provide positional clearance for the installation of the first locking component 4, thereby facilitating the installation of the first locking component 4.

[0138] In some embodiments, the support base 3 is provided with a first clearance hole 3b, and the transmission member 12 is provided with a second clearance hole.

[0139] In this embodiment, only the support base 3 is provided with a first clearance hole, and the transmission component 12 is not provided with a second clearance hole. During assembly, the first locking component 4 can be installed first to install the bearing 2 on the support base 3, and then the transmission component 12 can be sleeved on the bearing 2, and then the second locking component 5 can be installed using the first clearance hole.

[0140] In this embodiment, there are multiple first mounting holes 3a arranged in a circular array. Each first mounting hole 3a contains a first locking element 4. The arrangement of multiple first mounting holes 3a improves the stability of the locking between the inner ring 21 and the support portion 31. Similarly, there are multiple second mounting holes 12a arranged in a circular array. Each second mounting hole 12a contains a second locking element 5. The arrangement of multiple second mounting holes 12a improves the stability of the locking between the outer ring 22 and the transmission portion 121.

[0141] In one embodiment of the present invention, such as Figure 6 and Figure 12 As shown, the cavity wall of the receiving groove 1a is provided with a hook 111, and the hook 111 and the groove wall of the receiving groove 1a form a limiting groove 11a, and the transmission member 12 is partially limited within the limiting groove 11a.

[0142] In some embodiments, the housing 11 and the transmission component 12 can be connected by various methods, such as screw connection or snap-fit ​​engagement. In this embodiment, the housing 11 and the transmission component 12 are snap-fit ​​engaged, which allows for convenient disassembly and installation of the housing 11 and the transmission component 12, improving efficiency, reducing difficulty, avoiding damage to the housing 11 or the transmission component 12 during installation and disassembly, and also making the appearance more aesthetically pleasing. Simultaneously, the snap-fit ​​engagement between the transmission component 12 and the housing 11 avoids the need for screw holes in the housing 11, ensuring a neat appearance. By providing the snap hook 111, a detachable connection between the transmission component 12 and the housing 11 is achieved, with a compact structure, stable connection, and avoidance of openings in the housing 11, ensuring a neat appearance.

[0143] In one embodiment of the present invention, such as Figure 6 , Figure 10 and Figure 11 As shown, the outer periphery of the transmission member 12 is provided with a snap-fit ​​portion 123, the snap-fit ​​portion 123 is located in the limiting groove 11a, the snap-fit ​​portion 123 has an inclined surface on the side facing the housing 11, the side of the snap-fit ​​portion 123 away from the housing 11 abuts against the hook 111, and the side of the transmission member 12 away from the support base 3 abuts against the cavity wall of the receiving groove 1a and is shaped to fit.

[0144] It is understood that the side of the latching part 123 away from the housing 11 abuts against the hook 111, and the side of the transmission member 12 away from the support base 3 abuts against the cavity wall of the receiving groove 1a, so that the transmission member 12 is partially limited to the limiting groove 11a. At the same time, the transmission member 12 abuts against the cavity wall of the receiving groove 1a and the shape is adapted. The transmission member 12 can support the housing 11. When the area of ​​the housing 11 corresponding to the transmission member 12, that is, the middle part of the housing 11, is bumped, the housing 11 can be prevented from being dented.

[0145] The snap-fit ​​part 123 has an inclined surface on the side facing the housing 11, and the corresponding snap hook 111 also has an inclined surface, which facilitates the assembly of the housing 11 with the transmission component 12.

[0146] In this embodiment, as Figure 10 and Figure 11 As shown, the snap-fit ​​part 123 is provided with a first reinforcing rib 124 on the side facing the housing 11, which can improve the strength of the snap-fit ​​part 123.

[0147] In one embodiment of the present invention, such as Figure 6 , Figure 7 and Figure 12 As shown, the hook 111 has a second reinforcing rib 113 on the side opposite to the limiting groove 11a, which can improve the strength of the hook 111.

