Wheel assembly and robot with same

Abstract

The invention provides a wheel assembly and a robot with the same. The wheel assembly comprises a first wheel part fixed to a driving shaft, and one side of the first wheel part is provided with a first magnetic force area and a first non-magnetic force area; the second wheel part is coaxial with the first wheel part and arranged on the first side of the first wheel part, a second non-magnetic area and a second magnetic area opposite to the first magnetic area in magnetism are arranged on the side, close to the first wheel part, of the second wheel part, and the first wheel part and the second wheel part are matched through magnetic attraction; the second wheel part rotates relative to the first wheel part, the overlapping area of the first magnetic force area and the second magnetic force area is maximum when the second wheel part is in a strong magnetic state, and the overlapping area of the first magnetic force area and the second non-magnetic force area is maximum when the second wheel part is in a weak magnetic state; the elastic stopping part extends in the radial direction of the second wheel component, one end of the elastic stopping part is arranged on the second wheel component, and the other end of the elastic stopping part protrudes out of the circumferential face of the second wheel component or is flush with the circumferential face of the second wheel component.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a wheel assembly and a robot having the same. Background Art

[0002] With the rapid development of science and technology, wall-climbing robot technology has shown great application potential in many industries, especially in those environments that are dangerous or difficult to reach for humans. As an efficient working tool in unstructured environments, magnetic adsorption wall-climbing robots have become the first choice for tasks such as tank inspection, exterior wall cleaning, structural flaw detection, and coating spraying. They play an irreplaceable role in improving production efficiency and ensuring the safety of operators.

[0003] The ability of magnetic adsorption wall-climbing robots to overcome obstacles is often limited when dealing with complex environments, especially when encountering obstacles on the wall, such as protrusions, depressions, corners and other structures. In order to improve the operating efficiency and application scope of magnetic adsorption wall-climbing robots in complex environments, the wheel assembly of the wall-climbing robot is usually set as an electromagnetic adsorption wheel, but the electromagnetic adsorption wheel is relatively expensive. Summary of the invention

[0004] The present invention provides a wheel assembly and a robot having the same, so as to solve the problem that the wheel assembly of the wall-climbing robot in the prior art is configured as an electromagnetic adsorption wheel, which has a high cost.

[0005] According to one aspect of the present invention, a wheel assembly is provided, comprising: a first wheel component, used to be fixed on a driving shaft of the wheel assembly, one side of the first wheel component having a first magnetic area and a first non-magnetic area, the first magnetic area and the first non-magnetic area being distributed along the circumference of the first wheel component; a second wheel component, coaxial with the first wheel component, the second wheel component being arranged on a first side of the first wheel component, a side of the second wheel component close to the first wheel component having a second magnetic area and a second non-magnetic area being arranged oppositely, the second magnetic area and the second non-magnetic area being distributed along the circumference of the second wheel component, the second magnetic area and the first magnetic area having opposite magnetism, the first wheel component and The second wheel component is magnetically coupled with the first magnetic zone and the second magnetic zone, and the second wheel component rotates relative to the first wheel component. The wheel assembly has a strong magnetic state and a weak magnetic state. When the wheel assembly is in the strong magnetic state, the overlapping area of ​​the first magnetic zone and the second magnetic zone is the largest. When the wheel assembly is in the weak magnetic state, the overlapping area of ​​the first magnetic zone and the second non-magnetic zone is the largest; an elastic stop portion extends radially along the second wheel component, and the elastic stop portion has a first end and a second end that are relatively arranged. The first end of the elastic stop portion is arranged on the second wheel component, and the second end of the elastic stop portion protrudes outward from the circumferential surface of the second wheel component or is flush with the circumferential surface of the second wheel component.

[0006] Furthermore, the wheel assembly also includes: a damping structure, which is arranged between the first wheel component and the second wheel component. When the wheel assembly is in a strong magnetic state, the first wheel component and the second wheel component cooperate through the damping structure. In addition, the above arrangement can prevent unnecessary relative rotation between the first wheel component and the second wheel component to a certain extent, which helps to maintain the synchronization of the wheel assembly and ensure that the robot walks stably in a predetermined direction. In addition, when encountering obstacles or needing to quickly adjust the walking direction, the wheel assembly may quickly switch from a strong magnetic state to a weak magnetic state. The damping structure can suppress the speed of this conversion process through its friction or resistance, ensuring that the wheel assembly is smoother when the state changes, avoiding mechanical shock or control instability that may be caused by rapid conversion of magnetic states.

