Spherical multi-legged autonomous robot

Abstract

The invention discloses a spherical multi-legged autonomous robot, and belongs to the field of robots, the spherical multi-legged autonomous robot comprises a control part, the control part comprises a main board, and the main board is used for controlling the autonomous robot to drive; the main body part comprises a bracket group and a gear group which are respectively arranged above and below the bracket group; the spiral arms are arc-shaped, the upper spiral arm and the lower spiral arm form a group to be matched for use, and the multiple groups of spiral arms are spirally distributed around the main body part; the single leg part is connected to the rotating arm and comprises a framework, a rotating frame, a connecting piece and a supporting foot, and the components can rotate through interaction to move in different directions; the shell part comprises an upper shell and an outer shell. The invention has the advantages that the shell part can be folded to form a spherical body; the robot can adapt to different moving environments by matching with the spiral arms distributed in a spiral shape and the single leg part with the adjustable angle and stride, and the efficiency is improved.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to a spherical multi-legged autonomous robot. Background Art

[0002] In recent years, bionic robots, as a cross-field combining biomimetics and robotics, have attracted widespread attention in the fields of scientific research and technological innovation. With the rapid development of technologies such as artificial intelligence, machine learning, and biological sciences, bionic robots have become a key means to achieve the deep integration of machines and organisms, and are of great significance for promoting the advancement of robotics and expanding its application areas. Currently, most bionic robots are leg-type or track-type robots. These robots can adapt to different action environments through several legs or a single track.

[0003] However, the mobility efficiency of these robots is not high. Under certain terrain conditions, such as sand, grass or uneven ground, the walking or tracked robots need to consume more energy to overcome the larger bottom friction, which undoubtedly causes energy loss. In addition, the existing technology of walking or tracked robots is relatively single in form and cannot switch to different forms according to different environments, especially in some restricted spaces, where walking or tracked robots cannot pass well. In view of this, it is necessary to propose improvements to the above defects. Summary of the invention

[0004] The invention provides a spherical multi-legged autonomous robot, which is used to solve the defects of low movement efficiency and inconvenient form switching of robots in the prior art.

[0005] The present invention provides a spherical multi-legged autonomous robot, comprising: A control part, the control part includes a main board, which is used to control the autonomous robot to drive; The main body includes a bracket group and a gear group, wherein the main board and the gear group are arranged above and below the bracket group; The swing arm is in an arc shape, and two swing arms are used together as a group. The swing arms are provided in several groups and are spirally distributed around the main body. The swing arms are driven by a gear set to realize rotation, folding and unfolding; A single leg part, which is connected to the swing arm and includes a frame, a rotating frame, a connecting piece and a supporting leg. The frame and the rotating frame, the rotating frame and the connecting piece can rotate with each other and adjust the angle to drive the supporting leg to move in different directions; The shell part comprises an upper shell and an outer shell. The upper shell is arranged above the main board, and the outer shell is arranged on the outer side of the single leg part and moves along with the movement of the single leg part. The shell part can be folded to form a spherical body.

[0006] Optionally, the bracket group is provided with a fixed plate, an intermediate plate 1, a sleeve rod, an intermediate plate 2, a chassis and a triangular plate in sequence from top to bottom. The intermediate plate 1 and the intermediate plate 2 are connected to each other by a plurality of sleeve rods. Screws are provided in the sleeve rods. The screws pass through the intermediate plate 1 and the intermediate plate 2 and extend up and down to the fixed plate and the chassis. An empty layer is provided between the fixed plate and the intermediate plate 1, and between the chassis and the intermediate plate 2. A bearing sleeve and a gasket are provided on the periphery of the screw located in the empty layer. A plurality of support bars are provided between the chassis and the triangular plate.

[0007] Optionally, the gear set includes a driving gear 1 arranged below the middle of the middle disk 2, a driving gear 2 is fixedly connected below the driving gear 1, a plurality of driven gears are toothedly connected to the outer periphery of the driving gear 2, and the driven gears are located between the chassis and the middle disk 2 and are fixedly connected to the bearing sleeve.

