A magnetic levitation robot

Abstract

The application discloses a magnetic suspension robot, and belongs to the technical field of robots.The magnetic suspension robot comprises a magnetic suspension assembly, a body and a buffer assembly, the magnetic suspension assembly is connected with a walking assembly; the buffer assembly comprises a buffer piece and a radial telescopic touch piece, the touch piece comprises a touch part and a buffer part connected with the touch part, the buffer piece comprises a first magnet arranged towards the buffer part and an elastic body abutting against the first magnet, and the buffer part is compressed to realize buffering when moving towards the first magnet; a Hall inductor is arranged on the body at a position corresponding to the first magnet, the Hall inductor is signal-connected with the magnetic suspension assembly, and the Hall inductor starts the magnetic suspension assembly after sensing the displacement signal of the first magnet.The buffer piece and the touch piece are matched to realize the buffering of the magnetic suspension robot after collision, the signal is transmitted to the magnetic suspension assembly through the Hall inductor to realize the suspension of the body, the rigid constraint on the body is reduced, the flexible motion space of the body is improved, and the damage caused by collision is further reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a magnetic suspension robot. BACKGROUND

[0002] In the process of walking, in order to avoid touching obstacles, the existing walking robot usually uses various detection elements, such as radar detection elements or visual detection elements, to judge in advance to avoid collision. However, in extreme cases, the detection element may fail to make an early judgment, or the speed of travel may be too fast to brake in time, or a moving object may suddenly block the way of the robot during travel. Any of the above situations may cause the walking robot to collide.

[0003] A collision-avoiding robot is disclosed in Chinese Patent Publication No. CN 107344357 A, which includes a body, an obstacle data acquisition module, a controller, a running mechanism, and a navigation module. The obstacle data acquisition module is arranged on the body. When the obstacle data acquisition module collects obstacle data on the walking route, the controller is configured to be connected to the obstacle data acquisition module to receive the obstacle data information and control the navigation module to re-plan the route, and control the running mechanism to execute movement according to the re-planned route. This scheme collects obstacle information through the obstacle data acquisition module, and then changes the route to avoid obstacles. However, in the aforementioned extreme cases, collision may still occur. This scheme does not introduce how to reduce or decrease the damage caused by collision after the collision occurs.

[0004] In addition, a collision-avoiding robot is disclosed in Chinese Patent Publication No. CN 106426190 A, which includes a power supply module for supplying power to the robot, a remote sensing module electrically connected to the power supply module for sensing remote obstacles, a collision sensing module electrically connected to the power supply module, which triggers the collision sensing module when the remote sensing module fails to detect remote obstacles, so that the robot can avoid obstacle collision sensing module during walking, and a tilting and stepping motor electrically connected to the remote sensing module and the collision sensing module, respectively. The tilting and stepping motor operates to realize the tilting and stepping action of the robot to avoid obstacles. This scheme detects whether there is an obstacle in front of the robot through the remote sensing module or the collision sensing module to avoid it and prevent the robot from falling. Similarly, this scheme does not introduce how to reduce or decrease the damage caused by collision after the collision occurs.

[0005] The probability of collision of a walking robot during walking is relatively high. To minimize the damage caused by collision, it is a technical problem that needs to be considered and improved by those skilled in the art. SUMMARY

[0006] The magnetic suspension robot is provided to solve the problems of the prior art, and the buffer component is matched with the touching component to realize the buffer of the magnetic suspension robot after collision, the signal is transmitted to the magnetic suspension assembly through the Hall inductor after the collision, the suspension of the body of the magnetic suspension robot is realized, the rigid constraint of the body of the magnetic suspension robot is reduced, the flexible motion space of the body of the magnetic suspension robot is improved, and the damage caused by the collision is further reduced.

[0007] To achieve the above object, the present application provides the following scheme:

[0008] The present application provides a magnetic suspension robot, which comprises a magnetic suspension assembly, a body installed on the magnetic suspension assembly and a buffer component installed on the body, and the magnetic suspension assembly is connected with a walking assembly; the buffer component comprises a buffer and a radial telescopic touching component, the touching component comprises a touching part located outside the body and a buffer part connected with the touching part and located inside the body, the buffer part comprises a first magnet arranged towards the buffer part and an elastic body abutting against the first magnet, and the buffer part is compressed to realize the buffer when moving towards the first magnet; a Hall inductor is arranged on the body corresponding to the position of the first magnet, the Hall inductor is signal connected with the magnetic suspension assembly, and the Hall inductor is started after sensing the displacement signal of the first magnet.

