362 results about "Grip force" patented technology

The invention discloses a self-adaptive grabbing force control system and method of a stamping line blanking manipulator, and relates to the technical field of self-adaptive control, and the method comprises the following steps: extracting a plurality of protection layer types corresponding to a plurality of process nodes; when a grabbing instruction is received, the protection layer type corresponding to the procedure node where the target workpiece is located is determined, and a mechanical arm grabbing strategy is called; the method comprises the steps of collecting a surface image of a target workpiece, recognizing the surface image, collecting protective layer characteristics of the target workpiece, inputting the protective layer characteristics into a manipulator grabbing force control model for self-adaptive recognition, outputting grabbing force control instruction parameters, and controlling a manipulator to execute a grabbing action and carry out force control feedback adjustment. According to the mechanical arm, the technical problems that in the prior art, when stamping workpieces with different protection layers are subjected to precise recognition and matched with proper grabbing force, grabbing is unstable, the workpieces are prone to being damaged or clamping fails are solved, and the technical effect that the mechanical arm precisely recognizes the workpieces with the different protection layers and dynamically controls and adjusts force is achieved.

The invention relates to the technical field of robot switching, and discloses a robot tool switching method and system based on multi-modal recognition, and the system comprises an acquisition module which is configured to determine the initial tool release speed and the initial tool grabbing speed of an operation robot based on the task information of the current stage and the task information of the next stage; the judging module is configured to judge whether the initial tool release speed is adjusted or not based on the tool grabbing state information; the controller is further configured to judge whether the initial tool grabbing speed is adjusted or not according to the matching degree; the multi-modal adjustment module is configured to determine a release adjustment coefficient of the initial tool release speed based on the historical release record and obtain a final tool release speed; the grabber is also configured to determine a grabber adjustment coefficient of the initial tool grabber speed based on the contact state information and the grabber force information, and obtain a final tool grabber speed; and an execution module. The tool switching efficiency and accuracy of the operation robot can be effectively improved.

The invention discloses a mechanical arm autonomous grabbing system and method based on visual guidance and visual touch fusion. The mechanical arm autonomous grabbing system at least comprises a visual semantic guidance and grabbing pose generation module, a smooth grabbing control module based on visual touch fusion and a dynamic planning module based on model prediction path integration. The visual module efficiently generates a six-degree-of-freedom grabbing pose from the point cloud data by using a deep learning network; the smooth grabbing control module monitors object slippage in real time and adaptively adjusts clamping force by fusing visual and tactile information, and stable grabbing of fragile or slippery objects is achieved. And the dynamic planning module adopts a model prediction path integral algorithm MPPI to realize collision-free path planning of the mechanical arm in a complex dynamic environment. The problems that an existing mechanical arm is insufficient in sensing capacity, poor in grabbing robustness and low in path planning efficiency in an unstructured scene are solved, and the autonomous operation capacity and safety of the mechanical arm in the scenes of accompanying, intelligent sorting and the like are remarkably improved.

The invention discloses intelligent fruit picking and air transportation integrated equipment and an operation method thereof.The intelligent fruit picking and air transportation integrated equipment comprises three types of multifunctional mechanical arms, the tail ends of the picking mechanical arms are integrated with image recognition and clamping mechanisms, lossless picking of fruit stems is achieved through joint cooperation and preset clamping force control, and fruits are conveyed to a temporary storage box through a special conveying pipe; the placing mechanical arm integrates a clamping mechanism and an air suction head, and empty basket placing and fruit basket placing are integrated. The lifting appliance grabbing mechanical arm integrates multiple assemblies and completes multi-task grabbing of a lifting appliance, a full fruit basket and an empty fruit basket. A magnet pole controllable design is adopted to realize lossless grabbing and releasing of the lifting appliance, the unmanned aerial vehicle autonomously plans a path based on a position sensor A / B to cooperate with ground equipment, and the supporting platform can be rotatably folded to save space; in addition, an overhanging button and a sound-light alarm are arranged to guarantee man-machine safety, all links are linked to form a full-process automatic operation closed loop, and picking and transporting efficiency and operation flexibility are remarkably improved.