[0008] Optionally, a servo motor 1 is fixedly connected to the top of the intermediate disk 2, an opening is provided in the middle of the intermediate disk 2, and a rotor of the servo motor 1 passes through the opening and is fixedly connected to a driving gear 1.

[0009] Optionally, the swing arms at the upper and lower ends are connected to each other by means of a plurality of connecting rods, one end of the swing arm is fixedly connected to the bearing sleeve, and the other end of the swing arm is connected to the single leg part.

[0010] Optionally, a second servo seat is fixedly connected to the top of one side of the skeleton facing the swing arm, a second servo seat is fixedly connected to the inside of the second servo seat, and a rotor of the second servo seat is fixedly connected to the swing arm; A servo seat 3 is fixedly connected to the bottom of one side of the frame facing the shell, and a servo seat 3 is fixedly connected inside the servo seat 3; The connecting member is fixedly connected with a servo seat four, the servo seat four is fixedly connected with a servo four, the bottom of the connecting member is fixedly connected with the supporting foot, and the servo seat four is fixedly connected with the outer shell; The rotating frame is in an "H" shape, with notches on the top and bottom. One side of the notch on the top is rotatably connected to the frame, and the other side is fixedly connected to the rotor of the steering gear three. One side of the notch on the bottom is rotatably connected to the connecting piece, and the other side is fixedly connected to the rotor of the steering gear four.

[0011] Optionally, the support foot is cylindrical, and the portion where the end of the support foot contacts the bottom surface is spherical.

[0012] Optionally, the mainboard is fixed to the fixing plate by screws, and the upper shell is fixedly connected to the fixing plate.

[0013] Optionally, the shell portion may include only an upper shell. When the shell portion includes only the upper shell, the single-leg portion may be closed to form a spherical body.

[0014] A self-driving system for a multi-legged autonomous robot can drive an upper shell and an outer shell of a shell body to fit tightly together. In this state, the self-driving system can drive the robot to roll quickly on a flat ground.

[0015] The present invention provides a spherical multi-legged autonomous robot, which drives the rotating arm to spirally rotate and fold through a gear set, and the rotating skeleton, rotating frame and connecting member on the single leg part are rotated and adjusted, and the outer shell and upper shell in the shape of an arc can be used to change the robot into a spherical shape when needed, and move forward in a rolling manner to reduce friction with the ground, thereby saving energy. In addition, when it is necessary to pass through narrow spaces or obstacles, the spherical robot can better pass through these areas by changing its shape, solving the defects of low robot movement efficiency and inconvenient switching of forms in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 It is a three-dimensional structural diagram of a spherical multi-legged autonomous robot of the present invention; Figure 2 It is a state reference of a spherical multi-legged autonomous robot of the present invention. Figure 1 ; Figure 3 It is a state reference of a spherical multi-legged autonomous robot of the present invention. Figure 2 ; Figure 4 It is a state reference of a spherical multi-legged autonomous robot of the present invention. Figure 3 ; Figure 5 The present invention is a three-dimensional display of the main body and the rotating arm of a spherical multi-legged autonomous robot. Figure 1 ; Figure 6 The present invention is a three-dimensional display of the main body and the rotating arm of a spherical multi-legged autonomous robot. Figure 2 ; Figure 7 It is a three-dimensional exploded view of a bracket assembly of a spherical multi-legged autonomous robot of the present invention; Figure 8 It is a three-dimensional exploded schematic diagram of the main body and the rotary arm of a spherical multi-legged autonomous robot of the present invention; Fig. 9It is a three-dimensional schematic diagram of a single leg portion of a spherical multi-legged autonomous robot of the present invention; Fig.10 It is an exploded schematic diagram of a single leg portion of a spherical multi-legged autonomous robot of the present invention.

