Wheel assembly and robot having it

Abstract

This invention provides a wheel assembly and a robot having the same, including a first wheel component fixed to a drive shaft, the first wheel component having a first magnetic region and a first non-magnetic region on one side; a second wheel component, coaxial with the first wheel component and disposed on a first side of the first wheel component, the second wheel component having a second non-magnetic region and a second magnetic region with magnetic properties opposite to the first magnetic region on the side closer to the first wheel component, the first wheel component and the second wheel component are magnetically attracted to each other, the second wheel component rotates relative to the first wheel component, the first magnetic region and the second magnetic region overlap the largest area when in a strong magnetic state, the first magnetic region and the second non-magnetic region overlap the largest area when in a weak magnetic state; and an elastic stop portion extending radially along the second wheel component, one end of the elastic stop portion being disposed on the second wheel component, and the other end protruding outward from the circumferential surface of the second wheel component or flush with the circumferential surface of the second wheel component.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically, to a wheel assembly and a robot having the same. Background Technology

[0002] With the rapid development of technology, wall-climbing robot technology has shown great application potential in many industries, especially in environments that are dangerous or difficult for humans to access. Magnetic adsorption wall-climbing robots, as efficient working tools in unstructured environments, have become the first choice for performing 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 workers.

[0003] Magnetic wall-climbing robots often face limitations in complex environments, especially when encountering obstacles on walls such as protrusions, depressions, and sharp edges. To improve their operational efficiency and applicability in complex environments, the wheel assembly is typically made of electromagnetic adsorption wheels; however, this method is costly. Summary of the Invention

[0004] This invention provides a wheel assembly and a robot having the same, to solve the problem that the wheel assembly of existing wall-climbing robots is set 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 for fixing to a drive shaft of the wheel assembly, the first wheel component having a first magnetic region and a first non-magnetic region on one side, the first magnetic region and the first non-magnetic region being distributed circumferentially along the first wheel component; and a second wheel component coaxial with the first wheel component, the second wheel component being disposed on a first side of the first wheel component, the second wheel component having a second magnetic region and a second non-magnetic region disposed opposite to each other on the side of the second wheel component closer to the first wheel component, the second magnetic region and the second non-magnetic region being distributed circumferentially along the second wheel component, the second magnetic region and the first magnetic region having opposite magnetic properties, the first wheel component and... The second wheel assembly is magnetically attracted to the first and second magnetic regions, allowing it to rotate relative to the first wheel assembly. The wheel assembly has strong and weak magnetic states. When the wheel assembly is in a strong magnetic state, the overlapping area of ​​the first and second magnetic regions is the largest. When the wheel assembly is in a weak magnetic state, the overlapping area of ​​the first magnetic region and the second non-magnetic region is the largest. An elastic stop extends radially along the second wheel assembly and has a first end and a second end that are oppositely disposed. The first end of the elastic stop is disposed on the second wheel assembly, and the second end of the elastic stop protrudes outward from the circumference of the second wheel assembly or is flush with the circumference of the second wheel assembly.

[0006] Furthermore, the wheel assembly also includes a damping structure disposed 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. This arrangement can, to a certain extent, prevent unnecessary relative rotation between the first wheel component and the second wheel component, which helps maintain the synchronization of the wheel assembly and ensures that the robot walks stably in the predetermined direction. In addition, when encountering obstacles or needing to quickly adjust its walking direction, the wheel assembly may rapidly transition from a strong magnetic state to a weak magnetic state. The damping structure can suppress the speed of this transition process through its friction or resistance, ensuring a smoother transition of the wheel assembly and avoiding mechanical shocks or control instability that may occur due to rapid changes in magnetic state.

