CN111645052A - Magnetic Mechanical Spine - Google Patents

Abstract

The magnetic mechanical spine. Including vertebral segments, magnets, control chips, "V" springs, outer casings, etc. The outer shell is covered on the outer wall of the body support, the plug of the body support is inserted into the jack on the vertebral segment, the outer end of the vertebral bulge on the vertebral segment is fixed with an electromagnet, and the wire of the electromagnet is connected to the controller, a plurality of The vertebral segments are sequentially connected to form a vertebra, and there are "V"-shaped springs between the vertebral ridges of two adjacent vertebral segments, and the controller is fixed on the skeleton. By controlling the presence, direction, and size of the electromagnet current by the control chip, the presence, direction, and size of the electromagnet magnetic field are controlled, so that the magnets attract (repel) each other, narrow (expand) the distance between the magnets, and pull (push) Rotation of the vertebral segments (change in distance) to achieve "bending, twisting, and stretching" of the spine. The degree of motion and the position reached are controlled by the torque balance between the "V" spring and the magnetic force. The ever-changing forms of movement are realized through various combinations of "bending, twisting, and stretching".

Description

Magnetic Mechanical Spine

technical field

The invention relates to the technical field of robots, in particular to a mechanical spine that can be bent, twisted and stretched arbitrarily.

Background technique

Existing robots have great limitations in bending, twisting, and telescoping of the body. For example, it cannot be bent or twisted from any part of the body; it cannot be bent at any angle; the combination of bending, twisting, and telescopic movements is monotonous, rigid, and unnatural. Affect the work and performance of the robot.

The present invention can well solve the above deficiencies. It can be arbitrarily bent, twisted or stretched to form a variety of different and various motion forms, such as bending, curling, stretching, swinging, shaking, waving, twisting, creeping, crawling, etc. Various single movement forms are combined to complete ever-changing movement forms. Not only is the operation very simple, but also the flexibility is greatly improved.

The application prospect is extremely wide, especially for the production of imitation animals and plants. It can be applied to: various movements of the spine (cervical vertebrae, lumbar vertebrae, caudal vertebrae) of humans and various vertebrates (including fish, amphibians, reptiles, birds, mammals, etc.); The movement of arthropods, the movement of mollusks, the crawling of various insects, etc.; the swinging, shaking, shaking of various plants; the winding of various vines, etc. And applied to various curved pipes, operations in caves; various mechanical arms that can be bent and twisted at will. It can be used as a whole stand-alone application or as part of a variety of mechanical structures.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a more flexible magnetic mechanical spine that can be freely bent, twisted and stretched.

In order to achieve the above purpose, the present invention provides the following technical scheme: the main body is structurally composed of vertebral segments, magnets, "V"-shaped springs, controllers, wires, outer casings, accessory components, and the like. The axis of the mechanical spine is a vertebral structure formed by a plurality of vertebral segments connected in sequence. The periphery of each vertebral segment is firmly fixed on the vertebral segment by a plurality of columnar protrusions (vertebral protrusions), and the outer end of each vertebral protrusion is fixed on the vertebral protrusion by magnets; the vertebral protrusions of two adjacent vertebral segments are There are "V"-shaped spring connections and supports between the protrusions. Magnets are arranged in columns. The wire of the electromagnet is connected to the controller, and the presence, magnitude and direction of the current on the electromagnet are controlled by the controller. Between the two vertebrae on each vertebral level are sockets that connect the appendages. Auxiliary structures include body skeleton, body support and external limbs or equipment, outer shell, etc. The outer shell is sleeved on the outside of the body support.

Compared with the prior art, the beneficial effects of the present invention are as follows:

The mechanical spine mainly controls the presence, size and direction of the electromagnet current through the controller to control the presence, size and direction of the electromagnet magnetic field. Through the mutual attraction or repulsion of the magnets on two adjacent vertebral segments, the relative distance between the magnets is changed, so that the vertebral segments are rotated, and the bending and twisting of the spine is realized. Sensitive, flexible and convenient; easy to operate and control. It has changed the inflexibility and inflexibility of previous robots in terms of body bending, twisting, and telescoping.

