Flexible grabbing device and using method thereof

Abstract

The invention discloses a flexible grabbing device which comprises an arc-shaped outer frame, an arc-shaped rack, a braid, a locking assembly, a controller, a driving assembly, a guide column and a limiting tightening assembly, a clamping hook is arranged on the arc-shaped rack, and a locking process and an opening process are formed among the arc-shaped outer frame, the arc-shaped rack, the clamping hook, the braid and the locking assembly. The driving assembly drives the arc-shaped rack to rotate in the direction close to the locking assembly, the arc-shaped rack and the arc-shaped outer frame form a closed circular ring, the clamping hook is in clamping fit with the locking assembly, and the braid abuts against the arc-shaped outer frame and the guide column. Scratches on the surface of an object are avoided through the braid, the closed circular ring is locked through the locking assembly and the clamping hook, and due to the fact that the grabbing device is mostly made of metal materials, the use safety is improved; when the system is used for rescue, people can be rescued without active cooperation of people, and convenience, efficiency and safety during rescue are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of gripping structures, and in particular to a flexible gripping device and a use method thereof. Background Art

[0002] When rescuing people trapped in deep wells and other environments, rescuers generally use rescue ropes to enter the deep well and lift the trapped people out. Especially when the trapped people are in a coma, they cannot be rescued effectively and quickly, which affects the rescue efficiency and the safety of the people during the rescue.

[0003] With the development of industry, when transporting materials or parts such as logs and steel pipes, mechanical grippers are generally used as lifting structures to grab, hoist and transport logs or steel pipes. Because mechanical grippers are generally claw-shaped and are often made of harder materials, they may cause damage to the outside of logs or steel pipes, affecting the subsequent use of logs or steel pipes.

[0004] To sum up, when using rescue ropes or mechanical grippers to lift people or objects, the rescue ropes or mechanical grippers lack corresponding flexible grabbing and lifting components, which not only makes the safety of grabbing and lifting people or objects low, but also makes the efficiency of rescue work using rescue ropes low, and this needs to be improved. Summary of the invention

[0005] The present invention aims at the defects in the prior art such as low safety when using ropes or mechanical grippers to grab and lift people or objects, and low efficiency when using rescue ropes to perform rescue work, and provides a new flexible grabbing device and a method of using the same.

[0006] In order to solve the above technical problems, the present invention is implemented by the following technical solutions:

[0007] A flexible grasping device, comprising an arc-shaped outer frame, an arc-shaped rack, a braid, a locking assembly, a controller, a driving assembly, a guide column and a limit tightening assembly, wherein a hook is arranged on the arc-shaped rack, the driving assembly is electrically connected to the controller, and a penetration gap is formed on the limit tightening assembly;

[0008] The locking assembly is rotatably arranged on the arc-shaped outer frame, the driving assembly, the guide column and the limit tightening assembly are arranged on the arc-shaped outer frame, the arc-shaped rack is rotatably arranged between the driving assembly and the guide column, the inner side of the arc-shaped rack is in contact with the guide column, and the outer side of the arc-shaped rack is meshed with the driving assembly; the braid is arranged on the inner surface of the arc-shaped rack, and one end of the braid passes through the pass-through gap and is tightened by the limit tightening assembly;

[0009] A locking process and an opening process are formed between the arc-shaped outer frame, the arc-shaped rack, the hook, the braid, and the locking assembly. During the locking process, the driving assembly drives the arc-shaped rack to rotate toward the locking assembly, the arc-shaped rack and the arc-shaped outer frame form a closed loop, the hook is engaged with the locking assembly, the braid is tightened by the limiting tightening assembly, and the braid is against the arc-shaped outer frame and the guide column.

[0010] The limiting column and the driving assembly limit the rotation direction of the arc-shaped rack, thereby improving the stability of the arc-shaped rack during rotation; the closed ring is locked by the mutual cooperation of the locking assembly and the hook, and the tightness of the hook against the locking assembly is improved by the driving assembly and the arc-shaped rack, thereby improving the stability of the closed ring when it remains locked; when in use, on the one hand, the closed ring is separated from the person or object by the braiding tape, thereby improving the flexibility of the closed ring fixed on the person or object, thereby avoiding scratches on the surface of the object; on the other hand, since the flexible grasping device is mostly made of metal material, it has good waterproof properties, thereby improving the safety during use; when the flexible grasping device is used for rescue, if the trapped person loses consciousness, the flexible grasping device can be fixed to the trapped person without the need for the trapped person to actively cooperate, thereby improving the convenience and efficiency of the rescue; when the trapped person is in good condition, the trapped person can fix the flexible grasping device on himself by himself, without the need for the rescuer to operate it personally, thereby protecting the safety of the rescuer.

