CN109334809A - A kind of imitative blue sheep Coupled Rigid-flexible buffer non-skid hoof palm - Google Patents
A kind of imitative blue sheep Coupled Rigid-flexible buffer non-skid hoof palm Download PDFInfo
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- CN109334809A CN109334809A CN201811475982.4A CN201811475982A CN109334809A CN 109334809 A CN109334809 A CN 109334809A CN 201811475982 A CN201811475982 A CN 201811475982A CN 109334809 A CN109334809 A CN 109334809A
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- hoof
- separate structure
- palm
- toe rigidity
- toe
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- 210000000003 hoof Anatomy 0.000 title claims abstract description 238
- 241001494479 Pecora Species 0.000 title claims abstract description 34
- 239000000872 buffer Substances 0.000 title claims abstract description 24
- 206010058109 Hangnail Diseases 0.000 claims abstract description 7
- 239000000463 material Substances 0.000 claims description 5
- 230000003139 buffering effect Effects 0.000 abstract description 3
- 210000003371 toe Anatomy 0.000 description 147
- 239000011435 rock Substances 0.000 description 14
- 210000002683 foot Anatomy 0.000 description 13
- 230000001788 irregular Effects 0.000 description 8
- 230000000694 effects Effects 0.000 description 7
- 230000009194 climbing Effects 0.000 description 6
- 238000013461 design Methods 0.000 description 5
- 206010044565 Tremor Diseases 0.000 description 4
- 230000008878 coupling Effects 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 4
- 238000005859 coupling reaction Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 239000004744 fabric Substances 0.000 description 2
- 239000011664 nicotinic acid Substances 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 210000004872 soft tissue Anatomy 0.000 description 2
- 239000006173 Good's buffer Substances 0.000 description 1
- 241001465754 Metazoa Species 0.000 description 1
- 230000002745 absorbent Effects 0.000 description 1
- 239000002250 absorbent Substances 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 210000003423 ankle Anatomy 0.000 description 1
- 238000010009 beating Methods 0.000 description 1
- 230000003592 biomimetic effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 230000005226 mechanical processes and functions Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 210000001519 tissue Anatomy 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Abstract
A kind of imitative blue sheep Coupled Rigid-flexible buffer non-skid hoof palm, including the back-shaped morphosis in the first, second side, the first, second hoof slap toe rigidity separate structure, and the first, second rubber hoof slaps bottom plate flexibility separate structure；The inner hollow of hoof palm toe rigidity separate structure, hoof slaps the exterior bottom of toe rigidity separate structure and heel slaps bottom plate flexibility separate structure with rubber hoof and forms Coupled Rigid-flexible structure, concave configuration is presented in the exterior bottom that hoof slaps toe rigidity separate structure, and rubber hoof slaps bottom plate flexibility separate structure and concave configuration is presented.The lateral surface of hoof palm toe rigidity separate structure is dispersed with the back-shaped morphosis in side of hangnail shape, the outer middle side Coupled Rigid-flexible of bottom all around curved surface and the hoof palm toe rigidity separate structure in direction of hoof palm toe rigidity separate structure dexterously realizes the effective unified and combination of the biomechanical function that its slope surface moves anti-skidding, buffering and road surface adapts to, improves the stability and safety of the invention moved.
Description
Technical field
The invention belongs to mechanical biomimetic engineering technical field, in particular to a kind of imitative blue sheep applied to quadruped robot is rigid
The soft coupling buffer non-skid hoof palm.
Background technique
Current mobile robot is broadly divided into wheeled robot and leg legged type robot, leg legged type robot relative to
Wheeled robot, can use different gaits and the way of contact different from ground, and then effectively obstacle detouring and adapt to complicated
Surface conditions.With the progress of science and technology, bionic leg legged type robot obtains fast development and in the multiple fields of society
It is widely used.In the legged type robot of numerous types, four feet walking robot is since bearing capacity is strong, stability is good, knot
The distinguishing features such as structure is simple, obtain the research hotspot of fast development and bio-robot field.