[0007] Furthermore, the damping structure includes an anti-rotation hole and a damping element that mutually prevent rotation; the anti-rotation hole is located on the side of the first wheel component facing the second wheel component, and the damping element is located on the side of the second wheel component facing the first wheel component, with the damping element embedded in or disengaged from the anti-rotation hole; alternatively, the anti-rotation hole is located on the side of the second wheel component facing the first wheel component, and the damping element is located on the side of the first wheel component facing the second wheel component, with the damping element embedded in or disengaged from the anti-rotation hole. This configuration results in a simple structure and facilitates the fabrication of the damping structure.

[0008] Furthermore, the first wheel component includes: a first wheel body for fixing to the drive shaft of the wheel assembly; a plurality of first magnets and a plurality of first magnetic shielding components, all disposed on one side of the first wheel body, the first magnets and first magnetic shielding components being alternately distributed circumferentially along the first wheel body, the side of the first magnets away from the first wheel body forming a first magnetic force region, and the side of the first magnetic shielding components away from the first wheel body forming a first non-magnetic force region. This arrangement enhances the magnetic force of the first wheel component and improves 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 components, all disposed on the side of the second wheel body closer to the first wheel body. The second magnets and second magnetic shielding components are alternately distributed along the circumference of the second wheel body. The side of the second magnets away from the second wheel body forms a second magnetic field region, and the side of the second magnetic shielding components away from the second wheel body forms a second non-magnetic field region. This arrangement can enhance the magnetic force of the second wheel component and improve the magnetic attraction of the wheel assembly.

[0010] Furthermore, the number and outline of the first magnet, the first magnetic shield, the second magnet, and the second magnetic shield are all identical. 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 magnetically conductive component, and its magnetism is opposite to that of the first magnet. The second wheel body is a second magnetically conductive component, and its magnetism is opposite to that of the second magnet. This arrangement guides and concentrates the magnetic force of the wheel assembly, allowing the magnetic fields generated by the first and second magnets to act more concentratedly on the contact surface, thus enhancing the magnetic attraction capability of the wheel assembly. Moreover, this arrangement helps reduce magnetic leakage, as the first and second magnetically conductive components can guide the magnetic force to a specific area instead of diffusing into the surrounding environment, thereby maintaining efficient utilization of the wheel assembly's magnetic force.

[0012] Furthermore, the wheel assembly includes: a drive shaft passing through a first wheel component and a second wheel component, the second wheel component being rotatable relative to the drive shaft; and an axial limiting structure disposed on the drive shaft, the axial limiting structure being 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 passing through the first wheel component and the second wheel component ensures coaxiality between the two components, allowing for precise control of the overlap area and magnetic force distribution between the first magnetic region and the second magnetic region.

[0013] Furthermore, the second wheel component has a mounting hole on its circumferential surface, which extends radially along the second wheel component. One end of the elastic stop is located inside the mounting hole, while the other end extends out of or retracts into the mounting hole. This arrangement improves the stability of the elastic stop during its extension and retraction.

[0014] According to another aspect of the present invention, a robot is provided, comprising: a chassis; the aforementioned wheel assembly, wherein the 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] Applying the technical solution of this invention, when the wheel assembly is operating normally, it is in a strong magnetic state. When the robot moves forward and encounters an obstacle, the second end of the elastic stop will first contact the obstacle, and the elastic stop 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, and the resistance of the elastic stop will prevent the second wheel component from rotating synchronously with the first wheel component, the second wheel component will rotate relative to the first wheel component. At this time, the overlapping area of ​​the first magnetic region and the second magnetic region decreases, and the overlapping area of ​​the first magnetic region and the second non-magnetic region increases, and the wheel assembly gradually enters a weak magnetic state. After overcoming the obstacle, the second end of the elastic stop will detach from the obstacle, and under the action of the first magnetic region and the second magnetic region, the second wheel component begins to rotate until the wheel assembly returns to the strong magnetic state. In conventional technical solutions, the wheel assembly of wall-climbing robots is usually set as an electromagnetic adsorption wheel. Electromagnetic adsorption wheels usually require a complex electromagnetic control system, including current regulation, electromagnet design, and related sensing and feedback systems, which will increase the manufacturing and operating costs of the equipment. Compared to traditional solutions, this solution eliminates the need for additional electromagnetic control, reducing manufacturing and maintenance costs for the wheel assembly. Furthermore, when the wheel assembly encounters an obstacle, the magnetic force is adjusted through the mechanical action of the elastic stop, the first wheel component, and the second wheel component, resulting in a faster response time. Attached Figure Description

