Magnetic wheel and robot

Abstract

The utility model relates to a magnetic wheel and a robot. The magnetic wheel comprises a first magnetic piece, a second magnetic piece and a third magnetic piece; the first magnetic piece and the third magnetic piece are arranged on the two sides of the second magnetic piece in a spaced mode. The magnetic direction of the second magnetic piece extends outwards along the radius direction of the second magnetic piece; the magnetic direction of the first magnetic part extends in the first direction, the magnetic direction of the second magnetic part extends in the second direction, the first direction is opposite to the second direction, and the first direction and the second direction are both perpendicular to the magnetic direction of the second magnetic part. The magnetic wheel can improve the magnetic attraction force of the magnetic wheel of the robot.

Description

Technical Field

[0001] The utility model relates to the field of robots, in particular to a magnetic wheel and a robot. Background Art

[0002] A wall-climbing robot is a robot that can move on a vertical or inclined surface, including wheeled wall-climbing robots. Wheeled wall-climbing robots are fixed to the wall by the magnetic attraction force generated by the magnetic attraction material on the wheels. The magnetic attraction force of the magnetic wheels of robots in current related technologies is relatively poor, posing a safety hazard. Utility Model Content

[0003] In view of this, the utility model provides a magnetic wheel and a robot, wherein the magnetic wheel can enhance the magnetic attraction of the magnetic wheel.

[0004] The utility model provides the following technical solutions:

[0005] A magnetic wheel comprises: a first magnetic member, a second magnetic member, and a third magnetic member;

[0006] The first magnetic component and the third magnetic component are arranged at intervals on both sides of the second magnetic component; the magnetic direction of the second magnetic component points to the center of the second magnetic component along the outer periphery of the second magnetic component or points to the outer periphery of the second magnetic component along the center of the second magnetic component; the magnetic direction of the first magnetic component extends along the first direction, and the magnetic direction of the second magnetic component extends along the second direction, the first direction is opposite to the second direction, and the first direction and the second direction are both perpendicular to the magnetic direction of the second magnetic component.

[0007] Furthermore, the magnetic wheel further comprises: a fourth magnetic member and a fifth magnetic member, the fourth magnetic member is arranged on a side of the third magnetic member away from the first magnetic member, the fifth magnetic member is arranged on a side of the first magnetic member away from the third magnetic member, and the magnetic directions of the fourth magnetic member and the fifth magnetic member are the same;

[0008] The magnetic directions of the fourth magnetic component and the fifth magnetic component are opposite to the magnetic direction of the second magnetic component.

[0009] Furthermore, the orthographic projections of the first magnetic component, the second magnetic component, the third magnetic component, the fourth magnetic component, and the fifth magnetic component along the first direction are circular;

[0010] The first magnetic component, the second magnetic component, the third magnetic component, the fourth magnetic component, and the fifth magnetic component are all provided with hollow parts that are interconnected.

[0011] Furthermore, the magnetic wheel further comprises: a connecting member;

[0012] The connecting member covers the outside of the first magnetic member, the second magnetic member, the third magnetic member, the fourth magnetic member, and the fifth magnetic member.

[0013] Further, the connecting member includes a first connecting portion, a second connecting portion, a limiting portion and a covering portion;

[0014] The limiting parts are arranged on opposite sides of the first connecting part and the second connecting part, the covering part is connected to the second connecting part, and the covering part is arranged around the outer circumference of the first connecting part and / or the second connecting part;

[0015] The first connection part and the second connection part are both arranged in the hollow part, and the first magnetic component, the second magnetic component, the third magnetic component, the fourth magnetic component and the fifth magnetic component cover the periphery of the first connection part and the second connection part.

[0016] Furthermore, the lengths of the first connecting portion and the second connecting portion are greater than the sum of the lengths of the first magnetic component, the second magnetic component, the third magnetic component, the fourth magnetic component, and the fifth magnetic component along the first direction; and the diameters of the first connecting portion and the second connecting portion are both greater than the diameter of the first magnetic component.