Currently, most quadruped robots have stable static state/dynamic motion characteristic in level road, can climb individually
With minor grade (≤30 °) road surface.When slope surface angle persistently increases, slipping phenomenon easily occurs for robot foot section, into
And supporting leg is caused to reduce suddenly with ground reaction force, so that robot fuselage is out of control, lead to body unstability.World wide
Interior, for this problem, researcher is mostly explored in terms of gesture stability algorithm, complicated pull-in control system, is achieved
Certain achievement, but analysis is found, when facing heavy grade road surface, does not there is preferable solution yet at present.
Foot is unique during the motion as quadruped robot body and is in contact the position of effect with road surface first,
Its structure and material determine the mechanical function interface feature on foot and ground, not yet especially can at present by enough attention
Effective auxiliary robot realizes the innovative design in the bionical foot of the steady climbing sports of wide-angle slope surface.Investigation discovery, currently
The foot of four-leg bionic robot be mostly rigid spherical surface or the mechanical sufficient integrative design of curved surface, or be aided with spring and buffered
Vibration damping, this design can play shock absorbing effect to a certain extent, but in slope pavement environment, the design of such foot by
The big, integral design in rigidity and it is difficult to ensure that robot foot section contacts to earth or touch rock steady contact state, especially foot-tiltedly
The contact condition and contact form of foot and ground can not be adjusted in the contact action of slope road surface, therefore, it is difficult to guarantee to prevent with effectively grabbing
Sliding effect.
The present Research for taking a broad view of above-mentioned quadruped robot its foot easily skidding unstability in the climbing of wide-angle slope surface, is badly in need of one
Kind can buffer with effectively grabbing and the anti-skidding bionical hoof palm.
Summary of the invention
The purpose of the present invention is to solve foot of the existing quadruped robot foot in wide-angle slope surface contact movement
The problem of buffer non-skid performance difference, and a kind of imitative blue sheep Coupled Rigid-flexible buffer non-skid hoof that can overcome disadvantages mentioned above is provided and is slapped.
The present invention includes the back-shaped morphosis in first side, the back-shaped morphosis in second side, the first hoof palm toe rigidity
Separate structure, the second hoof palm toe rigidity separate structure, the first rubber hoof palm bottom plate flexibility separate structure and the second rubber hoof palm
Bottom plate flexibility separate structure.It is in left and right directions that first hoof, which slaps toe rigidity separate structure and the second hoof palm toe rigidity separate structure,
It is arranged symmetrically, uses developed ankle connecting platform inventor's early period with leg coupling part.The back-shaped form in first side
Structure detains the type of turning over, and the evenly distributed outer side surface in the first hoof palm toe to be outer.The back-shaped morphosis in first side
It is connected by screw bolts between the first hoof palm toe rigidity separate structure.First rubber hoof slaps bottom plate flexibility separate structure and first
It is connected by screw bolts between hoof palm toe rigidity separate structure；First hoof slaps toe rigidity separate structure inner hollow, the first hoof
The wall surface of palm toe rigidity separate structure meets specific curvilinear equation, and the first hoof slaps the exterior bottom of toe rigidity separate structure
Coupled Rigid-flexible knot is formed with the heel and the first rubber hoof palm bottom plate flexibility separate structure of the first hoof palm toe rigidity separate structure
Structure, the exterior bottom that the first hoof slaps toe rigidity separate structure are presented compared to the heel of the first hoof palm toe rigidity separate structure
Concave configuration, the first rubber hoof slap exterior bottom of the bottom plate flexibility separate structure compared to the first hoof palm toe rigidity separate structure
Concave configuration is presented.
The working principle of the invention and process are as follows: if the present invention be according in overhanging cliff having the rib of a foot, just can spirit
The inspiration that the special construction and material characteristics of the blue sheep hoof living for consolidating anti-skidding climbing obtain.
Blue sheep is that one kind can flexibly toss about to transfer to other use on steep cliffs cliff, and keep the animal of robust motion.