[0016] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

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

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

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

[0020] Figure 4 This diagram illustrates the structure of the wheel assembly provided in an embodiment of the present invention under a strong magnetic state.

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

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

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

[0024] 11. First wheel body; 12. First magnet; 13. First magnetic shielding component;

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

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

[0027] 3. Elastic stop section;

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

[0029] 5. Drive shaft;

[0030] 6. Axial limiting structure. Detailed Implementation

[0031] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0032] like Figures 1 to 5As shown, this embodiment of the invention provides a wheel assembly, which includes a first wheel component 1, a second wheel component 2, and an elastic stop 3. The first wheel component 1 is fixed to the drive shaft 5 of the wheel assembly. One side of the first wheel component 1 has a first magnetic region 101 and a first non-magnetic region 102, which are distributed circumferentially along the first wheel component 1. The second wheel component 2 is coaxial with the first wheel component 1 and is disposed on a first side of the first wheel component 1. The side of the second wheel component 2 closest to the first wheel component 1 has a second magnetic region 201 and a second non-magnetic region 202 disposed opposite to each other. The second magnetic region 201 and the second non-magnetic region 202 are distributed circumferentially along the second wheel component 2. The magnetic properties of the second magnetic region 201 and the first magnetic region 101 are opposite. The first wheel component 1 and the second wheel component 2... Component 2 is magnetically attracted to the first magnetic region 101 and the second magnetic region 201. 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 a strong magnetic state, the overlapping area of ​​the first magnetic region 101 and the second magnetic region 201 is the largest. When the wheel assembly is in a weak magnetic state, the overlapping area of ​​the first magnetic region 101 and the second non-magnetic region 202 is the largest. The elastic stop part 3 extends radially along the second wheel component 2. The elastic stop part 3 has a first end and a second end that are disposed opposite to each other. The first end of the elastic stop part 3 is disposed on the second wheel component 2, and the second end of the elastic stop part 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] Applying the technical solution of this invention, when the wheel assembly is operating normally, it is in a strong magnetic state. When the robot moves forward and encounters an obstacle, the second end of the elastic stop 3 will first contact the obstacle, and the elastic stop 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 stop 3 will prevent the second wheel component 2 from rotating synchronously with the first wheel component 1. Therefore, the second wheel component 2 will rotate relative to the first wheel component 1. At this time, the overlapping area of ​​the first magnetic region 101 and the second magnetic region 201 decreases, and the overlapping area of ​​the first magnetic region 101 and the second non-magnetic region 202 increases, and the wheel assembly gradually enters a weak magnetic state. After overcoming the obstacle, the second end of the elastic stop 3 will detach from the obstacle, and under the action of the first magnetic region 101 and the second magnetic region 201, the second wheel component 2 begins to rotate until the wheel assembly returns to the strong magnetic state. In traditional solutions, the wheel assembly of a wall-climbing robot is typically an electromagnetic adsorption wheel. These wheels usually require a complex electromagnetic control system, including current regulation, electromagnet design, and related sensing and feedback systems, all of which increase manufacturing and operating costs. Compared to traditional solutions, this solution eliminates the need for additional electromagnetic control, reducing the manufacturing and maintenance costs of the wheel assembly. Furthermore, when the wheel assembly encounters an obstacle, the magnetic force of the wheel assembly is adjusted through the mechanical action of the elastic stop 3, the first wheel component 1, and the second wheel component 2, resulting in a faster response time.