[0011] Preferably, in the above-described flexible grasping device, the locking assembly includes a servo, an electric locking rod is rotatably provided on the servo, and the servo drives the electric locking rod to rotate in a horizontal direction, and the servo drives the electric locking rod to be inserted into or withdrawn from the hook.

[0012] The electric lock rod is driven to rotate by the servo, which improves the convenience of opening or locking the closed ring, and also improves the stability of the electric lock rod when inserted into the hook, freeing the user's hands and further facilitating use.

[0013] Preferably, in the above-mentioned flexible gripping device, the limit tightening assembly comprises a pressure detection member, a first limit post, a pressure detection arm, a take-up shaft and a tightening motor, the pressure detection member and the tightening motor are electrically connected to the controller, the pressure detection arm is arranged on the pressure detection member, the guide post, the first limit post and the pressure detection arm are all covered with a first protective cover on the outside, the first limit post, the pressure detection arm and the take-up shaft are arranged on an arc-shaped outer frame, the first limit post and the pressure detection arm form the pass-through gap, and the side wall of the braid is in contact with the first protective cover;

[0014] The tightening motor is connected to the take-up shaft and drives the take-up shaft to rotate. The braid is tightened by the take-up shaft. The pressure detection component detects the tightening force of the braid through the pressure detection arm and sends the force data to the controller. The controller controls the opening and closing of the tightening motor.

[0015] The braid is tightened by a tightening motor and a take-up shaft, which improves the convenience of fixing and lifting the flexible grasping device. The tightening degree of the braid is detected by a pressure detection component and the tightening motor is stopped in time by a controller, so that the tightening force of the braid can be accurately controlled, ensuring the reliability of the braid tightened on people or objects and improving the safety during grasping and fixing. The friction force on the braid is reduced by the first protective cover, thereby extending the service life of the braid.

[0016] Preferably, in the flexible grasping device described above, the limiting tightening assembly comprises a second limiting column, a third limiting column and a pull ring, both ends of the second limiting column and the third limiting column pass through the end of the arc-shaped outer frame, the second limiting column and the third limiting column form the passing-through gap, the outer sleeve of the guide column, the second limiting column and the third limiting column is provided with a second protective sleeve, the second protective sleeve is in contact with the side wall of the braid, the pull ring is arranged on the braid, and the pull ring is used to cooperate with the lifting device;

[0017] The locking assembly includes a manual locking rod, an upper torsion spring and a lower torsion spring. A sliding groove passes through the arc-shaped outer frame, and the lower end of the manual locking rod passes through the sliding groove. One end of the upper torsion spring is arranged at the upper part of the manual locking rod, and the other end of the upper torsion spring is arranged at the upper part of the second limiting column and the third limiting column. One end of the lower torsion spring is arranged at the lower part of the manual locking rod, and the other end of the lower torsion spring is arranged at the lower part of the second limiting column and the third limiting column. The upper torsion spring and the lower torsion spring pull the manual locking rod to move toward the outer side of the sliding groove, and the upper torsion spring and the lower torsion spring pull the manual locking rod to press against the inner wall of the sliding groove close to the limiting tightening assembly.

[0018] The driving assembly and the arc-shaped rack can move the hook away from the limit tightening assembly, and the upper torsion spring and the lower torsion spring not only make the manual locking rod and the hook press against each other when the manual locking rod is inserted into the hook, but also prevent the manual locking rod from falling out of the hook, thereby improving the stability of the flexible grasping device when it remains locked; the manual locking rod slides in the sliding groove to limit the moving direction of the manual locking rod, so that the manual locking rod can be quickly and accurately withdrawn from or inserted into the hook, which is convenient for use; the friction force on the braid is reduced by the second protective cover, thereby extending the service life of the braid, and the pull ring allows the braid to cooperate with the rescue tripod hook or other lifting equipment for lifting, thereby further improving the safety during rescue.

[0019] Preferably, in the above-described flexible grasping device, a first limit switch and a second limit switch are provided on the arc-shaped outer frame, and a stop block is provided on the arc-shaped rack, and the arc-shaped rack drives the stop block to move toward or away from the first limit switch and the second limit switch, and during the locking process, the stop block abuts against the first limit switch and triggers the first limit switch, and during the opening process, the stop block abuts against the second limit switch and triggers the second limit switch, and the first limit switch and the second limit switch are electrically connected to the controller and send a stop signal to the controller, and the controller controls the drive component to stop working.

[0020] The coordinated use of the first limit switch, the second limit switch and the stopper can accurately control the starting position of the arc rack rotation, prevent the arc rack from rotating too much and accidentally touching other components, and extend the service life of the flexible grasping device.

[0021] Preferably, in the above-mentioned flexible grasping device, the opening angle range of the arc-shaped outer frame is 120 degrees to 180 degrees, and the opening angle range of the arc-shaped rack is 180 degrees to 240 degrees.