We have found that the lateral surface of two hoof palm toe of blue sheep is dispersed with hangnail shape to the experimental study of blue sheep hoof palm toe
Micromorphology unit can be formed between rock wall surface when the touching rock of its hoof palm toe side effectively mechanical in blue sheep climbing sports
It is sealed, improve the function reliability of contact interface；Meanwhile the bottom surface of two hoof palm toe of blue sheep is nonplanar structure, from
Its hoof slaps toe tip and slaps toe exterior bottom to hoof palm toe heel (front-rear direction), from hoof to inside bottom (left and right directions)
It is special curved-surface structure, whole presentation hoof palm toe tip is convex, hoof palm toe exterior bottom is convex, hoof palm toe heel is convex,
Hoof slaps recessed, hoof in the middle part of toe and slaps the recessed structure feature of toe inside bottom, i.e., front and back bottom is convex, exterior bottom is convex, intermediate and interior
The recessed structure of side bottom.The curved surfaces of this different directions is constituted so that blue sheep hoof palm toe contact to earth/when touching rock, the hoof of protrusion
Palm toe tip and hoof palm toe exterior bottom are had an effect first, when hoof, which slaps toe, will be skidded due to contact shakiness, rock
Two hoof of sheep are slapped toe and are stretched to two sides so that have occurred and that on the outside of the hoof palm toe tip and hoof palm toe of contact with contact
Face generates relative movement, produces the frictional force perpendicular with the direction of motion respectively in the two sides of two hoof palm toes, two are rubbed
The resultant direction for wiping power then just slaps toe glide direction with hoof on the contrary, to effectively prevent the skidding of hoof palm toe.In addition, by
In the shape of the similar heel of protrusion of hoof palm toe heel, it is also advantageous for blocking irregular road surface when hoof palm toe sliding, reduces
Sliding；In addition, it has been found that blue sheep hoof is slapped for flexible soft tissue at the depression in centre of toe, and (hoof slaps toe point at other positions
Portion, hoof palm toe exterior bottom, hoof slap toe heel, and hoof slaps toe inside bottom) it is then cuticula sclerous tissues, it is climbed in blue sheep
In movement, hoof palm toe contacts to earth/touch rock during, embody rigid support, the flexible functional character for adapting to and absorbing impact,
And it can effectively adapt to irregular road surface variation.It follows that evolving by prolonged, blue sheep hoof palm toe is slapped by its hoof
Side during special surface and the hoof palm toe in the microcosmic special hangnail form in toe side, hoof palm toe bottom all around direction are outer
The distribution of hard and soft tissue dexterously realizes effective system that its slope surface moves the biomechanical function of anti-skidding, buffering and road surface adaptation
It one and combines, thus for the present invention provides have Achieva.
Based on form, structure and the material characteristics of above-mentioned blue sheep hoof palm toe, the present invention buffers imitative blue sheep Coupled Rigid-flexible
It is seperated that the skidproof hoof palm is designed as the back-shaped morphosis in first side, the back-shaped morphosis in second side, the first hoof palm toe rigidity
Structure, the second hoof palm toe rigidity separate structure and the first rubber hoof palm bottom plate flexibility separate structure and the second rubber hoof slap bottom
Plate flexibility separate structure.The lateral surface of first hoof palm toe rigidity separate structure and the second hoof palm toe rigidity separate structure is divided equally
Cloth the back-shaped morphosis in side of hangnail shape, improve the function reliability of contact interface；Meanwhile first hoof the palm toe it is rigid
Property separate structure and the bottom surface of the second hoof palm toe rigidity separate structure be curved-surface structure, and meet specific equation y=3E-
05x4-0.0041x3+0.2064x2-4.3355x+238.27.From the tip of the first hoof palm toe rigidity separate structure to heel
(front-rear direction), from the first hoof the palm toe rigidity separate structure exterior bottom to inside bottom (left and right directions) be special
Curved-surface structure, the structure feature that whole presentation tip is convex, exterior bottom is convex, heel is convex, middle part is recessed, inside bottom is recessed, i.e. front and back
The structure that bottom is convex, exterior bottom is convex, intermediate and recessed inside bottom.Same, from the seperated knot of the second hoof palm toe rigidity
The tip of structure (is controlled to heel (front-rear direction), from the exterior bottom of the second hoof palm toe rigidity separate structure to inside bottom
Direction) it is special curved-surface structure, whole presentation tip is convex, exterior bottom is convex, heel is convex, middle part is recessed, inside bottom is recessed
Structure feature, i.e., the structure that front and back bottom is convex, exterior bottom is convex, intermediate and recessed inside bottom.The curved surface structure of this different directions
At so that the first hoof the palm toe rigidity separate structure and the second hoof the palm toe rigidity separate structure contact to earth/touch rock when, protrusion
Tip and exterior bottom have an effect first, when imitative blue sheep Coupled Rigid-flexible buffer non-skid hoof the palm due to contact shakiness will skid
When, the first hoof slaps toe rigidity separate structure and the second hoof is slapped toe rigidity separate structure and stretched to two sides, so that having occurred and that
