CN209080043U - 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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- CN209080043U CN209080043U CN201822025170.1U CN201822025170U CN209080043U CN 209080043 U CN209080043 U CN 209080043U CN 201822025170 U CN201822025170 U CN 201822025170U CN 209080043 U CN209080043 U CN 209080043U
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- hoof
- separate structure
- palm
- toe rigidity
- toe
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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 stability and safety that the utility model moves.
Description
Technical field
The utility model belongs to mechanical biomimetic engineering technical field, in particular to a kind of imitative rock applied to quadruped robot
The sheep Coupled Rigid-flexible 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
Purpose of the utility model is to solve existing quadruped robot foots in wide-angle slope surface contact movement
The problem of foot 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
The palm.
The utility model includes the back-shaped morphosis in first side, the back-shaped morphosis in second side, the first hoof palm toe
Rigid 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 slaps bottom plate flexibility separate structure.First hoof slaps toe rigidity separate structure and the second hoof palm toe rigidity separate structure in left and right
Direction is arranged symmetrically, and uses developed ankle connecting platform utility model people early period with leg coupling part.First side
Back-shaped morphosis detains the type of turning over, and the evenly distributed outer side surface in the first hoof palm toe to be outer.First side is back-shaped
It is connected by screw bolts between morphosis and the first hoof palm toe rigidity separate structure.First rubber hoof slaps the flexible seperated knot of bottom plate
It is connected by screw bolts between structure and the first hoof palm toe rigidity separate structure；First hoof is slapped in toe rigidity separate structure inside
The wall surface of sky, the first hoof palm toe rigidity separate structure meets specific curvilinear equation, and the first hoof slaps toe rigidity separate structure
Exterior bottom and the first hoof the palm toe rigidity separate structure heel and the first rubber hoof slap bottom plate flexibility separate structure formed
Coupled Rigid-flexible structure, the exterior bottom that the first hoof slaps toe rigidity separate structure slap toe rigidity separate structure compared to the first hoof
Heel present concave configuration, the first rubber hoof slap bottom plate flexibility separate structure compared to the first hoof slap toe rigidity separate structure
Exterior bottom present concave configuration.
The working principle and process of the utility model are as follows: if the utility model be according to overhanging cliff have a foot it
Rib just can flexibly consolidate the special construction of the blue sheep hoof of anti-skidding climbing and inspiration that material characteristics 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
One and combine, to provide Achieva for the utility model.
Based on form, structure and the material characteristics of above-mentioned blue sheep hoof palm toe, the utility model is by imitative blue sheep Coupled Rigid-flexible
The buffer non-skid 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
Separate 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.First hoof slaps the lateral surface of toe rigidity separate structure and the second hoof palm toe rigidity separate structure
It is dispersed with the back-shaped morphosis in side of hangnail shape, improves the function reliability of contact interface；Meanwhile first hoof slap toe
The bottom surface of portion's rigidity separate structure and the second hoof palm toe rigidity separate structure is curved-surface structure, and meets specific equation y=
3E-05x4-0.0041x3+0.2064x2-4.3355x+238.27.From the first hoof the palm toe rigidity separate structure tip to
Portion's (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, it is whole that the structure feature that tip is convex, exterior bottom is convex, heel is convex, middle part is recessed, inside bottom is recessed is presented, i.e., before
The structure that bottom is convex, exterior bottom is convex, intermediate and recessed inside bottom afterwards.Same, it is seperated from the second hoof palm toe rigidity
The exterior bottom that the tip of structure slaps toe rigidity separate structure to heel (front-rear direction), from the second hoof is (left to inside bottom
Right 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., front and back bottom is convex, exterior bottom is convex, intermediate and recessed inside bottom structure.The curved surface of this different directions
Constitute 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, it is convex
The tip and exterior bottom risen are had an effect first, when the imitative blue sheep Coupled Rigid-flexible buffer non-skid hoof palm since contact shakiness will be beaten
When sliding, 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 sent out
The tip of the first hoof palm toe rigidity separate structure of raw contact, the tip of the second hoof palm toe rigidity separate structure, the first hoof
The outside in the outside and the second hoof palm toe rigidity separate structure of slapping toe rigidity separate structure generates opposite move with contact surface
It is dynamic, it produces and moves respectively in the two sides that the first hoof slaps toe rigidity separate structure and the second hoof palm toe rigidity separate structure
The perpendicular frictional force in direction, the then sliding just with the imitative blue sheep Coupled Rigid-flexible buffer non-skid hoof palm of the resultant direction of two frictional force
It is contrary, to effectively prevent the skidding of the imitative blue sheep Coupled Rigid-flexible buffer non-skid hoof palm.Further, since the first hoof slaps toe
The shape of rigid separate structure heel similar with the protrusion of heel of the second hoof palm toe rigidity separate structure, is also advantageous for imitative rock
Irregular road surface is blocked when the palm sliding of sheep Coupled Rigid-flexible buffer non-skid hoof, reduces sliding；It is flexible seperated that first rubber hoof slaps bottom plate
Structure and the second rubber hoof palm bottom plate flexibility separate structure are flexible structure, and 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 tip, the first/bis- hoof,
The inside bottom that the first/bis- hoof slaps toe rigidity separate structure is rigid structure, in climbing sports, imitates blue sheep Coupled Rigid-flexible
The buffer non-skid hoof palm contacts to earth/touch rock during, embody rigid support, the flexible functional character for adapting to and absorbing impact, and energy
It is enough effectively to adapt to irregular road surface variation.