[0022] The opening angle range of the arc-shaped outer frame is 120 degrees to 180 degrees, and the opening angle range of the arc-shaped rack is 180 degrees to 240 degrees, thereby improving the versatility and adaptability of the flexible grasping device.

[0023] Preferably, in the above-described flexible grasping device, the driving assembly includes a main gear, a first driven gear, a second driven gear, a driving motor and a worm, the worm is arranged on the output shaft of the driving motor, the main gear is arranged at the upper end of the first driven gear, the first driven gear and the second driven gear are distributed on the outside of the arc-shaped rack and mesh with the arc-shaped rack, the worm is meshed with the main gear, the driving motor drives the main gear to rotate through the worm, and the main gear drives the first driven gear to rotate.

[0024] On the one hand, the first driven gear and the second driven gear can assist in limiting the arc-shaped rack during its rotation, thereby ensuring the stability of the arc-shaped rack rotating along a fixed path. On the other hand, the first driven gear and the second driven gear can drive the arc-shaped rack at multiple points, thereby increasing the speed of the arc-shaped rack rotation and further facilitating use.

[0025] Preferably, in the above-described flexible grasping device, a gas detector, a temperature sensor and a humidity sensor are provided on the arc-shaped outer frame, and the gas detector, temperature sensor and humidity sensor are electrically connected to the controller, the gas detector is used to detect gas, the temperature sensor is used to detect temperature, and the humidity sensor is used to detect humidity.

[0026] The gas detector can detect oxygen, carbon monoxide, sulfur dioxide, hydrocarbons and other gases at the location of the flexible grasping device. The temperature and humidity sensors can monitor the temperature and humidity in real time, so that potential dangerous situations during use can be discovered in time, further improving safety during use.

[0027] Preferably, the above-described flexible grasping device further includes a long rod and a flipping assembly, wherein the flipping assembly is respectively connected to the arc-shaped outer frame and the long rod, and the flipping assembly drives the arc-shaped outer frame to rotate toward or away from the long rod; the lower half of the long rod is provided with a speaker, a camera and a lighting lamp.

[0028] The lighting can provide lighting in relatively dim environments such as deep wells, improving the visual experience during use. The camera makes it easier for workers to understand the current environment. The long rod and flip assembly can adjust the curved outer frame to a suitable angle, improving the flexibility of the flexible grasping device during use. The loudspeaker can be used to communicate with rescuers and trapped people in real time, further improving the efficiency of the rescue.

[0029] A method for using a flexible gripping device comprises the following steps:

[0030] S1, the locking assembly is reversed and withdrawn from the hook;

[0031] S2, the controller controls the driving assembly to rotate forward, the driving assembly drives the arc-shaped rack to rotate forward, the braid shrinks, and the closed ring is opened;

[0032] S3, putting the arc-shaped outer frame on the outside of the personnel or components;

[0033] S4, the controller controls the driving assembly to reverse, the driving assembly drives the arc-shaped rack to rotate in the opposite direction, the arc-shaped rack and the arc-shaped outer frame form a closed ring, and the braid stretches;

[0034] S5, the locking assembly rotates forward and is rotated into the hook, the locking assembly is engaged with the hook, and the limit tightening assembly tightens the braid. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0036] Figure 2 The present invention is a top view of the steering gear, the driving assembly, the first limit column, the pressure detection component and the take-up shaft;

[0037] Figure 3 It is a partial structural schematic diagram of the present invention embodying the penetration gap, the first limiting column, the pressure detection arm and the first protective cover;

[0038] Figure 4 This is a structural schematic diagram of the present invention embodying the steering gear, the first limit column, the pressure detection arm, and the take-up shaft from another perspective

[0039] Figure 5 This is a schematic diagram of the structure of the pull ring, manual locking rod and upper torsion spring embodied in the present invention;

[0040] Figure 6 It is a partial structural schematic diagram of the manual locking rod, the upper torsion spring and the lower torsion spring embodied in the present invention;

[0041] Figure 7 It is a schematic structural diagram of the flip assembly of the present invention.