The utility model discloses an anti-skid steel claw structure for an all-terrain sole and the all-terrain sole. The anti-skid steel claw structure structurally comprises a half sole steel claw, the half sole steel claws and the rear sole steel claws are located behind the half sole steel claws at intervals, the high-strength storage type half sole steel claws and the high-strength storage type rear sole steel claws are arranged on the front sole and the rear sole of the all-terrain shoe sole respectively, during conventional walking, the first anti-skid nails and the second anti-skid nails on the half sole steel claws and the rear sole steel claws are stored in the corresponding first assembling grooves and the corresponding second assembling grooves, and when the all-terrain shoe sole walks on a complex terrain, the anti-skid nails and the second anti-skid nails are stored in the corresponding first assembling grooves and the corresponding second assembling grooves. By rotating the half sole steel claw and the rear sole steel claw, under the cooperation of the corresponding hinge structures on the half sole steel claw and the rear sole steel claw, the half sole steel claw and the rear sole steel claw are turned over, the corresponding first anti-skid nail and the corresponding second anti-skid nail are exposed, and after the first anti-skid nail and the second anti-skid nail make contact with the ground, high road holding force and friction force are provided, and a wearer can walk on the complex terrain conveniently.

The utility model provides a battery cell clamping jaw device capable of detecting grabbing force, which comprises a clamping jaw cylinder provided with two clamping ends. Each clamping end is provided with a pressure sensing element; the detection end of each pressure sensing element is connected with the corresponding clamping jaw single arm through a connecting unit; the connecting unit comprises a mounting plate and an anti-falling block, the top of the mounting plate is connected with the detection end of the pressure sensing element, and the anti-falling block is detachably arranged at the bottom of the mounting plate and locks the upper end of the clamping jaw single arm. The clamping jaw device can avoid the situation that the clamping force of the clamping jaw device is too small, so that a battery cell slides off or is damaged due to too large force, the clamping force of the clamping jaw cylinder is conveniently and accurately regulated and controlled, and the stability of the clamping jaw in the process of grabbing the battery cell is improved.

Provided is technology which enables suitable control of a chuck holding force. In this machine tool comprising a main shaft provided with a chuck for holding a workpiece, when an open / close mechanism has performed a closing operation on the chuck such that the chuck enters a closed state from an open state, a holding force of the chuck on the workpiece in the closed state is acquired on the basis of the magnitude of a difference between a first time taken from when a control unit emits a control signal for the closing operation to the open / close mechanism to when a first sensor detects that the chuck is no longer in the open state, and a second time taken from when the control unit emits a control signal in an open / close mechanism to when a second sensor detects that the chuck has entered the closed state.

The invention provides a self-adaptive force feedback control method for a pressure sensing artificial hand. The self-adaptive force feedback control method comprises the following steps: S1, acquiring a pressure signal; s2, pressure signal preprocessing; s3, setting a pressure threshold value; s4, pressure signal contrastive analysis; s5, generating an adaptive force adjusting signal; s6, executing driving force; and S7, acquiring and feeding back a force feedback signal. Through sensing-analysis-adjustment-feedback closed-loop control, self-adaptive grabbing of the artificial hand to different objects is achieved, the core is that the grip strength is dynamically adjusted based on pressure signals, and grabbing stability and object safety are both considered.

The utility model discloses a sole with a shock absorption function, which comprises a wear-resistant outer layer, a composite inner layer body is adhered to the top of the wear-resistant outer layer, and the composite inner layer body comprises a comfortable top layer, a microwell plate, a shock absorption middle layer, a stable supporting layer, a buffer air bag layer and an elastic memory layer which are sequentially arranged from top to bottom. The shock absorption middle layer comprises a first shock absorption plate, a second shock absorption plate, a third shock absorption plate and a fourth shock absorption plate which are sequentially arranged from top to bottom. The shock absorption middle layer is composed of four layers of EVA foam materials with different hardness and density, a unique gradient shock absorption structure is formed, the design can absorb and disperse impact force generated during walking or movement step by step, impact on knees and ankles is effectively relieved, joint health is protected, the wear-resistant outer layer is made of high-wear-resistant rubber materials, and the wear-resistant outer layer is made of high-wear-resistant rubber materials. And the anti-skidding grains are arranged, so that the wear resistance of the sole is enhanced, the road holding force on the wet and slippery ground is also improved, and the walking safety is ensured.

