Invention content
There is higher movement speed and good flexibility the purpose of the present invention is to provide a kind of, it can be very difficultIt wriggles in the space of danger, and direction of advance can be changed, can be used for being succoured and internal collecting work and be used as canComplete the machine caterpillar of reciprocal, flexible, bending action the Medical Devices of various flexibilities.
The machine caterpillar of the present invention including body made of flexible material, is equipped with more than one permeability magnetic material in bodyFilled cavity is separately filled with the magnetic fluid material for magnetic conduction or the powdered magnetic conduction for magnetic conduction in permeability magnetic material filled cavityMaterial, each permeability magnetic material filled cavity is interior to be equipped with more than one electromagnetism telescopic unit, and each electromagnetism telescopic unit respectively includesPreceding conductor, the rear of preceding conductor are set side by side there are one rear conductor, and preceding conductor and rear conductor are fixedly linked respectively with body, bodyLateral wall is equipped with multiple devices for walking.
The machine caterpillar of the present invention, wherein being equipped with 2-6 permeability magnetic material filled cavities, 2-6 magnetic conduction materials in the bodyExpect that filled cavity is equipped with multiple electromagnetism telescopic units from front to back in centrally disposed each permeability magnetic material filled cavity of body.
The machine caterpillar of the present invention, wherein the body is the strip set along left and right horizontal direction, the bodyCross section is rectangle or trapezoidal or triangle or circle or ellipse, and the middle part left and right horizontal direction of body is equipped with through-hole.
The machine caterpillar of the present invention, wherein the lateral wall of the leading body and rear conductor is connected with body by Nian Jie, oftenThe distance between preceding conductor and rear conductor in a electromagnetism telescopic unit are less than 10mm.
The machine caterpillar of the present invention, wherein the distance between the leading body and rear conductor are 1mm -3mm, it is described leadingBody and rear conductor are sheets or section is circular conducting wire, and the surface of preceding conductor and the surface of rear conductor are coated with insulated paint.
The machine caterpillar of the present invention, wherein the device for walking is vacuum cup, on the lateral wall of the bodyEquipped with multiple vacuum cups, each vacuum cup is communicated respectively by gas distribution channel with the cavity in elastic balloon, each elasticityAir bag is separately positioned between the preceding conductor of some electromagnetism telescopic unit and rear conductor, and each elastic balloon can be in corresponding electromagnetismThe preceding conductor of telescopic unit is with carrying out flexible deformation movement under the extruding of rear conductor.
The machine caterpillar of the present invention, wherein the device for walking is multiple scraper plates, the front end of each scraper plate is distinguishedIt is connected with the lateral wall of body, the rear end of each scraper plate is respectively swingable free end, the plate face of scraper plate and the outside of bodyAngle between wall is 10 ° -60 °.
The machine caterpillar of the present invention, wherein the device for walking is multiple be distributed on the lateral wall of bodyLeg, the front end of each supporting leg are connected respectively with the lateral wall of body, and the rear end of each supporting leg is respectively swingable free end, branchAngle between leg and the lateral wall of body is 10 ° -60 °.
The machine caterpillar of the present invention, wherein the device for walking is vacuum cup, the bottom of the body lateral wallPortion is equipped with 4-12 vacuum cups, and each vacuum cup is connected respectively by being in series with the appendix of solenoid valve with vacuum pump, verySky pump is mounted in body.