[0009] Preferably, a second magnet with a polarity opposite to that of the first magnet is arranged on one side of the buffer part towards the first magnet, and a guide groove is arranged in the body for the first magnet and the second magnet to slide along the radial direction of the body.

[0010] Preferably, the touching part adopts an arc-shaped plate structure, and a soft buffer pad is arranged on the surface of the outer diameter side of the arc-shaped plate structure, and the arc-shaped plate structures of different buffer components form an intermittent circular structure in the circumferential direction.

[0011] Preferably, the magnetic suspension assembly comprises an upper seat and a lower seat, an upper magnet is installed on the lower side of the upper seat, a lower magnet corresponding to the upper magnet is installed on the upper side of the lower seat, and the walking assembly is installed on the lower side of the lower seat, the upper magnet and / or the lower magnet adopts an electromagnet, and the electromagnet is signal connected with the Hall inductor.

[0012] Preferably, the upper seat comprises a seat plate and a cylinder connected to the lower side of the seat plate, the installation cavities of the upper magnet and the lower magnet are formed in the cylinder, an inner flange is arranged on the lower side of the cylinder, an outer flange is arranged on the upper side of the lower seat, the outer flange is clamped on the upper part of the inner flange, and the diameter of the outer flange is smaller than the inner diameter of the cylinder.

[0013] Preferably, a center column is connected to the lower side of the seat plate, and a center groove with the same diameter as the center column is arranged on the upper side of the lower seat, the center column is positioned in the center groove when the magnetic suspension assembly is not started, and the center column moves out of the center groove upward after the magnetic suspension assembly is started.

[0014] Preferably, the bottom end surface of the center column abuts against the inner bottom surface of the center groove when the magnetic suspension assembly is not started, and the upper magnet and the lower magnet have a gap therebetween.

[0015] Preferably, a first spring is sleeved on the outer diameter side of the center column, one end of the first spring abuts against the seat plate, and the other end of the first spring abuts against the lower seat, the bottom end surface of the center column and the inner bottom surface of the center groove have a gap therebetween, and the upper magnet and the lower magnet have a gap therebetween when the magnetic suspension assembly is not started.

[0016] Preferably, a tapered guide portion is arranged on the bottom of the center column, and the tapered guide portion is always positioned in the center groove.

[0017] Preferably, the walking assemblies are distributed in a cross shape, a rectangular shape or a triangular shape, and at least one of the walking assemblies is provided with a driving wheel.

[0018] The present application has the following technical effects relative to the prior art:

[0019] (1) The present application realizes the buffering of the magnetic suspension robot after collision through the cooperation of the touching piece and the buffer piece, and realizes the suspension of the body of the magnetic suspension robot through the signal transmission of the Hall inductor to the magnetic suspension assembly after the collision, reduces the rigid constraint on the body of the magnetic suspension robot, and improves the flexible motion space of the body of the magnetic suspension robot, thereby further reducing the damage caused by the collision.

[0020] (2) The present application is provided with a second magnet with a polarity opposite to that of the first magnet on the side of the buffer portion facing the first magnet, when the collision occurs, the first level of buffering of the touching piece is realized through the magnetic repulsion force between the first magnet and the second magnet, at the same time, as the moving distance of the touching piece increases, the second level of buffering is realized through the compression of the elastic body, and finally the buffering effect is realized through the joint action of the magnetic repulsion force and the elastic force of the elastic body; in addition, the first magnet is driven to move in a non-contact manner through the second magnet, which can protect the first magnet and ensure the accuracy of the sensing signal of the Hall inductor.

[0021] (3) The center column is inserted into the center groove for limiting, so that the lateral constraint of the magnetic suspension assembly is realized when the magnetic suspension assembly is not started, the overall rigidity of the magnetic suspension robot is ensured, the walking stability is improved, and the working state is suitable, when the magnetic suspension assembly is started, the center column is separated from the center groove, the decoupling of the magnetic suspension assembly is realized, the flexible movement space of the body of the magnetic suspension robot is provided, the self-protection is realized, and the state after collision is suitable;

[0022] (4) The first spring is sleeved on the outer diameter side of the center column, and the first spring can be used for the flexible support of the upper and lower two parts of the magnetic suspension assembly, that is, the damping effect can be provided when the magnetic suspension robot normally walks;