[0148] The second reinforcing rib 113 extends towards the support base 3, and is spaced apart from the support. The shape of the side of the second reinforcing rib 113 near the support base 3 matches the shape of the support base 3. When the area on the housing 11 corresponding to the second reinforcing rib 113, i.e., the area near the edge of the housing 11, is impacted, large deformation of the housing 11 can be avoided. When the housing 11 is concave inward, the second reinforcing rib 113 will abut against the support base 3, and the second support base 3 can provide support for the housing 11. Simultaneously, the spaced arrangement between the second reinforcing rib 113 and the support base 3 allows for slight deformation of the housing 11, providing a cushioning and shock absorption effect.

[0149] In one embodiment of the present invention, such as Figure 6 , Figure 7 , Figure 10 , Figure 11 and Figure 12 As shown, the transmission component 12 is provided with multiple positioning holes, and the cavity wall of the receiving groove 1a is provided with multiple positioning posts 112, each of the positioning posts 112 being inserted into a positioning hole.

[0150] It is understandable that the cooperation between the positioning hole and the positioning post 112 enables the rapid positioning and installation of the housing 11 and the transmission component 12, while ensuring the synchronous rotation of the transmission component 12 and the housing 11.

[0151] In this embodiment, the positioning hole includes a first positioning hole 121b and a second positioning hole 12b, and the positioning post 112 includes a first positioning post 112 and a second positioning post 112.

[0152] The snap-fit ​​part 123 is located on the side of the transmission ring away from the bearing 2. Multiple positioning bosses protrude from the periphery of the snap-fit ​​part 123, spaced apart. Each positioning boss has a first positioning hole 121b, and the corresponding housing 11 has multiple first positioning posts 112. Each first positioning post 112 engages with a first positioning hole 121b.

[0153] The transmission component 12 has a plurality of second positioning holes 12b in the middle region, and the plurality of second positioning holes 12b are spaced apart. The corresponding housing 11 has a plurality of second positioning posts 112, and each second positioning post 112 is engaged with a second positioning hole 12b.

[0154] The above design can provide positioning holes in the periphery and central area of ​​the transmission component 12, and the housing 11 can be provided with positioning posts 112 to ensure that the force is uniform when the transmission component 12 and the housing 11 transmit power.

[0155] In one embodiment of the present invention, such as Figure 9 As shown, the edge of the support base 3 is provided with a third mounting hole 3c, and the projection of the transmission member 12 on the support base 3 is located on the side of the third mounting hole 3c close to the center line of the support base 3.

[0156] It is understood that the projection of the transmission component 12 onto the support base 3 is located on the side of the third mounting hole 3c close to the center line of the support base 3, that is, the peripheral dimension of the transmission component 12 is smaller than the peripheral dimension of the support base 3, and the third mounting hole 3c is exposed. When connecting the support base 3 to the outside by inserting the bolt into the third mounting hole 3c, it is convenient to operate, and the transmission component 12 will not affect the operation process.

[0157] In this embodiment, there are multiple third mounting holes 3c, arranged in a circular array.

[0158] In one embodiment of the present invention, such as Figure 5 , Figure 6 , Figure 7 and Figure 1 As shown, the rotating assembly 1 also includes a friction belt 13. The outer periphery of the housing 11 is provided with a mounting groove. The friction belt 13 is disposed in the mounting groove and partially extends out of the mounting groove.

[0159] It is understandable that when the drive wheel 100 is running on the ground, the friction belt 13 can be set to increase the friction between the friction belt 13 and the ground, ensuring that the drive wheel 100 moves smoothly on the ground and reducing slippage.

[0160] In this embodiment, as Figure 7As shown, the rotating assembly 1 further includes a connector 120. The transmission component 12 has a second mounting hole 12d, and the connector 120 is accommodated within the second mounting hole 12d. The connector 120 is sleeved on the output end of the drive component 110, and the connector 120 is locked to the rotating assembly 1 by a third locking component. The connector 120 has a D-shaped cross-section, meaning that the connector 120 has an arc-shaped surface and a flat surface connected end to end in the circumferential direction. Correspondingly, the second mounting hole 12d is D-shaped. The cooperation between the second mounting hole 12d and the connector 120 ensures that the rotating assembly 1 and the output end of the drive component 110 will not rotate relative to each other, thus ensuring that the output end of the drive component 110 drives the rotating assembly 1 to rotate synchronously.