Description of drawings

Fig. 1 is the perspective view of the basic structure model of the present invention;

Fig. 2 is the sectional view of the basic structure model of the present invention;

3 is a schematic diagram of the form and structure of a vertebral segment of the present invention;

4 is a schematic diagram of the electromagnet, permanent magnet, "V"-shaped spring, and skeleton structure of the present invention;

5 is a schematic diagram of an example of ancillary equipment of the present invention;

6 is a schematic diagram of the combination mode of the vertebral segment and the magnet and the working principle of the electromagnet according to the present invention;

7 is a schematic diagram of the structure form and working principle of the spine combined by the electromagnet vertebral segments of the present invention;

FIG. 8 is a schematic diagram of the vertebral structure and working principle of the present invention, which is composed of an electromagnet vertebral segment and a permanent magnet vertebral segment;

9 is a schematic diagram of the structure and working principle of the "three-dimensional bending" and "telescopic" movements of the present invention;

Figure 10 is a schematic diagram of the working principle of the "torsion" motion structure of the present invention;

Figure 11 is a schematic diagram of the structure model of the present invention's "swinging" movement and movement example fish;

Figure 12 is a schematic diagram of the "wave" motion of the present invention;

Figure 13 is a schematic diagram of the earthworm-type "creeping" action of the present invention;

Figure 14 is a schematic diagram of the rotary "shake" action of the present invention;

Figure 15 is a schematic diagram of the insect-style "crawling" action of the present invention;

Figure 16 is a schematic diagram of the insect-style "crawling" action of the present invention.

In the figure: 1. Vertebral segment; 11. Vertebral body; 12. Joint head; 13. Joint socket; 14. Vertebral convexity; 15. Spring slot; Electromagnet; 211, Soft Magnet Frame; 212, Coil; 22, Permanent Magnet; 23 Clip; 3, "V" Spring; 31, Spring Hook; 4, Frame; 41, Plug; 42, Frame Body, Auxiliary Equipment etc.; 421, attached electromagnet; 422, attached permanent magnet; 423, vertebral body; 424, spring; 43, body support; 5, controller; 6, jacket; 61, air bubble; 62, equipment compartment; 7, wire; 8. Vertebral segment connecting spring.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, but not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

Example 1: Basic Components

Please refer to Figure 1, Figure 2, and Figure 3, the schematic diagrams of the basic elements of the magnetic mechanical spine. The basic elements are vertebral segment 1, magnet 2, "V" spring 3, accessory element 4, controller 5, jacket 6, wire 7 and so on. Part (a) in FIG. 1 is a front view of the structure of the vertebral segment 1, and part (2) in the figure is a side view of the vertebral segment 1. Indicated in the figure: 1. Vertebral segment 1: Vertebral segment 1 consists of a cylindrical vertebral body 11 (or a polygonal prism, if it can be designed to be hollow in order to reduce its own weight), the upper and lower bottom surfaces of the vertebral body 11 are respectively There is a truncated truncated protrusion, and there is a small ball in the center on one side of the truncated truncated table, which is used as the joint head 12 for connection, and the other side of the truncated truncated table has a spherical joint socket 13. There are a plurality of vertebral protrusions 14 on the side of the vertebral body 11, and each vertebral protrusion 14 has a spring clip slot 15 for installing the "V"-shaped spring 3 and a magnet clip slot for installing a magnet on the two surfaces on the same side as the bottom surface of the vertebral body. 17. There are several insertion holes 16 between the vertebral protrusions 14 on the side of the vertebral body 11 ; the insertion holes 16 can be used to fix or connect the accessory device 4 . The number of vertebral protrusions 14 on each vertebral segment 1 is determined according to actual needs. (1) in the figure is a front view of four vertebral protrusions 14, and (3) in the figure is two, six, and eight respectively. An example of a front view of a vertebral body 14. In FIG. 2 , the part (1) is the electromagnet 21 , and the part (2) is the permanent magnet 22 . There are two kinds of magnets 2, one is permanent magnet 22 directly made of magnetic material, and the direction and magnitude of the magnetic field remain unchanged; the other is electromagnet 21, which is composed of a soft magnet frame 211 and a wire on it. The wound coil 212 is made so that the direction and magnitude of the magnetic field can be changed. The magnet 2 has a clamping head 23 which can be clamped in the magnet clamping groove 17 on the vertebral convexity 14 . (3) in the figure is a diagram of the "V"-shaped spring 3. The "V"-shaped spring 3 is a spring with good elasticity. There is a small hook 31 at each end, which can be stuck in the spring slot 15 of the vertebral convexity 14. When the "V"-shaped spring 3 is stretched or compressed, it will not fall off; the "V"-shaped spring balances the force and moment between the elastic force and the magnet, fixes and supports the degree of curvature of the spine and the location it reaches, and when the magnetic force disappears Return the spine to its original position. (4) in the figure is the accessory element 4 (the accessory element 4 is optional, depending on the actual needs), the accessory element 4 includes the plug 41 that can be inserted into the jack 16 on the vertebral body 11 and the accessory device 42 itself. Composition; the function of the body support 43 in the figure is to support and fix the shape features of the "robot". FIG. 3 is a schematic diagram of an example of an accessory device. Ancillary equipment 42 is of a wide variety, just to name a few. In the figure, a accessory element is a wheel that can move forward; b is animal limbs, wings, etc.; c is a skeleton that can be various animal ribs, hip bones, skulls, etc.; it can also be other various tools and other equipment; d is Body support 43 and so on. In addition, the outer casing 6 of the basic element is the outer casing of the external shape and body surface features of the robot, and is made into different body outer casings according to different robots. The controller 5 has a program control chip, which is used to control the presence, direction and magnitude of the current of the electromagnet 21 . The wire 7 is used to connect the electromagnet 21 and the circuit wire of the controller 5 .