[0042] Description of reference numerals: 1. arc-shaped outer frame; 11. sliding groove; 12. first limit switch; 13. second limit switch; 14. gas detector; 15. temperature sensor; 16. humidity sensor; 2. arc-shaped rack; 21. hook; 22. stopper; 3. braid; 4. locking assembly; 41. servo; 411. electric lock rod; 42. manual lock rod; 43. upper torsion spring; 44. lower torsion spring; 5. controller; 6. drive assembly; 61. main gear; 62. first driven gear; 63. second driven gear; 64. drive motor; 65. Worm; 7. Guide column; 8. Limit tightening assembly; 80. Pass-through gap; 81. Pressure detection component; 82. First limit column; 83. Pressure detection arm; 84. Take-up shaft; 85. Tightening motor; 86. Second limit column; 87. Third limit column; 88. Pull ring; 9. First protective cover; 90. Second protective cover; 91. Long rod; 911. Speaker; 912. Camera; 913. Lighting lamp; 92. Flip assembly; 921. Flip bracket; 922. Flip motor; 923. Flange; 924. Double-headed output shaft. DETAILED DESCRIPTION

[0043] The following is combined with Figure 1-7 The present invention is further described in detail with specific embodiments, but they are not intended to limit the present invention:

[0044] Example 1

[0045] like Figure 1-Figure 7 As shown, a flexible grasping device includes an arc-shaped outer frame 1, an arc-shaped rack 2, a braid 3, a locking assembly 4, a controller 5, a driving assembly 6, a guide column 7 and a limit tightening assembly 8, wherein the arc-shaped rack 2 is provided with a hook 21, the driving assembly 6 is electrically connected to the controller 5, and a pass-through gap 80 is formed on the limit tightening assembly 8;

[0046] The locking assembly 4 is rotatably arranged on the arc-shaped outer frame 1, the driving assembly 6, the guide column 7 and the limit tightening assembly 8 are arranged on the arc-shaped outer frame 1, the arc-shaped rack 2 is rotatably arranged between the driving assembly 6 and the guide column 7, the inner side of the arc-shaped rack 2 is in contact with the guide column 7, and the outer side of the arc-shaped rack 2 is meshed with the driving assembly 6; the braid 3 is arranged on the inner surface of the arc-shaped rack 2, and one end of the braid 3 passes through the pass-through gap 80 and is tightened by the limit tightening assembly 8;

[0047] A locking process and an opening process are formed between the arcuate outer frame 1, the arcuate rack 2, the hook 21, the braid 3, and the locking assembly 4. During the locking process, the driving assembly 6 drives the arcuate rack 2 to rotate toward the locking assembly 4, the arcuate rack 2 and the arcuate outer frame 1 form a closed loop, the hook 21 is engaged with the locking assembly 4, the braid 3 is tightened by the limit tightening assembly 8, and the braid 3 is against the arcuate outer frame 1 and the guide column 7.

[0048] Preferably, the locking assembly 4 includes a servo 41 , on which an electric locking rod 411 is rotatably provided. The servo 41 drives the electric locking rod 411 to rotate in a horizontal direction. The servo 41 drives the electric locking rod 411 to insert into or withdraw from the hook 21 .

[0049] Preferably, the limit tightening assembly 8 includes a pressure detection member 81, a first limit column 82, a pressure detection arm 83, a take-up shaft 84 and a tightening motor 85. The pressure detection member 81 and the tightening motor 85 are electrically connected to the controller 5. The pressure detection arm 83 is arranged on the pressure detection member 81. The guide column 7, the first limit column 82 and the pressure detection arm 83 are all covered with a first protective cover 9. The first limit column 82, the pressure detection arm 83 and the take-up shaft 84 are arranged on the arc-shaped outer frame 1. The first limit column 82 and the pressure detection arm 83 form the pass-through gap 80, and the side wall of the braid 3 is in contact with the first protective cover 9.

[0050] The tightening motor 85 is connected to the take-up shaft 84 and drives the take-up shaft 84 to rotate. The braid 3 is tightened by the take-up shaft 84. The pressure detection component 81 detects the tightening force of the braid 3 through the pressure detection arm 83 and sends the force data to the controller 5. The controller 5 controls the opening and closing of the tightening motor 85.

[0051] Preferably, the limiting tightening assembly 8 includes a second limiting column 86, a third limiting column 87 and a pull ring 88, both ends of the second limiting column 86 and the third limiting column 87 pass through the end of the arc-shaped outer frame 1, and the second limiting column 86 and the third limiting column 87 form the passing-out gap 80, and the outer sleeve of the guide column 7, the second limiting column 86 and the third limiting column 87 is provided with a second protective sleeve 90, and the second protective sleeve 90 is attached to the side wall of the braid 3, and the pull ring 88 is arranged on the braid 3, and the pull ring 88 is used to cooperate with the lifting device;

[0052] The locking assembly 4 includes a manual locking rod 42, an upper torsion spring 43 and a lower torsion spring 44. A sliding groove 11 is passed through the arc-shaped outer frame 1. The lower end of the manual locking rod 42 passes through the sliding groove 11. One end of the upper torsion spring 43 is arranged at the upper part of the manual locking rod 42, and the other end of the upper torsion spring 43 is arranged at the upper part of the second limiting column 86 and the third limiting column 87. One end of the lower torsion spring 44 is arranged at the lower part of the manual locking rod 42, and the other end of the lower torsion spring 44 is arranged at the lower part of the second limiting column 86 and the third limiting column 87. The upper torsion spring 43 and the lower torsion spring 44 pull the manual locking rod 42 to move toward the outer side of the sliding groove 11, and the upper torsion spring 43 and the lower torsion spring 44 pull the manual locking rod 42 to press against the inner wall of the sliding groove 11 close to the limiting tightening assembly 8.

