CN113635330A - Claw thorn of hard and soft coupling is grabbed and is attached device - Google Patents
Claw thorn of hard and soft coupling is grabbed and is attached device Download PDFInfo
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- CN113635330A CN113635330A CN202110775856.6A CN202110775856A CN113635330A CN 113635330 A CN113635330 A CN 113635330A CN 202110775856 A CN202110775856 A CN 202110775856A CN 113635330 A CN113635330 A CN 113635330A
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- claw
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- guide rail
- thorn
- pull rod
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- 210000000078 claw Anatomy 0.000 title claims abstract description 92
- 230000008878 coupling Effects 0.000 title claims abstract description 39
- 238000010168 coupling process Methods 0.000 title claims abstract description 39
- 238000005859 coupling reaction Methods 0.000 title claims abstract description 39
- 230000009471 action Effects 0.000 claims description 6
- 239000003292 glue Substances 0.000 claims description 4
- 230000010354 integration Effects 0.000 claims description 4
- 210000000988 bone and bone Anatomy 0.000 claims 3
- 238000005516 engineering process Methods 0.000 description 4
- 230000009194 climbing Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000007639 printing Methods 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 238000010146 3D printing Methods 0.000 description 1
- 241000408659 Darpa Species 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000009193 crawling Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 239000003337 fertilizer Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000011089 mechanical engineering Methods 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
-
- 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
- B62D57/024—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 specially adapted for moving on inclined or vertical surfaces
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a rigid-flexible coupling claw thorn grabbing device which comprises a claw thorn group consisting of a plurality of rigid-flexible coupling claw thorn sheets, a sliding guide rail, a driving pull rod and a fixed shell. The claw spines are designed in a rigid-flexible coupling mode, so that the grabbing performance of the claw spines is greatly improved, the claw spines have good adaptability on a rough surface, the claw spines with the number as large as possible can be successfully grabbed on the rough surface, and the claw spines are symmetrically designed, so that the force applied by the claw spines is uniformly concentrated, and the grabbing performance is more excellent. The fishhook is used as the claw-thorn tip, the small size and the high strength enable the roughness of the grabbing and attaching surface to be reduced, and the allowable roughness range of the grabbing and attaching is improved.
Description
Technical Field
The invention relates to a rigid-flexible coupling claw thorn grabbing device, and belongs to the technical field of machinery.
Background
With the continuous progress and development of scientific technology, mechanical engineering technology has been widely applied in various fields such as industry, agriculture and medical treatment. Meanwhile, under the condition that the current working requirements are more and more diversified, such as disaster search, rock climbing, military reconnaissance and the like, the field of engineering research is no longer limited to fixed-point operation in the structural environment. The future technology not only needs to work in the current simple and structured environment, but also needs to adapt to the complex and unstructured working environment, but the current technology is difficult to work stably in the complex environment, so that the realization of the three-dimensional barrier-free work capable of working autonomously in the unstructured environment is one of the main development trends of future research.
In recent years, a great deal of research work has been carried out at home and abroad, for example, with the support of DARPA biodynetics Program in the united states, the university of louisike, the university of stanford, the university of california at berkeley, the university of canarymelong, the university of pennsylvania, and the united states boston power company, which constitute the RISE project group, to jointly develop the RISE climbing robot platform. The Stanford university firstly develops the claw spine grasping wall-climbing robot SpinybotII, and the United states Boston power company develops the bionic claw spine type wall-climbing robot of the third generation RISE series from RISE V1 to RISE V3. The university of pennlifania developed a dynacimber platform, focused on rigid claw-stab wall-climbing robots, and developed wall-climbing robots such as ICRAOS and BOB. On the basis of DASH of a six-foot crawling robot developed by Berkeley university in California, a CLASH wall-climbing robot is developed. Although the development of the research is late in China, corresponding research works are carried out by many colleges and universities and research institutes, such as Harbin industry university, Nanjing post and telecommunications university, Nanjing aerospace university, China science and technology university, China academy of sciences combined with fertilizer and material science research institute, and the like.
Disclosure of Invention
Aiming at the vacancy and the deficiency of the existing unstructured operation, the invention is researched from the aspects of grabbing and grabbing, overcomes the defect of structured operation, can only grab objects with fixed shapes or grab and attach specific rough wall surfaces, and provides a rigid-flexible coupling claw thorn grabbing device for expanding a larger operation range and improving the grabbing performance.