[0161] In one embodiment of the present invention, the transmission member 12 is provided with a fourth mounting hole 12c, which corresponds to a third locking member. The third locking member passes through the fourth mounting hole 12c and locks the output ends of the transmission member 12, the connector 120, and the drive member 110 together. The fourth mounting hole 12c provides a clearance position for the installation of the third locking member, facilitating installation. Obviously, since the transmission member 12 and the housing 11 are detachably connected, the installation of the third locking member can be ensured smoothly by providing the fourth mounting hole 12c in the transmission member 12. At the same time, due to the limiting fit between the aforementioned second assembly hole 12d and the connector 120, the torque on the third locking member during rotation can be reduced, improving the stability and service life of the third locking member.

[0162] In some embodiments, the connector 120 and the output end of the drive 110 are locked together by an interference fit.

[0163] In this embodiment, such as Figure 6 , Figure 10 and Figure 11 As shown, since bearing 2 is the main connecting component, an interference fit between bearing 2 and rotating assembly 1 or support 3 is preferred. The first locking element 4 and the second locking element 5 further enhance stability. However, the output end of drive component 110 does not have an interference fit with the second mounting hole 12d. If all three parts had interference fits (precision fits), it would be technically difficult to achieve. Because the second mounting hole 12d does not have an interference fit, rotating assembly 2 is prone to wobbling. To improve stability, a fourth mounting hole 12c is needed to install the third locking element. Furthermore, if transmission component 12 and housing 11 are not detachable, the fourth mounting hole 12c needs to be located on the outer surface of rotating assembly 1, which is aesthetically unappealing. If the fourth mounting hole 12c is omitted for aesthetic reasons, stability will be reduced. Therefore, it is further demonstrated that a detachable connection between transmission component 12 and housing 11 is superior to a one-piece structure.

[0164] Furthermore, the above content is only used to express the additional beneficial effects brought about by setting the transmission component 12, such as covering gaps, stability, and aesthetics, and does not indicate that the transmission component 12 is a necessary technical feature.

[0165] Similarly, the interference fit between the inner and outer rings of the bearing is a further beneficial effect, or an effective feature that can be achieved based on the transmission component 12, rather than a necessary technical feature.

[0166] In this embodiment, the third locking element is a bolt.

[0167] In this embodiment, the output end of the drive member 110 is provided with a threaded hole, and the third locking member is threadedly connected to the output end of the drive member 110. In other embodiments, the third locking member abuts against the outer peripheral wall of the output end of the drive member 110. It can be understood that the threaded connection between the third locking member and the output end of the drive member can improve the connection strength and stability of the transmission member 12, the connecting member 120, and the output end of the drive member 110, ensuring the stability of the transmission member 12 and the housing 11, and ensuring the synchronous rotation of the transmission member 12 and the output end of the drive member 110.

[0168] The present invention also proposes a robot control method, the control method comprising the following steps:

[0169] Obtain the operating status of the robot;

[0170] Based on the robot's operating status, the electromagnetic device 251 of the counterweight structure 250 is controlled to be energized or de-energized to adjust the robot's center of gravity position.

[0171] The specific structure of the robot is as described in the above embodiments. Since the control method of this robot adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be described in detail here.

[0172] In one embodiment of the present invention, the running state of the robot can be determined by the robot's running acceleration, that is, the running acceleration of the robot can be obtained.

[0173] If the robot's acceleration is greater than or less than zero, the electromagnetic device 251 is energized so that the movement direction of the counterweight 252 is consistent with the acceleration direction.

[0174] Understandably, when the robot's acceleration is greater than or less than zero, indicating that the robot is accelerating or decelerating, the control components can energize the electromagnetic device 251 to promptly adjust the center of gravity of the counterweight structure 250 to adapt to the acceleration or deceleration. When the robot's acceleration is zero, the electromagnetic device 251 is de-energized, allowing the center of gravity of the counterweight structure 250 to return to its initial position, ensuring the stability of the robot's operation.

[0175] In one embodiment of the present invention, the current flowing through the coil 2512 of the electromagnetic device 251 is controlled according to the value of the robot's running acceleration, so as to accurately control the moving position and speed of the counterweight 252.

[0176] In another embodiment of the present invention, the robot's operating status can be obtained directly according to the user's operation instructions. When the control instruction is to start or stop, the electromagnetic device 251 is energized to adjust the center of gravity of the counterweight structure in a timely manner, thereby adjusting the robot's center of gravity so that the robot can always remain stable and ensure that the various functional components set on the robot can remain stable, thus providing a better user experience.

