CN114800582B - Adaptability foot end mechanism of imitation crocodile claw - Google Patents
Adaptability foot end mechanism of imitation crocodile claw Download PDFInfo
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- CN114800582B CN114800582B CN202210353917.4A CN202210353917A CN114800582B CN 114800582 B CN114800582 B CN 114800582B CN 202210353917 A CN202210353917 A CN 202210353917A CN 114800582 B CN114800582 B CN 114800582B
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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Abstract
The invention discloses an adaptive foot end mechanism imitating crocodile claws, which comprises a power mechanism, an adaptive mechanism and mechanical claws, wherein the power mechanism is connected with the adaptive mechanism through a cable; the power mechanism is provided with a plurality of transmission racks which can move back and forth along the axial direction of the power mechanism, the transmission racks are arranged around the outer peripheral side of the power mechanism, the transmission racks are all meshed with driving gears, and the driving gears are all in transmission connection with a self-adaptive mechanism; the self-adaptive mechanism comprises a fixed transmission gear, a middle gear and a tail transmission gear; the fixed transmission gear is in meshed transmission connection with the driving gear so that the plurality of self-adaptive mechanisms are connected with the outer wall of the power mechanism in a rotatable mode; the intermediate gear and the fixed transmission gear are coaxially connected in a synchronous rotating mode; the tail transmission gear is in meshed transmission connection with the intermediate gear; the plurality of mechanical claws are respectively in meshed transmission connection with the plurality of tail transmission gears; the self-adaptive mechanism is connected with the power mechanism in a rotating mode, when the mechanical claw is subjected to resistance, the self-adaptive mechanism rotates, the mechanical claw is further contracted, and therefore the contour of an object can be grabbed in a self-adaptive mode.
Description
Technical Field
The invention relates to the field of robots, in particular to an adaptive foot end mechanism imitating crocodile claws.
Background
Although the existing four-footed bionic robot has certain progress in mechanism design and motion control, a series of new design methods and new design cases are also provided, but the self-adaptive bionic foot mechanism is less applied to unstructured environments and the research on the self-adaptive motion characteristics on complex terrains is provided; to realize the self-adaptive application of the four-footed bionic robot on complex terrains, a foot mechanism capable of adapting to various terrains needs to be provided.
The existing four-footed bionic robot is more focused on control design, the foot structure mostly adopts a single common structure which only can maintain stability, and the design is not based on the claw structure of organisms such as crocodiles and the like; even the design based on the claw structure is used for grabbing, clamping and the like, and is mainly applied to industries such as industrial production, mechanical manufacturing and the like.
When the foot characteristics of crocodiles are researched, the crocodile claws have the important significance for the movement in the grabbing action of ground matrixes; the crocodile crawls under the environment of different granularity matrixes, and the foot has crawling force regulation and control behaviors; according to the analysis of the Weibull weakest link theory, in actual discrete particles, the normal force and the friction force are increased along with the increase of the horizontal press-fitting internal force applied by the crocodile claw; if the force is too small, the stability of a dispersed particle chain is not enough, and the dispersed particles flow to generate unstable friction force, so that stable crawling of crocodiles is not facilitated; in order to make the discrete particles fluid-solidify and prevent the discrete particles from sliding between layers, the claw parts can be kept stable by applying larger horizontal press-fitting internal force, namely weaker chains are stabilized by applying larger force, so that stable propelling force required by the smooth crawling process of the crocodile is provided; the horizontal press-fitting force in failure decreases in power exponent with the particle size D; therefore, to realize the self-adaptive motion of the quadruped robot in a complex environment and realize the unification of the mechanical claw and the quadruped bionic robot, the current technology cannot solve the self-adaptive problem of the foot mechanism on a complex terrain.
Therefore, a technical scheme capable of solving the self-adaption problem of the foot mechanism on complex terrain is urgently needed.
Disclosure of Invention
The invention aims to provide an adaptive foot end mechanism imitating crocodile claws, which solves the problem that the existing foot mechanism cannot be adaptive on complex terrain.