Example 2: Basic Structure

Please refer to Figure 4 and Figure 5. 4 and 5 are a perspective view and a cross-sectional view of the basic structural model. The center of the magnetic mechanical spine is to insert the joint head 12 on one vertebral segment 1 into the joint socket 13 of the other vertebral segment 1 (the joint head 12 is stuck in the joint socket 13 and can rotate freely but cannot fall off), which is composed of several The vertebral segments 1 are connected in sequence to form a vertebral structure; each vertebral segment 1 has several vertebral protrusions 14 around it, and the magnet 2 (electromagnet 21 or permanent magnet 22 ) is firmly stuck on the vertebral protrusion 14 through the clamp head 23 In the magnet slot 17 on the upper; each vertebra 14 has a spring slot 15, and the two hooks 31 on the "V"-shaped spring 3 are respectively caught in the spring clips of the vertebrae 14 of the adjacent two vertebral segments 1. slot 15; between the vertebral protrusions 14 on each vertebral segment 1 there is a socket 16 that can be connected to the accessory device 4, and the accessory device 4 is inserted into the jack 16 through the plug 41; among them, the shape support 43 of the accessory device 4 The plug 41 on the inner wall is inserted into the jack 16 of the corresponding part; the outer wall 6 is covered on the outer wall of the body support 43; the wire 7 drawn from the coil 212 of the electromagnet 21 is connected to the controller 5; The program chip controls the presence, direction and magnitude of the current of the electromagnet 21; the controller 5 is fixed at one end of the spine.

Embodiment 3: Main component combination and working principle

Please refer to Figure 6, Figure 7, Figure 8. FIG. 6 is a schematic diagram of the combination mode of the vertebral segment and the magnet and the working principle of the electromagnet. As shown in the figure: the magnet 2 is firmly clamped to the magnet clamping slot 17 on the vertebral convexity 14 of the vertebral segment 1 through the clamping head 23 . (1) in the figure is a front view, (2) is a side view. Figure (3) is a schematic diagram of the working principle of the electromagnet. As shown in (1) of (3) in the figure, as shown in place a: when there is no current passing through the coil of an electromagnet, there is no magnetic field around the electromagnet; as shown at place b: when the coil of the electromagnet is energized, Assuming that the terminal p is connected to the positive pole "+" of the power supply, and the terminal q is connected to the negative pole "-" of the power supply, it is a forward current, the left end of the generated magnetic field is the "S" pole, and the right end is the "N" pole. As shown in Figure c: If the current direction is changed, the terminal p is connected to the negative pole of the power supply "-", and the terminal q is connected to the positive pole of the power supply "+", which is the reverse current, the left end of the generated magnetic field is the "N" pole, and the right end is the "N" pole. "S" pole, the direction of the magnetic field changes. As shown in (2) of (3) in the figure, the current directions of the two adjacent electromagnets a and b are the same. Assuming that they are both positive current, the magnetic fields generated by the two magnets are in the same direction, that is, the left ends are both "S" " pole, the right end is "N" pole. Then the two poles of the two magnets a and b are close to each other, one is the "S" pole, and the other is the "N" pole. The opposites of the two magnetic poles attract each other, so that the two electromagnets a and b move from the original position "m" to "n" respectively, and the two magnets are attracted together. As shown in (3) of (3) in the figure, the current directions of the two adjacent electromagnets a and b are opposite, where a is the forward current, b is the reverse current, and the magnetic fields generated by the two magnets are in opposite directions, that is, The left end of a is "S" pole, and the right end is "N" pole. The left ends of b are all "N" poles, and the right ends are "S" poles; then the two poles close to the two magnets a and b are both "N" poles. The two magnetic poles repel each other, so that the two electromagnets a and b move from the original position "m" to "n" respectively, and the two magnets repel each other and separate. In the following, "change the current direction", "provide the opposite current", "pass the current in the opposite direction", "the current direction is the same", "reverse the power supply mode", "change the direction of the magnetic field", "phase attract" , "repel each other", "attract", "repel" and other words and the principle of "mutual attraction and repulsion between electromagnet and permanent magnet" are the same as here, and will not be repeated here.

