CN211336218U

CN211336218U - Formula track structure and robot are inhaled to magnetism

Info

Publication number: CN211336218U
Application number: CN201922478035.7U
Authority: CN
Inventors: 冯消冰; 潘际銮; 高力生; 汪斌
Original assignee: Beijing Bo Tsing Technology Co Ltd
Current assignee: Beijing Bo Tsing Technology Co Ltd
Priority date: 2019-12-31
Filing date: 2019-12-31
Publication date: 2020-08-25
Anticipated expiration: 2029-12-31

Abstract

The utility model relates to an artificial intelligence walking field discloses a formula track structure and robot are inhaled to magnetism. The magnetic attraction type crawler structure comprises a support, wherein a main driving chain wheel, a driven chain wheel and an annular crawler are arranged on the support, the main driving chain wheel and the driven chain wheel jointly tension the annular crawler, the magnetic attraction type crawler structure further comprises a buffer assembly arranged on the inner side of the annular crawler, and the buffer assembly comprises an elastic adjusting assembly and is arranged on the support; the auxiliary chain wheel is connected to the output end of the elastic adjusting assembly, the elastic adjusting assembly drives the auxiliary chain wheel to abut against the annular crawler belt, and the elastic adjusting assembly can stretch along with the concave-convex condition of the surface of the steel plate, so that the shape of the surface of the annular crawler belt, which is in contact with the steel plate, is adapted to the shape of the surface of the steel plate. When encountering complex road conditions, the magnetic type crawler belt structure can keep the adsorption force between the magnetic type crawler belt structure and the steel plate, and the stability of the movement of the magnetic type crawler belt structure is ensured.

Description

Formula track structure and robot are inhaled to magnetism

Technical Field

The utility model relates to an artificial intelligence walking field especially relates to a formula track structure and robot are inhaled to magnetism.

Background

The existing robot comprises a body and a magnetic type crawler belt, wherein the magnetic type crawler belt mainly comprises a driving chain wheel, a driven chain wheel, a magnetic type crawler belt, a connecting support and the like. As shown in fig. 1-3, the driving sprocket 1 ' and the driven sprocket 2 ' are both rotatably disposed on the connecting bracket 3 ', the driving sprocket 1 ' and the driven sprocket 2 ' together tension the annular magnetically attracted caterpillar band 4 ', and the driving sprocket 1 ' drives the driven sprocket 2 ' to drive through the magnetically attracted caterpillar band 4 '.

Referring to fig. 1 and 2, when the magnetic caterpillar band 4 ' moves on the steel plate 5 ', the outer surface of the magnetic caterpillar band 4 ' is tightly attached to the surface of the steel plate 5 ', if the surface of the steel plate 5 ' has the protrusions 6 ', when the magnetic caterpillar band 4 ' passes over the protrusions 6 ', the whole robot is jacked up by the protrusions 6 ', so that the vehicle body shakes, and the walking stability of the robot is affected.

Secondly, as shown in fig. 3, when the surface of the steel plate 5 'has the recess 7', the magnetic caterpillar band 4 'cannot be well adsorbed to the surface of the steel plate 5' at the recess 7 ', so that the adsorption force between the magnetic caterpillar band 4' and the surface of the steel plate 5 'is weakened, and the robot has a potential safety hazard of falling off from the surface of the steel plate 5'.

The utility model discloses in provide a formula track structure is inhaled to magnetism to solve above-mentioned problem.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a formula track structure is inhaled to magnetism, this magnetism inhale formula track structure when meetting complicated road conditions, can keep and the steel sheet between the adsorption affinity, guarantee to inhale the stationarity that formula track structure moved to it is safer, reliable to make the motion of magnetism inhale formula track structure.

Another object of the utility model is to provide a robot, utilize above-mentioned magnetism to inhale formula track structure walking, robot can adapt to complicated road conditions, and the job stabilization nature of robot is guaranteed to stable walking under complicated road conditions.

To achieve the purpose, the utility model adopts the following technical proposal:

the utility model provides a formula track structure is inhaled to magnetism, which comprises a bracket, be provided with main drive sprocket, driven sprocket and endless track on the support, main drive sprocket with the common tensioning of driven sprocket endless track, preferably, formula track structure is inhaled to magnetism still including set up in the buffering subassembly of the inboard of endless track, the buffering subassembly includes:

the elastic adjusting assembly is arranged on the bracket;

the auxiliary chain wheel is connected to the output end of the elastic adjusting assembly, the elastic adjusting assembly drives the auxiliary chain wheel to abut against the annular crawler belt, and the elastic adjusting assembly can stretch along with the concave-convex condition of the surface of the steel plate, so that the shape of the surface of the annular crawler belt, which is in contact with the steel plate, is adapted to the shape of the surface of the steel plate.