In order to solve the technical problem, the invention provides an adaptive foot end mechanism imitating crocodile claws, which comprises a power mechanism, an adaptive mechanism and mechanical claws, wherein the power mechanism is connected with the adaptive mechanism through a cable; the power mechanism is provided with a plurality of transmission racks capable of moving back and forth along the axial direction of the power mechanism, the transmission racks are arranged around the outer peripheral side of the power mechanism, the transmission racks are all meshed with driving gears, and the driving gears are all in transmission connection with the self-adaptive mechanism; the self-adaptive mechanism comprises a fixed transmission gear, an intermediate gear and a tail transmission gear; the fixed transmission gear is in meshed transmission connection with the driving gear, so that the plurality of self-adaptive mechanisms are connected with the outer wall of the power mechanism in a rotatable mode; the intermediate gear and the fixed transmission gear are coaxially connected in a synchronous rotating mode; the tail transmission gear is in meshed transmission connection with the intermediate gear; the mechanical claws are respectively in meshed transmission connection with the tail transmission gears.
In one embodiment, the power mechanism comprises a shell, a driving unit, a rack disc and a screw rod; the shell is hollow, a plurality of shell notches are formed in the peripheral wall of the shell, and transition through holes are formed in the end face of the shell; the driving unit is arranged on the shell and is in transmission connection with the screw rod; the rack plate is arranged in the shell; the rack disc is provided with a threaded through hole, the peripheral wall of the rack disc is provided with the transmission rack, and the length direction of the transmission rack is parallel to the axial direction of the threaded through hole; the transmission rack extends out of the shell notch; the screw rod penetrates through the transition through hole and is in threaded connection with the threaded through hole.
In one embodiment, the housing is provided with an end cap on which the drive unit is mounted; the end cover is provided with the transition through hole.
In one embodiment, the power mechanism further comprises a fixed joint; the driving gear is rotatably arranged in the fixed joint; one end of the fixed joint is fixedly connected with the shell notch, and the other end of the fixed joint is rotatably connected with the self-adaptive mechanism.
In one embodiment, the fixed joint comprises two fixed plates, one end of each fixed plate is fixedly connected with the shell notch, and the other end of each fixed plate is rotatably connected with the self-adaptive mechanism; the driving gear is rotatably arranged between the two fixed plates.
In one embodiment, the adaptive mechanism further comprises two substrates; one end of the base plate is rotatably connected with the outer wall of the power mechanism, and the other end of the base plate is provided with a bearing hole; the bearing hole is rotationally connected with the mechanical claw; the fixed transmission gear, the middle gear and the tail transmission gear are rotatably arranged between the two substrates.
In one embodiment, the mechanical claw comprises an end joint and a finger joint which are sequentially connected in a rotating way; and one end of the tail end joint is rotatably connected with the bearing hole.
In one embodiment, the end joint comprises two follow-up gears, two supporting bearings, a plurality of bolts and two clamping plates; the two follow-up gears are coaxially and rotatably connected, the follow-up gears are rotatably arranged between the two bearing holes, and the follow-up gears are in meshing transmission connection with the tail transmission gear; the supporting bearing is rotatably arranged in the bearing hole; the bolt penetrates through the supporting bearing and is rotatably arranged in the bearing hole, and two ends of the bolt are respectively connected and fixed with one end of the clamping plate and the follow-up gear; the other end of the splint is rotationally connected with the finger joint.
In one embodiment, the knuckle comprises two claw plates, two finger plates and a cooperative gear; one end of the claw plate is rotatably connected with the clamping plate, and the other end of the claw plate is fixedly connected with the finger plate; the cooperation gear is arranged between the two claw plates and fixedly connected with the claw plates, and the cooperation gear is meshed with the follow-up gear.
In one embodiment, the knuckle further comprises a pad; the cushion blocks are arranged between the two claw plates and are coaxially arranged with the claw plates and the finger plates and fixedly connected with the claw plates and the finger plates.