Part (1) in FIG. 7 is a combination of electromagnets 21 . As shown in the figure, the electromagnet 21 is first fixed on one end of the vertebral convexity 14 of the vertebral segment, and then the joint head 12 of one vertebral segment 1 is inserted into the joint socket 13 of the other vertebral level 1, and the joint head 12 is in the joint socket 13 It does not fall out and can rotate freely. A plurality of vertebral segments 1 are connected in sequence to form a vertebra. Then the vertebral protrusions 14 are arranged relative to each other. In the same row, there is a "V"-shaped spring 3 between every two adjacent vertebral protrusions 14 . The hooks 31 at both ends of the spring 3 are respectively clamped in the spring clamping grooves 15 of the two vertebral protrusions 14 . The lead 214 of the electromagnet 21 is connected to the controller 5 . The working principle is shown in Fig. 7 (2), when the currents passing through two adjacent electromagnets 21 are in opposite directions, the two electromagnets 21 will repel each other, so that the distance between the two magnets 21 is enlarged; The vertebral segment 1 rotates to the other side with the joint head 12 as the center; when the current direction is the same, the direction of the generated magnetic field is the same, which will attract each other, and the distance between the two electromagnets 21 will be reduced, pulling the vertebral segment 1 to the joint The head 12 rotates to this side as the center.

(1) in FIG. 8 is a combination of the electromagnet 21 and the permanent magnet 22 . The method is to fix the electromagnet 21 and the permanent magnet 22 on different vertebral segments 1 respectively. Then, the vertebral segments 1 of the electromagnet 21 and the vertebral segments 1 of the permanent magnet 22 are connected to each other at a distance from each other, and the magnetic fields of the permanent magnets 22 are in the same direction to form a spine. The connection method is the same as above. Working principle: as shown in (2) in Figure 8. When the controller 5 energizes a certain electromagnet 21, and the direction of the magnetic field generated by the electromagnet 21 is the same as that of the permanent magnet 22, it will attract the permanent magnets 22 on both sides to approach the electromagnet 21; when changing the electromagnet 21 When the direction of the current flows, the direction of the generated magnetic field is opposite to the direction of the magnetic field of the permanent magnet 22 , which will repel each other, so that the permanent magnet 22 is far away from the electromagnet 21 . Thereby, the vertebral segment 1 is rotated.

Embodiment 4: Completion of basic actions

1. Bending:

According to the above principle, as shown in (2) of Fig. 7, when the electromagnets 21 of two adjacent vertebral segments 1 in the spine repel each other, referring to a and b or b and c in the figure, between the two magnets The distance expands, pushing the vertebral segment 1 to rotate to the opposite side; or the electromagnets 21 at d, e, and f attract each other, pulling the vertebral segment 1 to rotate to the side. This results in a curvature of the spine. (2) in FIG. 8 is that the magnetic field generated by the electromagnet 21 attracts the permanent magnets 22 on both sides at the same time, pulling the vertebral segment 1 to rotate; or simultaneously repels the permanent magnets 22 and pushes the vertebral segment 1 to rotate. This causes the spine to bend.