[0034] Furthermore, the wheel assembly also includes a damping structure 4, which is disposed 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 are engaged 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 are tightly engaged by magnetic force, which may generate additional vibrations and impacts when encountering uneven surfaces or obstacles. The damping structure 4, through its internal friction or viscous resistance, can effectively absorb these vibrations and impacts, maintaining the smooth operation of the wheel assembly and improving the robot's driving stability. Moreover, the above arrangement can, to a certain extent, prevent unnecessary relative rotation between the first wheel component 1 and the second wheel component 2, which helps maintain the synchronization of the wheel assembly and ensures that the robot walks stably in the predetermined direction. In addition, when encountering obstacles or needing to quickly adjust the walking direction, the wheel assembly may rapidly transition from a strong magnetic state to a weak magnetic state. The damping structure 4, through its friction or resistance, can suppress the speed of this transition process, ensuring a smoother transition of the wheel assembly during state changes and avoiding mechanical shocks or control instability that may occur due to rapid transitions in magnetic state.

[0035] Specifically, the damping structure 4 includes an anti-rotation hole 41 and a damping element 42 that mutually prevent rotation. The anti-rotation hole 41 is located on the side of the first wheel component 1 facing the second wheel component 2, and the damping element 42 is located on the side of the second wheel component 2 facing the first wheel component 1. The damping element 42 is inserted into or removed from the anti-rotation hole 41. This configuration results in a simple structure and facilitates the processing of the damping structure 4.

[0036] Furthermore, the anti-rotation hole 41 is a hemispherical hole, and the shape of the surface of the damping element 42 embedded in one end of the anti-rotation hole 41 matches the contour of the hemispherical hole. When the wheel assembly is in a strong magnetic state, the hemispherical design allows the damping element 42 to form a tight contact with the inner wall of the anti-rotation hole 41, providing a good fit and damping effect. When encountering an obstacle, due to the characteristics of the hemispherical surface, the damping element 42 can more easily disengage from the anti-rotation hole 41, reducing jamming on obstacles, allowing the wheel assembly to adjust its state more quickly, and improving the robot's adaptability and response speed.

[0037] In some other embodiments of this solution, the anti-rotation hole 41 is provided on the side of the second wheel component 2 facing the first wheel component 1, and the damping member 42 is provided on the side of the first wheel component 1 facing the second wheel component 2. The damping member 42 is inserted into or removed from 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 components 13. The first wheel body 11 is used to fix itself to the drive shaft 5 of the wheel assembly; the plurality of first magnets 12 and the plurality of first magnetic shielding components 13 are all disposed on one side of the first wheel body 11, and the first magnets 12 and the first magnetic shielding components 13 are alternately distributed along the circumference of the first wheel body 11. The side of the first magnets 12 away from the first wheel body 11 forms a first magnetic force area 101, and the side of the first magnetic shielding components 13 away from the first wheel body 11 forms a first non-magnetic force area 102. This arrangement can enhance the magnetic force of the first wheel component 1 and improve the magnetic attraction force 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 components 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 components 23 are all disposed on the side of the second wheel body 21 closest to the first wheel body 11. The second magnets 22 and the second magnetic shielding components 23 are alternately distributed along the circumference of the second wheel body 21. The side of the second magnets 22 away from the second wheel body 21 forms a second magnetic field region 201, and the side of the second magnetic shielding components 23 away from the second wheel body 21 forms a second non-magnetic field region 202. This arrangement can enhance the magnetic force of the second wheel component 2 and improve the magnetic attraction of the wheel assembly.