The invention has the following beneficial effects:
the screw rod is controlled to rotate by the driving unit, and the opening and closing actions of the self-adaptive mechanism and the mechanical claw are controlled by gear transmission; the self-adaptive mechanism can rotate around the fixed joint, after the mechanical claw performs grabbing action through gear transmission, the mechanical claw is subjected to resistance, and the self-adaptive mechanism can rotate around the fixed joint to further contract the mechanical claw, so that the contour of an object can be grabbed in a self-adaptive manner, and the self-adaptive mechanism is particularly suitable for grabbing discrete particles when a four-footed bionic robot walks in silt; the adaptive foot end mechanism is simple in structure and easy to control, and the control variable is not obviously increased under the condition of increasing the degree of freedom of the whole structure of the four-foot bionic robot; the bending structure at the tail end of the mechanical claw can enhance the stability of the grabbing action, so that the four-footed bionic robot can maintain the overall balance.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic view of the overall mechanism provided by the present invention;
FIG. 2 is a top view of an end cap assembly provided by the present invention;
FIG. 3 is a schematic structural diagram of the adaptive mechanism and the gripper provided by the present invention;
fig. 4 is an exploded view of the adaptive mechanism and gripper provided by the present invention.
The reference numbers are as follows:
1, a power mechanism; 11-a housing; 111-shell slot; 112-an end cap; 113-a transition via; 12-a drive unit; 13-a rack disc; 131-a transmission rack; 132-a threaded through hole; 14-a screw mandrel; 15-fixed joint; 151-drive gear; 152-fixing the plate;
2-an adaptive mechanism; 21-a substrate; 211-bearing bore; 22-fixed transmission gear; 23-intermediate gear; 24-tail drive gear;
3-a mechanical claw; 31-end joint; 311-clamp plate; 312-follower gear; 313-support bearings; 314-a latch; 32-finger joints; 321-claw plate; 322-fingerboard; 323-cooperating gears; 324-spacer blocks.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention.
One embodiment of an adaptive foot end mechanism is shown in fig. 1, 3 and 4, and comprises a power mechanism 1, an adaptive mechanism 2 and a mechanical claw 3; the power mechanism 1 is provided with a plurality of transmission racks 131 capable of moving back and forth along the axial direction of the power mechanism, the plurality of transmission racks 131 are arranged around the outer peripheral side of the power mechanism 1, the plurality of transmission racks 131 are all meshed with a driving gear 151, and the plurality of driving gears 151 are all in transmission connection with a self-adaptive mechanism 2; the self-adaptive mechanism 2 comprises a fixed transmission gear 22, a middle gear 23 and a tail transmission gear 24; the fixed transmission gear 22 is in meshed transmission connection with the driving gear 151, so that the plurality of self-adaptive mechanisms 2 are connected with the outer wall of the power mechanism 1 in a rotatable mode; the intermediate gear 23 and the fixed transmission gear 22 are coaxially connected in a synchronously rotatable manner; the tail transmission gear 24 is in meshed transmission connection with the intermediate gear 23; the plurality of mechanical claws 3 are respectively in meshed transmission connection with a plurality of tail transmission gears 24.
When the three-gear mechanism is applied, three transmission racks 131 are arrayed in the axial circumference of the power mechanism 1, and a prime mover of the power mechanism 1 drives the transmission racks 131 to move up and down along the vertical direction, so that the three transmission racks 131 are driven simultaneously, and three driving gears 151 which are in meshing transmission with the transmission racks 131 rotate; the rotation of the three driving gears 151 respectively drives the rotation of three fixed transmission gears 22 in the self-adaptive mechanism 2 which is rotatably connected with the power mechanism 1; the fixed transmission gear 22 and the intermediate gear 23 may be manufactured as an integrated stepped gear; the fixed transmission gear 22 drives the intermediate gear 23 to synchronously rotate, the intermediate gear 23 drives the tail transmission gear 24 to rotate, and the rotation of the tail transmission gear 24 drives the gear in the mechanical claw 3 to rotate, so that the mechanical claw 3 is driven to open and close; the three self-adaptive mechanisms 2 are respectively in rotary connection with the three mechanical claws 3; when the gripper 3 makes a closing action to grab silt, when the closing action of the gripper 3 meets resistance, the part of the adaptive mechanism 2, which is in rotating connection with the power mechanism 1, can rotate, so that the adaptive foot end mechanism makes self-adaptive opening and closing actions, objects in various complex forms, such as silt in a discrete particle state, can be grabbed, and a robot connected with the adaptive foot end mechanism can keep integral balance in various complex terrains.