[0018] Reference numerals: 1. Main board; 2. Swivel arm; 3. Frame; 4. Rotating frame; 5. Connectors; 6. Support feet; 7. Upper shell; 8. Outer shell; 9. Fixed plate; 10. Intermediate plate one; 11. Sleeve rod; 12. Intermediate plate two; 13. Chassis; 14. Triangular plate; 15. Screws; 16. Bearing sleeve; 17. Gasket; 18. Support bar; 19. Driving gear one; 20. Driving gear two; 21. Driven gear; 22. Servo one; 23. Connecting rod; 24. Servo seat two; 25. Servo two; 26. Servo seat three; 27. Servo three; 28. Servo seat four; 29. ​​Servo four. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] Combine the following Figure 1 to Figure 10 The present invention is described in detail.

[0021] As shown in the figure, the present invention discloses a spherical multi-legged autonomous robot, which mainly includes a control part, a main body part, a swing arm 2, a single leg part and a shell part. Among them, the control part includes a main board 1, on which various modules including but not limited to a single-chip microcomputer, a control module, a sensor, etc. are integrated to support the control of the robot, and is mainly used to control the various driving units of the autonomous robot for driving. The main body part includes a bracket group and a gear group. The bracket group is the main body of the entire robot and provides support for various components of the robot.

[0022] As attached Figure 5As shown, the swing arm 2 is in an arc shape, and the upper and lower arms are used as a group. The swing arms 2 at the upper and lower ends are connected to each other by a plurality of connecting rods 23. The swing arm 2 is provided with a plurality of groups, which are spirally distributed around the main part, and are driven by the gear group to realize rotation, folding and unfolding. Therefore, when the swing arm 2 is unfolded, the single leg part connected to its end can be extended to the maximum, and a large circle is formed from a top-down perspective. At this time, the distance between each single leg part is the largest, and the device can move at the fastest speed; when the swing arm 2 is folded, each single leg part is adjusted according to the folding range. From a top-down perspective, the whole robot forms circles of different diameters, which can be adjusted according to different usage scenarios.

[0023] At the same time, if attached Figures 9-10 As shown, the single leg part connected to the swing arm 2 includes a skeleton 3, a rotating frame 4, a connecting piece 5 and a support leg 6. Since the swing arm 2 is provided with several groups, the single leg part is also provided with several groups following the number of swing arms 2. The skeleton 3 and the rotating frame 4, the rotating frame 4 and the connecting piece 5 in each group can rotate with each other and adjust the angle, which results in that the support leg 6 in each group can also be adjusted to different angles according to actual needs, so as to better adapt to uneven bottom surfaces, or climb slopes, etc. Moreover, the rotating frame 4, the rotating frame 4 and the connecting piece 5 can be frequently rotated at an angle, and this rotation can cause the support leg 6 to have a displacement difference, and this displacement difference can be used to fine-tune the position of the robot body on the contact surface.

[0024] Finally, the shell part, as shown in the attached Figure 1 As shown, it includes an upper shell 7 and an outer shell 8. The upper shell 7 is arranged above the main board 1, and the outer shell 8 is arranged on the outside of the single leg part and moves with the movement of the single leg part. The shell part can be closed to form a spherical body.

[0025] Therefore, the present invention, through the above-mentioned embodiment, drives the arm 2 to spirally rotate and fold through the gear set, and the rotation adjustment of the rotating skeleton 3, the rotating frame 4 and the connecting member 5 on the single leg part, in conjunction with the arc-shaped shell 8 and the upper shell 7, can change the robot into a spherical shape when needed, and move forward in a rolling manner, thereby reducing friction with the ground and saving energy. In addition, when it is necessary to pass through narrow spaces or obstacles, the spherical robot can better pass through these areas by changing its shape, solving the defects of low robot movement efficiency and inconvenient switching of forms in the prior art.