The tip of the first hoof palm toe rigidity separate structure of contact, the tip of the second hoof palm toe rigidity separate structure, the first hoof palm
The outside of toe rigidity separate structure and the outside of the second hoof palm toe rigidity separate structure generate relative movement with contact surface,
It is produced respectively and movement side in the two sides that the first hoof slaps toe rigidity separate structure and the second hoof palm toe rigidity separate structure
To perpendicular frictional force, the resultant direction of two frictional force then just with imitative blue sheep Coupled Rigid-flexible buffer non-skid hoof the palm sliding side
To on the contrary, to effectively prevent the skidding that imitative blue sheep Coupled Rigid-flexible buffer non-skid hoof is slapped.Further, since the first hoof palm toe is rigid
Property separate structure and the second hoof palm toe rigidity separate structure heel the similar heel of protrusion shape, be also advantageous for imitating blue sheep
Irregular road surface is blocked when the palm sliding of Coupled Rigid-flexible buffer non-skid hoof, reduces sliding；First rubber hoof slaps the flexible seperated knot of bottom plate
Structure and the second rubber hoof palm bottom plate flexibility separate structure are flexible structure, and the point of the first/bis- hoof palm toe rigidity separate structure
The heel of the exterior bottom of toe rigidity separate structure, the first/bis- hoof palm toe rigidity separate structure is slapped in portion, the first/bis- hoof, the
The inside bottom that one/bis- hoof slaps toe rigidity separate structure is rigid structure, and in climbing sports, it is slow to imitate blue sheep Coupled Rigid-flexible
Rush the skidproof hoof palm contact to earth/touch rock during, embody rigid support, the flexible functional character for adapting to and absorbing impact, and can
Effectively adapt to irregular road surface variation.
Beneficial effects of the present invention:
The back-shaped morphosis in side of the imitative blue sheep Coupled Rigid-flexible buffer non-skid hoof palm is that detaining the form of turning over is arranged in first outside
Hoof slaps the outer side surface of toe, when may make the side touching rock of the imitative blue sheep Coupled Rigid-flexible buffer non-skid hoof palm shape between rock wall surface
At effectively mechanical sealed, the function reliability of contact interface, anti-sliding stop are improved；The imitative blue sheep Coupled Rigid-flexible buffer non-skid hoof palm
The first hoof the palm toe rigidity separate structure bottom surface and the second hoof the palm toe rigidity separate structure bottom surface be irregular song
Face structure, specifically: the curved-surface structure that front and back bottom is convex, exterior bottom is convex, intermediate and recessed inside bottom, this makes imitative blue sheep rigid
The soft coupling buffer non-skid hoof palm contact to earth/touch rock when, the first hoof slaps the front and back bottom protrusion of toe rigidity separate structure and outer
Side bottom protrusion and the second hoof the palm toe rigidity separate structure front and back bottom protrusion and exterior bottom protrusion first with ground or
Rock is in contact effect, and when that will be skidded due to contact shakiness, the first hoof slaps toe rigidity separate structure and the second hoof palm
Toe rigidity separate structure is then stretched to two sides, so that having occurred and that the front and back of the first hoof palm toe rigidity separate structure of contact
The front and back bottom protrusion and exterior bottom protrusion point of bottom protrusion and exterior bottom protrusion, the second hoof palm toe rigidity separate structure
Relative movement is not generated with contact surface, thus slaps toe rigidity separate structure and the seperated knot of the first hoof palm toe rigidity in the first hoof
The two sides of structure produce the frictional force perpendicular with the direction of motion respectively, and the resultant direction of two frictional force is then just rigid with imitative blue sheep
The glide direction of the soft coupling buffer non-skid hoof palm is on the contrary, to effectively prevent beating for the imitative blue sheep Coupled Rigid-flexible buffer non-skid hoof palm
It is sliding.Further, since the protrusion and the second hoof palm toe rigidity of the bottom rear of the first hoof palm toe rigidity separate structure are seperated
The shape of the similar heel of the protrusion of the bottom rear of structure, when being also advantageous for imitative blue sheep Coupled Rigid-flexible buffer non-skid hoof palm sliding
Irregular road surface is blocked, sliding is reduced；The present invention slaps toe rigidity separate structure by the first hoof simultaneously and the second hoof slaps toe
Bottom plate flexibility separate structure is slapped with the first rubber hoof respectively for rigid separate structure and the second rubber hoof slaps bottom plate flexibility separate structure
It is attached and cooperates, since the first rubber hoof slaps bottom plate flexibility separate structure and the second rubber hoof palm bottom plate flexibility separate structure
Using rubber material, therefore overall performance of the present invention goes out rigid support, the functional characteristics of flexible absorbent, in imitative blue sheep Coupled Rigid-flexible
The protective effect of buffer shock-absorbing is played in the motion process of the buffer non-skid hoof palm；To have good buffer protection.