Preferably, the buffer assemblies are at least two groups, and the at least two groups of buffer assemblies are arranged in parallel along the walking direction of the magnetic type crawler belt structure.

Preferably, the damping assembly is disposed adjacent to an inner side of the endless track contacting the steel plate.

Preferably, in the initial state, the lowest point of the main driving sprocket and the driven sprocket is higher than the lowest point of the auxiliary sprocket.

Preferably, each set of the buffer assemblies comprises at least two auxiliary chain wheels, and the at least two auxiliary chain wheels are arranged in parallel along the axial direction of the auxiliary chain wheels.

Preferably, the elastic adjustment assembly comprises:

the hydraulic cylinder is arranged on the bracket;

and one end of the connecting rod is connected to the output end of the hydraulic cylinder, and the rotating shaft of the auxiliary chain wheel is connected to the other end of the connecting rod.

Preferably, the elastic adjustment assembly further comprises an elastic member sleeved on the connecting rod, one end of the elastic member abuts against the hydraulic cylinder, and the other end of the elastic member abuts against the rotating shaft of the auxiliary chain wheel.

Preferably, the resilient adjustment assembly further comprises a mounting plate connected to the bracket, the hydraulic cylinder being mounted to the mounting plate.

Preferably, the elastic adjustment assembly further comprises a locking assembly, and the hydraulic cylinder is tightly connected to the mounting plate through the locking assembly.

The utility model discloses in still provide a robot, inhale formula track structure including foretell magnetism.

The utility model has the advantages that: the utility model discloses in, during initial state, above-mentioned elasticity adjustment subassembly drive auxiliary sprocket supports presses in annular track to make annular track can contact with the steel sheet. When the main driving chain wheel rotates, the annular crawler belt is driven to rotate, so that the magnetic type crawler belt structure walks along the steel plate. The auxiliary sprocket connects in the output of elasticity adjustment subassembly, when appearing protruding or sunken on the steel sheet, the auxiliary sprocket can stretch out and draw back for the elasticity adjustment subassembly along with the arch of steel sheet or sunken, so that the shape of the face of annular track and steel sheet contact suits with the shape of steel sheet, thereby make the surface of annular track and the protruding or the sunken department surface of steel sheet contact as much as possible, through the area of contact who increases annular track and steel sheet surface, with the adsorption affinity of increasing annular track and steel sheet, guarantee the stationarity of magnetism type track structure motion, thereby it is safer, reliable to make the motion of magnetism type track structure.

Drawings

FIG. 1 is a schematic diagram of a prior art magnetically-attractable track;

FIG. 2 is a schematic diagram of a prior art magnetically attracted track (with bumps on the steel plate);

FIG. 3 is a schematic diagram of a prior art magnetically-attracted track (with depressions in the steel plate);

fig. 4 is a schematic structural view of the magnetic attraction type crawler belt structure of the present invention;

FIG. 5 is a front view of the magnetic attraction track structure of the present invention;

fig. 6 is the utility model discloses a formula track structure's inner structure schematic diagram is inhaled to magnetism.

In the figure: 1', a driving chain wheel; 2', a driven sprocket; 3', connecting a bracket; 4', a magnetic crawler belt; 5', a steel plate; 6', a bulge; 7', a recess;

1. a support; 2. a main drive sprocket; 3. a driven sprocket; 4. an endless track; 6. a buffer assembly; 61. an elastic adjustment assembly; 611. a hydraulic cylinder; 612. a connecting rod; 613. mounting a plate; 614. a locking member; 615. an elastic member; 62. an auxiliary sprocket.

Detailed Description

The technical solution of the present invention is further explained by the following embodiments with reference to the accompanying drawings.

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present invention, it should be noted that the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate the position or positional relationship based on the position or positional relationship shown in the drawings, or the position or positional relationship which is usually placed when the product of the present invention is used, and are only for convenience of description of the present invention and simplification of description, but do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed" and "connected" are to be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; either mechanically or electrically. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact between the first and second features, or may comprise contact between the first and second features not directly. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

Reference will now be made in detail to the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present invention, and should not be construed as limiting the present invention.

When the magnetic attraction crawler belt in the prior art walks on the steel plate, when bulges or depressions exist on the surface of the steel plate, the crawler belt passes over, the whole vehicle body can be jacked up, the vehicle body shakes, and the walking stability is influenced.