[0040] Specifically, the number and outline of the first magnet 12, the first magnetic shielding component 13, the second magnet 22, and the second magnetic shielding component 23 are all the same. When the wheel assembly is in a strong magnetic state, the first magnet 12 and the second magnet 22 are positioned opposite each other, as are the first magnetic shielding component 13 and the second magnetic shielding component 23. 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 directly opposite the first magnet 12, but rather overlaps with the first magnetic shielding component 13 or the first non-magnetic area 102 to the maximum extent. This misalignment reduces the attraction between the magnets, lowers the magnetic attraction of the wheel assembly, and makes it easier to adjust its position or detach from the surface when encountering obstacles or in scenarios where the attraction force needs to be reduced.

[0041] Furthermore, the first wheel body 11 is a first magnetic conductor, and its magnetism is opposite to that of the first magnet 12. The second wheel body 21 is a second magnetic conductor, and its magnetism is opposite to that of the second magnet 22. This arrangement guides and concentrates the magnetic force of the wheel assembly, allowing the magnetic fields generated by the first magnet 12 and the second magnet 22 to act more concentratedly on the contact surface, thus enhancing the magnetic attraction capability of the wheel assembly. Moreover, this arrangement helps reduce magnetic leakage, as the first and second magnetic conductors can guide the magnetic force to a specific area instead of diffusing into the surrounding environment, thereby maintaining efficient utilization of the wheel assembly's magnetic force.

[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 is rotatable relative to the drive shaft 5. The axial limiting structure 6 is disposed on the drive shaft 5 and 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 restricts the position of the second wheel component 2 in the axial direction of the drive shaft 5, effectively preventing axial displacement of the wheel assembly due to external forces during operation. This improves the stability and reliability of the wheel assembly in complex environments and reduces maintenance problems caused by mechanical instability. Moreover, the drive shaft 5 passing through the first wheel component 1 and the second wheel component 2 ensures the coaxiality between the two components, allowing precise control of the overlap area and magnetic force distribution between the first magnetic region 101 and the second magnetic region 201.

[0043] In this embodiment, the axial limiting structure 6 is a stop nut. The stop nut has a simple structure and facilitates the assembly of the wheel assembly.

[0044] In this embodiment, the second wheel component 2 has a mounting hole 203 on its circumferential surface. The mounting hole 203 extends radially along the second wheel component 2. One end of the elastic stop part 3 is located inside the mounting hole 203, and the other end extends out of or retracts into the mounting hole 203. This arrangement can improve the stability of the elastic stop part 3 during its extension and retraction.

[0045] Specifically, the first magnet 12 has a fan-shaped structure. Multiple first magnets 12 and multiple first magnetic shielding elements 13 form a first circular plate structure. Multiple second magnets 22 and multiple second magnetic shielding elements 23 form a second circular plate structure. The first and second circular plate structures are coaxial and have the same diameter.

[0046] Furthermore, the mounting hole 203 is provided 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 structure. The diameter of the second wheel body 21 is larger than the diameter of the second circular plate structure. The diameters of the first wheel body 11 and the second wheel body 21 are the same. This arrangement reduces the possibility of the first and second circular plate structures contacting the running surface, and when the elastic stop 3 contacts the running surface, it does not need to be fully embedded in the mounting hole 203.

[0047] In this embodiment, multiple elastic stop portions 3 are provided, and the multiple elastic stop portions 3 are distributed at intervals along the circumference of the second circular plate structure.

[0048] This invention also provides a robot, which includes a chassis, the aforementioned wheel assembly and drive unit, wherein the drive shaft 5 of the wheel assembly is rotatably mounted on the chassis; the drive unit is mounted on the chassis and is drivenly connected to the drive shaft 5.

[0049] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0050] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of the invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as exemplary only and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

[0051] In the description of this invention, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is generally based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this invention and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this invention; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

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

[0053] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this invention.