[0017] Further, the limiting portion includes a first cover plate and a second cover plate;

[0018] The first cover plate is connected to the first connection portion, the second cover plate is connected to the second connection portion, the first cover plate is adjacent to the fifth magnetic member, and the second cover plate is adjacent to the fourth magnetic member.

[0019] Furthermore, the first cover plate further includes a plurality of positioning members;

[0020] The first cover plate has a first surface facing the fifth magnetic member, the fifth magnetic member has a second surface facing the first cover plate, the positioning member array is arranged on the first surface, and the plurality of positioning members protrude from the first cover plate in a direction close to the second surface.

[0021] Furthermore, the first cover plate is further provided with at least two through holes and a connecting hole, and the connecting hole and the through hole both penetrate the first cover plate, the connecting portion, and the second cover plate along a first direction.

[0022] The utility model also provides a robot, comprising:

[0023] The main body and the magnetic wheel.

[0024] The magnetic wheel is composed of three magnetic parts with different magnetic directions. Specifically, the first magnetic part and the third magnetic part are respectively arranged on the left and right sides of the second magnetic part, wherein the magnetic direction of the second magnetic part is inward along its radius, the magnetic direction of the first magnetic part extends in a direction close to the second magnetic part, and the magnetic direction of the third magnetic part extends toward the second magnetic part in a direction opposite to the first magnetic part. In this way, the magnetic wheel forms a Halbach array, which enhances the magnetic attraction of the magnetic wheel, thereby achieving the purpose of enhancing the magnetic force of the magnetic wheel. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solution of the embodiments of the utility model, the drawings required for use in the implementation mode will be briefly introduced below. Obviously, the drawings described below are some implementation modes of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0026] Figure 1 One of the structural schematic diagrams of the magnetic wheel provided in the embodiment of the utility model;

[0027] Figure 2 The second structural schematic diagram of the magnetic wheel provided in the embodiment of the utility model;

[0028] Figure 3 A structural schematic diagram of a magnetic wheel from another perspective provided by an embodiment of the utility model;

[0029] Figure 4 A schematic diagram of the overall structure of the magnetic wheel provided in an embodiment of the utility model;

[0030] Figure 5 An exploded view of the overall structure of the magnetic wheel provided in an embodiment of the utility model;

[0031] Figure 6 A cross-sectional view of the overall structure of the magnetic wheel provided in an embodiment of the utility model;

[0032] Figure 7 The third structural schematic diagram of the magnetic wheel provided in the embodiment of the utility model;

[0033] Figure 8 A schematic diagram of the structure of a robot provided in an embodiment of the utility model.

[0034] Description of reference numerals:

[0035] 100-magnetic wheel; 10-first magnetic part; 11-hollow part; 20-second magnetic part; 30-third magnetic part; 40-fourth magnetic part; 50-fifth magnetic part; 51-second surface; 60-connecting part; 61-first connecting part; 62-second connecting part; 63-limiting part; 64-covering part; 65-first cover plate; 651-first surface; 652-through hole; 653-connecting hole; 66-second cover plate; 70-positioning part; 200-robot; 210-main body. DETAILED DESCRIPTION

[0036] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0037] The terms "first", "second", etc. in the specification and claims of the present utility model and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices.

[0038] Reference to "embodiment" or "implementation method" herein means that the specific features, structures or characteristics described in conjunction with the embodiment or implementation method may be included in at least one embodiment of the utility model. The appearance of the phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0039] A wall-climbing robot is a robot that can move on a vertical or inclined surface, including wheeled wall-climbing robots. Wheeled wall-climbing robots are fixed to the wall by the magnetic attraction force generated by the magnetic attraction material on the wheels. The magnetic attraction force of the magnetic wheels of robots in current related technologies is relatively poor, posing a safety hazard.