The invention relates to the technical field of suture line processing equipment, and particularly discloses a cutting device for a barb suture line and a barb cutting technology.The cutting device comprises a base, a line inlet guide mechanism, a barb cutting mechanism and a line outlet guide mechanism are arranged at the two ends of the base respectively, and the barb cutting mechanism comprises a carrier plate; a center hole for a suture line to pass through is formed in the carrier plate, two cutting clamping seats are symmetrically arranged on the carrier plate located on the two sides of the center hole, linear grooves are formed in the side faces, close to each other, of the two cutting clamping seats, and cutting knife assemblies are arranged on the cutting clamping seats. One end of the cutting knife assembly extends into the linear groove through a groove formed in the cutting clamping seat; according to the cutting device for the suture line with the barbs, continuous and high-speed barb cutting of the suture line is achieved, the production efficiency is remarkably improved, the barbs formed after cutting can be outwards kept at a large unfolding angle, and the grabbing force and the connecting stability of the barbs in the using process are enhanced.

The invention relates to the technical field of rehabilitation medical treatment, in particular to a hand rehabilitation training system based on virtual reality and gesture interaction, and the system comprises a gesture sensing module which collects a hand movement track, a muscle electric signal, grip pressure and a joint movement angle; the VR rehabilitation scene construction module constructs a rehabilitation training virtual scene, simulates a hand interaction behavior and a force feedback effect through an adaptive physical engine and a neural action mapping algorithm, and outputs simulation data; the intelligent evaluation center evaluates the action standard degree and the muscle activation efficiency based on an improved CNN-GRU model, identifies an action compensation mode and abnormal force generation, and outputs an evaluation report; the interactive training unit renders a motion state and a training process in real time, and generates personalized training guidance in combination with voice, visual and tactile prompts; and the personalized regulation and control unit predicts a rehabilitation trend and a stage target through a reinforcement learning algorithm, and dynamically adjusts training parameters and scene difficulty. Therefore, the problems of low interaction precision, incapability of sharing and the like in the prior art are solved.

A surgical robotic system includes a robotic arm having an instrument with a pair of opposing jaws configured for grasping, and an instrument drive unit configured to couple to and to actuate the instrument. The system also includes a surgeon console having a handle controller configured to control the robotic arm and the instrument. The system further includes a controller configured to: receive an electrical property of the opposing jaws; receive an angle of the opposing jaws; determine whether the opposing jaws are grasping a metallic object; and adjust a gripping force of the opposing jaws based on the determination.

The invention relates to the technical field of industrial robots, and provides a humanoid robot self-adaptive clamping jaw grabbing device based on visual feedback, the grabbing device comprises a visual feedback module, a clamping jaw control module and a mechanical arm provided with a clamping jaw, and the mechanical arm comprises a plurality of joints; the visual feedback module is used for carrying out fine-grained object classification on the environment information through an improved YOLOv7 model and sending the shape type and the three-dimensional pose of an object to be grabbed to the clamping jaw control module; the clamping jaw control module is used for receiving the shape type and the three-dimensional pose of the to-be-grabbed object sent by the visual feedback module, controlling the mechanical arm to move by adopting a low space occupation configuration strategy, and generating a collision-free track of the clamping jaw from the initial position to the to-be-grabbed object; and when the clamping jaw approaches the object to be grabbed, the clamping jaw is controlled to move within the speed threshold range, and when the clamping jaw makes contact with the object to be grabbed, the clamping force of the clamping jaw is restrained based on the clamping force of the clamping jaw, the shape type of the object and the three-dimensional pose.

