| 摘要 |
The method of moving of the self-propelled connective device of considerable length is based on the change of mutual positions of the parts of the connective device having resilient thorns. In some particular cases, it can be only one unit having two groups of thorns which change their positions with respect to one another. The sloping of the thorns in relation to the axis of the connective device is selected depending on the chosen direction of motion. Sketch_1: 1, 2 - length change gear of the unit; 3 - unit's part having thorns; 4 - connector of the units; 5 - gear of thorns position changing. The self-propelled connective device consists of one or several units. The thorns and the length change gear are located on each unit of the self propelled connective device. The thorns may be located all along the unit or on its separate parts. The thorns are sloped in the direction opposite to the chosen direction of motion, and they may resiliently bend in relation to the surface of the unit. The resilient thorns prevent the motion of the device in the direction of the thorn sloping and they allow the unit to move freely in the opposite direction. Under the action of the length change gear and depending on outside influence, the unit either pushes forward its own part having thorns which is located ahead of the length change gear or pulls to itself all parts and units located behind the length change gear. A unit's part having thorns grips the ground and the obstacles with the help of the thorns both during the fulfillment of its own motion and when it stands still, but the driving part of the connective device is pulled up towards it .
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