[0040] The magnetic wheel in the current related technology is of splicing type, that is, it is formed by splicing multiple small magnet blocks to form a magnetic wheel. The original magnetic attraction of these magnetic blocks is relatively weak, and the phase angle of the magnetic wheel will change when the magnetic wheel rotates. The change in phase angle will affect the magnetic attraction of the magnetic wheel and may cause the adsorption force of the magnetic wheel to be insufficient, posing a risk of the robot falling.

[0041] Traditional magnetic wheels are formed by splicing multiple magnetic blocks on a wheel-shaped connecting piece. However, the phase angle of each magnet will change during the rotation of the magnetic wheel, which will cause the suction force of the magnetic block to change.

[0042] To facilitate the subsequent explanation, Figure 1 , Figure 2 or Figure 6 The perspective shown in FIG. 1 defines an XY plane rectangular coordinate system. The X axis is parallel to the axis of the first magnetic member 10 and is Figure 1 The left side shown points to Figure 1 On the right side shown in FIG. 1 , the Y axis is also parallel to the axis of the first magnetic member 10 and extends from the Figure 1 The left side shown points to Figure 1 The following description of the coordinate system is available here.

[0043] In view of this, the present embodiment provides a magnetic wheel 100 and a robot 200 , wherein the magnetic wheel 100 can enhance the magnetic attraction force of the magnetic wheel of the robot 200 .

[0044] See also Figure 1 , a magnetic wheel 100, comprising: a first magnetic member 10, a second magnetic member 20, and a third magnetic member 30;

[0045] The first magnetic member 10 and the third magnetic member 30 are arranged at intervals on both sides of the second magnetic member 20;

[0046] The magnetic direction of the second magnetic component 20 points to the circle of the second magnetic component 20 along the outer periphery of the second magnetic component 20 or the center of the second magnetic component 20 points to the outer periphery of the second magnetic component 20; the magnetic direction of the first magnetic component 10 extends along the first direction, and the magnetic direction of the second magnetic component 20 extends along the second direction, the first direction is opposite to the second direction, and the first direction and the second direction are both perpendicular to the magnetic direction of the second magnetic component.

[0047] The magnetic wheel 100 is composed of three magnetic parts with different magnetic directions. Specifically, the first magnetic part 10 and the third magnetic part 30 are respectively arranged on the left and right sides of the second magnetic part 20, wherein the magnetic direction of the second magnetic part 20 is inward along its radius, the magnetic direction of the first magnetic part 10 extends in a direction close to the second magnetic part 20 (perpendicular to the magnetic direction of the second magnetic part 20 and extending in a direction close to the second magnetic part), and the magnetic direction of the third magnetic part 30 extends toward the second magnetic part 20 in a direction opposite to the first magnetic part 10 (perpendicular to the magnetic direction of the second magnetic part 20 and extending in a direction close to the second magnetic part). In this way, the magnetic wheel 100 forms a Halbach array, which enhances the magnetic attraction of the magnetic wheel 100, thereby achieving the purpose of enhancing the magnetic force of the magnetic wheel 100.

[0048] The Halbach Array is a magnet structure that is a near-ideal structure in engineering. Its goal is to produce the strongest magnetic field with the least amount of magnets.

[0049] like Figure 5 As shown, it can be understood that the magnetic direction of the second magnetic component radiates from the center of the circle in a radial shape, and can be directed from the center of the second magnetic component to the circumference of the second magnetic component or from the circumference of the second magnetic component to the center of the second magnetic component.

[0050] See also Figure 2 In some embodiments, the magnetic wheel 100 further includes: a fourth magnetic member 40 and a fifth magnetic member 50, wherein the fourth magnetic member 40 is disposed on a side of the third magnetic member 30 away from the first magnetic member 10, and the fifth magnetic member 50 is disposed on a side of the first magnetic member 10 away from the third magnetic member 30, and the magnetic directions of the fourth magnetic member 40 and the fifth magnetic member 50 are the same;

[0051] The magnetic directions of the fourth magnetic component 40 and the fifth magnetic component 50 are opposite to the magnetic direction of the second magnetic component 20 .