Further, as shown in fig. 1, the power mechanism 1 includes a housing 11, a driving unit 12, a rack plate 13, and a screw 14; the shell 11 is hollow, the peripheral wall of the shell 11 is provided with a plurality of shell notches 111, and the end surface of the shell 11 is provided with a transition through hole 113; the driving unit 12 is arranged on the shell 11, and the driving unit 12 is in transmission connection with the screw rod 14; the rack disc 13 is arranged in the shell 11; the rack disc 13 is provided with a thread through hole 132, the peripheral wall of the rack disc 13 is provided with a transmission rack 131, and the length direction of the transmission rack 131 is parallel to the axial direction of the thread through hole 132; the transmission rack 131 extends out of the shell notch 111; the screw rod 14 passes through the transition through hole 113 and is in threaded connection with the threaded through hole 132.
When the adaptive foot end mechanism is applied, the driving unit 12 comprises a motor and a speed reducer, the motor is controlled to rotate, power is transmitted to the screw rod 14 in transmission connection with the speed reducer through the speed reducer, the screw rod 14 transmits the power to the rack disc 13, the rack disc 13 is in lifting motion along the screw rod 14, so that the transmission rack 131 extending out of the shell notch 111 is driven to transmit the power to the driving gear 151, and the opening and closing speed of the adaptive foot end mechanism can be controlled by controlling the rotating speed of the motor.
Further, in this embodiment, as shown in fig. 1 and 2, the housing 11 is provided with an end cap 112, and the driving unit 12 is mounted on the end cap 112; the end cap 112 is provided with a transition through hole 113.
When the motor and the speed reducer are applied, the motor and the speed reducer are arranged on the upper end surface of the end cover 112, and the lower end surface of the end cover 112 is connected with the upper part of the shell 11; the screw rod 14 passes through the transition through hole 113 to be in threaded connection with the threaded through hole 132 of the rack disc 13, and transmits power to the rack disc 13.
Further, in the embodiment shown in fig. 1, 3 and 4, the power mechanism 1 further includes a fixed joint 15; the driving gear 151 is rotatably mounted in the fixed joint 15; one end of the fixed joint 15 is fixedly connected with the shell notch 111, and the other end of the fixed joint 15 is rotatably connected with the self-adaptive mechanism 2.
Further, in this embodiment, as shown in fig. 1, fig. 3 and fig. 4, the fixed joint 15 includes two fixed plates 152, one end of the fixed plate 152 is fixedly connected to the shell notch 111, and the other end of the fixed plate 152 is rotatably connected to the adaptive mechanism 2; the driving gear 151 is rotatably installed between the two fixed plates 152.
When the self-adaptive joint driving device is used, the fixed joint 15 is connected with the shell notch 111 through the plug 314 arranged on the shell notch 111, the fixed joint 15 is not rotated, the swinging of the fixed joint 15 when the transmission rack 131 transmits power to the driving gear 151 is eliminated, the driving gear 151 can stably transmit the power to the self-adaptive mechanism 2, and the fixed joint 15 and the self-adaptive joint are rotatably connected through a bolt.
Further, in this embodiment, as shown in fig. 3 and 4, the adaptive mechanism 2 further includes two substrates 21; one end of the base plate 21 is rotatably connected with the outer wall of the power mechanism 1, and the other end of the base plate 21 is provided with a bearing hole 211; the bearing hole 211 is rotatably connected with the mechanical claw 3; the fixed gear 22, the intermediate gear 23 and the tail gear 24 are rotatably mounted between the two base plates 21.
When the power transmission is carried out through gear rotation, when certain resistance is applied to the gear rotation of the mechanical claw 3, the self-adaptive mechanism 2 is driven to rotate around the axis which is rotationally connected with the power mechanism 1, and at the moment, the fixed transmission gear 22 of the self-adaptive mechanism 2 revolves around the driving gear 151, so that the power is further transmitted to the mechanical claw 3; the rotation of the adaptive mechanism 2 is combined with the joint rotation of the mechanical claw 3, so that when the adaptive foot end mechanism grabs an object, the adaptive foot end mechanism can be adaptive to the shape of the object to wrap the outline of the grabbed object, thereby expanding the range of the grabbed object and simultaneously improving the grabbing effect; the fixed transmission gear 22, the intermediate gear 23 and the tail transmission gear 24 are all rotationally connected with the base plate 21 through bolts.