[0053] Preferably, a first limit switch 12 and a second limit switch 13 are provided on the arc-shaped outer frame 1, and a stop block 22 is provided on the arc-shaped rack 2. The arc-shaped rack 2 drives the stop block 22 to move toward or away from the first limit switch 12 and the second limit switch 13. During the locking process, the stop block 22 abuts against the first limit switch 12 and triggers the first limit switch 12. During the opening process, the stop block 22 abuts against the second limit switch 13 and triggers the second limit switch 13. The first limit switch 12 and the second limit switch 13 are electrically connected to the controller 5 and send a stop signal to the controller 5. The controller 5 controls the drive component 6 to stop working.

[0054] Preferably, the opening angle range of the arc-shaped outer frame 1 is 120 degrees to 180 degrees, and the opening angle range of the arc-shaped rack 2 is 180 degrees to 240 degrees.

[0055] Preferably, the driving assembly 6 includes a main gear 61, a first driven gear 62, a second driven gear 63, a driving motor 64 and a worm 65. The worm 65 is arranged on the output shaft of the driving motor 64, and the main gear 61 is arranged at the upper end of the first driven gear 62. The first driven gear 62 and the second driven gear 63 are distributed on the outer side of the arc-shaped rack 2 and mesh with the arc-shaped rack 2. The worm 65 meshes with the main gear 61. The driving motor 64 drives the main gear 61 to rotate through the worm 65, and the main gear 61 drives the first driven gear 62 to rotate.

[0056] Preferably, a gas detector 14, a temperature sensor 15 and a humidity sensor 16 are provided on the arc-shaped outer frame 1. The gas detector 14, the temperature sensor 15 and the humidity sensor 16 are electrically connected to the controller 5. The gas detector 14 is used to detect gas, the temperature sensor 15 is used to detect temperature, and the humidity sensor 16 is used to detect humidity.

[0057] Preferably, it also includes a long rod 91 and a flip assembly 92, wherein the flip assembly 92 is connected to the arc-shaped outer frame 1 and the long rod 91 respectively, and the flip assembly 92 drives the arc-shaped outer frame 1 to rotate toward or away from the long rod 91; the lower half of the long rod 91 is provided with a speaker 911, a camera 912 and a lighting lamp 913.

[0058] A method for using a flexible gripping device comprises the following steps:

[0059] S1, the locking assembly 4 is reversed and withdrawn from the hook 21;

[0060] S2, the controller 5 controls the driving assembly 6 to rotate forward, the driving assembly 6 drives the arc-shaped rack 2 to rotate forward, the braid 3 shrinks, and the closed loop is opened;

[0061] S3, putting the arc-shaped outer frame 1 on the outside of the person or component;

[0062] S4, the controller 5 controls the driving assembly 6 to reverse, the driving assembly 6 drives the arc-shaped rack 2 to rotate in the opposite direction, the arc-shaped rack 2 and the arc-shaped outer frame 1 form a closed ring, and the braid 3 stretches;

[0063] S5, the locking assembly 4 rotates forward and is rotated into the hook 21, the locking assembly 4 is engaged with the hook 21, and the limiting tightening assembly 8 tightens the braid 3.

[0064] Specifically, Figure 1-Figure 2As shown, in the embodiment of the present application, the arc-shaped outer frame 1, the arc-shaped rack 2, the locking assembly 4, the driving assembly 6, the guide column 7, the long rod 91, and the flip assembly 92 are made of metal material, and one end of the braid 3 is fixed to the inner surface of the arc-shaped rack 2 by a screw, and the braid 3 can be made of fabric material, metal material, or carbon fiber material.

[0065] A battery is installed in the long rod 91, and the battery is electrically connected to and powered by the first limit switch 12, the second limit switch 13, the gas detector 14, the temperature sensor 15, the humidity sensor 16, the speaker 911, the camera 912, the illuminator 913, and the controller 5. The controller 5 communicates wirelessly with the first limit switch 12, the second limit switch 13, the gas detector 14, the temperature sensor 15, the humidity sensor 16, the speaker 911, the camera 912, and the illuminator 913 or communicates through a transmission harness, and the transmission harness is gathered in the long rod 91. The camera 912 and the illuminator 913 are both tilted downward, and the tilt angle ranges from 60 degrees to 90 degrees.