[0052] It can be understood that in order to further enhance the magnetism of the above-mentioned magnetic wheel 100, a fourth magnetic wheel 100 and a fifth magnetic wheel 100 are also provided. Specifically, the fourth magnetic wheel 100 is arranged on the side of the first magnetic component 10, and the fifth magnetic component 50 is arranged on the side of the second magnetic component 20. The magnetic directions of the fourth magnetic component 40 and the fifth magnetic component 50 are the same, and the magnetic directions of the fourth magnetic component 40 and the fifth magnetic component 50 both extend along their radial directions toward the center of the circle, and the magnetic directions are opposite to the direction of the first magnetic component 10. In this way, the magnetic attraction of the magnetic wheel 100 can be further enhanced, and the fourth magnetic component 40 and the fifth magnetic component 50 can increase the contact area between the magnetic wheel 100 and the metal surface, and can also further strengthen the magnetic force of the magnetic wheel 100, so that the magnetic wheel 100 has a stronger magnetic attraction.

[0053] In some other embodiments, the fourth magnetic member 40 and the fifth magnetic member 50 may be provided in multiple groups, which may be arranged in sequence along both sides of the fourth magnetic member 40 and the fifth magnetic member 50. This may increase the contact area of ​​the magnetic wheel 100 and enable the magnetic wheel 100 to provide a greater magnetic attraction force.

[0054] See also Figure 3 In some embodiments, the orthographic projections of the first magnetic member 10, the second magnetic member 20, the third magnetic member 30, the fourth magnetic member 40, and the fifth magnetic member 50 along the first direction are circular;

[0055] The first magnetic member 10 , the second magnetic member 20 , the third magnetic member 30 , the fourth magnetic member 40 , and the fifth magnetic member 50 are all provided with hollow portions 11 that are interconnected.

[0056] It can be understood that the positive projection of the first magnetic member 10, the second magnetic member 20, the third magnetic member 30, the fourth magnetic member 40, and the fifth magnetic member 50 along the first direction or the second direction is a circle, that is, the first magnetic member 10, the second magnetic member 20, the third magnetic member 30, the fourth magnetic member 40, and the fifth magnetic member 50 are all set to a circle. The provision of multiple magnetic members can make the magnetic attraction of the magnetic member redundant during the rotation process, thereby reducing the probability that the magnetic attraction of the magnetic wheel 100 is insufficient to adsorb the relevant components during the rotation process, which may cause the magnetic wheel 100 to fall. At the same time, each magnetic wheel 100 is set to a whole annular magnetic wheel 100, which can also improve the magnetic stability of the magnetic wheel 100 during the rotation process, and avoid the phase angle of the magnetic member changing during the rotation, thereby causing the magnetic force of the magnetic member to change, affecting the magnetic force of the magnetic member, so that the magnetic wheel 100 can be more stably adsorbed to the surface of the magnetically adsorbable member.

[0057] It can be understood that the first magnetic component 10, the second magnetic component 20, the third magnetic component 30, the fourth magnetic component 40, and the fifth magnetic component 50 are provided with a hollow portion 11 along the center direction thereof, and the hollow portion 11 is arranged in a circular shape. The circular hollow portion 11 can reduce the weight of the magnetic wheel 100 and make it easier for the first magnetic component 10, the second magnetic component 20, the third magnetic component 30, the fourth magnetic component 40, and the fifth magnetic component 50 to be connected to the connecting component 60.

[0058] See also Figure 4 and Figure 5 , in some embodiments, the magnetic wheel 100 further includes: a connecting member 60;

[0059] The connecting member 60 covers the outside of the first magnetic member 10 , the second magnetic member 20 , the third magnetic member 30 , the fourth magnetic member 40 , and the fifth magnetic member 50 .