The machine caterpillar of the present invention when in use, when needing that body is allowed to travel forward, can make way for the use of After-BodyIt catches or catches in the device of walking or ground is sucked or extraneous object, make way for the device for walking of front part of a body notIt catches or catches on or any object is sucked, be then passed through phase with rear conductor to the preceding conductor in body electromagnetism telescopic unitThe electric current of negative direction, preceding conductor and rear conductor of the order in the electromagnetism telescopic unit in body are mutual under the action of a magnetic forceRepel, you can body is enabled to make forward stretching exercise, stretching exercise in place after, then make way for the dress for walking of After-BodyPutting not catch or catch on or be sucked any object, and the device for walking for making way for front part of a body is caught or caught on or is suckedThen ground or the object in the external world are passed through the electricity of the same direction to the preceding conductor in body electromagnetism telescopic unit and rear conductorStream enables the preceding conductor in the electromagnetism telescopic unit being located in body attract each other under the action of a magnetic force with rear conductor, you canBody is enabled to make forward contractile motion, is so moved in circles, you can realization allows machine caterpillar to travel forward；If it is desired to allowing body courtLeft steering can be passed through the electricity of the same direction to the preceding conductor in each electromagnetism telescopic unit on the left of body and rear conductorStream, and the preceding conductor into each electromagnetism telescopic unit on the right side of body is passed through the electric current of opposite direction with rear conductor, byThis enables the preceding conductor in each electromagnetism telescopic unit being located on the left of body attract each other under the action of a magnetic force with rear conductor,Preceding conductor and rear conductor of the order in each electromagnetism telescopic unit on the right side of body are mutually exclusive under the action of a magnetic force, i.e.,Can enable body bear left to.Therefore, machine caterpillar of the invention can have higher movement speed and good flexibility, canIt wriggles in very hard and dangerous space, and direction of advance can be changed, can be used for being succoured and internal collecting work, withAnd as reciprocal, flexible, bending action the Medical Devices of various flexibilities can be completed.
Machine caterpillar of the present invention is described further below in conjunction with the accompanying drawings.
Specific embodiment
As shown in Figure 1, Figure 2, Figure 3 and Figure 4, machine caterpillar of the invention, including using body 1 made of flexible material,More than one permeability magnetic material filled cavity 4 is equipped in body 1, the magnetic for magnetic conduction is separately filled in permeability magnetic material filled cavity 4Property fluent material or the powdered permeability magnetic material for magnetic conduction are respectively equipped with from front to back on the inner wall of permeability magnetic material filled cavity 4More than one electromagnetism telescopic unit, each electromagnetism telescopic unit respectively include the preceding conductor 2 set along the longitudinal direction, preceding conductor2 are fixedly linked with body 1, conductor 3, rear conductor 3 and body after each the rear of preceding conductor 2 is respectively equipped with one along the longitudinal direction1 is fixedly linked, and the lateral wall of body 1 is equipped with multiple devices for walking caught or caught on or external object is sucked,Device for walking can also be various by contacting generation frictional force with external object come the device for walking.
The machine caterpillar of the present invention when in use, when needing that body 1 is allowed to travel forward, can make way for 1 rear portion of bodyDevice for walking is caught or is caught on or ground is sucked or extraneous object, makes way for the dress for walking of 1 forepart of bodyPutting not catch or catch on or be sucked any object, then be led with after to the preceding conductor 2 in the electromagnetism telescopic unit of body 1Body 3 is passed through the electric current of opposite direction, enables the preceding conductor 2 in the electromagnetism telescopic unit being located in body 1 with rear conductor 3 in magnetic field forceUnder the action of it is mutually exclusive, you can body 1 is enabled to make forward stretching exercise, stretching exercise in place after, then make way for 1 rear portion of bodyFor walking device not catch or catch on or any object is sucked, make way for 1 forepart of body for walking deviceIt catches or catches on or ground is sucked or extraneous object, then led with after to the preceding conductor 2 in 1 electromagnetism telescopic unit of bodyBody 3 is passed through the electric current of the same direction, enables the preceding conductor 2 in the electromagnetism telescopic unit being located in body 1 with rear conductor 3 in magnetic field forceUnder the action of attract each other, you can body 1 is enabled to make forward contractile motion, is so moved in circles, you can realization allows machine caterpillarIt travels forward；If it is desired to body 1 is allowed to bear left to can be to the preceding conductor 2 in each electromagnetism telescopic unit positioned at the left side of body 1Be passed through the electric current of the same direction with rear conductor 3, and the preceding conductor 2 into each electromagnetism telescopic unit positioned at 1 right side of body withConductor 3 is passed through the electric current of opposite direction afterwards, thus enable the preceding conductor 2 that is located in each electromagnetism telescopic unit in the left side of body 1 withConductor 3 attracts each other under the action of a magnetic force afterwards, enables the preceding conductor 2 being located in each electromagnetism telescopic unit on 1 right side of bodyIt is mutually exclusive under the action of a magnetic force with rear conductor 3, you can enable body 1 bear left to.Therefore, machine caterpillar of the invention canWith higher movement speed and good flexibility, can wriggle in very hard and dangerous space, and advance side can be changedTo can be used for being succoured and internal collecting work and various flexibilities are reciprocal, flexible, bending action as that can completeMedical Devices.