The utility model has the beneficial effects that
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 utility model slaps toe rigidity separate structure and the second hoof palm by the first hoof simultaneously
Toe rigidity separate structure slaps bottom plate flexibility separate structure with the first rubber hoof respectively and the second rubber hoof palm bottom plate is flexible seperated
Structure is attached and cooperates, since the first rubber hoof slaps bottom plate flexibility separate structure and the flexible fission of the second rubber hoof palm bottom plate
Structure uses rubber material, therefore the utility model overall performance goes out rigid support, the functional characteristics of flexible absorbent, in imitative blue sheep
The protective effect of buffer shock-absorbing is played in the motion process of the Coupled Rigid-flexible buffer non-skid hoof palm；To have good buffer protection
Property.
Detailed description of the invention
Fig. 1 is the stereoscopic schematic diagram of the utility model embodiment.
Fig. 2 is the view that the utility model embodiment removes that the second rubber hoof slaps bottom plate flexible structure.
Fig. 3 is the side view of the utility model embodiment.
Fig. 4 is the main view of the utility model embodiment.
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 utility model includes the back-shaped morphosis 5 in first side, second side
Back-shaped morphosis 6, the first hoof palm toe rigidity separate structure 1, the second hoof slap toe rigidity separate structure 2, the first rubber hoof
It slaps bottom plate flexibility separate structure 3 and the second rubber hoof slaps 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 reality
With it is novel will be skidded due to contact shakiness when, the first hoof slaps toe rigidity separate structure 1 and the second hoof palm toe rigidity is seperated
Structure 2 is stretched to two sides, so that having occurred and that tip 106 and the first hoof palm of the first hoof palm toe rigidity separate structure of contact
The exterior bottom 102 and contact surface of toe rigidity separate structure generate relative movement, slap toe rigidity separate structure 1 in the first hoof
The frictional force perpendicular with the direction of motion, two frictions are produced respectively with the two sides of the second hoof palm toe rigidity separate structure 2
The resultant direction of power is then just with the utility model glide direction on the contrary, to effectively prevent skidding.Further, since the first hoof slaps toe
The shape of the heel 101 of portion's rigidity separate structure heel similar with the protrusion of heel 201 of the second hoof palm toe rigidity separate structure
Shape is also advantageous for blocking irregular road surface when hoof palm sliding, reduces sliding；First rubber hoof slaps 3 He of bottom plate flexibility separate structure
It is flexible structure that second rubber hoof, which slaps bottom plate flexibility separate structure 4, other position (points of the first hoof palm toe rigidity separate structure
The heel of the exterior bottom 102 of toe rigidity separate structure, the first hoof palm toe rigidity separate structure is slapped in portion 106, the first hoof
101, the inside bottom 105 of the first hoof palm toe rigidity separate structure, the first hoof slap the outer side surface of toe rigidity separate structure
103 and second hoof the palm toe rigidity separate structure tip 206, the second hoof the palm toe rigidity separate structure exterior bottom 202,
Second hoof slaps the heel 201 of toe rigidity separate structure, the second hoof slaps the inside bottom 205 of toe rigidity separate structure, and second
The outer side surface 203 that hoof slaps toe rigidity separate structure is then rigid structure, and in its climbing sports, hoof slaps rock mistake of contacting to earth/touch
Cheng Zhong embodies rigid support, the flexible functional character adapted to absorption impact, and can effectively adapt to irregular road surface and become
Change.The lateral surface of first hoof palm toe rigidity separate structure 1 and the second hoof palm toe rigidity separate structure 2 is dispersed with barb-shaped
The back-shaped morphosis 6 of the back-shaped morphosis 5 in the first side of shape and second side, the first hoof slap the outer of toe rigidity separate structure
The exterior bottom 202 of side bottom 102 and the second hoof palm toe rigidity separate structure all around special surface in direction and the
One rubber hoof palm bottom plate flexibility separate structure 3 and the second rubber hoof palm 4 Coupled Rigid-flexible of bottom plate flexibility separate structure are dexterously realized
The effective unified and combination for the biomechanical function that its slope surface moves anti-skidding, buffering and road surface adapts to, the utility model have
There are the stability and safety of movement.
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 |
|---|---|---|---|
| CN201822025170.1U CN209080043U (en) | 2018-12-05 | 2018-12-05 | A kind of imitative blue sheep Coupled Rigid-flexible buffer non-skid hoof palm |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822025170.1U CN209080043U (en) | 2018-12-05 | 2018-12-05 | A kind of imitative blue sheep Coupled Rigid-flexible buffer non-skid hoof palm |
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| CN209080043U true CN209080043U (en) | 2019-07-09 |
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| CN201822025170.1U Withdrawn - After Issue CN209080043U (en) | 2018-12-05 | 2018-12-05 | A kind of imitative blue sheep Coupled Rigid-flexible buffer non-skid hoof palm |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109334809A (en) * | 2018-12-05 | 2019-02-15 | 吉林大学 | A kind of imitative blue sheep Coupled Rigid-flexible buffer non-skid hoof palm |
| CN110876622A (en) * | 2019-11-05 | 2020-03-13 | 吉林大学 | Method for testing foot stepping pressure of imitated goat legs |
-
2018
- 2018-12-05 CN CN201822025170.1U patent/CN209080043U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109334809A (en) * | 2018-12-05 | 2019-02-15 | 吉林大学 | A kind of imitative blue sheep Coupled Rigid-flexible buffer non-skid hoof palm |
| CN109334809B (en) * | 2018-12-05 | 2020-01-03 | 吉林大学 | Imitative hard gentle coupling buffering antiskid hoof palm of rock sheep |
| CN110876622A (en) * | 2019-11-05 | 2020-03-13 | 吉林大学 | Method for testing foot stepping pressure of imitated goat legs |
| CN110876622B (en) * | 2019-11-05 | 2022-02-11 | 吉林大学 | Method for testing foot stepping pressure of imitated goat legs |
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