Detailed description of the invention
Fig. 1 is the stereoscopic schematic diagram of the embodiment of the present invention.
Fig. 2 is the view that the embodiment of the present invention removes that the second rubber hoof slaps bottom plate flexible structure.
Fig. 3 is the side view of the embodiment of the present invention.
Fig. 4 is the main view of the embodiment of the present invention.
Wherein: the 1-the first hoof slaps toe rigidity separate structure；2-the second hoof slaps toe rigidity separate structure；3-the first
Rubber hoof slaps bottom plate flexibility separate structure；4-the second rubber hoof slaps bottom plate flexibility separate structure；The back-shaped form in 5-first sides
Structure；The back-shaped morphosis in 6-second sides；7-ankle connecting platforms；8-connection bolts；9-attaching nuts；101-the
The heel of one hoof palm toe rigidity separate structure；The exterior bottom of 102-the first hoof palm toe rigidity separate structure；103-the
The outer side surface of one hoof palm toe rigidity separate structure；The middle part of 104-the first hoof palm toe rigidity separate structure；105-the
The inside bottom of one hoof palm toe rigidity separate structure；The tip 201-the second of 106-the first hoof palm toe rigidity separate structure
The heel of hoof palm toe rigidity separate structure；The exterior bottom of 202-the second hoof palm toe rigidity separate structure；203-the second
The outer side surface of hoof palm toe rigidity separate structure；The middle part of 204-the second hoof palm toe rigidity separate structure；205-the second
The inside bottom of hoof palm toe rigidity separate structure；The tip of 206-the second hoof palm toe rigidity separate structure.
Specific embodiment
Refering to fig. 1, shown in Fig. 2, Fig. 3 and Fig. 4, the present invention includes that the back-shaped morphosis 5 in first side, second side are back-shaped
Morphosis 6, the first hoof palm toe rigidity separate structure 1, the second hoof palm toe rigidity separate structure 2, the first rubber hoof slap bottom
Plate flexibility separate structure 3 and the second rubber hoof slap bottom plate flexibility separate structure 4；
The lateral surface of first hoof palm toe rigidity separate structure 1 and the second hoof palm toe rigidity separate structure 2 is divided equally respectively
Cloth the back-shaped morphosis 6 of the back-shaped morphosis 5 in first side and second side of hangnail shape, improve the work of contact interface
Use reliability；It is non-planar junction that first hoof, which slaps toe rigidity separate structure 1 and the bottom surface of the second hoof palm toe rigidity separate structure 2,
Structure, the first hoof slap the outer side surface 103 of toe rigidity separate structure and the outer side surface of the second hoof palm toe rigidity separate structure
203 are all satisfied equation curve y=3E-05x4-0.0041x3+0.2064x2-4.3355x+238.27；It is rigid from the first hoof palm toe
Property separate structure the 106 to the first hoof of tip the palm toe rigidity separate structure heel 101 (front-rear direction), from the first hoof slap toe
The inside bottom 105 (left and right directions) of the 102 to the first hoof of exterior bottom palm toe rigidity separate structure of portion's rigidity separate structure
The curved-surface structure for being, the whole tip 106 that the first hoof palm toe rigidity separate structure is presented is convex, the first hoof slaps toe rigidity point
The exterior bottom 102 of body structure is convex, the heel 101 of the first hoof palm toe rigidity separate structure is convex, the first hoof palm toe rigidly divides
The structure feature that the middle part 104 of body structure is recessed, the first hoof palm toe rigidity separate structure inside bottom 105 is recessed, i.e. front and back bottom