As a further improvement on the present invention, 2-6 permeability magnetic material filled cavities 4 are equipped in above-mentioned body 1,2-6 are ledMagnetic material filled cavity 4 is centrally disposed around body 1, is stretched from front to back equipped with multiple electromagnetism in each permeability magnetic material filled cavity 4Contracting unit.
As a further improvement on the present invention, above-mentioned body 1 is the strip set along left and right horizontal direction, 1 edge of bodyThe cross section of front and rear vertical direction is rectangle or trapezoidal or triangle or circle or ellipse, the middle part left and right horizontal side of body 1To equipped with through-hole 5.
As a further improvement on the present invention, the lateral wall of above-mentioned preceding conductor 2 and rear conductor 3 passes through be bonded phase with body 1Even, the distance between the preceding conductor 2 in each electromagnetism telescopic unit and rear conductor 3 are less than 10mm.
As a further improvement on the present invention, the distance between above-mentioned preceding conductor 2 and rear conductor 3 are 1mm -3mm, leadingBody 2 and rear conductor 3 are that sheet or section are circular conducting wire, and the surface of preceding conductor 2 and the surface of rear conductor 3 are each coated withInsulated paint.
As a further improvement on the present invention, the above-mentioned device for walking is vacuum cup 7, the outside of the body 1Wall is equipped with multiple vacuum cups 7, and each vacuum cup 7 is communicated respectively by gas distribution channel with the cavity in elastic balloon, oftenA elastic balloon is separately positioned between the preceding conductor 2 of some electromagnetism telescopic unit and rear conductor 3, and each elastic balloon can be rightThe preceding conductor 2 for the electromagnetism telescopic unit answered is with carrying out flexible deformation movement under the extruding of rear conductor 3.Vacuum cup 7 can be in uniform wayIt is arranged on each face of the lateral wall of body 1, in this way when body 1 is in roll-over condition, also can have vacuum cup 7 contiguouslyMachine caterpillar can still be travelled forward in face.When in use, some vacuum cup 7 is allowed to be absorbed and fixed at object if necessaryOn, can preceding conductor 2 and the rear conductor 3 of the first electromagnetism telescopic unit to setting the air bag be passed through the electric current of the same direction, enable the electricityPreceding conductor 2 in magnetic telescopic unit attracts each other with rear conductor 3 and squeezes the elastic balloon under the action of a magnetic force, allows the bulletProperty air bag in gas discharge, then again the preceding conductor 2 of the electromagnetism telescopic unit to setting the air bag be passed through with rear conductor 3 it is oppositeThe electric current in direction, enables preceding conductor 2 in the electromagnetism telescopic unit mutually exclusive under the action of a magnetic force with rear conductor 3 and no longerThe elastic balloon is squeezed, is located at vacuum cup 7 since the elastic balloon for bouncing reset can take a part away by gas distribution channelGas in inner cavity so that the inner cavity of vacuum cup 7 is in negative pressure state, thus allows the vacuum cup 7 that will be absorbed and fixed atOn object.