The invention provides a clamping mechanism which comprises a strain uniformly-distributed stacked structure fluid actuator, and when the strain uniformly-distributed stacked structure fluid actuator stretches out and draws back, a second shaft moves along with a push plate so as to drive a first shaft to rotate around the second shaft and move along with the second shaft in the stretching-out and drawing-back direction. Meanwhile, the second shaft drives the clamping piece to rotate around the third shaft so as to enable the clamping piece to be opened or closed, the grabbing state of the clamping piece is associated with the telescopic state of the fluid actuator of the uniform strain distribution stacking structure, and the expansion degree of the clamping piece is determined by the telescopic degree of the fluid actuator of the uniform strain distribution stacking structure; the stability degree of the clamping piece is determined by the pressure difference of the fluid actuator of the strain evenly-distributed stacked structure, and the clamping piece is endowed with a grabbing state with the adjustable flexible degree through the adjustable flexibility of the fluid actuator of the strain evenly-distributed stacked structure. The clamping mechanism provided by the invention has the grabbing force and the flexible degree of freedom of the rigid clamping jaw, and the applicability of the clamping mechanism is effectively improved.

The utility model discloses a portable material stirring device for interior decoration, which comprises a portable moving frame and a stirring structure, the top of the portable moving frame is provided with a lifting frame, the front side of the lifting frame is bolted with a rotating frame, the front side of the lifting frame is bolted with a fixed frame, the surface of the rotating frame is rotatably connected with a supporting mechanism, and the surface of the supporting mechanism is provided with a stirring mechanism. A limiting mechanism is clamped to the inner wall of the supporting mechanism, and the problems that an existing portable material stirring device for indoor decoration is mostly arranged in a handheld mode, when thick decoration materials are stirred, certain gripping force needs to be continuously applied to keep the stirring device stable, after the stirring device is used for a certain period of time, the hands are prone to ache, and the stirring effect is poor are solved. And most stirring devices with supporting structures are large in size, so that the stirring devices are difficult to be placed at positions close to a construction area, stirred materials need to be conveyed to a construction site by carrying the materials for multiple times, and the workload is increased.

The present invention provides a composite adsorption-enhanced force-current coupling flexible electrostatic gripper and a control method thereof, relating to the technical field of flexible grippers. The composite adsorption-enhanced force-current coupling flexible electrostatic gripper comprises a support frame, a force-current coupling structure, a flexible electrostatic adsorption enhancement layer, and a gecko-like adsorption enhancement layer. The force-current coupling structure enables bidirectional bending, thereby increasing the gripping range of conventional electrostatic adsorption flexible grippers and resolving the issue of insufficient gripping range in existing electrostatic adsorption flexible grippers. Furthermore, the gecko-like adsorption enhancement layer provides van der Waals forces to enhance adsorption, further increasing gripping force.

The invention discloses a grabbing stability control method and system of a bionic hand, a terminal and a medium, and relates to the technical field of bionic hands, and the method comprises the steps that after the bionic hand makes contact with a target object, initial grabbing force is obtained, and the target object is grabbed based on the initial grabbing force; stress information of the bionic hand and a vibration signal of the bionic hand are monitored in real time in the grabbing process, and a sliding risk index of the target object is determined based on the stress information and the vibration signal; and adjusting the holding posture and / or the gripping force of the bionic hand based on the sliding risk index so as to improve the gripping stability of the bionic hand. The sliding risk index of the target object can be dynamically analyzed in the grabbing process, the grabbing posture and / or grabbing force of the bionic hand are / is adjusted based on the sliding risk index, the grabbing stability of the bionic hand can be improved, and the safety of the target object is ensured.