[0007] Furthermore, the damping structure includes a rotation-stopping hole and a damping member that cooperate with each other to stop rotation; the rotation-stopping hole is arranged on the side of the first wheel component facing the second wheel component, the damping member is arranged on the side of the second wheel component facing the first wheel component, and the damping member is embedded in or out of the rotation-stopping hole; or, the rotation-stopping hole is arranged on the side of the second wheel component facing the first wheel component, the damping member is arranged on the side of the first wheel component facing the second wheel component, and the damping member is embedded in or out of the rotation-stopping hole. Such an arrangement has a simple structure and is convenient for processing the damping structure.

[0008] Furthermore, the first wheel component includes: a first wheel body, which is used to be fixed on the driving shaft of the wheel assembly; a plurality of first magnets and a plurality of first magnetic shielding members, which are all arranged on one side of the first wheel body, the first magnets and the first magnetic shielding members are alternately distributed along the circumference of the first wheel body, the first magnets form a first magnetic zone on the side away from the first wheel body, and the first magnetic shielding members form a first non-magnetic zone on the side away from the first wheel body. Such an arrangement can enhance the magnetic force of the first wheel component and enhance the magnetic attraction of the wheel assembly.

[0009] Furthermore, the second wheel component includes: a second wheel body, coaxial with the first wheel body; a plurality of second magnets and a plurality of second magnetic shielding members, all arranged on a side of the second wheel body close to the first wheel body, the second magnets and the second magnetic shielding members are alternately distributed along the circumference of the second wheel body, the second magnets form a second magnetic zone on a side away from the second wheel body, and the second magnetic shielding members form a second non-magnetic zone on a side away from the second wheel body. Such an arrangement can enhance the magnetic force of the second wheel component and enhance the magnetic attraction of the wheel assembly.

[0010] Furthermore, the number and profile of the first magnet, the first magnetic shielding member, the second magnet and the second magnetic shielding member are the same. This arrangement facilitates the processing of the wheel assembly and ensures the consistency and stability of the magnetic attraction effect of the wheel assembly.

[0011] Furthermore, the first wheel body is a first magnetic conductive part, and the magnetism of the first wheel body is opposite to that of the first magnet, and the second wheel body is a second magnetic conductive part, and the magnetism of the second wheel body is opposite to that of the second magnet. With such a configuration, the magnetic force of the wheel assembly can be guided and concentrated, so that the magnetic field generated by the first magnet and the second magnet acts more concentratedly on the contact surface, thereby improving the magnetic adsorption capacity of the wheel assembly. In addition, the above configuration helps to reduce the leakage of magnetic force. The first magnetic conductive part and the second magnetic conductive part can guide the magnetic force to a specific area instead of diffusing it to the surrounding environment, thereby maintaining the efficient use of the magnetic force of the wheel assembly.

[0012] Furthermore, the wheel assembly includes: a drive shaft, the drive shaft passes through the first wheel component and the second wheel component, and the second wheel component can rotate relative to the drive shaft; an axial limit structure, which is arranged on the drive shaft, and the axial limit structure is used to limit the position of the second wheel component relative to the drive shaft in the axial direction of the drive shaft. The drive shaft passes through the first wheel component and the second wheel component, ensuring the coaxiality between the two components, so that the overlapping area and magnetic force distribution between the first magnetic zone and the second magnetic zone can be accurately controlled.

[0013] Furthermore, a mounting hole is provided on the circumference of the second wheel component, the mounting hole extends radially along the second wheel component, one end of the elastic stopper is located in the mounting hole, and the other end extends out or retracts into the mounting hole. This arrangement can improve the stability of the elastic stopper during the expansion and contraction process.

[0014] According to another aspect of the present invention, a robot is provided, comprising: a chassis; the above-mentioned wheel assembly, wherein a drive shaft of the wheel assembly is rotatably disposed on the chassis; and a drive member disposed on the chassis and drivingly connected to the drive shaft.