[0026] In order to further explain the technical solution in the above-mentioned embodiment, as shown in the attached Figure 7As shown, in a preferred embodiment of the present invention, the bracket group is provided with a fixed plate 9, an intermediate plate 10, a sleeve rod 11, an intermediate plate 2 12, a bottom plate 13 and a triangular plate 14 from top to bottom, and the upper shell 7 is fixedly connected to the fixed plate 9. At the same time, the intermediate plate 10 and the intermediate plate 2 12 are connected to each other by a plurality of sleeve rods 11, and screws 15 are provided in the sleeve rods 11, and the screws 15 pass through the intermediate plate 10 and the intermediate plate 2 12 and extend up and down to the fixed plate 9 and the bottom plate 13, and the main board 1 is fixed to the fixed plate 9 by the screws 15. At the same time, an empty layer is formed between the fixed plate 9 and the intermediate plate 10, the chassis 13 and the intermediate plate 2 12. The screw 15 is located on the periphery of the empty layer and is provided with a bearing sleeve 16 and a gasket 17. The bearing sleeve 16 is sleeved on the outside of the screw 15 and can rotate relative to the screw 15, the chassis 13, the intermediate plate 10, the intermediate plate 2 12 and other components. The gasket 17 is used to buffer the vibration force of the robot during operation and can effectively protect the components on the bracket group. A number of support bars 18 are provided between the chassis 13 and the triangular plate 14.

[0027] This design not only improves the robot's motion performance, but also enhances the durability and reliability of the structure. The spiral arm 2 structure not only enhances the overall stability of the robot, but also provides a more flexible movement space for the single leg part. Through the spiral shape, the arm 2 structure can effectively disperse stress and reduce the wear and damage that may occur to the robot during movement. In addition to the spiral arm 2 structure, the design also adopts an upper and lower two-piece design. This design makes the leg structure more compact and convenient for maintenance and replacement. The middle is supported and connected by a sleeve rod 11 to ensure the stability and reliability of the structure.

[0028] At the same time, if attached Figure 8 As shown, the gear set includes a driving gear 19 disposed at the lower middle part of the intermediate disk 12, a driving gear 20 is fixedly connected to the lower part of the driving gear 19, and a plurality of driven gears 21 are meshedly connected to the outer periphery of the driving gear 20, and the driven gear 21 is located between the chassis 13 and the intermediate disk 12 and is fixedly connected to the bearing sleeve 16, and at the same time, the driven gear 21 is rotatably connected to the chassis 13, so the driven gear 21 can rotate relative to the chassis 13. Therefore, in a preferred embodiment of the present invention, when the driving gear 19 rotates, the driving gear 20 fixedly connected thereto will rotate synchronously, thereby driving each driven gear 21 to rotate, and since the driven gear 21 is fixedly connected to the bearing sleeve 16, when the driving gear 19 rotates, the bearing sleeve 16 thereon is also affected to rotate.

[0029] In order to drive the driving gear 19 to rotate, the present invention has a steering gear 22 fixedly connected to the top of the middle disk 12, and an opening is provided in the middle of the middle disk 12. The rotor of the steering gear 22 passes through the opening and is fixedly connected to the driving gear 19. At the same time, one end of the swing arm 2 is fixedly connected to the bearing sleeve 16, and the other end of the swing arm 2 is connected to the single leg part. Therefore, when the bearing sleeve 16 rotates, the swing arm 2 will also rotate accordingly, thereby driving the single leg part thereon to fold or unfold, thereby realizing the smooth unfolding and folding of the single leg part.

[0030] The biggest feature of this optimized design is that it can achieve the simultaneous expansion and contraction of multiple legs. In the process of the robot changing from a spherical shape to a multi-legged state or from a multi-legged state back to a spherical state, these single-leg parts can move synchronously to ensure uniform stress distribution at the end of each single-leg part. This design not only improves the robot's movement efficiency, but also effectively prevents possible damage to the single-leg parts during the opening and closing process. In addition, this leg optimization design also significantly improves the structural life of the robot. By optimizing stress distribution and reducing wear, the robot can maintain stable performance for a longer period of time, reducing the frequency of maintenance and replacement of parts. This not only reduces the cost of use, but also improves the robot's work efficiency and reliability, improving the robot's movement performance and stability, and enhancing the durability and reliability of the structure.