Three-dimensional bending: Take the spine composed of four vertebral convexities 14 as an example, as shown in (1) of FIG. 9 . The row of vertebral protrusions 14 on the same side of the spine is called "column", then the spine in this figure is composed of four columns, and the four columns in the figure are named L1, L2, L3, and L4, where L1 and L3 are opposite. , L2 and L4 are opposite, evenly distributed around the spine. (For the clarity and conciseness of the picture, the relevant controllers, wires, springs, auxiliary equipment and details are omitted). When several electromagnets 21 at some place b in the column L1 in the figure have opposite currents, the electromagnets 21 repel each other, so that the distance between the electromagnets 21 increases; The currents passing through several electromagnets 21 at the opposite a are in the same direction, and the electromagnets 21 attract each other, so that the distance between the several magnets 21 is reduced. Under the action of the combined force of the electromagnets 21 at a and b, the vertebral segment 1 rotates, causing the spine to bend in the horizontal direction. In the same principle, at c and d in the figure, the columns L1 and L3 are not energized, but only the columns L2 and L4 are energized. At this time, if the current directions of each of the two adjacent electromagnets 21 at d of the column L4 are opposite, the electromagnets 21 repel each other, and the distance between the electromagnets 21 increases; at the same time, the electromagnets 21 at c at the column L2 If the currents are in the same direction, they will attract each other, and the distance between the electromagnets 21 will be reduced. In this way, under the combined force of the two forces c and d, the rotation of the vertebral segment 1 causes the spine to bend upward. If at some place, the four columns L are energized in the above-mentioned manner at the same time, under the combined force of the four electromagnetic forces, they will bend at a 45-degree angle to the vertical direction (that is, the direction in the middle of the two columns).

2. Expansion

Part (2) of Fig. 9 is the movement description of the basic action of the mechanical spine - "extension". As shown in the figure, a double row composed of electromagnets 21 is used as an example. First, change the connection method of the vertebral segment 1, and change the connection method from the joint type (the joint head 12 is inserted in the joint socket 13) to the retractable connection spring 8 as the connection. In this way, when the controller 5 supplies currents in the same direction to the two rows of electromagnets 21 at the same time, the electromagnets 21 will contract under the action of attracting each other at the same time. When the current directions of the two adjacent electromagnets 21 on both sides are opposite, the electromagnets 21 on both sides repel each other at the same time, so that the mechanical spine extends longitudinally. Repeating the power-on method twice will cause the mechanical spine to continuously expand and contract.

3. Twist

Figure 10 is a schematic diagram of the basic action "torsion" of the mechanical spine. As shown in part (1) of the figure, it is the state of a spine composed of multiple columns "before twisting": when columns L1, L2, L3, L4, and L5 are not subjected to force, the 5 columns are arranged in a straight line. The part (2) in the figure is to realize the "twisted" state. When the electromagnets 21 at the a of the column L2, the b of the L3, and the c of the L4 in the figure pass the current in the same direction at the same time, and the surrounding other When there is no current passing through the electromagnet 21, the three electromagnets a, b, and c will attract each other laterally and move closer together, so that the position of the electromagnet 21 at the corresponding position rotates, and the five columns L1, L2, L3 , L4, L5 will no longer be in a state of linear arrangement, but will rotate with the rotation of the magnet from the corresponding position, so that the mechanical spine body will be twisted.

Application examples

In the drawings involved in the following examples, many elements are omitted for the sake of brevity, and only necessary elements are reserved as schematic diagrams.

Example 1: Swing - use "bending" to complete the swinging action of fish, willow branches, etc.

Figure 11 is a schematic diagram of an example of a movement form "swing". Taking a fish as an example, (1) and (2) in (1) in the figure are the top view and side view of the skeleton 4 of the fish respectively, and the vertebra 1 is briefly illustrated. (2) in the figure are the different shapes of the skeleton 4 in different parts. In the figure (3) is the coat 6 of the fish, of which 61 is the air bubble of the fish, and 62 is the equipment compartment for installing other equipment. As shown in (4) in the figure, when one or more pairs of electromagnets 21 on both sides of the mechanical spine body have current passing through, the mechanical spine is bent in a certain direction. In the figure (4) (1), two places a and b are bent in the energized state. If the energization methods of the two sides of the a and b of the columns L1 and L2 are reversed, the bending in the opposite direction will occur, such as the a and b of (2) of (4) in the figure. At this time, the bending states of a and b of (2) are exactly opposite to the bending states of a and b of (1). If the direction of the current on both sides of the body is constantly changed, the body of the mechanical spine will swing back and forth continuously. If the controller 5 controls the current according to a certain program, the fish will swim.

Example 2: Waves - use the sequential "bending" of the same column to achieve wave-like motion

Figure 12 is a schematic diagram of an example of an action form - "fluctuation". When the mechanical spine bends several times in the energized state to form the state of (1) in the figure, this energization method is transmitted forward in turn. That is, if a mechanical spine consists of multiple columns, and the magnets 2 of a column L are marked as a, b, c, d, e, f, g... After L forms an S-shaped state. Pass the power-on way down one by one. That is, when the power is turned on for the second time, b is changed to the power-on mode of a, c is changed to the power-on mode of b, and d is changed to the power-on mode of c. When the power is turned on for the third time, c is changed to the power-on mode of a when the power is turned on for the first time. The power-on mode, d is changed to the power-on mode of b when the power is turned on for the first time... In this way, if the power-on mode of each electromagnet of the entire mechanical spine is transmitted forward in turn, a forward (as indicated by the arrow in the figure) is formed. wave motion in the direction of the finger). (2) in the figure is a state in the fluctuating process.