The structure that portion is convex, exterior bottom is convex, intermediate and recessed inside bottom.The curved surface of this different directions is constituted, so that the first hoof slaps toe
Portion's rigidity separate structure 1 and the second hoof palm toe rigidity separate structure 2 contact to earth/when touching rock, the first hoof palm toe of protrusion is rigid
Property separate structure tip 106 and the first hoof the palm toe rigidity separate structure exterior bottom 102 have an effect first, when this hair
Bright when will be skidded due to contact shakiness, the first hoof slaps toe rigidity separate structure 1 and the second hoof and slaps toe rigidity separate structure 2
It is stretched to two sides, so that having occurred and that tip 106 and the first hoof palm toe of the first hoof palm toe rigidity separate structure of contact
The exterior bottom 102 of rigid separate structure and contact surface generate relative movement, slap toe rigidity separate structure 1 and the in the first hoof
The two sides of two hoof palm toe rigidity separate structure 2 produce the frictional force perpendicular with the direction of motion respectively, two frictional force
Resultant direction is then just with glide direction of the present invention on the contrary, to effectively prevent skidding.Further, since the first hoof palm toe rigidly divides
The shape of the heel 101 of body structure heel similar with the protrusion of heel 201 of the second hoof palm toe rigidity separate structure is also beneficial
Irregular road surface is blocked when hoof is slapped and slided, and reduces sliding；First rubber hoof slaps bottom plate flexibility separate structure 3 and the second rubber hoof
Palm bottom plate flexibility separate structure 4 is flexible structure, other position (tips 106, first of the first hoof palm toe rigidity separate structure
Hoof slaps the exterior bottom 102 of toe rigidity separate structure, the heel 101 of the first hoof palm toe rigidity separate structure, the first hoof palm
The inside bottom 105 of toe rigidity separate structure, the first hoof slap the outer side surface 103 and the second hoof palm of toe rigidity separate structure
The tip 206 of toe rigidity separate structure, the exterior bottom 202 of the second hoof palm toe rigidity separate structure, the second hoof slap toe
Heel 201, the second hoof of rigid separate structure slap the inside bottom 205 of toe rigidity separate structure, and the second hoof slaps toe rigidity
The outer side surface 203 of separate structure then be rigid structure, in its climbing sports, hoof the palm contact to earth/touch rock during, embody just
Property support, it is flexible adapt to and absorb the functional character of impact, and can effectively adapt to irregular road surface variation.First hoof slaps toe
The first side that the lateral surface of rigid separate structure 1 and the second hoof palm toe rigidity separate structure 2 is dispersed with hangnail shape is returned
The exterior bottom 102 and the of the back-shaped morphosis 6 of shape morphosis 5 and second side, the first hoof palm toe rigidity separate structure
All around the special surface in direction and the first rubber hoof slap bottom plate to the exterior bottom 202 of two hoof palm toe rigidity separate structure
It is anti-that flexible separate structure 3 and the second rubber hoof palm 4 Coupled Rigid-flexible of bottom plate flexibility separate structure dexterously realize the movement of its slope surface
The effective unified and combination for the biomechanical function that sliding, buffering and road surface adapt to, the present invention have the stability and peace of movement
Quan Xing.