The machine tool includes: a first spindle that includes a collet chuck that grips a workpiece; a first headstock that rotatably supports the first spindle; an air cylinder that generates a driving force for changing a state of the collet chuck between a gripping state for gripping the workpiece and a release state for releasing the grip of the workpiece; a non-rotary transmitting member that transmits the driving force received from the air cylinder; a rotary transmitting member that rotates together the first spindle and transmits to the collet chuck the driving force received from the non-rotary transmitting member; strain detection means that is attached to the non-rotary transmitting member and detects a strain of the non-rotary transmitting member produced when the driving force is transmitted from the air cylinder to the collet chuck, and a deriving unit that derives the gripping force of the collet chuck based on a detection result of the strain detection means.

The invention discloses a flexible manipulator with variable clamping force and constant-force rubbing and a using method thereof, and belongs to the technical field of micromanipulators, the flexible manipulator comprises a first driving mechanism, a second driving mechanism, a variable-rigidity clamping mechanism and a constant-force rubbing mechanism, the variable-rigidity clamping mechanism is formed by connecting a guide beam assembly, a variable-rigidity beam assembly and a decoupling beam assembly in series, and the constant-force rubbing mechanism is connected with the first driving mechanism. A first clamping end is arranged at the tail end, the rigidity of the constant force rubbing mechanism can be adjusted through embedded shape memory alloy, the constant force rubbing mechanism is composed of a positive rigidity structure and a negative rigidity structure, a second clamping end opposite to the first clamping end is arranged at the tail end, and the two mechanisms are connected through the decoupling beam assembly to achieve structural decoupling. The problems that an existing flexible manipulator is non-adjustable in clamping rigidity, slow in constant force response and mutual in function interference are solved, and self-adaptive grabbing and stable rubbing of micro-scale objects are achieved.

A connector and a connector assembly. The connector is configured for plug-in engagement with a mating connector, the connector comprising a main body, a limiting member and a lever. The side wall on at least one side of the main body is provided with an accommodating space. The limiting member is rotationally connected to the main body; when the limiting member is not under pressure, at least part of the limiting member protrudes beyond the outer surface of the main body. The lever grips both sides of the main body and is capable of rotating, wherein the lever is rotationally connected to the part of the limiting member protruding beyond the outer surface of the main body. In the present application, when the lever is not mounted on the connector, the limiting member is not subjected to the gripping force from the lever, such that the part of the limiting member configured to be gripped by the lever naturally protrudes beyond the outer surface of the main body. When the connector provided in the present application is plugged into the mating connector, the part of the limiting member that protrudes beyond the outer surface of the main body interferes with the mating connector, preventing the connector provided in the present application from being plugged into the mating connector normally. In this way, an operator has a direct sense of anomalies in the state of insertion, allowing the operator to promptly notice the problem of lever missing or detachment, thereby preventing the connector that does not have the lever mounted thereon from being left at a vehicle operation site. In addition, after the lever is mounted on the connector, the gripping force provided by the lever enables the limiting member to be accommodated in the accommodating space, thereby preventing the connector provided in the present application from interfering with the mating connector when plugged into the mating connector normally.

The beverage bottle convenient to grasp comprises a bottle body and an inner groove, the top of the bottle body is connected with a bottle opening, the surface of the bottle body is provided with a label face used for being attached with a label, and the surface of the bottle body and the bottom of the label face are annularly provided with a plurality of inwards-sunken grabbing grooves. The inner grooves are formed in the surface of the bottle body, the grabbing grooves are arranged in a V shape, reinforcing strips are arranged on the surface of the bottle body and located in the middles of the grabbing grooves, and the grabbing grooves are annularly formed in the bottom of the label surface of the surface of the bottle body, so that additional grabbing acting points are provided for a user; by means of the structure, fingers can be naturally embedded into the bottle body, the friction force between the hand and the bottle body is increased, the grabbing grooves are arranged in the V shape and further fit with the shapes of the fingers, the grabbing comfort and stability are improved, and a consumer can more easily and firmly grab the beverage bottle when opening the bottle cap for drinking beverages.