[0031] Then comes the single leg part, as shown in the attached Fig.10 As shown, on it, a servo seat 24 is fixedly connected to the top of the side of the skeleton 3 facing the swing arm 2, a servo seat 25 is fixedly connected inside the servo seat 24, and the rotor of the servo seat 25 is fixedly connected to the swing arm 2; another swing arm 2 in the group where the swing arm 2 is located is fixed on the servo seat 24, so that when the servo seat 25 is driven, its rotor does not move, and the stator drives the servo seat 24 and the single leg part where it is located to rotate, so that the single leg part can face different angles.

[0032] Then, a steering gear seat 3 26 is fixedly connected to the bottom of the side of the skeleton 3 facing the shell 8, and a steering gear 3 27 is fixedly connected to the steering gear seat 3 26; a steering gear seat 4 28 is fixedly connected to the connecting piece 5, and a steering gear 4 29 is fixedly connected to the steering gear seat 4 28. The bottom of the connecting piece 5 is fixedly connected to the support foot 6, and the steering gear seat 4 28 is fixedly connected to the shell 8. At the same time, the rotating frame 4 is in an "H" shape, and notches are provided on the top and bottom of the rotating frame 4; one side of the notch on the top is rotatably connected to the skeleton 3, and the other side is fixedly connected to the rotor of the steering gear 3 27. Therefore, when the steering gear 3 27 is powered on, its stator does not move, and the rotor The rotating frame 4 is driven to rotate, thereby changing the angle between the frame 3 and the support leg 6; and the notch below the rotating frame 4 is rotatably connected to the connecting piece 5 on one side, and fixedly connected to the rotor of the servo motor 4 29 on the other side. Therefore, when the servo motor 4 29 is powered on, its rotor is fixedly connected to the rotating frame 4, so it remains unmoved, and its stator is fixedly connected to the servo motor seat 4 28. Therefore, under the reaction, the stator of the servo motor 4 29 will drive the servo motor seat 4 28 and the connecting piece 5 to rotate relative to the rotating frame 4 (its principle is the same as that of the servo motor 2 25), thereby changing the angle between the support leg 6 and the rotating frame 4. Finally, the servo motor seat 4 28 is fixedly connected to the housing 8, so the above-mentioned various angle rotations will drive the housing 8 to adjust synchronously. The above-mentioned servo motors 25, 3 servo motors 27, and 4 servo motors 29 are used in conjunction with each other and are uniformly dispatched by the main board 1. Then the single leg part where they are located can be adjusted to an angle that is not provided according to actual use requirements to meet the needs of use, so as to achieve the effect of fine-tuning or short-distance displacement.

[0033] The support leg 6 is cylindrical, and the part where the end contacts the bottom surface is spherical. This design is more in line with the principle of mechanics and achieves a reasonable distribution of stress. During the operation of the robot, the column serves as a supporting structure, which can effectively disperse and reduce the force borne by the shell 8. This design makes the shell 8 more evenly stressed and reduces the risk of structural damage due to stress concentration. In addition, the spherical end has a small contact area, which can reduce friction with the ground and reduce energy loss. The spherical end has a large moving space and little obstruction, making the spherical multi-legged robot more comfortable and flexible during movement, thereby facilitating the frequent movement and position change of the spherical multi-legged robot.

[0034] It should be noted here that when the robot forms a sphere (such as Figure 4 When the robot is in a state of being ...

[0035] In order to solve this problem, in another preferred embodiment of the present invention, a design scheme is proposed to reduce the circumference angle of the upper hemisphere to 120°. This not only effectively reduces the volume of the upper hemisphere, but also provides more space for the installation of other components. At the same time, in order to maintain the stability of the overall structure, in a preferred embodiment of the present invention, the circumference angle of the shell 8 of each leg is also increased to 120°, so that the sphere is evenly divided into two large blocks in the longitudinal space, and the lower part is divided into six small parts in the transverse space.