[0060] It can be understood that the connecting member 60 is used to protect the magnetic wheel 100 and improve the structural strength of the magnetic wheel 100, and the connecting member 60 as a whole covers the outer periphery of the first magnetic member 10, the second magnetic member 20, the third magnetic member 30, the fourth magnetic member 40, and the fifth magnetic member 50; specifically, the connecting part is used to connect (homograph) the first magnetic member 10, the second magnetic member 20, the third magnetic member 30, the fourth magnetic member 40, and the fifth magnetic member 50 to protect the first magnetic member 10, the second magnetic member 20, the third magnetic member 30, the fourth magnetic member 40, and the fifth magnetic member 50. At the same time, the connecting member 60 can also connect the magnetic wheel 100 to the equipment so that the magnetic wheel 100 can be used on the relevant equipment.

[0061] Optionally, the connecting member 60 is preferably made of a material with strong magnetic permeability, such as 1010 steel, electrical pure iron and the like.

[0062] See also Figure 5 and Figure 6 In some embodiments, the connecting member 60 includes a first connecting portion 61, a second connecting portion 62, a limiting portion 63 and a covering portion 64;

[0063] The first connecting portion 61 and the second connecting portion 62 are provided with the limiting portions 63 on opposite sides thereof, the covering portion 64 is connected to the second connecting portion 62, and the covering portion 64 is provided around the outer circumference of the first connecting portion 61 and / or the second connecting portion 62;

[0064] Among them, the first connecting part 61 and the second connecting part 62 are both arranged in the hollow part 11, and the first magnetic part 10, the second magnetic part 20, the third magnetic part 30, the fourth magnetic part 40, and the fifth magnetic part 50 cover the periphery of the first connecting part 61 and the second connecting part 62.

[0065] It can be understood that the limiting portion 63 is arranged on the opposite sides of the first connecting portion 61 and the second connecting portion 62, and the first connecting portion 61 and the second connecting portion 62 can limit the displacement of the first magnetic member 10, the second magnetic member 20, the third magnetic member 30, the fourth magnetic member 40, and the fifth magnetic member 50 along their longitudinal direction, so as to reduce the possibility of movement of multiple magnetic members during rotation, thereby improving the overall stability of the magnetic wheel 100. The covering portion 64 is located outside the first magnetic member 10, the second magnetic member 20, the third magnetic member 30, the fourth magnetic member 40, and the fifth magnetic member 50, and is used to protect the above-mentioned magnetic members and prevent the above-mentioned magnetic members from being damaged.

[0066] The first connection part 61 and the second connection part 62 are both arranged on the hollow part 11, and the first magnetic part 10, the second magnetic part 20, the third magnetic part 30, the fourth magnetic part 40, and the fifth magnetic part 50 cover the periphery of the first connection part 61 and the second connection part 62.

[0067] It can be understood that the first connection portion 61 and the second connection portion 62 are both configured as follows. Figure 5 The cylindrical shape shown in the figure, and the first connecting part 61 and the second connecting part 62 are both arranged on the hollow part 11. When the first connecting part 61 and the second connecting part 62 are installed in the hollow part 11, the first magnetic part 10, the second magnetic part 20, the third magnetic part 30, the fourth magnetic part 40, and the fifth magnetic part 50 are all located on the periphery of the first connecting part 61 and the second connecting part 62; a transmission shaft is arranged on the first connecting part 61 and the second connecting part 62 to drive the magnetic wheel 100 to rotate.

[0068] See also Figure 6 and Figure 7 In some embodiments, the lengths of the first connecting portion 61 and the second connecting portion 62 are greater than the sum of the lengths of the first magnetic component 10, the second magnetic component 20, the third magnetic component 30, the fourth magnetic component 40, and the fifth magnetic component 50 along the first direction; the diameters of the first connecting portion 61 and the second connecting portion 62 are both greater than the diameter of the first magnetic component 10.

[0069] It can be understood that the length of the first connecting portion 61 is L1, the length of the second connecting portion 62 is L2, and the sum of the lengths of the first magnetic member 10, the second magnetic member 20, the third magnetic member 30, the fourth magnetic member 40, and the fifth magnetic member 50 is L0.