[0023] (5) The tapered guide part is arranged at the bottom of the center column, when resetting after collision, the magnetic suspension assembly has been closed, the upper seat loses the magnetic suspension supporting force and falls, the tapered guide part can be used to smoothly guide the center column into the center groove, and the resetting of the magnetic suspension robot is smoothly realized. BRIEF DESCRIPTION OF DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments will be briefly introduced below, and obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0025] Figure 1 It is a schematic diagram of the overall structure of the present application;

[0026] Figure 2 It is a schematic diagram of the overall structure of the present application; Figure 1

[0027] Figure 3 It is a schematic diagram of the overall structure of the present application; Figure 1

[0028] Figure 4 It is a schematic diagram of the internal structure of the magnetic suspension assembly of the present application;

[0029] Figure 5 It is a schematic diagram of the cover structure of the present application;

[0030] Figure 6 It is a schematic diagram of the upper seat structure of the present application;

[0031] Figure 7 It is a schematic diagram of the lower seat structure of the present application;

[0032] Figure 8 It is a schematic diagram of the touch piece structure of the present application;

[0033] ​​Wherein, 1, the body; 11, the shell; 111, the positioning block; 112, the guide groove; 12, the cover; 121, the positioning groove; 13, the Hall inductor; 2, the magnetic suspension assembly; 21, the upper seat; 211, the seat plate; 212, the barrel; 213, the center column; 2131, the conical guide part; 214, the first spring; 22, the lower seat; 221, the center groove; 23, the upper magnet; 24, the lower magnet; 3, the buffer assembly; 31, the touch piece; 311, the touch part; 312, the buffer part; 3121, the second magnet; 32, the buffer piece; 321, the first magnet; 322, the elastic body; 4, the walking assembly. DETAILED DESCRIPTION

[0034] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present application.

[0035] The present application aims to provide a magnetic suspension robot to solve the problems in the prior art, to realize the buffering of the magnetic suspension robot after collision through the cooperation of the touch piece and the buffer piece, and to realize the suspension of the body of the magnetic suspension robot through the Hall inductor to transmit signals to the magnetic suspension assembly after collision, to reduce the rigid constraint on the body of the magnetic suspension robot, to improve the flexible motion space of the body of the magnetic suspension robot, and to further reduce the damage caused by collision.

[0036] To make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the present application will be further described in detail below with reference to the drawings and specific embodiments.

[0037] As Figures 1-8As shown, the present application provides a magnetic suspension robot, comprising a magnetic suspension assembly 2, a body 1 mounted on the magnetic suspension assembly 2, and a buffer assembly 3 mounted on the body 1, wherein the magnetic suspension assembly 2 can suspend the body 1 after starting, the suspended body 1 has a relatively increased flexible movement space, the magnetic suspension assembly 2 is connected with a walking assembly 4, and the position of the magnetic suspension robot is moved through the walking assembly 4. The body 1 can include a shell 11 and a cover 12, the shell 11 forms a mounting space inside, which can be used to mount the buffer assembly 3, and can also mount mechanical elements or electrical control elements required by the magnetic suspension robot, etc. In some cases, for example, when the magnetic suspension robot is used as a transfer robot, the body 1 can be used to contain articles, when used as a sweeping robot, the body 1 can be used to contain garbage, when used as a customer service robot, the body 1 can be used to place corresponding voice hardware devices, etc. Of course, articles can also be mounted or carried on the top of the cover 12, and those skilled in the art can make corresponding settings according to needs. The buffer assembly 3 includes a buffer piece 32 and a radial telescopic touch piece 31, the touch piece 31 protrudes radially from the body 1, and when a collision occurs, the touch piece 31 first contacts the obstacle, the touch piece 31 includes a touch part 311 located outside the body 1 and a buffer part 312 connected with the touch part 311 and located inside the body 1, a slide rod or a guide rod is connected between the touch part 311 and the buffer part 312, and the slide rod or the guide rod realizes sliding guidance of the touch piece 31. The buffer piece 32 includes a first magnet 321 arranged towards the buffer part 312 and an elastic body 322 abutting against the first magnet 321, the elastic body 322 can adopt a second spring or a buffer rubber, etc. After the touch part 311 is impacted, the buffer part 312 is pushed to move towards the first magnet 321, and it should be noted that the buffer part 312 can be directly connected with the first magnet 321, or can be arranged at a distance or connected through other connecting structures, the moving first magnet 321 compresses the elastic body 322, and the elastic body 322 realizes the buffering of the touch piece 31. A Hall sensor 13 is arranged at a position corresponding to the first magnet 321 on the body 1, the Hall sensor 13 can be arranged on the cover 12 (as shown in Figure 2 and Figure 5 ), or on the shell 11 (not shown in the figure), the Hall sensor 13 is signal connected with the magnetic suspension assembly 2, after the Hall sensor 13 senses the displacement signal of the first magnet 321, the signal can be transmitted to the magnetic suspension assembly 2 or a corresponding control device, the magnetic suspension assembly 2 is started through the control device or directly, and the magnetic suspension state of the body 1 is realized under the action of the magnetic suspension assembly 2. In summary, the present application can realize the buffering of the magnetic suspension robot after the collision through the cooperation of the touch piece 31 and the buffer piece 32, and the suspension of the body 1 is realized through the signal transmission of the Hall sensor 13 to the magnetic suspension assembly 2 after the collision, which can reduce the rigid constraint of the body 1, improve the flexible movement space of the body 1, and further reduce the damage caused by the collision.