In order to solve the above problem, as shown in fig. 3-6, the present embodiment provides a magnetic-type crawler belt structure, which includes a support 1, a main driving sprocket 2, a driven sprocket 3 and an annular crawler belt 4 are disposed on the support 1, the main driving sprocket 2 and the driven sprocket 3 jointly tension the annular crawler belt 4, and a magnetic sheet is disposed on the periphery of the annular crawler belt 4.

The magnetic attraction type crawler belt structure further comprises a buffer assembly 6, wherein the buffer assembly 6 is arranged on the inner side of the annular crawler belt 4. Specifically, buffering subassembly 6 includes elasticity adjustment subassembly 61 and auxiliary sprocket 62, and wherein, auxiliary sprocket 62 sets up on support 1, and auxiliary sprocket 62 is connected in elasticity adjustment subassembly 61's output, and elasticity adjustment subassembly 61 drive auxiliary sprocket 62 supports and presses in annular track 4, and main drive sprocket 2 drive annular track 4 rotates, and then drives auxiliary sprocket 62 and rotate, and under auxiliary sprocket 62's the effect of supporting and pressing, annular track 4 passes through the magnetic sheet and adsorbs with the steel sheet, makes annular track 4 walk along the steel sheet. The auxiliary sprocket 62 is extended and contracted relative to the elastic adjustment unit 61 by the elastic adjustment unit 61 according to the unevenness of the steel plate so that the shape of the surface of the endless track 4 contacting the steel plate is adapted to the shape of the steel plate.

In this embodiment, in the initial state, the elastic adjustment assembly 61 drives the auxiliary sprocket 62 to press against the endless track, so that the endless track 4 can contact the steel plate. When the main driving sprocket 2 rotates, the annular crawler 4 is driven to rotate, so that the magnetic type crawler structure walks along the steel plate. The auxiliary chain wheel 62 is connected in the output of elasticity adjustment subassembly 61, when appearing protruding or sunken on the steel sheet, auxiliary chain wheel 62 can be flexible for elasticity adjustment subassembly 61 along with the arch or sunken of steel sheet, so that the shape of the face of annular track 4 and steel sheet contact suits with the shape of steel sheet, thereby make the surface of annular track 4 and the protruding or the sunken department surface of steel sheet contact as much as possible, through the area of contact who increases annular track 4 and steel sheet surface, with the adsorption affinity that increases annular track 4 and steel sheet, guarantee the stationarity of formula track structure motion is inhaled to magnetism, thereby make the motion of formula track structure of magnetism safer, reliable.

In this embodiment, the diameter of the root circle of the main drive sprocket 2 and the driven sprocket 3 is larger than the diameter of the root circle of the auxiliary sprocket 62. In the initial state, the lowest point of the main drive sprocket 2 and the driven sprocket 3 is higher than the lowest point of the auxiliary sprocket 62. That is, in the initial state, the main driving sprocket 2 only provides a driving force, and neither the main driving sprocket 2 nor the driven sprocket 3 is in contact with the steel plate.

When the magnetic type crawler structure walks, the main driving sprocket 2 provides driving force, and the auxiliary sprocket 62 is driven to rotate to abut against the contact between the annular crawler 4 and the steel plate by rotating the annular crawler 4.

Referring to fig. 6, fig. 6 is the internal structure schematic diagram of formula track structure is inhaled to magnetism, and buffer assembly 6 in this embodiment is close to the inboard setting of the annular track 4 that contacts the steel sheet, can guarantee promptly that annular track 4 follows the walking of steel sheet, and simultaneously, annular track 4 also can adapt to the sunken or bellied change on the surface of steel sheet to guarantee the adsorption affinity between annular track 4 and the steel sheet. When the endless track 4 travels, the auxiliary sprocket 62 is pressed against the endless track 4 therebelow. In the preferred technical scheme, the auxiliary chain wheel 62 at the leftmost end in the figure is close to the main driving chain wheel 2 as much as possible, and the auxiliary chain wheel 62 at the rightmost end in the figure is close to the driven chain wheel 3 as much as possible, so that the auxiliary chain wheel 62 at the side close to the rigid plate can be pressed against the annular crawler 4 in the largest range as much as possible, the contact range of the annular crawler 4 and the steel plate is maximized as much as possible, and the magnetic type crawler structure is more stable in movement.