[0070] The sum of the length L1 of the first connecting portion 61 and the length L2 of the second connecting portion 62 is greater than the length L0 of the first magnetic component 10, the second magnetic component 20, the third magnetic component 30, the fourth magnetic component 40, and the fifth magnetic component 50, so that the first magnetic component 10, the second magnetic component 20, the third magnetic component 30, the fourth magnetic component 40, and the fifth magnetic component 50 can be more stably fixed on the connecting component 60; and the diameter of the connecting portion is smaller than the diameter of the first magnetic component 10, so that magnetic components of the same size have stronger magnetic attraction, thereby improving the overall magnetic attraction of the magnetic wheel 100.

[0071] It should be particularly noted that the first magnetic component 10 , the second magnetic component 20 , the third magnetic component 30 , the fourth magnetic component 40 , and the fifth magnetic component 50 have the same size.

[0072] In some embodiments, the limiting portion 63 includes a first cover plate 65 and a second cover plate 66;

[0073] The first cover plate 65 is connected to the first connection portion 61 , the second cover plate 66 is connected to the second connection portion 62 , the first cover plate 65 is adjacent to the fifth magnetic member 50 , and the second cover plate 66 is adjacent to the fourth magnetic member 40 .

[0074] It can be understood that the first cover plate 65 and the second cover plate 66 are arranged on both sides of the connecting member 60, wherein the first cover plate 65 is adjacent to the fifth magnetic member 50, and the first cover plate 65 has a first surface 651 facing the fifth magnetic member 50, and a plurality of positioning members 70 are arranged in an array on the first surface 651, and the positioning members 70 protrude from the first surface 651; the fifth magnetic member 50 has a second surface 51 facing the said cover plate, and one end of the positioning member 70 abuts against the second surface 51, so that the above-mentioned first magnetic member 10, the second magnetic member 20, the third magnetic member 30, the fourth magnetic member 40, and the fifth magnetic member 50 can be limited to avoid the above-mentioned magnetic members from moving in the longitudinal position and thus affecting the magnetic attraction of the magnetic wheel 100, so as to improve the stability of the magnetic attraction of the magnetic wheel 100.

[0075] It is understandable that the first cover plate 65 and the second cover plate 66 can also protect the magnetic parts to avoid damage to the magnetic parts and reduce the magnetic attraction of the magnetic wheel 100. Specifically, when there is a part on the magnetic adsorption surface that can damage the magnetic parts, the first cover plate 65 and the second cover plate 66 covering the outside of the magnetic parts can protect the magnetic parts to avoid damage to the magnetic parts. The part of the connector 60 covering the outer ring of the magnetic parts can also protect the magnetic parts arranged in the connector 60, preventing objects on the external magnetic adsorbable surface from damaging the magnetic parts and reducing the overall magnetic attraction of the magnetic wheel 100.

[0076] In some embodiments, a magnetic conductive member is disposed between two adjacent magnetic members, and the magnetic conductive member can protect the two adjacent magnets. The magnetic conductive member can also gather magnetic flux lines away from the grounded ends of the magnets, thereby enhancing the magnetic attraction of the magnetic wheel.

[0077] See also Figure 6 In some embodiments, the first cover plate 65 further includes a plurality of positioning members 70;

[0078] The first cover plate 65 has a first surface 651 facing the fifth magnetic member 50, and the fifth magnetic member 50 has a second surface 51 facing the first cover plate 65. The positioning members 70 are arranged in an array on the first surface 651, and the multiple positioning members 70 protrude from the first cover plate 65 in a direction close to the second surface 51.

[0079] In some embodiments, a recessed portion adapted to the positioning member 70 can be provided on the second surface 51, and a plurality of positioning members 70 are inserted into the recessed portion to limit the magnetic member, thereby reducing the displacement of the magnetic wheel 100 during rotation and improving the stability of the magnetic attraction of the magnetic wheel 100.