Claims (3)
1. a kind of imitative blue sheep Coupled Rigid-flexible buffer non-skid hoof palm, it is characterised in that: including the back-shaped morphosis in first side (5),
The back-shaped morphosis in second side (6), the first hoof palm toe rigidity separate structure (1), the second hoof slap toe rigidity separate structure
(2) and the first rubber hoof slaps bottom plate flexibility separate structure (3) and the second rubber hoof palm bottom plate flexibility separate structure (4)；First
The lateral surface of hoof palm toe rigidity separate structure (1) and the second hoof palm toe rigidity separate structure (2) is dispersed with hangnail respectively
The back-shaped morphosis of the back-shaped morphosis in the first side of shape (5) and second side (6)；First hoof slaps the seperated knot of toe rigidity
The bottom surface of structure (1) and the second hoof palm toe rigidity separate structure (2) is nonplanar structure, from the seperated knot of the first hoof palm toe rigidity
Toe rigidity separate structure is slapped to the heel (101) of the first hoof palm toe rigidity separate structure, from the first hoof in the tip (106) of structure
The inside bottom (105) of exterior bottom (102) to the first hoof palm toe rigidity separate structure be curved-surface structure, it is whole to present
The exterior bottom (102) that the tip (106) of first hoof palm toe rigidity separate structure is convex, the first hoof slaps toe rigidity separate structure
The middle part (104) that convex, the first hoof palm toe rigidity separate structure heel (101) is convex, the first hoof slaps toe rigidity separate structure
The recessed structure feature of recessed, the first hoof palm toe rigidity separate structure inside bottom (105), the first rubber hoof slap bottom plate flexibility point
Body structure (3) and the second rubber hoof palm bottom plate flexibility separate structure (4) are flexible structure, and the first hoof slaps toe rigidity separate structure
Tip (106), the first hoof palm exterior bottom (102) of toe rigidity separate structure, the first hoof slap toe rigidity separate structure
Heel (101), the first hoof palm inside bottom (105) of toe rigidity separate structure, the first hoof slap toe rigidity separate structure
Outer side surface (103) and the second hoof palm tip (206) of toe rigidity separate structure, the second hoof slap toe rigidity separate structure
Exterior bottom (202), the second hoof palm heel (201) of toe rigidity separate structure, the second hoof slap toe rigidity separate structure
Inside bottom (205), the second hoof slap toe rigidity separate structure outer side surface (203) then be rigid structure.
2. a kind of imitative blue sheep Coupled Rigid-flexible buffer non-skid hoof palm according to claim 1, it is characterised in that: described first
Hoof slaps toe rigidity separate structure (1) and the second hoof palm toe rigidity separate structure (2) uses rubber material.
3. a kind of imitative blue sheep Coupled Rigid-flexible buffer non-skid hoof palm according to claim 1, it is characterised in that: described first
Hoof slaps the outer side surface (103) of toe rigidity separate structure and the outer side surface (203) of the second hoof palm toe rigidity separate structure
It is all satisfied equation curve y=3E-05x4-0.0041x3+0.2064x2-4.3355x+238.27。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811475982.4A CN109334809B (en) | 2018-12-05 | 2018-12-05 | Imitative hard gentle coupling buffering antiskid hoof palm of rock sheep |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811475982.4A CN109334809B (en) | 2018-12-05 | 2018-12-05 | Imitative hard gentle coupling buffering antiskid hoof palm of rock sheep |
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| Publication Number | Publication Date |
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| CN109334809A true CN109334809A (en) | 2019-02-15 |
| CN109334809B CN109334809B (en) | 2020-01-03 |
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| CN201811475982.4A Active CN109334809B (en) | 2018-12-05 | 2018-12-05 | Imitative hard gentle coupling buffering antiskid hoof palm of rock sheep |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113386972A (en) * | 2021-05-19 | 2021-09-14 | 中航西安飞机工业集团股份有限公司 | Bionic airplane wheel chock |
| CN114454978A (en) * | 2022-02-21 | 2022-05-10 | 河南科技大学 | Imitative goat's hoof track decorative pattern structure |
| CN114802526A (en) * | 2022-06-02 | 2022-07-29 | 吉林大学 | Bionic passive stability-increasing anti-slip foot |
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| CN113386972A (en) * | 2021-05-19 | 2021-09-14 | 中航西安飞机工业集团股份有限公司 | Bionic airplane wheel chock |
| CN114454978A (en) * | 2022-02-21 | 2022-05-10 | 河南科技大学 | Imitative goat's hoof track decorative pattern structure |
| CN114454978B (en) * | 2022-02-21 | 2023-07-21 | 河南科技大学 | Runner track pattern structure of imitative goat hoof |
| CN114802526A (en) * | 2022-06-02 | 2022-07-29 | 吉林大学 | Bionic passive stability-increasing anti-slip foot |
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