[0066] like Figure 1 , Figure 2 and Figure 5 As shown, the arc-shaped outer frame 1 includes an upper frame and a lower frame distributed from top to bottom, there is a gap between the upper frame and the lower frame, the first limit switch 12 and the drive assembly 6 are fixed at the tail of the lower frame, the two ends of the guide column 7 pass through the upper frame and the lower frame, and the guide column 7 is distributed at intervals on the inner edge of the arc-shaped outer frame 1.

[0067] The gas detector 14, the temperature sensor 15, the humidity sensor 16, and the controller 5 are fixed on the lower surface of the lower frame. The second limit switch 13, the locking assembly 4, and the limit tightening assembly 8 are arranged at the head of the lower frame. The limit tightening assembly 8 is distributed between the locking assembly 4 and the second limit switch 13. In the embodiment of the present application, the limit tightening assembly 8 includes an electric tightening structure and a manual tightening structure.

[0068] like Figure 2-Figure 4 As shown, the electric tightening structure includes a pressure detection component 81, a first limit column 82, a pressure detection arm 83, a take-up shaft 84 and a tightening motor 85. In the embodiment of the present application, the tightening motor 85 is fixed on the lower frame and connected to the take-up shaft 84. The tightening motor 85 drives the take-up shaft 84 to rotate to tighten the braid 3.

[0069] like Figure 5 , Figure 6As shown, the manual tightening structure includes a second limiting column 86, a third limiting column 87 and a pull ring 88. The tail of the braid 3 passes through between the second limiting column 86 and the third limiting column 87, and the pull ring 88 is fixed to the tail of the braid 3. When the trapped person needs to be pulled out, the pull ring 88 can be fixed on the hook of the rescue tripod or other lifting equipment, which is convenient for cooperating with the lifting device to pull the trapped person out.

[0070] like Figure 5 As shown, in the natural state, the upper torsion spring 43 and the lower torsion spring 44 pull the manual locking rod 42 to move toward the limit tightening assembly 8, and the manual locking rod 42 is pressed against the inner side wall of the outer end of the sliding groove 11.

[0071] like Figure 7 As shown, the flip assembly 92 includes a flip bracket 921, a flip motor 922 and a flange 923 installed on the flip bracket 921. Double-headed output shafts 924 are integrally formed on both sides of the flip motor 922. The number of flanges 923 corresponds to the number of double-headed output shafts 924. The double-headed output shafts 924 are connected to adjacent flanges 923 and drive the flanges 923 and the flip bracket 921 to reciprocate in the height direction.

[0072] More specifically, Figure 2-Figure 5 As shown, the hook 21 is integrally formed at the tail of the arc-shaped rack 2, and the stopper 22 is installed at the head of the arc-shaped rack 2. An inclined surface is formed on the inner side of the hook 21, and the inclined surface extends along the length direction of the hook 21 and the front end of the inclined surface is inclined toward the outer side of the hook 21.

[0073] The flexible grabbing device can be opened or locked by using an electric tightening structure, a steering gear 41, and an electric locking rod 411. When the flexible grabbing device needs to be fixed on a person or an object, the operation steps are as follows: Figure 1-Figure 4 As shown, first start the drive motor 64 and the tightening motor 85 to rotate forward. At this time, the drive motor 64 drives the first driven gear 62 and the second driven gear 63 to rotate forward through the worm 65 and the main gear 61, thereby pushing the head of the arc-shaped rack 2 to rotate toward the second limit switch 13, and the arc-shaped rack 2 and the take-up shaft 84 drive the braid 3 to shrink.

[0074] When the stopper 22 touches the second limit switch 13, the second limit switch 13 sends a stop signal to the controller 5, and the controller 5 controls the drive motor 64 to stop working. At this time, the closed ring can be opened to put the arc-shaped outer frame 1 on a person or an object.

[0075] Afterwards, the controller 5 is used to control the driving motor 64 and the tightening motor 85 to reverse, and at this time, the arc-shaped rack 2 and the braid 3 can be driven to expand outward. When the block 22 touches the first limit switch 12, the first limit switch 12 sends a stop signal to the controller 5, and the controller 5 controls the driving motor 64 to stop working. At this time, the hook 21 can be placed above the sliding groove 11. Finally, the servo 41 is turned on to drive the electric locking rod 411 to be inserted into the hook 21. At this time, the closed ring can be placed on a person or object and locked. The pressure detection component 81 and the pressure detection arm 83 can detect the tightening degree of the braid 3, and the braid 3 can be accurately tightened on the person or object, thereby improving safety during use.