[0036] This design not only allows the center of gravity to move down to the main structure of the robot, thereby achieving more stable movement and faster shape transformation, but also enables the robot to perform more flexible and efficient tasks. Through this innovative design, the problems of space waste and upward center of gravity in the original design have been successfully solved.

[0037] It should also be noted here that the "stator" and "rotor" mentioned above are actually equivalent to the "servo body part" and "output shaft part" in each servo. Under normal circumstances, the driving method of the servo is that the stator remains stationary and the rotor drives the components to rotate to achieve the driving effect. However, in some of the above-mentioned schemes, such as servo 25 and servo 4 29, the driving method is that the rotor of servo 25 and servo 4 29 is fixed on a certain component, and then the stator drives another component to rotate. Although this driving method is unconventional, the HS422 model servo in the prior art is sufficient to achieve the above functions. Since the servo belongs to the prior art, its technical principles will not be repeated here.

[0038] Based on the same general inventive concept, the housing portion of the present invention may only include the upper shell 7 (such as Figure 3 As shown), that is to say, remove the shell 8 and expose the single leg part completely. When the housing part only includes the upper shell 7, the single leg part is closed to form a spherical body, which is used as a variation of the present invention.

[0039] Based on the same general inventive concept, the present invention also protects a self-driving system of a spherical multi-legged autonomous robot, which can drive the upper shell 7 and the outer shell 8 of the shell part to fit tightly together. In this state, the self-driving system can drive the robot to roll quickly on flat ground.

[0040] Preferably, the self-driving system includes at least a software system and a hardware system. The software system is connected to the main board 1 to achieve unified coordination. The hardware system includes an eccentric block and a motor. The eccentric block is installed at the axial position at the bottom of the triangular disk 14 and is driven horizontally by a motor. During the high-speed rotation of the eccentric block, a torque relative to the center of the sphere is formed. This torque will cause the sphere to rotate, thereby driving the robot body to roll.

[0041] Preferably, the self-driving system also includes at least a PID controller, a gyroscope and an accelerometer, and the gyroscope and accelerometer and other sensors are used to detect the posture and acceleration of the ball in real time and feed back to the control system for accurate adjustment. To adjust the speed and angle of the motor, ensure that the movement of the eccentric weight is accurate and controllable.

[0042] Since the above-mentioned software system and hardware system are both existing technologies, their technical principles will not be described in detail here.

[0043] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A spherical multi-legged autonomous robot, characterized in that: include: A control part, the control part comprising a main board (1) for controlling the autonomous robot to drive; The main body part comprises a bracket group and a gear group, wherein the main board (1) and the gear group are arranged above and below the bracket group; A swing arm (2), the swing arm (2) being arc-shaped, and being used in pairs of two swing arms (upper and lower) as a group, the swing arm (2) being provided with a plurality of groups, and being spirally distributed around the main body, the swing arm (2) being driven by a gear group to realize rotation, folding and unfolding; a single-leg portion, the single-leg portion being connected to the swing arm (2), comprising a frame (3), a rotating frame (4), a connecting piece (5) and a support leg (6); the frame (3) and the rotating frame (4), and the rotating frame (4) and the connecting piece (5) being able to rotate relative to each other and adjust angles to drive the support leg (6) to move in different directions; The shell part comprises an upper shell (7) and an outer shell (8), wherein the upper shell (7) is arranged above the main board (1), and the outer shell (8) is arranged outside the single leg part and moves with the movement of the single leg part. The shell part can be folded to form a spherical body.