[0038] As shown in Figure 1 , Figure 3 and Figure 5 , the cover 12 is provided with a positioning groove 121, and the shell 11 is provided with a positioning block 111. Since the Hall inductor 13 needs to correspond to the position of the first magnet 321, after the Hall inductor 13 is installed on the cover 12, the cover 12 and the shell 11 are fastened, and the positioning groove 121 and the positioning block 111 are matched, so that the Hall inductor 13 and the first magnet 321 can be corresponded conveniently.

[0039] As shown in Figure 2 , Figure 3 and Figure 8 , the buffer part 312 is provided with a second magnet 3121 opposite to the first magnet 321 in polarity on the side facing the first magnet 321, Figure 2 the position of the buffer part 312 is the second magnet 3121, and the body 1 (the shell 11) is provided with a guide groove 112 for the first magnet 321 and the second magnet 3121 to slide along the radial direction of the body 1. Through the arrangement of the guide groove 112, the movement track of the first magnet 321 and the second magnet 3121 can be constrained, so that they will not be deflected when subjected to magnetic repulsion and elastic force. When the collision occurs, the magnetic repulsion between the first magnet 321 and the second magnet 3121 is used to realize the first-stage buffer for the touching part 31, at the same time, as the moving distance of the touching part 31 increases, the elastic body 322 is compressed to realize the second-stage buffer, and finally the magnetic repulsion and the elastic force of the elastic body 322 are used to realize the buffer effect. In addition, the second magnet 3121 drives the first magnet 321 to move in a non-contact manner, which can protect the first magnet 321 from being damaged by direct impact, and ensure the accuracy of the sensing signal of the Hall inductor 13.

[0040] As shown in Figure 1 , Figure 2 and Figure 8 , the touching part 311 can adopt an arc-shaped plate structure, and the surface of the outer diameter side can be provided with a soft buffer pad. The soft buffer pad is used as a front end contact component for buffering. The arc-shaped plate structures of different buffer assemblies 3 form an intermittent circular structure in the circumferential direction of the body 1. The circular structure can form protection in any direction of the body 1. Regardless of the direction of collision with the obstacle, the buffer assembly 3 can realize the buffering effect.

[0041] As shown in Figure 2 , Figure 4 , Figure 6 and Figure 7As shown, the magnetic suspension assembly 2 comprises an upper seat 21 and a lower seat 22, the upper seat 21 is connected with the body 1, and the lower seat 22 is connected with the walking assembly 4. The lower side of the upper seat 21 is provided with an upper magnet 23, and the upper side of the lower seat 22 is provided with a lower magnet 24 corresponding to the upper magnet 23. At least one of the upper magnet 23 and the lower magnet 24 is an electromagnet. The electromagnet can control the on-off of the current to realize the on-off of the magnetism, and the electromagnet is signal connected with the Hall sensor 13, that is, the sensing signal of the Hall sensor 13 can be used to control the on-off of the electromagnet, and further control whether the magnetic suspension assembly 2 is turned on or not.