[0080] In some embodiments, there is a gap between the first cover plate 65 and the fifth magnetic component 50, and there is a gap between the second cover plate 66 and the fourth magnetic component 40. Resin glue can be filled in the gap to limit the longitudinal movement of the first magnetic component 10, the second magnetic component 20, the third magnetic component 30, the fourth magnetic component 40, and the fifth magnetic component 50, so that multiple magnetic components are included in the connecting component 60. This not only improves the overall structural strength of the magnetic wheel 100, but also prevents the above-mentioned magnetic components from causing displacement of multiple magnetic components during rotation.

[0081] See also Figure 4 and Figure 5 In some embodiments, the first cover plate 65 is further provided with at least two through holes 652 and a connecting hole 653. The connecting holes 653 and the through holes 652 both penetrate the first cover plate 65, the connecting portion, and the second cover plate 66 along a first direction.

[0082] It can be understood that a plurality of through holes 652 and a connecting hole 653 are also provided on the first cover plate 65, wherein the connecting hole 653 passes through the axis of the connecting member 60, and the axes of the connecting hole 653 and the connecting member 60 are collinear (i.e., the axes of the connecting hole 653 and the connecting member 60 are collinear), and the connecting hole 653 is mainly used to connect the rotating shaft so that the rotating shaft drives the magnetic wheel 100 to rotate along its axial direction; the through holes 652 are all arranged on the connecting member 60 around the axis array of the connecting holes 653, and the through holes 652 pass through the first cover plate 65 and the second cover plate 66; the through holes 652 are mainly provided to reduce the weight of the magnetic wheel 100 so that the magnetic wheel 100 can be lightweight.

[0083] The diameter of the connecting hole 653 is larger than that of the through hole 652, and the through holes 652 arranged in a plurality of arrays on the connecting member 60 have the same diameter. A plurality of through holes 652 may be provided, and the specific number is not limited. Figure 5 In the drawings shown, four through holes 652 are arranged in an array along the axis of the connecting hole 653 .

[0084] See also Figure 8 The utility model also provides a robot 200, comprising:

[0085] The body 210 and the magnetic wheel 100 .

[0086] The above-mentioned robot 200 includes a main body 210 and a magnetic wheel 100, wherein the magnetic wheel 100 is arranged on the robot 200, and the magnetic wheel 100 is arranged at the part of the robot 200 that contacts the magnetic adsorbable surface, the magnetic wheel 100 is connected to the magnetic adsorbable surface, and the robot 200 is adsorbed onto the magnetic adsorbable surface. Thereafter, the magnetic wheel 100 is driven to rotate by the driving mechanism of the robot 200 to cause the robot 200 to move on the magnetic adsorbable surface.

[0087] Mentioning "embodiment" and "implementation method" in the present invention means that the specific features, structures or characteristics described in conjunction with the embodiment may be included in at least one embodiment of the present invention. The appearance of the phrases in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described in the present invention can be combined with other embodiments. In addition, it should be understood that the features, structures or characteristics described in the various embodiments of the present invention can be arbitrarily combined to form another embodiment that does not deviate from the spirit and scope of the technical solution of the present invention, provided that there is no contradiction between them.

[0088] Finally, it should be noted that the above implementation modes are only used to illustrate the technical solution of the utility model rather than to limit it. Although the utility model has been described in detail with reference to the above preferred implementation modes, ordinary technicians in this field should understand that the technical solution of the utility model can be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the utility model.

Claims

1. A magnetic wheel, characterized in that: include: A first magnetic member (10), a second magnetic member (20), and a third magnetic member (30); The first magnetic member (10) and the third magnetic member (30) are arranged at intervals on both sides of the second magnetic member (20); The magnetic direction of the second magnetic component (20) points along the periphery of the second magnetic component (20) to the center of the second magnetic component (20) or along the center of the second magnetic component (20) to the periphery of the second magnetic component (20); the magnetic direction of the first magnetic component (10) extends along a first direction, and the magnetic direction of the second magnetic component (20) extends along a second direction, the first direction is opposite to the second direction, and the first direction and the second direction are both perpendicular to the magnetic direction of the second magnetic component.