[0177] The above description is merely an optional embodiment of the present invention and does not limit the patent scope of the present invention. All equivalent structural transformations made using the contents of the present invention specification and drawings under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A robot, the robot being a spherical robot, characterized in that, The spherical robot comprises: a robot body provided with a mounting cavity, a control component being arranged in the mounting cavity, the robot body comprising a main body and two driving wheels, the main body being provided with the mounting cavity, the two driving wheels being respectively arranged on opposite sides of the main body, and a counterweight structure arranged in the mounting cavity, an electromagnetic device of the counterweight structure being electrically connected with the control component, the control component controlling the electromagnetic device to be powered on or powered off; the counterweight structure comprising the electromagnetic device, a counterweight block and a reset member, the reset member being clamped between the electromagnetic device and the counterweight block; wherein the electromagnetic device generates magnetism after being powered on, the counterweight block is attracted to move towards the electromagnetic device, and the reset member is pressed, the moving direction of the counterweight block being consistent with the acceleration direction of the spherical robot; when the spherical robot starts or accelerates during operation, the acceleration direction of the spherical robot is the same as the operation direction of the spherical robot, the electromagnetic device is powered on, the counterweight block is attracted to move, the moving direction of the counterweight block is consistent with the acceleration direction, and the moving direction of the counterweight block is the same as the operation direction of the spherical robot; when the spherical robot stops or decelerates during operation, the acceleration direction of the spherical robot is opposite to the operation direction of the spherical robot, the electromagnetic device is powered on, the counterweight block is attracted to move, the moving direction of the counterweight block is consistent with the acceleration direction, and the moving direction of the counterweight block is opposite to the operation direction of the spherical robot; the electromagnetic device comprising: an inner core corresponding to the counterweight block, the reset member being clamped between the inner core and the counterweight block; a coil being wound around the outer periphery of the inner core; wherein the coil is powered on to magnetize the inner core to attract the counterweight block to move towards the inner core.

2. The robot of claim 1, wherein, the inner core being provided with a matching hole, the counterweight block being provided with a sliding rod movably arranged in the matching hole, and the reset member being sleeved on the sliding rod.

3. The robot of claim 1, wherein, the number of electromagnetic devices being two, the number of reset members being two, the two electromagnetic devices being respectively arranged on opposite sides of the counterweight block, and each reset member being clamped between the counterweight block and an electromagnetic device; and / or, the reset member being a spring.

4. The robot of claim 1, wherein, a part of the counterweight block of the counterweight structure being movably limited in a limiting groove of a cavity wall of the mounting cavity.

5. The robot of claim 1, wherein, each driving wheel comprising: a rotating assembly provided with a containing groove, the containing groove being sleeved on the outer side wall of the main body at a slot opening to make the containing groove communicate with the mounting cavity; a support seat connected with the main body, the support seat being arranged in the mounting cavity or the containing groove, and the support seat being rotationally connected with the rotating assembly through a bearing; and a driving member arranged in the mounting cavity or the containing groove, the driving member being arranged on the support seat and being electrically connected with the control component, and an output end of the driving member being connected with the rotating assembly.

6. The robot of claim 5, wherein, the rotating assembly comprising: A shell is provided with the accommodating groove; and A transmission member is arranged in the accommodating groove and between the shell and the support seat; the transmission member is connected with the bearing, and the transmission member is detachably connected with the shell.

7. The robot of claim 5, wherein, The main body comprises: A main shell is provided with the mounting cavity and a sound outlet hole communicating with the mounting cavity; the sound outlet hole is located at the upper portion of the main shell; and A loudspeaker module is located above the counterweight structure; the loudspeaker module comprises a loudspeaker mounting seat and a loudspeaker body; the loudspeaker mounting seat is arranged on the side wall of the mounting cavity and forms an acoustic cavity together with the cavity wall of the mounting cavity; the loudspeaker body is arranged on the loudspeaker mounting seat and located in the acoustic cavity; and the loudspeaker body is arranged corresponding to the sound outlet hole.

8. A control method of a robot according to any one of claims 1 to 7, characterized by, The control method comprises the following steps: Obtaining the running state of the robot; According to the running state of the robot, controlling the electromagnetic device of the counterweight structure to be energized or de-energized to adjust the center of gravity position of the robot.

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