In order to achieve the purpose, the invention adopts the following technical scheme:
a rigid-flexible coupling claw thorn grabbing device comprises a fixed shell, a rigid-flexible coupling claw thorn group, a sliding guide rail and a driving pull rod, wherein the sliding guide rail is fixedly installed at the lower end of the fixed shell, the middle part of the rigid-flexible coupling claw thorn group is hinged with the sliding guide rail, the upper end of the rigid-flexible coupling claw thorn group is connected with the driving pull rod, and the driving pull rod is installed in a cavity of the fixed shell; the fixed shell is divided into three parts: the upper part is a grab handle, the middle part is a guide rail shell, and the lower part is a base, and the grab handle, the guide rail shell and the base are fixedly connected through bolts.
Preferably, the rigid-flexible coupling claw thorn piece group is fixedly connected with a sliding shaft of the sliding guide rail through a bolt, the claw thorn piece slides in the guide rail along with the sliding shaft, the sliding guide rail is fixedly connected with the fixed shell through the bolt, the movable freedom degree of the driving pull rod is limited by the limiting structure through the driving pull rod and the fixed shell and can only slide up and down, the driving pull rod is connected with the other end of the sliding shaft of the sliding guide rail through a tough pull wire and a spring, the driving pull rod is stretched, and the sliding shaft is pulled through the traction stress of the silk thread and the spring.
Preferably, the rigid-flexible coupling claw thorn sheet comprises a three-part rigid structure, a three-part flexible structure and three claw thorn sheets, wherein the rigid structure and the flexible structure are connected through integrated printing, and the claw thorn sheets are fixed in grooves of the rigid structure through strong glue.
Preferably, the sliding guide rail comprises a guide rail fixing frame, a sliding shaft seat, a sliding shaft and a roller, wherein the lower end of the guide rail fixing frame is connected with the sliding shaft seat through a bolt, and the guide rail fixing frame has relative rotational freedom. The upper end of the guide rail fixing frame is connected with the roller through a bolt, and the roller can rotate around the upper end of the guide rail fixing frame. The sliding shaft is provided with internal thread holes at two ends, one end is connected with the claw and thorn sheet group through a bolt, and the other end is connected with a pull wire and a spring.
Preferably, one end of the driving pull rod is a pull handle, the other end of the driving pull rod is provided with a plurality of internal thread holes, a spring and a pull wire are connected, the driving pull rod is of a unique driving structure, the driving pull rod slides upwards through the pulling of a hand, and the pawl spike group is pulled to shrink through the spring and the pull wire.
Preferably, the fixed shell is divided into three parts, namely a lower base, a middle guide rail shell and an upper grab handle, and the three parts are fixedly connected through bolts. The lower base and the sliding guide rail are fixedly connected through bolts. The middle guide rail shell and the upper grab handle jointly restrict the degree of freedom and the working space of the driving pull rod.
Preferably, the claw thorn grabs and attaches the device, and the drive pull rod has a degree of freedom, and the sliding guide has three degrees of freedom, and claw thorn piece group has a degree of freedom.
Preferably, three groups of claw thorn piece groups are designed on the claw thorn catching and attaching device, but more groups of claw thorn piece groups can be designed, if the group number is enlarged, the whole size of the fixed shell needs to be recalculated according to the number of the fixed sliding guide rails, but basically only the size is modified, the claw thorn number is increased, and the catching and attaching performance of the claw thorn catching and attaching device can be improved.
Compared with the prior art, the invention has the following obvious prominent substantive characteristics and obvious advantages:
1. the claw thorn sheet structure with rigid-flexible coupling is adopted, so that the problem that the compliance of most of grabbing devices is not enough is solved;
2. the fishhook is used as the claw-thorn tip, the small size and the high strength enable the roughness of the grabbing surface to be reduced, and the allowable roughness range of the grabbing surface is improved;
3. the invention abandons the traditional single-side or opposite grabbing attachment and adopts a plurality of groups of symmetrical claw thorn groups for grabbing attachment, so that the grabbing force of the claw thorn on the grabbed object or surface is completely symmetrical and balanced, and the grabbing attachment does not need to consider the grabbing attachment angle and position as the traditional grabbing attachment.
Drawings
FIG. 1 is a schematic view of a rigid-flexible coupling claw attachment device according to the present invention.
Fig. 2 is a schematic cross-sectional view of the grasping device of the present invention.
Fig. 3 is a schematic structural view of a plurality of claw sheets of the invention.
Fig. 4 is a schematic view of the structure of the sliding guide rail of the present invention.
FIG. 5 is a schematic view of a one-piece barb configuration of the present invention.
Fig. 6 is a schematic view of the deployment and grasping of the grasping device of the present invention.