The number of the buffer assemblies 6 is at least two, and the buffer assemblies 6 of the at least two sets are arranged in parallel along the traveling direction of the magnetic attraction type crawler belt structure (traveling direction shown in fig. 5 and 6). Set up two sets of at least buffering subassemblies 6, guarantee that the annular crawler 4 that is close to the certain size within range of one side of steel sheet adsorbs with the steel sheet contact, has increased the area of contact of annular crawler 4 with the steel sheet promptly to guarantee to inhale formula track structure stationary motion magnetically. In addition, the annular crawler 4 is in the motion process, when the steel sheet appears protruding or sunken, perhaps magnetism is inhaled formula track structure and is walked on the curved surface, buffering subassembly 6 sets up to at least two sets ofly, be equivalent to being provided with two at least auxiliary sprocket 62 promptly, the mode of setting up of a plurality of auxiliary sprocket 62 makes annular crawler 4 as much as possible with the surface of protruding or sunken department on the steel sheet, or with the surface contact of curved surface steel sheet, thereby make above-mentioned magnetism inhale formula track structure can adapt to protruding or sunken structure on the steel sheet, and the adaptation walks on the steel sheet of curved surface.

In the walking process under the working condition of the steel plate with the curved surface, the main driving chain wheel 2 and the driven chain wheel 3 may be temporarily contacted with the steel plate due to the height difference of the curved surface.

Each set of cushion units 6 includes at least two auxiliary sprockets 62, and the at least two auxiliary sprockets 62 are arranged side by side along the axial direction thereof. When the width of the endless track 4 is large, the plurality of auxiliary sprockets 62 arranged in the width direction of the endless track 4 can ensure that the endless track 4 is evenly stressed in the width direction, so that the endless track 4 is better adsorbed on a steel plate. When the endless tracks 4 are arranged in plural sets side by side, each of the auxiliary sprockets 62 in the axial direction of the auxiliary sprockets 62 is engaged with one of the endless tracks 4, respectively, and each of the auxiliary sprockets 62 can be controlled individually to better adapt to surface variations of the steel plates. When the width of cyclic annular sprocket 4 is greater than the thickness of auxiliary sprocket 62, set up a plurality of auxiliary sprocket 62 that set up side by side on the width direction of cyclic annular sprocket 4, compare and set up an integrative auxiliary sprocket 62, when guaranteeing cyclic annular track 4 at its self width direction whole atress homogeneity, can also alleviate the weight of the overall structure of formula track structure is inhaled to magnetism.

Specifically, as shown in fig. 5 and 6, the elastic adjustment assembly 61 includes a hydraulic cylinder 611 and a connecting rod 612, wherein the hydraulic cylinder 611 is disposed at the bracket 1, one end of the connecting rod 612 is connected to an output end of the hydraulic cylinder 611, and a rotating shaft of the auxiliary sprocket 62 is connected to the other end of the connecting rod 612. In the initial state, the force of the hydraulic cylinder 611 on the connecting rod 612 is applied to the rotating shaft of the auxiliary sprocket 62, so that the auxiliary sprocket 62 is pressed against the endless track 4, the endless track 4 is in a pre-pressed state in the initial state, and the endless track 4 is in contact with the steel plate.

The elastic adjustment unit 61 can expand and contract according to the unevenness of the surface of the steel plate so that the shape of the surface of the endless track 4 contacting the steel plate can be adapted to the shape of the surface of the steel plate. Specifically, the position of the auxiliary sprocket 62 is adjusted by the extension and contraction of the connecting rod 612, which is partially located within the hydraulic cylinder 612, relative to the hydraulic cylinder 611. When the initial state of the magnetic type crawler belt structure does not start to walk, the output shaft inside the hydraulic cylinder 611 is arranged at the preset position of the stroke of the hydraulic cylinder 611, so that a certain stroke is reserved for extension or retraction of the telescopic rod 612, and the connecting rod 612 can be ensured to be telescopic. The preset position of the output shaft in the initial state is determined based on the actual pressing force of the auxiliary sprocket 62 against the endless track 4, the total stroke of the hydraulic cylinder 611, and the like.

In addition, the elastic adjustment assembly 61 further includes an elastic element 615 sleeved on the connecting rod 612, one end of the elastic element 615 is pressed against the hydraulic cylinder 611, and the other end is pressed against the rotating shaft of the auxiliary sprocket 62. In this embodiment, the elastic element 615 is a spring, the spring is sleeved on the connecting rod 612, one end of the spring is pressed against the end surface of the outer shell of the hydraulic cylinder 611, and the other end of the spring is pressed against the rotating shaft of the auxiliary sprocket 62. In this embodiment, if the steel plate has a protrusion, the auxiliary sprocket 62 is retracted by an external force, and when the steel plate has a depression, the elastic member 615 is in a compressed state, and the elastic member 615 presses the rotating shaft, so as to extend the auxiliary sprocket 62.