Further, as shown in fig. 3 and 4, the gripper 3 includes a distal joint 31 and a finger joint 32 which are connected in turn in a rotatable manner; one end of the end joint 31 is rotatably connected with the bearing hole 211.
Further, in this embodiment as shown in fig. 3 and 4, the end joint 31 includes two follower gears 312, two support bearings 313, a plurality of bolts 314, and two clamp plates 311; the two follow-up gears 312 are coaxially and rotatably connected, the follow-up gears 312 are rotatably arranged between the two bearing holes 211, and the follow-up gears 312 are in meshing transmission connection with the tail transmission gear 24; the support bearing is rotatably mounted in the bearing hole 211; the bolt 314 passes through the supporting bearing 313 and is rotatably arranged in the bearing hole 211, and two ends of the bolt 314 are respectively connected and fixed with one end of the clamping plate 311 and the follower gear 312; the other end of the splint 311 is rotatably connected with the finger joint 32.
When the device is applied, the bolt 314 is installed in the support bearing 313, and is installed in the bearing hole 211 together with the support bearing 313, the outer circumference of the support bearing 313 can rotate in the bearing hole 211, two ends of the bolt 314 respectively extend out from two sides of the bearing hole 211 and are respectively in transmission connection with the clamping plate 311 and the follower gear 312, and then the clamping plate 311, the support bearing 313 and the follower gear 312 are all coaxially connected through bolts; therefore, when the tail gear 24 transmits power to the follower gear 312, the follower gear 312 can be driven to rotate the clamp plate 311, and the follower gear 312 can also rotate.
Further, as shown in fig. 3 and 4, the knuckle 32 includes two claw plates 321, two finger plates 322, and a cooperating gear 323; one end of the claw plate 321 is rotatably connected with the clamping plate 311, and the other end of the claw plate 321 is fixedly connected with the finger plate 322; the cooperating gear 323 is installed between the two claw plates 321, the cooperating gear 323 is fixedly connected with the claw plates 321, and the cooperating gear 323 is meshed with the follower gear 312.
When the application is performed, the latch 314 is used to connect the claw plate 321 and the cooperating gear 323, the claw plate 321 is rotatably connected with the clamping plate 311 through a bolt, so that when the follower gear 312 transmits power to the cooperating gear 323, the cooperating gear 323 rotates with the claw plate 321, and the claw plate 321 rotates with the finger plate 322 fixedly connected with the cooperating gear 323.
Further, in this embodiment as shown in fig. 3 and 4, the knuckle 32 further includes a spacer 324; the cushion block 324 is installed between the two claw plates 321, and the cushion block 324 is coaxially installed with the claw plates 321 and the finger plates 322 and is fixedly connected with the claw plates 321.
In use, the spacer block 324, the claw plate 321 and the finger plate 322 are connected by the latch 314, and the spacer block 324 can support the connection between the claw plate 321 and the finger plate 322.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.
Claims (10)
1. An adaptive foot end mechanism imitating crocodile claws, which is characterized in that,
the device comprises a power mechanism, a self-adaptive mechanism and a mechanical claw;
the power mechanism is provided with a plurality of transmission racks capable of moving back and forth along the axial direction of the power mechanism, the transmission racks are arranged around the outer peripheral side of the power mechanism, the transmission racks are all meshed with driving gears, and the driving gears are all in transmission connection with the self-adaptive mechanism;
the self-adaptive mechanism comprises a fixed transmission gear, a middle gear and a tail transmission gear; the fixed transmission gear is in meshed transmission connection with the driving gear, so that the plurality of self-adaptive mechanisms are connected with the outer wall of the power mechanism in a rotatable mode; the intermediate gear and the fixed transmission gear are coaxially connected in a synchronous rotating mode; the tail transmission gear is in meshed transmission connection with the intermediate gear;
the mechanical claws are respectively in meshed transmission connection with the tail transmission gears.