Detailed Description
The details of the structure and operation of the preferred embodiment of the present invention are described in further detail below with reference to the accompanying drawings.
The first embodiment is as follows:
referring to fig. 1, the rigid-flexible coupling claw thorn grabbing device comprises a fixed shell I, a rigid-flexible coupling claw thorn group II, a sliding guide rail III and a driving pull rod IV, wherein the lower end of the fixed shell I is fixedly provided with the sliding guide rail III, the middle part of the rigid-flexible coupling claw thorn group II is hinged with the sliding guide rail III, the upper end of the rigid-flexible coupling claw thorn group II is connected with the driving pull rod IV, and the driving pull rod IV is arranged in a cavity of the fixed shell I; the fixed shell I is divided into three parts: the upper part is a grab handle 1, the middle part is a guide rail shell 2, and the lower part is a base 3, which are fixedly connected through bolts.
The claw thorn of this embodiment just gentle coupling catches attaches the device and has expanded bigger operation scope, increases its and catches and attaches the performance, has fine adaptivity on rough surface, and it is superior to catch the performance.
Example two:
the present embodiment is the same as the first embodiment, and has the following features:
the structure of the rigid-flexible coupling claw thorn group II is as follows: the structure comprises three claw thorn groups, wherein each claw thorn group is provided with a plurality of claw thorn sheets 9, and the claw thorn sheets are fixed on the upper edge of a claw thorn fixing frame 7 through mounting bolts arranged in 3 mounting holes 8; rigid-flexible coupling claw thorn piece 9 is printed by integration 3D and is made up by three rigid structure 14, three flexible structure 15 and fishhook 16, and rigid structure 14 and flexible structure 15 are printed the bonding together through the integration, and fishhook 16 is fixed in the recess on rigid structure 14 through powerful glue.
The sliding guide rail III comprises a guide rail fixing frame 10, a roller 11, a sliding guide rail seat 12 and a sliding shaft 13, the roller 11 and the sliding guide rail seat 12 are installed on the guide rail fixing frame 10, and the sliding shaft 13 is installed on the sliding guide rail seat 12.
The driving pull rod IV is arranged in the fixed shell I in a sliding fit mode, the movable freedom degree is limited through the fixed shell I, only one freedom degree of up-and-down movement is reserved, the base of the driving pull rod 4 is fixedly connected with the spring 5, and the spring 5 is connected with the pull wire 6; the wire 6 is wound around the roller 11 to be connected to the upper end of the slide shaft 13.
The driving pull rod IV controls the grabbing and opening of the claw thorn group II: when the claw spine group II is not grabbed, the driving pull rod IV is not pulled, and the claw spine group II is in an open state; when the claw is grabbed, the driving pull rod IV is pulled upwards under the action of pulling force to drive the claw thorn group II to contract, and then grabbing action is completed.
The embodiment adopts a rigid-flexible coupling claw thorn sheet structure, and solves the problem that most of grabbing devices are not high in compliance; in the embodiment, the fishhook is used as the claw-thorn tip, the small size and the high strength enable the roughness of the graspable surface to be reduced, and the allowable roughness range of the graspable surface is improved; in the embodiment, the traditional single-side or opposite grabbing attachment is abandoned, and a plurality of groups of symmetrical claw thorn groups are adopted for grabbing attachment, so that the grabbing force of the claw thorn on a grabbed object or surface is completely symmetrical and balanced, and the grabbing attachment does not need to consider the grabbing attachment angle and position as the traditional grabbing attachment.
Example three:
as shown in fig. 2, the rigid-flexible coupling claw-thorn grabbing device comprises a fixed shell I, a rigid-flexible coupling claw-thorn group II, a sliding guide rail III and a driving pull rod IV. The fixed shell I comprises an upper grab handle 1, a middle guide rail shell 2 and a lower base 3 which are fixedly connected through bolts. The base of drive pull rod 4 is only for the slip degree of freedom from top to bottom by middle part guide rail shell 2 restriction degree of freedom to restriction bottom displacement, the axis of drive pull rod 4 is retrained by upper portion grab handle 1 secondary, prevents to incline, and the top pull handle of drive pull rod 4 is restricted the top displacement by upper portion grab handle 1, and through the restriction of fixed shell I, drive pull rod 4 is the home range who removes about 50 cm.
As shown in fig. 3, each jaw group ii is a rigid-flexible coupling jaw group ii, and each jaw group is composed of a plurality of jaw sheets 9, and is fixed on the jaw fixing frame 7 through 3 mounting holes 8 for mounting bolts, so as to limit the jaw sheets from moving in a large range.