Embodiment 3: Combining movements such as swing, wave, torsion, and three-dimensional bending, if the controller can control the coordinated movement of these movements according to a certain program, it can well imitate the "dragon", "snake", "octopus tentacles". ” and so on the full range of motion.

Example 4: Creeping——Utilizing "stretching" to complete the creeping of "earthworms" etc.

In FIG. 13 , taking two rows of electromagnets as an example, there are attached elements 4 as shown in the figure at the front and rear m and n of the spine, on both sides. The 42 structure is composed of an electromagnet 421 , a permanent magnet 422 , a cone 423 and a spring 424 . There is a hole in the middle of the permanent magnet 422, and it is fixed on the permanent magnet 42 without moving. The electromagnet 421 is connected to the cone 423, and the cone 423 passes through the permanent magnet 422 and can move up and down. The lead wire of the electromagnet 421 is connected to the controller 5 . When m or n is going to move somewhere, the controller 5 provides current to the electromagnet 421 to generate a magnetic field to attract the permanent magnet 422, so that the 421 goes down and pushes the cone 423 to stick to the ground. When it is about to move forward, the power supply is stopped, the electromagnet 421 is bounced by the spring 424, and the cone 423 leaves the ground. "Fixing" described below is this method. The principle of movement is described in "Telescopic" in "Basic Actions", and will not be repeated here. Taking the earthworm as an example, the peristalsis process is shown in the figure. If one end of the mechanical spine is set as the "head", marked as m, and the other end is set as the "tail", marked as n. During the movement, first fix the "head" part m, and energize the electromagnets 21 on both sides to make them contract, then the "tail" part n moves forward, reaching the state of "one" in the figure. Then fix the "tail" part n, and energize the electromagnets 21 on both sides to stretch it, so that the "head" part m moves forward to reach the "two" position and state in the figure. Then repeat the above movement process: fix the "head" part m again, contract the body, make the "tail" part n move forward, and reach the state of "three". Then fix the "tail" part n, stretch the body, and make the "head" part m move forward to reach the position and state of "four"... Repeat the above actions, so that the mechanical spine will "squirm" forward. If it is combined with the swing to complete the creeping forward movement of earthworms and the like.

Embodiment 5: Shaking 1 - "swinging shaking", using "twist" to complete the back and forth rotation of the neck and waist of people or animals

Take a person's "neck" or "waist" for example. The side-to-side shaking of the neck or waist can be achieved by using the principle and method of "twisting" described in "Basic Movements". As shown in Figure 10, the magnet a of column L2, the magnet b of L3, and the magnet c of L4 provide the same direction current, and the dislocation (not in the same column) attracts each other, so that the vertebral segment 1 rotates, so that the vertebra faces in one direction Twist; then change the current direction of magnet b, magnets a, b, c change from attracting to repulsing, causing the spine to twist in the opposite direction. Constantly changing the current direction of the magnet b will cause the neck or waist to sway from side to side. If only one side of the spine is supplied with current, the spine will bend while shaking, such as bowing the head, bowing, and shaking. If the opposite sides of the spine are supplied with current in the same way at the same time, the neck or waist will be rocked upright.

Embodiment 6: Shaking 2 - "rotating shaking", using "multi-column sequential bending" to complete the shaking of the neck, waist, or tail of a person or animal

As shown in FIG. 14 , when several magnets 2 adjacent in a certain column L1 of the spine, such as magnets a, b, and c in the figure, attract each other, the spine is bent in the direction of L1. Then, the controller 5 stops supplying power to the magnets a, b, and c, and supplies current to the magnets d, e, and f in the L2 column, so that the spine bends in the direction of L2; in the same way, it stops supplying the magnets d, e, and Power supply f, and supply current to magnets g, h, i in column L3 at the same time, so that the spine bends in the direction of L3; in the same way, stop supplying power to magnets g, h, i, and simultaneously supply magnets j, h, and i in column L4. K and l provide electric current to make the spine bend in the direction of L4. If this continues, the spine will shake. For example, the rotation and shaking of the neck and waist of humans and vertebrates can be completed smoothly.