[0054] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A wheel assembly, characterized in that, include: A first wheel component (1) is used to be fixed on the drive shaft (5) of the wheel assembly. The first wheel component (1) has a first magnetic region (101) and a first non-magnetic region (102) on one axial side. The first magnetic region (101) and the first non-magnetic region (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). The second wheel component (2) is disposed on the first axial side of the first wheel component (1). The second wheel component (2) has a second magnetic region (201) and a second non-magnetic region (202) disposed opposite to each other on the side of the second wheel component (1) near the first wheel component (1). The second magnetic region (201) and the second non-magnetic region (202) are distributed circumferentially along the second wheel component (2). The magnetic properties of the second magnetic region (201) and the first magnetic region (101) are opposite. The component (1) and the second wheel component (2) are magnetically attracted to each other through the first magnetic region (101) and the second magnetic region (201). 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 region (101) and the second magnetic region (201) is the largest. When the wheel assembly 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. The elastic stop (3) extends radially along the second wheel component (2). The elastic stop (3) has a first end and a second end disposed opposite to each other. The first end of the elastic stop (3) is disposed on the second wheel component (2), and the second end of the elastic stop (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). The wheel assembly further includes a damping structure (4) disposed 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). The damping structure (4) includes an anti-rotation hole (41) and a damping element (42) that are mutually anti-rotation engaged; the anti-rotation hole (41) is disposed on the side of the first wheel component (1) facing the second wheel component (2), and the damping element (42) is disposed on the side of the second wheel component (2) facing the first wheel component (1), and the damping element (42) is inserted into or removed from the anti-rotation hole (41); or, the anti-rotation hole (41) is disposed on the side of the second wheel component (2) facing the first wheel component (1), and the damping element (42) is disposed on the side of the first wheel component (1) facing the second wheel component (2), and the damping element (42) is inserted into or removed from the anti-rotation hole (41).

2. The wheel assembly according to claim 1, characterized in that, The first wheel component (1) includes: The first wheel body (11) is used to fix the wheel assembly to the drive shaft (5); Multiple first magnets (12) and multiple first magnetic shielding components (13) are disposed on one side of the first wheel body (11). The first magnets (12) and the first magnetic shielding components (13) are alternately distributed along the circumference of the first wheel body (11). The side of the first magnet (12) away from the first wheel body (11) forms the first magnetic area (101), and the side of the first magnetic shielding component (13) away from the first wheel body (11) forms the first non-magnetic area (102).

3. The wheel assembly according to claim 2, characterized in that, The second wheel component (2) includes: The second wheel body (21) is coaxial with the first wheel body (11); Multiple second magnets (22) and multiple second magnetic shielding components (23) are disposed 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 components (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 the second magnetic area (201), and the side of the second magnetic shielding component (23) away from the second wheel body (21) forms the second non-magnetic area (202).

4. The wheel assembly according to claim 3, characterized in that, The number and outline of the first magnet (12), the first magnetic shield (13), the second magnet (22) and the second magnetic shield (23) are all the same.

5. The wheel assembly according to claim 3, characterized in that, The first wheel body (11) is a first magnetic conductor, and the magnetism of the first wheel body (11) is opposite to that of the first magnet (12). The second wheel body (21) is a second magnetic conductor, and the magnetism of the second wheel body (21) is opposite to that of the second magnet (22).

6. The wheel assembly according to claim 1, characterized in that, The wheel assembly includes: A drive shaft (5) passes through the first wheel component (1) and the second wheel component (2), and the second wheel component (2) is rotatable relative to the drive shaft (5); An axial limiting structure (6) is provided on the drive shaft (5) 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).

7. The wheel assembly according to claim 1, characterized in that, The second wheel component (2) has a mounting hole (203) on its circumferential surface. The mounting hole (203) extends radially along the second wheel component (2). One end of the elastic stop (3) is located in the mounting hole (203), and the other end extends out or retracts into the mounting hole (203).

8. A robot, characterized in that, include: Chassis; The wheel assembly according to any one of claims 1 to 7, wherein the drive shaft (5) of the wheel assembly is rotatably mounted on the chassis; A drive unit is mounted on the chassis and drivenly connected to the drive shaft (5).

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