A twist correction device includes an untwisting mechanism and a controller, the untwisting mechanism being configured to grip a multi-core twisted wire by means of a pair of gripping elements, wherein the pair of gripping elements is configured to slide together toward a tip side of the multi-core twisted wire while performing a relative stroke position offset movement of the pair of gripping elements in a direction of untwisting for untwisting the multi-core twisted wire, wherein when the pair of gripping elements is positioned on an exposure side end side of the multi-core twisted wire, the controller is configured to perform operation control with a smaller gripping force in a twist gripping direction as well as a smaller operation force and a smaller position offset amount for the stroke position offset movement than when the pair of gripping elements is positioned on the tip side.

This invention relates to the field of medical device technology and discloses a surgical sternal closure fixator, comprising a main body, a male hook plate at one end of the main body, and a fixing mechanism on the main body. The fixing mechanism includes a flexible plug and a female hook plate. The flexible plug is located inside the main body, and the female hook plate is connected to the end of the flexible plug away from the male hook plate. The fixing mechanism includes a sliding mechanism, which includes a female hook plate located on the inner wall of the female hook plate facing the male hook plate, with one end of the female hook plate inserted into the flexible plug. The flexible plug contains an auxiliary mechanism and a rotating mechanism, the auxiliary mechanism being connected to the rotating mechanism. A wobbling mechanism is provided on the side wall of the female hook plate facing the male hook plate. This invention can adjust the gripping force and gripping position according to the expansion and contraction of the sternum during the patient's breathing, reducing local misfitting between the fixator and the sternum, which affects the stability of sternal fixation and improving stability.

The present invention provides a prize acquisition device and a prize acquisition game device that enable miniaturization of the device for gripping prizes. [Solution] The gripping arm 203 grips the prize. The arm mounting base 203b pivotally supports the gripping arm 203 so that it can swing up and down. The first actuated part 203d and the second actuated part 203e are provided at the base of the gripping arm 203. The actuated plate 226e acts on the first actuated part 203d and the second actuated part 203e. The motor 221 acts on the actuated plate 226e. The first actuated part 203d and the second actuated part 203e are arranged spaced apart vertically. The actuated plate 226e is interposed between the first actuated part 203d and the second actuated part 203e and is displaceable vertically by the drive of the motor 221. By moving the actuated plate 226e upward and acting on the first actuated part 203d, it is possible to apply a gripping force to the gripping arm 203.

The present application relates to a kind of hydraulic drive variable stiffness soft gripper, including flexible finger, fixed support, slider, gear, oil pipe, lower oil pipe, piston driving device, one-way shunt valve, two-way shunt valve and motor;The flexible finger is arranged in the upper end of slider, the slider is slidably connected with fixed support, the gear is engaged with the rack on slider, the piston driving device is fixed in the lower end of fixed support, one end of the upper oil pipe is connected with slider, the other end is connected with two-way shunt valve, one end of the lower oil pipe is connected with slider, the other end is connected with one-way shunt valve, the slider driving motor is connected with sun gear in fixed support, the sun gear is engaged with planetary gear, the planetary gear is engaged with rack, the piston driving motor is connected with piston driving device;The present application is simple in structure, can adjust the gripping force of gripper according to the weight of object, can bend finger more easily when gripping action, so as to realize the nondestructive gripping of object.

The utility model provides an industrial robot combined type gripper which comprises a mechanical arm assembly and a gripper assembly. The device comprises a fixed plate, a first mechanical arm, a second mechanical arm, a mounting insertion rod and fixed grabhooks, the first mechanical arm is hinged to the upper side surface of the fixed plate in a damping mode, the second mechanical arm is hinged to the end, away from the fixed plate, of the first mechanical arm in a damping mode, and the two fixed grabhooks are symmetrically hinged to the end, away from the first mechanical arm, of the second mechanical arm. Compared with the prior art, the gripper assembly has the advantages that when the gripper assembly is used, the electric push rod can accurately control the opening and closing degree and the grabbing force of the gripper body through the connecting rod, objects of different weights, shapes and materials can be properly grabbed by adjusting the stroke and the output force of the electric push rod, and the gripper assembly is convenient to use. Objects are prevented from being damaged due to the fact that grabbing force is too large or objects are prevented from falling off due to the fact that grabbing force is too small.