Example 7: Crawling 1——Using "bending" to complete the crawling motion of "bugs"

Figure 15 is a schematic diagram of an example of a movement form - "worm crawling". As shown in the figure, it is assumed that one end of the mechanical spine is the "head" part m, and the other end is the "tail" part n. Referring to the method of the third embodiment (creep), first fix the "head" part m, and then the controller 5 simultaneously energizes several adjacent electromagnets 21 at three places a, b, and c, so that the two places a and b are bent upwards. , bend downward at c, so that the "back" part is arched upward, and the "tail" part n is dragged to move forward to form the "one" state in the figure. Then fix the "tail" part n, and make the three sides of a, b, and c stretch at the same time, and push the "head" part m to move forward to form the "two" state in the picture. Then repeat the above "one" action, fix the "head" part m, and drag the "tail" part n forward. The state of "three" in the picture. Repeat the action of "two" again, and push the "head" part m to move forward. In this way, the above actions are repeated continuously, and the mechanical spine produces a forward crawling motion.

Embodiment 8: Crawling 2—Arthropods such as centipedes, crawling movements of insects such as cockroaches and ladybugs

Fig. 16 is an example of a movement form - a schematic diagram of the action of "arthropod crawling". As shown in the figure, the three adjacent electromagnets 21 in a row L1 of the mechanical spine are respectively a, d, and e, wherein the currents of a and e are opposite and remain unchanged. The current direction of iron a is opposite, the two repel each other, and the current direction of e is the same, and the two attract each other; the three electromagnets b, c, and f in a row L2 opposite to L1, where the current directions of b and f are On the contrary and remain unchanged, the current direction of electromagnet c is opposite to the current direction of electromagnet f, the two repel each other, and the current direction of b is the same, and the two attract each other, forming the state shown by "one" in the figure. When the current directions of d and c are changed at the same time, the current directions of electromagnets d and a become the same, and the two attract each other, and the current direction of e is opposite to that of e, and the two repel each other; the current directions of electromagnets c and f are the same , the two attract each other, and the current direction of b is opposite, and the two repel each other, forming the state shown by "two" in the figure. In the process of this change, referring to the method in "Example 3 Creeping", the positions of the electromagnets a, c, and e are fixed first, and the controller 5 simultaneously energizes c and d in the above-mentioned manner, then b, d, f The positions of the three electromagnets move forward. Then change the current direction of electromagnets d and c, and fix b, d, f at the same time, then a, c, e move forward. Constantly changing the current directions of c and d, and repeating the above method, the mechanical spine will continue to crawl forward.

Example 9: Application in caves and pipes

When working in some caves and pipes, especially when encountering "dead bends", if the tools used cannot be bent in time, it is difficult to continue the work. If a sensor and a forwarding device are installed on the accessory equipment of the mechanical spine, the bending method described in the mechanical spine can be used to bend along with the bending well and overcome obstacles.

Special Note:

1. Obvious: The name of the present invention "mechanical spine" is only to express its structural and formal features. It's not just limited to the "spine" category of vertebrates. Instead, it applies to all structures and movements of animals, plants, non-living things, etc. that can be "bent", "twisted" and "stretched".

2. Obvious: the form and structure of the "vertebra" of the present invention are only an example, and do not represent the whole. For example, the form of "vertebral segment" can be diverse and can be determined according to the actual production needs. Structural methods, such as the spine connected by "vertebral segments", can be directly replaced by "elastic, bendable or retractable objects of tubular structure, columnar structure or belt structure, and magnets are fixed on such objects, etc. Wait.

3. Obvious: The basic idea of the present invention is to change the distance between the two sides of the vertebral segment, so that the vertebral segment can be rotated or stretched to achieve the purpose of "bending", "twisting" and "stretching". For the convenience of description, the method adopted is, for example, "magnetic dynamic" - using the "mutual attraction or repulsion" between magnets to change the distance between the magnets to achieve the purpose of rotating and expanding the vertebral segments. In practical applications, this goal can be achieved by using the mutual attraction and repulsion between "static", "hydraulic", "air pressure", or current solenoids, motors, etc. Therefore, using these methods to achieve the above objects all belong to the scope of the present invention.

4. Obviously: the motion forms listed in the present invention are just a few examples of the ever-changing motion forms that the present invention can realize, but not all. Describing the sequence of movement actions and the location where they occur is also an example, and is not required or implied to do so only; rather, it includes not only those elements of the process, method, article, or device that are explicitly listed, but also other items not explicitly listed. inherent elements.

Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, and substitutions can be made in these embodiments without departing from the principle and spirit of the invention and modifications, the scope of the invention is defined by the appended claims and their equivalents.

Claims (9)

1. A magnetic mechanical vertebra comprises a vertebra segment (1), a magnet (2), a V-shaped spring (3), a controller (5), a lead (7), an outer casing (6), an accessory element (4) and the like,

the method is characterized in that: the center of the vertebra is that the joint head (12) on one vertebral segment (1) is inserted into the joint socket (13) of the other vertebral segment (1), and the joint head (12) is clamped in the joint socket (13) and can freely rotate but can not fall off; a plurality of vertebral segments (1) are connected in sequence to form a vertebral structure; a plurality of vertebral bulges (14) are arranged on the periphery of each vertebral segment (1), and the magnet (2) is firmly clamped in the magnet clamping groove (17) on each vertebral bulge (14) through a clamping head (23); each vertebra bulge (14) is provided with a spring clamping groove (15), and two hooks (31) on the V-shaped spring (3) are respectively clamped in the spring clamping grooves (15) of the vertebra bulges (14) of two adjacent vertebra sections (1); a jack (16) which can be connected with the accessory equipment (4) is arranged between the vertebral bulges (14) on each vertebral segment (1), and the accessory equipment (4) is inserted into the jack (16) through a plug (41); wherein, the body bracket (43) of the accessory device (4) is inserted into the plug hole (16) of the corresponding part through the plug (41) on the inner wall; the outer sleeve (6) is coated on the outer wall of the body support (43); a lead (7) led out from a coil (212) of the electromagnet (21) is connected to the controller (5); a program chip is arranged in the controller (5) and controls the existence, the direction and the magnitude of the current of the electromagnet (21); the controller (5) is fixed at one end of the vertebra in an adhering way.

2. Magnetomotive mechanical spine according to claim 1, characterized in that: the center of the vertebral body (1) is a cylindrical vertebral body (11), the upper bottom surface and the lower bottom surface of the vertebral body (11) are respectively provided with a circular truncated cone bulge, a central joint head (12) is arranged on the circular truncated cone on one surface, and a spherical joint socket (13) is arranged on the circular truncated cone on the other surface; a plurality of vertebral bulges (14) are arranged on the side surface of the vertebral body (11), and a spring clamping groove (15) and a magnet clamping groove (17) are arranged on two surfaces of each vertebral bulge (14) on the same side with the bottom surface of the vertebral body; the number of the vertebral bulges (14) on each vertebral segment (1) is determined according to the actual requirement.

3. Magnetomotive mechanical spine according to claim 1, characterized in that: the magnet comprises an electromagnet (21) and a permanent magnet (22); the electromagnet (21)) consists of a soft magnet frame (211) and a coil (212), the coil (212) is wound on the soft magnet (211), and the coil (212) is electrically connected with the lead (7); the permanent magnet is made of magnetic material.

4. Magnetomotive mechanical spine according to claim 1, characterized in that: the magnet (2) is fixed on the vertebral bulge (14) around the vertebral segment (1); the magnets (2) at the same positions on the plurality of vertebral segments (1) are arranged in order.

5. Magnetomotive mechanical spine according to claim 1, characterized in that: the vertebral body (11) of the vertebral segment (1) is provided with a plurality of insertion holes (16) for connecting and fixing accessory equipment.

6. Magnetomotive mechanical spine according to claim 1, characterized in that: v-shaped springs (3) are connected between vertebral bulges (14) at the same positions on every two adjacent vertebral segments (1), and hooks (31) of the springs are clamped in spring clamping grooves (15) on the vertebral bulges (14).

7. Magnetomotive mechanical spine according to claim 1, characterized in that: the vertebra connected by the vertebral segments (1) can be replaced by a flexible rod-shaped, tubular and strip-shaped object according to actual needs in different application places.

8. Magnetomotive mechanical spine according to claim 1, characterized in that: the power of the attraction and the repulsion between the electromagnets (21) for movement; however, in practice, other power means (such as "electrostatic", "hydraulic", "pneumatic", "current spiral", "electric motor") and the like may be used instead of magnetic force.

9. Magnetomotive mechanical spine according to claim 1, characterized in that: the outer cover (6) is coated on the outer wall of the body support (43), the body support (43) imitates the body structure characteristics of the manufactured object, and the outer cover (6) imitates the body surface characteristics of the manufactured object.

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