2. The spherical multi-legged autonomous robot according to claim 1, characterized in that: The bracket group is provided with a fixed plate (9), an intermediate plate one (10), a sleeve rod (11), an intermediate plate two (12), a bottom plate (13) and a triangular plate (14) in order from top to bottom. The intermediate plate one (10) and the intermediate plate two (12) are connected to each other by a plurality of sleeve rods (11). A screw (15) is provided in the sleeve rod (11). The screw (15) passes through the intermediate plate one (10) and the intermediate plate two (12) and extends upward and downward to the fixed plate (9) and the bottom plate (13). An empty layer is provided between the fixed plate (9) and the intermediate plate one (10), and between the bottom plate (13) and the intermediate plate two (12). A bearing sleeve (16) and a gasket (17) are provided on the periphery of the screw (15) located in the empty layer. A plurality of support bars (18) are provided between the bottom plate (13) and the triangular plate (14).

3. The spherical multi-legged autonomous robot according to claim 2, characterized in that: The gear set comprises a driving gear 1 (19) arranged below the middle of the second intermediate disk (12); a driving gear 2 (20) is fixedly connected below the driving gear 1 (19); a plurality of driven gears (21) are toothedly connected to the outer circumference of the driving gear 2 (20); the driven gears (21) are located between the bottom plate (13) and the second intermediate disk (12) and are fixedly connected to the bearing sleeve (16).

4. The spherical multi-legged autonomous robot according to claim 3, characterized in that: The top of the intermediate disk 2 (12) is fixedly connected to a steering gear 1 (22), and an opening is provided in the middle of the intermediate disk 2 (12), and the rotor of the steering gear 1 (22) passes through the opening and is fixedly connected to the driving gear 1 (19).

5. The spherical multi-legged autonomous robot according to claim 2, characterized in that: The swing arms (2) at the upper and lower ends are connected to each other by means of a plurality of connecting rods (23); one end of the swing arm (2) is fixedly connected to the bearing sleeve (16), and the other end of the swing arm (2) is connected to the single leg portion.

6. The spherical multi-legged autonomous robot according to claim 1, characterized in that: A second steering gear seat (24) is fixedly connected to the top of the side of the frame (3) facing the swing arm (2), a second steering gear seat (24) is fixedly connected to the inside of the second steering gear seat (24), and a rotor of the second steering gear seat (25) is fixedly connected to the swing arm (2); A steering gear seat 3 (26) is fixedly connected to the bottom of one side of the frame (3) facing the outer shell (8), and a steering gear seat 3 (27) is fixedly connected inside the steering gear seat 3 (26); The connecting member (5) is fixedly connected to a steering gear seat four (28), the steering gear seat four (28) is fixedly connected to a steering gear seat four (29), the bottom of the connecting member (5) and the support foot (6) are fixedly connected, and the steering gear seat four (28) and the outer shell (8) are fixedly connected; The rotating frame (4) is in an "H" shape, and is provided with notches on its top and bottom; one side of the notch on its top is rotatably connected to the frame (3), and the other side is fixedly connected to the rotor of the third steering gear (27); one side of the notch on its bottom is rotatably connected to the connecting piece (5), and the other side is fixedly connected to the rotor of the fourth steering gear (29).

7. The spherical multi-legged autonomous robot according to claim 1, characterized in that: The support foot (6) is cylindrical, and the portion where the end of the support foot (6) contacts the bottom surface is spherical.

8. The spherical multi-legged autonomous robot according to claim 2, characterized in that: The mainboard (1) is fixed to the fixing plate (9) by means of screws (15), and the upper shell (7) is fixedly connected to the fixing plate (9).

9. The spherical multi-legged autonomous robot according to any one of claims 1 to 8, characterized in that: The shell part may include only the upper shell (7); when the shell part includes only the upper shell (7), the single-leg part is closed to form a spherical body.

10. A self-driving system for a spherical multi-legged autonomous robot according to any one of claims 1 to 8, characterized in that: The system can drive the upper shell (7) and the outer shell (8) of the shell part to fit tightly together. In this state, the self-driving system can drive the robot to roll quickly on flat ground.

Images