As shown in fig. 2, 3 and 4, one end of the spring 5 is fixedly connected to the base of the driving pull rod 4 through a bolt, the other end of the spring 5 is connected with the pull wire 6, the other end of the pull wire 6 is connected with the sliding shaft 13, the driving pull rod 4 and the sliding shaft 13 form an integrated stretching structure, in the sliding guide rail iii, the guide rail fixing frame 10 is fixed on the lower base 3 through bolts, the roller 11 is fixed on the guide rail fixing frame 10 through bolts, can rotate around an axis, the pull wire 6 can slide on the roller 11 when being stretched, the sliding guide rail seat 12 is connected on the guide rail fixing frame through a bolt, the sliding guide rail seat can rotate around the axis and has a rotational degree of freedom, the sliding shaft 13 is sleeved on the sliding guide rail seat 12, the sliding shaft 13 is fixedly connected on the claw thorn fixing frame 7 through a threaded hole, therefore, when the driving pull rod 4 is pulled, the sliding shaft 13 pulls the claw thorn group II to be retracted inwards.
As shown in fig. 5, the structure is a core design of the invention, the rigid-flexible coupling claw sheets 9 are formed by integral 3D printing and are composed of three rigid structures 14, three flexible structures 15 and a fishhook 16, the rigid structures 14 and the flexible structures 15 are bonded together by integral printing, and the fishhook 16 is fixed on a groove on the rigid structures 14 by strong glue.
As shown in fig. 6, the two pictures are taken during the use of the claw thorn grabbing device, when the claw thorn grabbing device is not grabbed, the driving pull rod 4 is not pulled, the claw thorn group ii is in an open state, and when the claw thorn grabbing device is grabbed, the driving pull rod 4 is pulled upwards under the action of the pulling force to drive the claw thorn group ii to contract, so that the grabbing action is completed.
The claw spine rigid-flexible coupling device has the advantages that the structural description and the operation mechanism of the claw spine gripping device are described, the claw spine gripping device can be gripped on a surface with roughness in a large range, and due to the rigid-flexible coupling design mechanism of the claw spine, the claw spine gripping device can be adaptive to a complex unstructured surface, and the gripping performance is improved. 3 groups of claw thorn groups are designed and added, and if the size is adjusted to improve the grabbing and attaching performance, a plurality of claw thorn groups can be continuously added. The embodiment adopts the fishhook as the claw spine tip, and the small-size high strength makes the roughness of the graspable surface diminish, has improved the roughness scope of the permission of grasping and attaching.
The embodiments of the present invention have been described with reference to the accompanying drawings, but the present invention is not limited to the embodiments, and various changes and modifications can be made according to the purpose of the invention, and any changes, modifications, substitutions, combinations or simplifications made according to the spirit and principle of the technical solution of the present invention shall be equivalent substitutions, as long as the purpose of the present invention is met, and the present invention shall fall within the protection scope of the present invention without departing from the technical principle and inventive concept of the present invention.
Claims (5)
1. The utility model provides a hard and soft coupling's claw thorn attaches device, includes fixed shell (I), hard and soft coupling claw thorn group (II), sliding guide (III) and drive pull rod (IV), its characterized in that: the lower end of the fixed shell (I) is fixedly provided with a sliding guide rail (III), the middle part of the rigid-flexible coupling claw thorn group (II) is hinged with the sliding guide rail (III), the upper end of the rigid-flexible coupling claw thorn group (II) is connected with a driving pull rod (IV), and the driving pull rod (IV) is arranged in the cavity of the fixed shell (I); the fixed shell (I) is divided into three parts: the upper part is a grab handle (1), the middle part is a guide rail shell (2), and the lower part is a base (3), which are fixedly connected through bolts.
2. The rigid-flexible coupling claw bone grasping device according to claim 1, wherein: the structure of the rigid-flexible coupling claw thorn group (II) is as follows: the three claw thorn groups are provided, each claw thorn group is provided with a plurality of claw thorn sheets (9), and the claw thorn sheets are fixed on the claw thorn fixing frame (7) through mounting bolts arranged in 3 mounting holes (8); rigid-flexible coupling claw thorn piece (9), print by the integration 3D and make, by three rigid structure (14), three flexible structure (15) and fishhook (16) are constituteed, rigid structure (14) and flexible structure (15) are printed the bonding together through the integration, and fishhook (16) are fixed in the recess on rigid structure (14) through powerful glue.