In this embodiment, the specific scheme of arranging the hydraulic cylinder 611 on the bracket 1 is as follows: the resilient adjustment assembly 61 further comprises a mounting plate 613 attached to the bracket 1, and the hydraulic cylinder 611 is mounted to the mounting plate 613. The hydraulic cylinder 611 is fastened to the mounting plate 613 by screws or other fastening means.

Specifically, the resilient adjustment assembly 61 further comprises a locking assembly by which the hydraulic cylinder 611 is securely attached to the mounting plate 613. In this embodiment, the locking assembly includes a locking member 614, the locking member 614 is disposed on two sides of the mounting plate 613, the hydraulic cylinder 611 is disposed through the mounting plate 613, and an external thread is disposed on an outer wall of the hydraulic cylinder 611, the locking member 614 is in threaded connection with the hydraulic cylinder 611, and the hydraulic cylinder 611 is fastened to the mounting plate 613 through the locking member 614. In this embodiment, the locking member 614 is a nut, and the nut is disposed on two sides of the mounting plate 613. In other embodiments, the locking assembly can also be formed by screwing the hydraulic cylinder 611 to a hydraulic cylinder fixing plate, and fastening the hydraulic cylinder fixing plate to the mounting plate 613.

To reduce the overall weight of the magnetic-type crawler belt structure and to allow the auxiliary sprocket 62 to respond quickly when encountering a protrusion or a depression, lightening holes are provided in the auxiliary sprocket 62.

This embodiment still provides a robot, includes foretell magnetism and inhales formula track structure. The formula track structure is inhaled to the utilization magnetism of robot, makes the robot can adapt to complicated road conditions, and the job stabilization nature of robot is guaranteed to the steady walking under complicated road conditions.

It is obvious that the above embodiments of the present invention are only examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. The utility model provides a formula track structure is inhaled to magnetism, includes support (1), be provided with main drive sprocket (2), driven sprocket (3) and endless track (4) on support (1), main drive sprocket (2) with driven sprocket (3) take up jointly endless track (4), its characterized in that, formula track structure is inhaled to magnetism still including set up in the buffering subassembly (6) of the inboard of endless track (4), buffering subassembly (6) include:

the elastic adjusting assembly (61) is arranged on the bracket (1);

the auxiliary chain wheel (62) is connected to the output end of the elastic adjusting assembly (61), the elastic adjusting assembly (61) drives the auxiliary chain wheel (62) to be abutted against the annular crawler belt (4), and the elastic adjusting assembly (61) can stretch and retract along with the concave-convex condition of the surface of the steel plate, so that the shape of the surface of the annular crawler belt (4) in contact with the steel plate is adapted to the shape of the surface of the steel plate.

2. A magnetic attraction type crawler belt structure according to claim 1, characterized in that the buffer assemblies (6) are at least two groups, and at least two groups of buffer assemblies (6) are arranged side by side along the walking direction of the magnetic attraction type crawler belt structure.

3. Magnetic track structure according to claim 1, characterized in that the damping assembly (6) is arranged close to the inside of the endless track (4) contacting the steel plate.

4. Magnetic attraction type track structure according to claim 1, characterized in that in the initial state, the lowest point of the main drive sprocket (2) and the driven sprocket (3) is higher than the lowest point of the auxiliary sprocket (62).

5. Magnetic attraction type track structure according to any one of claims 1-4, characterized in that each set of said buffer assemblies (6) comprises at least two of said auxiliary sprockets (62), at least two of said auxiliary sprockets (62) being juxtaposed in the axial direction of said auxiliary sprockets (62).

6. Magnetic-type crawler belt structure according to claim 1, characterized in that said elastic adjustment assembly (61) comprises:

a hydraulic cylinder (611) provided to the bracket (1);

a connecting rod (612), one end of the connecting rod (612) being connected to the output end of the hydraulic cylinder (611), and the rotational shaft of the auxiliary sprocket (62) being connected to the other end of the connecting rod (612).

7. The magnetic-type caterpillar structure according to claim 6, wherein the elastic adjustment assembly (61) further comprises an elastic member (615) sleeved on the connecting rod (612), one end of the elastic member (615) is pressed against the hydraulic cylinder (611), and the other end of the elastic member is pressed against the rotating shaft of the auxiliary sprocket (62).

8. Magnetic-type crawler belt structure according to claim 7, characterized in that said elastic adjustment assembly (61) further comprises a mounting plate (613) connected to said carriage (1), said hydraulic cylinder (611) being mounted to said mounting plate (613).

9. Magnetic-type crawler belt structure according to claim 8, characterized in that said elastic adjustment assembly (61) further comprises a locking assembly by which said hydraulic cylinder (611) is securely connected to said mounting plate (613).

10. A robot comprising the magnetically attractable track structure as set forth in any one of claims 1-9.