[0076] The flexible gripping device can also be opened or locked by a manual tightening structure, a manual locking rod 42, an upper torsion spring 43, and a lower torsion spring 44. When the flexible gripping device needs to be fixed on a person or an object, the operation steps are as follows: Figure 1 , Figure 5 and Figure 6 As shown, first fix the pull ring 88 on the rescue tripod hook or other lifting equipment, then pull the manual locking rod 42 to move toward the inner side close to the arc-shaped outer frame 1, at this time, the manual locking rod 42 can be disengaged from the hook 21 to release the restriction on the arc-shaped rack 2.

[0077] Then start the drive motor 64 to rotate forward, and the drive motor 64 drives the first driven gear 62 and the second driven gear 63 to rotate forward through the worm 65 and the main gear 61, thereby pushing the head of the arc-shaped rack 2 to rotate toward the second limit switch 13, and the arc-shaped rack 2 drives the braid 3 to contract.

[0078] When the stopper 22 touches the second limit switch 13, the second limit switch 13 sends a stop signal to the controller 5, and the controller 5 controls the drive motor 64 and the tightening motor 85 to stop working. At this time, the closed ring can be opened to put the arc-shaped outer frame 1 on a person or an object.

[0079] Then, the controller 5 is used to control the driving motor 64 to reverse, thereby driving the arc-shaped rack 2 and the braid 3 to expand outward. As the arc-shaped rack 2 rotates further, the inclined portion of the hook 21 abuts against the manual locking rod 42 and pushes the manual locking rod 42 to move inwardly of the sliding groove 11.

[0080] When the arc-shaped rack 2 moves into position, the opening of the hook 21 is directly opposite to the manual locking rod 42 and the manual locking rod 42 is pulled outward and reset under the pull of the upper torsion spring 43 and the lower torsion spring 44, so that the manual locking rod 42 is inserted into the hook 21 and clamped together, and the arc-shaped rack 2 closes the opening of the arc-shaped outer frame 1 to form a closed ring. At this time, the block 22 touches the first limit switch 12, and the first limit switch 12 sends a stop signal to the controller 5, and the controller 5 controls the drive motor 64 to stop working, so that the closed ring can be kept in the locking process and set on the person or object, and finally the person can be pulled outward and rescued by the braid 3, the pull ring 88, and the long rod 91 in cooperation with the rescue tripod hook or other lifting equipment.

[0081] In addition to the above steps, users can also increase or decrease the order of the above steps according to actual needs.

[0082] When the flexible grabbing device enters a deep well or other environment for rescue, the arc-shaped outer frame 1 can be rotated to a suitable angle by turning the motor 922, and the surrounding environment can be illuminated by the lighting lamp 913. The speaker 911 and the camera 912 facilitate the staff to observe the current situation and communicate with the staff in time. The gas detector 14 facilitates the detection of oxygen, carbon monoxide, sulfur dioxide, and hydrocarbon gases, and the temperature sensor 15 and the humidity sensor 16 can detect the temperature and humidity, which is convenient for dealing with emergencies and improves safety during use.

[0083] In conclusion, the above is only a preferred embodiment of the present invention, and all equivalent changes and modifications made within the scope of the patent application of the present invention should fall within the scope of the present invention.

Claims

1. A flexible gripping device, characterized in that: The invention comprises an arc-shaped outer frame (1), an arc-shaped rack (2), a braid (3), a locking assembly (4), a controller (5), a driving assembly (6), a guide column (7) and a position-limiting and tightening assembly (8); the arc-shaped rack (2) is provided with a hook (21); the driving assembly (6) is electrically connected to the controller (5); and a penetration gap (80) is formed on the position-limiting and tightening assembly (8); The locking assembly (4) is rotatably arranged on the arc-shaped outer frame (1); the driving assembly (6), the guide column (7) and the limit tightening assembly (8) are arranged on the arc-shaped outer frame (1); the arc-shaped rack (2) is rotatably arranged between the driving assembly (6) and the guide column (7); the inner side of the arc-shaped rack (2) is in contact with the guide column (7); the outer side of the arc-shaped rack (2) is meshed with the driving assembly (6); the braid (3) is arranged on the inner surface of the arc-shaped rack (2); one end of the braid (3) passes through the pass-through gap (80) and is tightened by the limit tightening assembly (8); A locking process and an opening process are formed between the arc-shaped outer frame (1), the arc-shaped rack (2), the hook (21), the braid (3) and the locking assembly (4). During the locking process, the driving assembly (6) drives the arc-shaped rack (2) to rotate in a direction close to the locking assembly (4), the arc-shaped rack (2) and the arc-shaped outer frame (1) form a closed circular ring, the hook (21) and the locking assembly (4) are engaged with each other, the braid (3) is tightened by the limit tightening assembly (8), and the braid (3) is abutted against the arc-shaped outer frame (1) and the guide column (7).