[0015] When the technical solution of the present invention is applied, the wheel assembly is in a strong magnetic state when it is operating normally; when the robot moves forward and encounters an obstacle, the second end of the elastic stopper will first contact the obstacle, and the elastic stopper will begin to compress, thereby applying resistance to the second wheel component. Since the drive shaft continues to drive the first wheel component to rotate, the resistance of the elastic stopper will prevent the second wheel component from rotating synchronously with the first wheel component, so the second wheel component will rotate relative to the first wheel component; at this time, the overlapping area of ​​the first magnetic zone and the second magnetic zone is reduced, and the overlapping area of ​​the first magnetic zone and the second non-magnetic zone is increased, and the wheel assembly gradually enters a weak magnetic state. After climbing over the obstacle, the second end of the elastic stopper will be separated from the obstacle, and under the action of the first magnetic zone and the second magnetic zone, the second wheel component begins to rotate until the wheel assembly returns to a strong magnetic state. In the traditional technical solution, the wheel assembly of the wall-climbing robot is usually set as an electromagnetic adsorption wheel, which usually requires a complex electromagnetic control system including current regulation, electromagnet design, and related induction and feedback systems, which will increase the manufacturing cost and operating cost of the equipment. Compared with the traditional technical solution, this solution does not require additional electromagnetic control, which reduces the manufacturing cost and maintenance cost of the wheel assembly. In addition, when the wheel assembly of this solution encounters an obstacle, the magnetic force of the wheel assembly is adjusted through the mechanical action of the elastic part stopper, the first wheel component and the second wheel component, and the response speed is relatively fast. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings constituting a part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0017] Figure 1 A schematic structural diagram of a wheel assembly provided by an embodiment of the present invention is shown;

[0018] Figure 2 A schematic structural diagram of a first wheel component provided by an embodiment of the present invention is shown;

[0019] Figure 3 A schematic structural diagram of a second wheel component provided by an embodiment of the present invention is shown;

[0020] Figure 4 A schematic structural diagram of a wheel assembly provided by an embodiment of the present invention in a strong magnetic state is shown;

[0021] Figure 5 A schematic structural diagram of a wheel assembly provided by an embodiment of the present invention in a weak magnetic state is shown.

[0022] The above drawings include the following reference numerals:

[0023] 1. First wheel component; 101. First magnetic region; 102. First non-magnetic region;

[0024] 11. a first wheel body; 12. a first magnet; 13. a first magnetic shielding member;

[0025] 2. Second wheel component; 201. Second magnetic region; 202. Second non-magnetic region; 203. Mounting hole;

[0026] 21. Second wheel body; 22. Second magnet; 23. Second magnetic shielding member;

[0027] 3. Elastic stopper;

[0028] 4. Damping structure; 41. Anti-rotation hole; 42. Damping element;

[0029] 5. Drive shaft;

[0030] 6. Axial limiting structure. DETAILED DESCRIPTION

[0031] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. All other embodiments obtained by ordinary technicians in this field without creative work based on the embodiments of the present invention are within the scope of protection of the present invention.

[0032] like Figures 1 to 5As shown, an embodiment of the present invention provides a wheel assembly, which includes a first wheel component 1, a second wheel component 2 and an elastic stopper 3. The first wheel component 1 is used to be fixed on the driving shaft 5 of the wheel assembly, and one side of the first wheel component 1 has a first magnetic area 101 and a first non-magnetic area 102, and the first magnetic area 101 and the first non-magnetic area 102 are distributed along the circumference of the first wheel component 1; the second wheel component 2 is coaxial with the first wheel component 1, and the second wheel component 2 is arranged on the first side of the first wheel component 1, and the second wheel component 2 has a second magnetic area 201 and a second non-magnetic area 202 that are arranged oppositely on the side close to the first wheel component 1, and the second magnetic area 201 and the second non-magnetic area 202 are distributed along the circumference of the second wheel component 2, and the magnetism of the second magnetic area 201 and the first magnetic area 101 are opposite, and the first wheel component 1 and the second wheel component 2 are coaxial. Component 2 is magnetically coupled with the first magnetic zone 101 and the second magnetic zone 201, and the second wheel component 2 rotates relative to the first wheel component 1. The wheel assembly has a strong magnetic state and a weak magnetic state. When the wheel assembly is in the strong magnetic state, the overlapping area of ​​the first magnetic zone 101 and the second magnetic zone 201 is the largest. When the wheel assembly is in the weak magnetic state, the overlapping area of ​​the first magnetic zone 101 and the second non-magnetic zone 202 is the largest. The elastic stop portion 3 extends radially along the second wheel component 2. The elastic stop portion 3 has a first end and a second end that are relatively arranged. The first end of the elastic stop portion 3 is arranged on the second wheel component 2, and the second end of the elastic stop portion 3 protrudes outward from the circumferential surface of the second wheel component 2 or is flush with the circumferential surface of the second wheel component 2.