2. The magnetic wheel according to claim 1, characterized in that The magnetic wheel further comprises: a fourth magnetic member (40) and a fifth magnetic member (50), wherein the fourth magnetic member (40) is arranged on a side of the third magnetic member (30) away from the first magnetic member (10), and the fifth magnetic member (50) is arranged on a side of the first magnetic member (10) away from the third magnetic member (30), and the magnetic directions of the fourth magnetic member (40) and the fifth magnetic member (50) are the same; The magnetic direction of the fourth magnetic component (40) and the magnetic direction of the fifth magnetic component (50) are both opposite to the magnetic direction of the second magnetic component (20).

3. The magnetic wheel according to claim 2, characterized in that The orthographic projections of the first magnetic component (10), the second magnetic component (20), the third magnetic component (30), the fourth magnetic component (40), and the fifth magnetic component (50) along the first direction are circular; The first magnetic component (10), the second magnetic component (20), the third magnetic component (30), the fourth magnetic component (40), and the fifth magnetic component (50) are all provided with hollow parts (11) that are interconnected.

4. The magnetic wheel according to claim 3, characterized in that The magnetic wheel further comprises: a connecting member (60); The connecting member (60) covers the outside of the first magnetic member (10), the second magnetic member (20), the third magnetic member (30), the fourth magnetic member (40), and the fifth magnetic member (50).

5. The magnetic wheel according to claim 4, characterized in that The connecting member (60) comprises a first connecting portion (61), a second connecting portion (62), a limiting portion (63) and a covering portion (64); The first connecting portion (61) and the second connecting portion (62) are both provided with the limiting portion (63) on opposite sides thereof, the covering portion (64) is connected to the second connecting portion (62), and the covering portion (64) is provided around the outer circumference of the first connecting portion (61) and / or the second connecting portion (62); Wherein, the first connecting portion (61) and the second connecting portion (62) are both arranged in the hollow portion (11), and the first magnetic component (10), the second magnetic component (20), the third magnetic component (30), the fourth magnetic component (40), and the fifth magnetic component (50) cover the periphery of the first connecting portion (61) and the second connecting portion (62).

6. The magnetic wheel according to claim 5, characterized in that The lengths of the first connecting portion (61) and the second connecting portion (62) are greater than the sum of the lengths of the first magnetic component (10), the second magnetic component (20), the third magnetic component (30), the fourth magnetic component (40), and the fifth magnetic component (50) along the first direction; and the diameters of the first connecting portion (61) and the second connecting portion (62) are both greater than the diameter of the first magnetic component (10).

7. The magnetic wheel according to claim 5, characterized in that The limiting portion (63) comprises a first cover plate (65) and a second cover plate (66); The first cover plate (65) is connected to the first connecting portion (61), the second cover plate (66) is connected to the second connecting portion (62), the first cover plate (65) is adjacent to the fifth magnetic member (50), and the second cover plate (66) is adjacent to the fourth magnetic member (40).

8. The magnetic wheel according to claim 7, characterized in that The first cover plate (65) further includes a plurality of positioning members (70); The first cover plate (65) has a first surface (651) facing the fifth magnetic member (50), the fifth magnetic member (50) has a second surface (51) facing the first cover plate (65), the positioning member (70) array is arranged on the first surface (651), and the plurality of positioning members (70) are arranged to protrude from the first cover plate (65) in a direction close to the second surface (51).

9. The magnetic wheel according to claim 7, characterized in that The first cover plate (65) is further provided with at least two through holes (652) and a connecting hole (653), and the connecting hole (653) and the through hole (652) both penetrate the first cover plate (65), the connecting portion, and the second cover plate (66) along a first direction.

10. A robot, characterized in that: include: The main body (210) and A magnetic wheel as claimed in any one of claims 1 to 9.

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