The utility model relates to the field of leather products and shoemaking technology, especially a kind of high-performance microfiber leather base sports shoes leather, including base, waterproof function layer and wear-resistant coating, the top of base is provided with ventilative function layer, several ventilative micropores are evenly distributed on the upper end of ventilative function layer, waterproof function layer is covered on ventilative function layer, contact angle is not less than 120 °, wear-resistant coating is set to the side of sports shoes leather and ground contact, with anti-skid texture.The utility model relates to a kind of high-performance microfiber leather base sports shoes leather, by ventilative, waterproof, wear-resistant and anti-skid key performance is integrated in one body.Ventilative micropore is rectangular array distribution and aperture precision design, can efficiently discharge shoe in moisture, keep dry, inhibit bacteria breeding;Multi-layer waterproof layer is collocated with stable outer frame, waterproof is strict, and is not afraid of damp environment.Wear-resistant coating and anti-skid texture cooperate, wear-resistant at the same time grip ground force is strong, adapt to various sports scenes.

The present application relates to the field of snow tire pattern design, and discloses a snow tire tread capable of preventing side sliding and improving ice ground adhesion. The tread adopts an asymmetric multi-directional pattern style, the asymmetric pattern can provide more targeted adhesion and handling performance, and the multi-directional pattern block can enhance the adhesion of the tire under various working conditions such as starting, braking and turning, and reduce the risk of side sliding. The shoulder part of the snow tire is provided with longitudinally and transversely staggered flow guide sipes, which can effectively absorb and remove the water film on the ice surface. The streamlined boss sucker on the outside of the shoulder has the function of adsorbing the ice surface when the vehicle slides, which can not only increase the lateral tread contact area, but also increase the tread adsorption force. A row of triangular anti-skid gradient steps is added on the outside of the driving line, which can not only increase the adhesion area of the tread, but also play a role in hiding the ground when the vehicle slides, fully increase the frictional resistance between the tread and the ice surface, and prevent the vehicle from sliding.

A ground gripping device comprises a shell 51, the lower end of the shell 51 is connected with a lower guide piece 52, a lower supporting column hole 522 is formed in the center of the lower guide piece 52, a plurality of lower guide holes 521 are formed in the position along the center radius R, a ground gripping column 53 is inserted into the lower guide holes 521, a supporting column 54 is sleeved with the lower supporting column hole 522, and an upper guide piece 55 is sleeved with the upper end of the ground gripping column 53. The walking stick has the advantages that the ground gripping device can be connected to the lower portion of the walking stick in the using process, and the ground gripping device is unfolded to enhance the ground gripping force of a muddy road surface in the using process; when not in use, the ground gripping device can be stored in the crutch handle hole, so that the daily use is prevented from being influenced; the included angle between the ground gripping column and the supporting column is increased when the ground gripping column is unfolded, so that more stable ground gripping support is formed; telescopic adjustment is achieved, use is convenient, clamping can be achieved after stretching, and the structure is stable; and a plurality of parts and structures are unified standardized structural parts, so that the production cost is low.

The utility model discloses a forklift ramp platform with an anti-skidding function, which comprises a forklift ramp platform main body, a ramp is arranged on the forklift ramp platform main body, an anti-skidding component is arranged in the ramp, a mounting component is arranged on the side wall of the anti-skidding component, and the mounting component is arranged on the side wall of the anti-skidding component. The mounting assembly is used for fixedly mounting parts of the anti-skid assembly, and the parts of the anti-skid assembly can be quickly mounted and dismounted through the mounting assembly; when the forklift turns or inclines, the friction force between the surface of the ramp and tires of the forklift is greatly increased due to the action of the antiskid plates, so that the phenomenon of sideslip or rollover caused by insufficient road holding force is effectively avoided, the forklift is more stable when running in a complex environment, and goods are prevented from falling off due to slippage.