[0033] By applying the technical solution of the present invention, when the wheel assembly is operating normally, the wheel assembly is in a strong magnetic state; when the robot moves forward and encounters an obstacle, the second end of the elastic stopper 3 will first contact the obstacle, and the elastic stopper 3 will begin to compress, thereby applying resistance to the second wheel component 2. Since the drive shaft 5 continues to drive the first wheel component 1 to rotate, the resistance of the elastic stopper 3 will prevent the second wheel component 2 from rotating synchronously with the first wheel component 1, so the second wheel component 2 will rotate relative to the first wheel component 1; at this time, the overlapping area of ​​the first magnetic zone 101 and the second magnetic zone 201 is reduced, and the overlapping area of ​​the first magnetic zone 101 and the second non-magnetic zone 202 is increased, and the wheel assembly gradually enters a weak magnetic state. After climbing over the obstacle, the second end of the elastic stopper 3 will be separated from the obstacle, and under the action of the first magnetic zone 101 and the second magnetic zone 201, the second wheel component 2 begins to rotate until the wheel assembly returns to a strong magnetic state. In the traditional technical solution, the wheel assembly of the wall-climbing robot is usually set as an electromagnetic adsorption wheel, which usually requires a complex electromagnetic control system including current regulation, electromagnet design, and related induction and feedback systems, which will increase the manufacturing cost and operating cost of the equipment. Compared with the traditional technical solution, this solution does not require additional electromagnetic control, which reduces the manufacturing cost and maintenance cost of the wheel assembly. In addition, when the wheel assembly of this solution encounters an obstacle, the magnetic force of the wheel assembly is adjusted by the mechanical action of the elastic stopper 3, the first wheel component 1 and the second wheel component 2, and the response speed is relatively fast.

[0034] Further, the wheel assembly also includes a damping structure 4, which is arranged between the first wheel component 1 and the second wheel component 2. When the wheel assembly is in a strong magnetic state, the first wheel component 1 and the second wheel component 2 cooperate through the damping structure 4. When the wheel assembly is in a strong magnetic state, the first wheel component 1 and the second wheel component 2 cooperate closely through magnetic force, which may cause additional vibration and impact on uneven surfaces or when encountering obstacles. The damping structure 4 can effectively absorb these vibrations and impacts through its internal friction or viscous resistance, maintain the smooth operation of the wheel assembly, and improve the driving stability of the robot. In addition, the above-mentioned setting can prevent unnecessary relative rotation between the first wheel component 1 and the second wheel component 2 to a certain extent, which helps to maintain the synchronization of the wheel assembly and ensure that the robot walks stably in a predetermined direction. In addition, when encountering obstacles or needing to quickly adjust the walking direction, the wheel assembly may quickly switch from a strong magnetic state to a weak magnetic state. The damping structure 4 can suppress the speed of this conversion process through its friction or resistance, ensure that the wheel assembly is smoother when the state changes, and avoid mechanical shock or control instability that may be caused by rapid conversion of magnetic state.

[0035] Specifically, the damping structure 4 includes a rotation-stopping hole 41 and a damping member 42 that are mutually rotation-stopping; the rotation-stopping hole 41 is arranged on the side of the first wheel component 1 facing the second wheel component 2, and the damping member 42 is arranged on the side of the second wheel component 2 facing the first wheel component 1, and the damping member 42 is embedded in or out of the rotation-stopping hole 41. Such an arrangement has a simple structure and is convenient for processing the damping structure 4.