3. The rigid-flexible coupling claw bone grasping device according to claim 1, wherein: the sliding guide rail (III) comprises a guide rail fixing frame (10), a roller (11), a sliding guide rail seat (12) and a sliding shaft (13), the roller (11) and the sliding guide rail seat (12) are installed on the guide rail fixing frame (10), and the sliding shaft (13) is installed on the sliding guide rail seat (12).
4. The rigid-flexible coupling claw bone grasping device according to claim 1, wherein: the driving pull rod (IV) is arranged in the fixed shell (I) in a sliding fit mode, the movable freedom degree is limited through the fixed shell (I), only one freedom degree which moves up and down is reserved, the base of the driving pull rod (4) is fixedly connected with the spring (5), and the spring (5) is connected with the pull wire (6); the pull wire (6) is wound around the roller (11) and connected with the upper end of the sliding shaft (13).
5. The rigid-flexible coupling barbed grasping device according to any one of claims 1-4, wherein: the driving pull rod (IV) controls the grabbing and opening of the claw thorn group (II): when the claw is not grabbed, the driving pull rod (IV) is not pulled, and the claw thorn group (II) is in an open state; when the claw is grabbed, the driving pull rod (IV) is pulled upwards under the action of pulling force to drive the claw thorn group (II) to contract, and then grabbing action is completed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110775856.6A CN113635330A (en) | 2021-07-09 | 2021-07-09 | Claw thorn of hard and soft coupling is grabbed and is attached device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110775856.6A CN113635330A (en) | 2021-07-09 | 2021-07-09 | Claw thorn of hard and soft coupling is grabbed and is attached device |
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| Publication Number | Publication Date |
|---|---|
| CN113635330A true CN113635330A (en) | 2021-11-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110775856.6A Pending CN113635330A (en) | 2021-07-09 | 2021-07-09 | Claw thorn of hard and soft coupling is grabbed and is attached device |
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| CN (1) | CN113635330A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114248284A (en) * | 2022-01-06 | 2022-03-29 | 清华大学 | Claw thorn adhesive device and robot with same |
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| US20070289786A1 (en) * | 2006-04-17 | 2007-12-20 | Cutkosky Mark R | Climbing with dry adhesives |
| CN201040378Y (en) * | 2007-06-08 | 2008-03-26 | 陈显崇 | Multifunctional hand safety device for punch press |
| US20130068527A1 (en) * | 2011-09-19 | 2013-03-21 | California Institute Of Technology | Systems and methods for gravity-independent gripping and drilling |
| CN104354780A (en) * | 2014-09-05 | 2015-02-18 | 南京邮电大学 | Grasping claw mechanism of rough wall climbing robot |
| CN108357582A (en) * | 2018-04-11 | 2018-08-03 | 中国科学院合肥物质科学研究院 | A kind of sufficient structure of Bionic flexible pawl thorn |
| CN110561482A (en) * | 2019-08-27 | 2019-12-13 | 南京理工大学 | Bionic flexible claw thorn type opposite grabbing mechanism |
| EP3623324A1 (en) * | 2018-09-11 | 2020-03-18 | Kabushiki Kaisha Toshiba | Conveyance apparatus, conveyance system and conveyance method |
| CN111618887A (en) * | 2019-02-28 | 2020-09-04 | 北京京东尚科信息技术有限公司 | Robot gripper and robot |
-
2021
- 2021-07-09 CN CN202110775856.6A patent/CN113635330A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070289786A1 (en) * | 2006-04-17 | 2007-12-20 | Cutkosky Mark R | Climbing with dry adhesives |
| CN201040378Y (en) * | 2007-06-08 | 2008-03-26 | 陈显崇 | Multifunctional hand safety device for punch press |
| US20130068527A1 (en) * | 2011-09-19 | 2013-03-21 | California Institute Of Technology | Systems and methods for gravity-independent gripping and drilling |
| CN104354780A (en) * | 2014-09-05 | 2015-02-18 | 南京邮电大学 | Grasping claw mechanism of rough wall climbing robot |
| CN108357582A (en) * | 2018-04-11 | 2018-08-03 | 中国科学院合肥物质科学研究院 | A kind of sufficient structure of Bionic flexible pawl thorn |
| EP3623324A1 (en) * | 2018-09-11 | 2020-03-18 | Kabushiki Kaisha Toshiba | Conveyance apparatus, conveyance system and conveyance method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114248284A (en) * | 2022-01-06 | 2022-03-29 | 清华大学 | Claw thorn adhesive device and robot with same |
| CN114248284B (en) * | 2022-01-06 | 2024-04-30 | 清华大学 | Claw thorn attaching device and robot with same |
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