[0042] As shown in Figure 2 , Figure 4 , Figure 6 and Figure 7 , the upper seat 21 comprises a seat plate 211 and a cylinder 212 connected to the lower side of the seat plate 211. The seat plate 211 is used to support the body 1 and form an installation support structure of the upper magnet 23. The cylinder 212 can form an installation cavity of the upper magnet 23 and the lower magnet 24, and make the upper magnet 23 and the lower magnet 24 have an upward and downward movement space. The lower side of the cylinder 212 is provided with an inner flange, and the upper side of the lower seat 22 is provided with an outer flange. The outer flange can be clamped on the upper part of the inner flange, that is, when the upper seat 21 and the lower seat 22 are moved up and down by the magnetic suspension force, the position of the upper seat 21 and the lower seat 22 can be limited by the outer flange and the inner flange, and the integrity of the magnetic suspension assembly 2 is maintained. It should be noted that the diameter of the outer flange is smaller than the inner diameter of the cylinder 212, so that the upper seat 21 and the lower seat 22 can have a horizontal relative movement space. After the collision occurs, the movement space range of the body 1 can be further improved, and the damage caused by the collision can be reduced.

[0043] As shown in Figure 2 , Figure 4 , Figure 6 and Figure 7 , the lower side of the seat plate 211 is connected with a center column 213, and the upper side of the lower seat 22 is provided with a center groove 221 with the same diameter as the center column 213. When the magnetic suspension assembly 2 is not started, the center column 213 is located in the center groove 221 and is limited in the horizontal direction. After the magnetic suspension assembly 2 is started, the center column 213 moves out of the center groove 221 with the seat plate 211. Therefore, the center column 213 is inserted into the center groove 221 to limit the transverse constraint of the magnetic suspension assembly 2 when the magnetic suspension assembly 2 is not started, so as to ensure the overall rigidity of the magnetic suspension robot, improve the walking stability, and be suitable for the working state. When the magnetic suspension assembly 2 is started, the center column 213 is separated from the center groove 221 to realize the decoupling of the magnetic suspension assembly 2, provide a flexible movement space for the body 1, protect the magnetic suspension robot itself, and be suitable for the state after the collision.

[0044] When the magnetic suspension assembly 2 is not started, the bottom end surface of the center column 213 can directly abut against the inner bottom surface of the center groove 221, the center column 213 is supported by the center groove 221, and then the upper seat 21 is supported by the lower seat 22, at this time, the upper magnet 23 and the lower magnet 24 have a gap therebetween, avoiding direct contact between the upper magnet 23 and the lower magnet 24 to bear the gravity of the body 1 and causing damage, and protecting the upper magnet 23 and the lower magnet 24.

[0045] As shown in Figure 2 and Figure 4 , the outer diameter side of the center column 213 can be sleeved with the first spring 214, one end of the first spring 214 abuts against the seat plate 211, and the other end of the first spring 214 abuts against the lower seat 22, when the magnetic suspension assembly 2 is not started, the bottom end surface of the center column 213 and the inner bottom surface of the center groove 221 have a gap, and the upper magnet 23 and the lower magnet 24 also have a gap, and the former gap should be smaller than the latter gap, even if the bottom end surface of the center column 213 and the inner bottom surface of the center groove 221 are in contact, the upper magnet 23 and the lower magnet 24 will not be in contact, thereby protecting the upper magnet 23 and the lower magnet 24. The first spring 214 can be used to flexibly support the upper and lower parts of the magnetic suspension assembly 2, that is, it can provide a damping effect when the magnetic suspension robot is normally walking.

[0046] As shown in Figure 2 , Figure 4 and Figure 6 , the bottom of the center column 213 is provided with a tapered guide portion 2131, whether the magnetic suspension assembly 2 is opened or not, the tapered guide portion 2131 is always located in the center groove 221, when resetting after the collision, at this time the magnetic suspension assembly 2 has been closed, the upper seat 21 loses the magnetic suspension support force and falls, the tapered guide portion 2131 can be used to smoothly guide the center column 213 into the center groove 221, and the resetting of the magnetic suspension robot is smoothly realized.

[0047] The walking assembly 4 can be cross-shaped, rectangular or triangular distributed on the lower part of the lower seat 22, at least one walking assembly 4 is provided with a driving wheel, and the driving wheel is used to drive the magnetic suspension robot to walk.