[0036] Furthermore, the anti-rotation hole 41 is a hemispherical hole, and the shape of the surface of the damping member 42 embedded in one end of the anti-rotation hole 41 is adapted to the contour of the hemispherical hole. When the wheel assembly is in a strong magnetic state, the hemispherical design enables the damping member 42 to form a close contact with the inner wall of the anti-rotation hole 41, providing a good fitting effect and damping effect. When encountering an obstacle, due to the characteristics of the hemispherical surface, the damping member 42 can be more easily removed from the anti-rotation hole 41, reducing the stagnation on the obstacle, allowing the wheel assembly to adjust its state more quickly, and improving the adaptability and response speed of the robot.

[0037] In other embodiments of the present scheme, the anti-rotation hole 41 is arranged on the side of the second wheel component 2 facing the first wheel component 1, the damping member 42 is arranged on the side of the first wheel component 1 facing the second wheel component 2, and the damping member 42 is embedded in or out of the anti-rotation hole 41.

[0038] Specifically, the first wheel component 1 includes a first wheel body 11, a plurality of first magnets 12 and a plurality of first magnetic shielding members 13. The first wheel body 11 is used to be fixed on the driving shaft 5 of the wheel assembly; the plurality of first magnets 12 and the plurality of first magnetic shielding members 13 are all arranged on one side of the first wheel body 11, and the first magnets 12 and the first magnetic shielding members 13 are alternately distributed along the circumference of the first wheel body 11, and the first magnets 12 form a first magnetic zone 101 on the side away from the first wheel body 11, and the first magnetic shielding members 13 form a first non-magnetic zone 102 on the side away from the first wheel body 11. Such an arrangement can enhance the magnetic force of the first wheel component 1 and enhance the magnetic attraction of the wheel assembly.

[0039] Furthermore, the second wheel component 2 includes a second wheel body 21, a plurality of second magnets 22 and a plurality of second magnetic shielding members 23. The second wheel body 21 is coaxial with the first wheel body 11. The plurality of second magnets 22 and the plurality of second magnetic shielding members 23 are all arranged on the side of the second wheel body 21 close to the first wheel body 11. The second magnets 22 and the second magnetic shielding members 23 are alternately distributed along the circumference of the second wheel body 21. The side of the second magnet 22 away from the second wheel body 21 forms a second magnetic zone 201, and the side of the second magnetic shielding member 23 away from the second wheel body 21 forms a second non-magnetic zone 202. Such an arrangement can enhance the magnetic force of the second wheel component 2 and enhance the magnetic attraction of the wheel assembly.

[0040] Specifically, the number and profile of the first magnet 12, the first magnetic shielding member 13, the second magnet 22 and the second magnetic shielding member 23 are the same. When the wheel assembly is in a strong magnetic state, the first magnet 12 and the second magnet 22 are arranged opposite each other, and the first magnetic shielding member 13 and the second magnetic shielding member 23 are arranged opposite each other; when the wheel assembly is in a weak magnetic state, the second wheel component 2 rotates relative to the first wheel component 1, so that the position of the second magnet 22 is no longer opposite to the first magnet 12, but the overlapping area with the first magnetic shielding member 13 or the first non-magnetic area 102 is the largest. This misalignment reduces the attraction between the magnets and reduces the magnetic attraction of the wheel assembly, making it easier to adjust the position or detach from the surface when encountering obstacles or when the adsorption force needs to be reduced.

[0041] Furthermore, the first wheel body 11 is a first magnetic conductive member, and the magnetism of the first wheel body 11 is opposite to that of the first magnet 12, and the second wheel body 21 is a second magnetic conductive member, and the magnetism of the second wheel body 21 is opposite to that of the second magnet 22. This arrangement can guide and concentrate the magnetic force of the wheel assembly, so that the magnetic field generated by the first magnet 12 and the second magnet 22 acts more concentratedly on the contact surface, thereby improving the magnetic adsorption capacity of the wheel assembly. In addition, the above arrangement helps to reduce the leakage of magnetic force. The first magnetic conductive member and the second magnetic conductive member can guide the magnetic force to a specific area instead of diffusing it to the surrounding environment, thereby maintaining the efficient use of the magnetic force of the wheel assembly.