2. The adaptive foot end mechanism according to claim 1,
the power mechanism comprises a shell, a driving unit, a rack disc and a screw rod;
the shell is hollow, a plurality of shell notches are formed in the peripheral wall of the shell, and transition through holes are formed in the end face of the shell;
the driving unit is arranged on the shell and is in transmission connection with the screw rod;
the rack plate is arranged in the shell; the rack disc is provided with a threaded through hole, the peripheral wall of the rack disc is provided with the transmission rack, and the length direction of the transmission rack is parallel to the axial direction of the threaded through hole; the transmission rack extends out of the shell notch;
the screw rod penetrates through the transition through hole and is in threaded connection with the threaded through hole.
3. The adaptive foot end mechanism according to claim 2,
the shell is provided with an end cover, and the driving unit is arranged on the end cover;
the end cover is provided with the transition through hole.
4. The adaptive foot end mechanism according to claim 2,
the power mechanism also comprises a fixed joint;
the driving gear is rotatably arranged in the fixed joint;
one end of the fixed joint is fixedly connected with the shell notch, and the other end of the fixed joint is rotatably connected with the self-adaptive mechanism.
5. The adaptive foot end mechanism according to claim 4,
the fixed joint comprises two fixed plates, one end of each fixed plate is fixedly connected with the shell notch, and the other end of each fixed plate is rotatably connected with the self-adaptive mechanism;
the driving gear is rotatably arranged between the two fixed plates.
6. The adaptive foot end mechanism according to claim 1,
the self-adaptive mechanism also comprises two substrates;
one end of the base plate is rotatably connected with the outer wall of the power mechanism, and the other end of the base plate is provided with a bearing hole; the bearing hole is rotationally connected with the mechanical claw;
the fixed transmission gear, the middle gear and the tail transmission gear are rotatably arranged between the two substrates.
7. The adaptive foot end mechanism according to claim 6,
the mechanical claw comprises a tail end joint and a finger joint which are sequentially connected in a rotating manner;
and one end of the tail end joint is rotatably connected with the bearing hole.
8. The adaptive foot end mechanism according to claim 7,
the tail end joint comprises two follow-up gears, two supporting bearings, a plurality of bolts and two clamping plates;
the two follow-up gears are coaxially and rotatably connected, the follow-up gears are rotatably arranged between the two bearing holes, and the follow-up gears are in meshing transmission connection with the tail transmission gear;
the supporting bearing is rotatably arranged in the bearing hole;
the bolt penetrates through the supporting bearing and is rotatably arranged in the bearing hole, and two ends of the bolt are respectively connected and fixed with one end of the clamping plate and the follow-up gear;
the other end of the splint is rotationally connected with the finger joint.
9. The adaptive foot end mechanism according to claim 8,
the finger joint comprises two claw plates, two finger plates and a cooperative gear;
one end of the claw plate is rotatably connected with the clamping plate, and the other end of the claw plate is fixedly connected with the finger plate;
the cooperation gear is arranged between the two claw plates and fixedly connected with the claw plates, and the cooperation gear is meshed with the follow-up gear.
10. The adaptive foot end mechanism according to claim 9,
the finger joint also comprises a cushion block; the cushion block is arranged between the two claw plates, and the cushion block is coaxially arranged with the claw plates and the finger plates and is fixedly connected with the claw plates and the finger plates.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210353917.4A CN114800582B (en) | 2022-04-06 | 2022-04-06 | Adaptability foot end mechanism of imitation crocodile claw |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210353917.4A CN114800582B (en) | 2022-04-06 | 2022-04-06 | Adaptability foot end mechanism of imitation crocodile claw |
Publications (2)
| Publication Number | Publication Date |
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| CN114800582A CN114800582A (en) | 2022-07-29 |
| CN114800582B true CN114800582B (en) | 2023-04-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210353917.4A Active CN114800582B (en) | 2022-04-06 | 2022-04-06 | Adaptability foot end mechanism of imitation crocodile claw |
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| CN114800582A (en) | 2022-07-29 |
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