[0048] The working principle of the present application: the magnetic suspension robot walks according to the set route under the drive of the walking assembly 4, when the magnetic suspension robot hits the obstacle due to some factors, the buffer assembly 3 first contacts the obstacle, i.e. the touch part 311 of the touch piece 31 hits the obstacle, the touch part 311 is forced to shrink inward, driving the buffer part 312 to shrink inward, realizing the first-stage buffer under the magnetic repulsion force of the second magnet 3121 and the first magnet 321, with the continuous movement of the touch piece 31, the elastic body 322 of the buffer piece 32 is forced to compress, playing the role of the second-stage buffer, at the same time, the Hall inductor 13 senses the position change of the first magnet 321, and then transmits the signal to the magnetic suspension assembly 2, the magnetic suspension force is generated between the upper magnet 23 and the lower magnet 24 of the magnetic suspension assembly 2, the upper seat 21 is suspended away from the lower seat 22, the body 1 after being hit is suspended and has a larger activity space, further improving the protection and avoiding being damaged greatly, after the collision process is over, the buffer assembly 3 resets, the Hall inductor 13 no longer obtains the position change of the first magnet 321, at this time, the magnetic suspension force of the magnetic suspension assembly 2 is lost, the upper seat 21 falls, the center column 213 is guided into the center groove 221 under the action of the conical guide part 2131 and resets.

[0049] The principle and implementation mode of the present application are described by applying specific examples in the present application, the above embodiment is only used for helping to understand the method of the present application and its core idea; at the same time, for the general technical personnel in the art, according to the idea of the present application, the specific implementation mode and application range will be changed. In view of the above, the content of the specification should not be understood as the limitation of the present application.

Claims

1. A magnetically levitated robot, characterized in that: The system includes a magnetic levitation assembly, a body mounted on the magnetic levitation assembly, and a buffer assembly mounted on the body. The magnetic levitation assembly is connected to a walking assembly. The buffer assembly includes a buffer member and a radially retractable contact member. The contact member includes a contact portion located outside the body and a buffer portion connected to the contact portion and located inside the body. The buffer member includes a first magnet disposed towards the buffer portion and an elastic body abutting against the first magnet. When the buffer portion moves towards the first magnet, it compresses the elastic body to achieve buffering. A Hall sensor is disposed on the body corresponding to the position of the first magnet. The Hall sensor is signal-connected to the magnetic levitation assembly. The magnetic levitation assembly is activated after the Hall sensor senses the displacement signal of the first magnet. The magnetic levitation assembly includes an upper seat and a lower seat. An upper magnet is installed on the lower side of the upper seat, and a lower magnet corresponding to the upper magnet is installed on the upper side of the lower seat. The walking assembly is installed on the lower side of the lower seat. The upper magnet and / or the lower magnet are electromagnets, and the electromagnets are connected to the Hall sensor signal. The upper seat includes a seat plate and a cylinder connected to the lower side of the seat plate. The cylinder forms mounting cavities for the upper magnet and the lower magnet. An inner flange is provided on the lower side of the cylinder, and an outer flange is provided on the upper side of the lower seat. The outer flange is engaged with the upper part of the inner flange, and the diameter of the outer flange is smaller than the inner diameter of the cylinder, and the inner diameter of the outer flange is smaller than the inner diameter of the inner flange. A central column is connected to the lower side of the seat plate, and a central groove with the same diameter as the central column is provided on the upper side of the lower seat. When the magnetic levitation assembly is not activated, the central column is located in the central groove for limiting. After the magnetic levitation assembly is activated, the central column moves upward out of the central groove.

2. The magnetic levitation robot according to claim 1, characterized in that: The buffer section is provided with a second magnet with the opposite polarity to the first magnet on the side facing the first magnet, and the body is provided with a guide groove for the first magnet and the second magnet to slide along the radial direction of the body.

3. The magnetic levitation robot according to claim 2, characterized in that: The contact part adopts an arc-shaped plate structure, and a soft cushioning pad is provided on the surface of its outer diameter side. The arc-shaped plate structures of different cushioning components form an intermittent circular structure in the circumferential direction.

4. The magnetically levitated robot according to claim 1, characterized in that: When the magnetic levitation assembly is not activated, the bottom surface of the central column abuts against the inner bottom surface of the central groove, and there is a gap between the upper magnet and the lower magnet.

5. The magnetic levitation robot according to claim 1, characterized in that: A first spring is fitted on the outer diameter side of the central column. One end of the first spring abuts against the base plate, and the other end of the first spring abuts against the lower seat. When the magnetic levitation assembly is not activated, there is a gap between the bottom surface of the central column and the inner bottom surface of the central groove, and there is a gap between the upper magnet and the lower magnet.

6. The magnetic levitation robot according to claim 1, characterized in that: The bottom of the central column is provided with a tapered guide portion, which is always located within the central groove.

7. The magnetically levitated robot according to claim 1, characterized in that: The walking components are arranged in a cross, rectangle, or triangle shape, and at least one of the walking components is equipped with a drive wheel.

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