[0042] Furthermore, the wheel assembly includes a drive shaft 5 and an axial limiting structure 6, the drive shaft 5 passes through the first wheel component 1 and the second wheel component 2, and the second wheel component 2 can rotate relative to the drive shaft 5; the axial limiting structure 6 is arranged on the drive shaft 5, and the axial limiting structure 6 is used to limit the position of the second wheel component 2 relative to the drive shaft 5 in the axial direction of the drive shaft 5. The axial limiting structure 6 limits the position of the second wheel component 2 in the axial direction of the drive shaft 5, and effectively prevents the axial displacement of the wheel assembly caused by external force during operation. This improves the stability and reliability of the wheel assembly in complex environments and reduces maintenance problems caused by unstable mechanical structures. In addition, the drive shaft 5 passes through the first wheel component 1 and the second wheel component 2, ensuring the coaxiality between the two components, so that the overlapping area and magnetic force distribution between the first magnetic zone 101 and the second magnetic zone 201 can be accurately controlled.

[0043] In the embodiment of the present solution, the axial limiting structure 6 is a stop nut. The stop nut is provided with a simple structure and is convenient for assembling the wheel assembly.

[0044] In the embodiment of this solution, a mounting hole 203 is provided on the circumferential surface of the second wheel component 2, and the mounting hole 203 extends along the radial direction of the second wheel component 2. One end of the elastic stopper 3 is located in the mounting hole 203, and the other end extends out or retracts into the mounting hole 203. Such a configuration can improve the stability of the elastic stopper 3 during the expansion and contraction process.

[0045] Specifically, the first magnet 12 is a fan-shaped structure. The plurality of first magnets 12 and the plurality of first magnetic shielding members 13 form a first circular plate-like structure. The plurality of second magnets 22 and the plurality of second magnetic shielding members 23 form a second circular plate-like structure. The first circular plate-like structure and the second circular plate-like structure are coaxial and have the same diameter.

[0046] Furthermore, the mounting hole 203 is arranged on the outer peripheral surface of the second magnet 22 or the second magnetic shielding member 23, and the diameter of the first wheel body 11 is larger than the diameter of the first circular plate-like structure. The diameter of the second wheel body 21 is larger than the diameter of the second circular plate-like structure. The diameter of the first wheel body 11 is the same as the diameter of the second wheel body 21. Such an arrangement can reduce the possibility of the first circular plate-like structure and the second circular plate-like structure contacting the walking surface, and when the elastic stopper 3 contacts the walking surface, it is not necessary to fully embed into the mounting hole 203.

[0047] In the embodiment of the present solution, a plurality of elastic stop portions 3 are provided, and the plurality of elastic stop portions 3 are distributed at intervals along the circumference of the second circular plate-like structure.

[0048] The embodiment of the present invention further provides a robot, which includes a chassis, the above-mentioned wheel assembly and a driving member, wherein the driving shaft 5 of the wheel assembly is rotatably disposed on the chassis; the driving member is disposed on the chassis and is drivingly connected to the driving shaft 5.

[0049] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0050] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps set forth in these embodiments do not limit the scope of the present invention. Meanwhile, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to actual proportional relationships. The technology, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be considered as a part of the specification. In all examples shown and discussed here, any specific value should be interpreted as being only exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, and therefore, once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0051] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the devices or elements referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention. The directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0052] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0053] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only to facilitate the distinction between corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0054] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A wheel assembly, characterized in that: include: A first wheel component (1) is used to be fixed on a driving shaft (5) of the wheel assembly, one side of the first wheel component (1) having a first magnetic region (101) and a first non-magnetic region (102), the first magnetic region (101) and the first non-magnetic region (102) being distributed along the circumference of the first wheel component (1); A second wheel component (2) is coaxial with the first wheel component (1), the second wheel component (2) is arranged on a first side of the first wheel component (1), a side of the second wheel component (2) close to the first wheel component (1) has a second magnetic region (201) and a second non-magnetic region (202) arranged opposite to each other, the second magnetic region (201) and the second non-magnetic region (202) are distributed along the circumference of the second wheel component (2), the second magnetic region (201) and the first magnetic region (101) have opposite magnetism, and the first wheel component (1) has a second magnetic region (201) and a second non-magnetic region (202) arranged opposite to each other. The first magnetic region (101) and the second wheel region (2) are magnetically coupled to each other through the first magnetic region (101) and the second magnetic region (201); the second wheel region (2) rotates relative to the first wheel region (1); the wheel component has a strong magnetic state and a weak magnetic state; when the wheel component is in the strong magnetic state, the overlapping area of ​​the first magnetic region (101) and the second magnetic region (201) is the largest; when the wheel component is in the weak magnetic state, the overlapping area of ​​the first magnetic region (101) and the second non-magnetic region (202) is the largest; An elastic stop portion (3) extends radially along the second wheel component (2), the elastic stop portion (3) having a first end and a second end arranged opposite to each other, the first end of the elastic stop portion (3) being arranged on the second wheel component (2), and the second end of the elastic stop portion (3) protruding outwardly from the circumferential surface of the second wheel component (2) or being flush with the circumferential surface of the second wheel component (2).

