Self -propelled equipment

The utility model provides a self -propelled formula equipment includes spherical shell and inside actuating system, inside actuating system includes the one or more motor. Inside actuating system is used for providing the power to the internal surface of spherical shell to make the self -propelled equipment motion. Can be including the biasing subassembly so that inside actuating system lasts the internal surface of joint spherical shell. It is mutual with inside magnetic component magnetism that outside annex passes through the spherical shell for self -propelled equipment rotates and controls, the annex subassembly keeps the position relation for self -propelled equipment's top. 种自推进式设备包括球形壳体和内部驱动系统，所述内部驱动系统包括个或多个电动机。内部驱动系统用于向球形壳体的内表面提供电源，从而使自推进设备运动。可包括偏置组件以使内部驱动系统持续接合球形壳体的内表面。外部附件通过球形壳体与内部的磁性组件磁性交互，使得自推进设备转动和操纵，所述附件组件保持相对于自推进设备的顶部的位置关系。