As a further improvement on the present invention, the above-mentioned device 6 for walking is multiple scraper plate, the front end of each scraper plate 6The lateral wall with body 1 is connected respectively, and the rear end of each scraper plate 6 is respectively swingable free end, the plate face and body of scraper plate 6Angle between 1 lateral wall is 10 ° -60 °.Multiple scraper plates 6 can be arranged in uniform way on each face of the lateral wall of body 1,In this way when body 1 is in roll-over condition, can also there be scraper plate 6 to contact ground, machine caterpillar can still be travelled forward.
Since lateral wall of the front end respectively with body 1 of each scraper plate 6 is connected, the rear end of each scraper plate 6 is respectively that can putDynamic free end, the angle between the plate face of scraper plate 6 and the lateral wall of body 1 are 10 ° -60 °, when in use, scraper plate 6 fromBy the supporting role held body 1 can only be travelled forward, it is difficult to move backward, when leading in the electromagnetism telescopic unit of body 1Body 2 is passed through the electric current of opposite direction with rear conductor 3, enables the preceding conductor 2 in the electromagnetism telescopic unit being located in body 1 and rear conductor3 is mutually exclusive under the action of a magnetic force, you can body 1 is enabled to make forward stretching exercise, stretching exercise in place after, to positioned at machinePreceding conductor 2 in 1 electromagnetism telescopic unit of body is passed through the electric current of the same direction with rear conductor 3, and the electromagnetism being located in body 1 is enabled to stretchPreceding conductor 2 in unit attracts each other under the action of a magnetic force with rear conductor 3, you can and body 1 is enabled to make forward contractile motion,It so moves in circles, you can realization allows machine caterpillar to travel forward.
As a further improvement on the present invention, it is above-mentioned for walking device be distributed in it is more on the lateral wall of body 1A supporting leg, the lateral wall of the front end of each supporting leg respectively with body 1 are connected, and the rear end of each supporting leg is respectively swingable freedomEnd, the angle between supporting leg and the lateral wall of body 1 is 10 ° -60 °.Multiple supporting legs can be arranged on the outside of body 1 in uniform wayOn each face of wall, in this way when body 1 is in roll-over condition, can also there be supporting leg to contact ground, machine caterpillar is allowed still canIt travels forward.
Since the front end of each supporting leg is connected respectively with the lateral wall of body, the rear end of each supporting leg is respectively swingableAngle between the lateral wall of free end, supporting leg and body is 10 ° -60 °.When in use, the supporting role of the free end of supporting legBody 1 can only be travelled forward, it is difficult to move backward, when the preceding conductor 2 in the electromagnetism telescopic unit of body 1 with after conductor 3 it is logicalEnter the electric current of opposite direction, enable preceding conductor 2 in the electromagnetism telescopic unit being located in body 1 and rear conductor 3 in the work of magnetic field forceIt is mutually exclusive under, you can body 1 is enabled to make forward stretching exercise, stretching exercise in place after, stretch list to positioned at 1 electromagnetism of bodyPreceding conductor 2 in member is passed through the electric current of the same direction with rear conductor 3, enables leading in the electromagnetism telescopic unit being located in body 1Body 2 attracts each other under the action of a magnetic force with rear conductor 3, you can body 1 is enabled to make forward contractile motion, is so recycled pastIt is multiple, you can realization allows machine caterpillar to travel forward.
As a further improvement on the present invention, the above-mentioned device for walking is vacuum cup 7, the outside of the body 1Wall is equipped with multiple vacuum cups 7, and each vacuum cup 7 is connected respectively by being in series with the appendix of solenoid valve with vacuum pump,Vacuum pump is mounted in body 1.When in use, some vacuum cup 7 is allowed to be absorbed and fixed on object if necessary, can be opened trueSky pump, and pass through corresponding solenoid valve and connect the appendix for connecting the vacuum cup 7, then the vacuum cup 7 will adsorb fixationOn object.Vacuum cup 7 can be arranged in uniform way on each face of the lateral wall of body 1, be in body 1 overturn shape in this wayDuring state, can also there be vacuum cup 7 to contact ground, machine caterpillar can still be travelled forward.