2. The wheel assembly according to claim 1, characterized in that: The wheel assembly further comprises: A damping structure (4) is arranged between the first wheel component (1) and the second wheel component (2); when the wheel assembly is in the strong magnetic state, the first wheel component (1) and the second wheel component (2) cooperate through the damping structure (4).

3. The wheel assembly according to claim 2, characterized in that: The damping structure (4) comprises a rotation-stopping hole (41) and a damping member (42) which are mutually rotation-stoppingly matched; The anti-rotation hole (41) is arranged on the side of the first wheel component (1) facing the second wheel component (2), the damping member (42) is arranged on the side of the second wheel component (2) facing the first wheel component (1), and the damping member (42) is embedded in or out of the anti-rotation hole (41); or, the anti-rotation hole (41) is arranged on the side of the second wheel component (2) facing the first wheel component (1), the damping member (42) is arranged on the side of the first wheel component (1) facing the second wheel component (2), and the damping member (42) is embedded in or out of the anti-rotation hole (41).

4. The wheel assembly according to claim 1, characterized in that: The first wheel component (1) comprises: A first wheel body (11) used for being fixed on a driving shaft (5) of the wheel assembly; A plurality of first magnets (12) and a plurality of first magnetic shielding members (13) are arranged on one side of the first wheel body (11); the first magnets (12) and the first magnetic shielding members (13) are alternately distributed along the circumference of the first wheel body (11); a side of the first magnets (12) away from the first wheel body (11) forms the first magnetic region (101); a side of the first magnetic shielding members (13) away from the first wheel body (11) forms the first non-magnetic region (102).

5. The wheel assembly according to claim 4, characterized in that: The second wheel component (2) comprises: A second wheel body (21) coaxial with the first wheel body (11); A plurality of second magnets (22) and a plurality of second magnetic shielding members (23) are arranged on a side of the second wheel body (21) close to the first wheel body (11); the second magnets (22) and the second magnetic shielding members (23) are alternately distributed along the circumference of the second wheel body (21); a side of the second magnets (22) away from the second wheel body (21) forms the second magnetic zone (201); a side of the second magnetic shielding members (23) away from the second wheel body (21) forms the second non-magnetic zone (202).

6. The wheel assembly according to claim 5, characterized in that: The number and profile of the first magnet (12), the first magnetic shielding member (13), the second magnet (22) and the second magnetic shielding member (23) are all the same.

7. The wheel assembly according to claim 5, characterized in that: The first wheel body (11) is a first magnetic conductive member, the magnetism of the first wheel body (11) is opposite to the magnetism of the first magnet (12), and the second wheel body (21) is a second magnetic conductive member, the magnetism of the second wheel body (21) is opposite to the magnetism of the second magnet (22).

8. The wheel assembly according to claim 1, characterized in that: The wheel assembly comprises: a drive shaft (5), the drive shaft (5) passing through the first wheel component (1) and the second wheel component (2), the second wheel component (2) being rotatable relative to the drive shaft (5); An axial limiting structure (6) is arranged on the drive shaft (5), and the axial limiting structure (6) is used to limit the position of the second wheel component (2) relative to the drive shaft (5) in the axial direction of the drive shaft (5).

9. The wheel assembly according to claim 1, characterized in that: A mounting hole (203) is provided on the circumferential surface of the second wheel component (2), the mounting hole (203) extending radially of the second wheel component (2), one end of the elastic stop portion (3) being located in the mounting hole (203) and the other end extending out or retracting into the mounting hole (203).

10. A robot, characterized in that: include: Chassis; The wheel assembly according to any one of claims 1 to 9, wherein the drive shaft (5) of the wheel assembly is rotatably arranged on the chassis; A driving member is arranged on the chassis and is drivingly connected to the driving shaft (5).

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