2. A flexible gripping device according to claim 1, characterized in that: The locking assembly (4) comprises a steering gear (41), an electric locking rod (411) is rotatably arranged on the steering gear (41), the steering gear (41) drives the electric locking rod (411) to rotate in a horizontal direction, and the steering gear (41) drives the electric locking rod (411) to be inserted into the hook (21) or withdrawn from the hook (21).

3. A flexible gripping device according to claim 2, characterized in that: The position-limiting and tightening assembly (8) comprises a pressure detection component (81), a first position-limiting column (82), a pressure detection arm (83), a take-up shaft (84) and a tightening motor (85); the pressure detection component (81) and the tightening motor (85) are electrically connected to the controller (5); the pressure detection arm (83) is arranged on the pressure detection component (81); the guide column (7), the first position-limiting column (82) and the pressure detection arm (83) are all covered with a first protective sleeve (9); the first position-limiting column (82), the pressure detection arm (83) and the take-up shaft (84) are arranged on the arc-shaped outer frame (1); the first position-limiting column (82) and the pressure detection arm (83) form the pass-through gap (80); the side wall of the braid (3) is in contact with the first protective sleeve (9); The tightening motor (85) is connected to the take-up shaft (84) and drives the take-up shaft (84) to rotate. The braid (3) is tightened by the take-up shaft (84). The pressure detection element (81) detects the tightening force of the braid (3) through the pressure detection arm (83) and sends the force data to the controller (5). The controller (5) controls the opening and closing of the tightening motor (85).

4. A flexible gripping device according to claim 1, characterized in that: The limiting tightening assembly (8) comprises a second limiting column (86), a third limiting column (87) and a pull ring (88), the two ends of the second limiting column (86) and the third limiting column (87) pass through the end of the arc-shaped outer frame (1), the second limiting column (86) and the third limiting column (87) form the passing-out gap (80), the outer sleeve of the guide column (7), the second limiting column (86) and the third limiting column (87) is provided with a second protective sleeve (90), the second protective sleeve (90) is in contact with the side wall of the braid (3), the pull ring (88) is arranged on the braid (3), and the pull ring (88) is used to cooperate with the lifting device; The locking assembly (4) comprises a manual locking rod (42), an upper torsion spring (43) and a lower torsion spring (44); a sliding groove (11) passes through the arc-shaped outer frame (1); the lower end of the manual locking rod (42) passes through the sliding groove (11); one end of the upper torsion spring (43) is arranged on the upper part of the manual locking rod (42); the other end of the upper torsion spring (43) is arranged on the upper part of the second limiting column (86) and the third limiting column (87); the lower torsion spring (44) is arranged on the upper part of the second limiting column (86) and the third limiting column (87); 4) is arranged at the lower part of the manual locking rod (42), and the other end of the lower torsion spring (44) is arranged at the lower part of the second limiting column (86) and the third limiting column (87). The upper torsion spring (43) and the lower torsion spring (44) pull the manual locking rod (42) to move toward the outer side of the sliding groove (11), and the upper torsion spring (43) and the lower torsion spring (44) pull the manual locking rod (42) to press against the inner wall of the sliding groove (11) close to the limiting tightening component (8).

5. A flexible gripping device according to claim 1, characterized in that: The arc-shaped outer frame (1) is provided with a first limit switch (12) and a second limit switch (13); the arc-shaped rack (2) is provided with a stop block (22); the arc-shaped rack (2) drives the stop block (22) to move in a direction close to or away from the first limit switch (12) and the second limit switch (13); during the locking process, the stop block (22) abuts against the first limit switch (12) and triggers the first limit switch (12); during the opening process, the stop block (22) abuts against the second limit switch (13) and triggers the second limit switch (13); the first limit switch (12) and the second limit switch (13) are electrically connected to the controller (5) and send a stop signal to the controller (5); the controller (5) controls the driving component (6) to stop working.

6. A flexible gripping device according to claim 1, characterized in that: The opening angle range of the arc-shaped outer frame (1) is 120 degrees to 180 degrees, and the opening angle range of the arc-shaped rack (2) is 180 degrees to 240 degrees.

7. A flexible gripping device according to claim 1, characterized in that: The driving assembly (6) comprises a main gear (61), a first driven gear (62), a second driven gear (63), a driving motor (64) and a worm (65); the worm (65) is arranged on the output shaft of the driving motor (64); the main gear (61) is arranged at the upper end of the first driven gear (62); the first driven gear (62) and the second driven gear (63) are distributed on the outer side of the arc-shaped rack (2) and mesh with the arc-shaped rack (2); the worm (65) meshes with the main gear (61); the driving motor (64) drives the main gear (61) to rotate through the worm (65); and the main gear (61) drives the first driven gear (62) to rotate.

8. A flexible gripping device according to claim 1, characterized in that: The arc-shaped outer frame (1) is provided with a gas detector (14), a temperature sensor (15) and a humidity sensor (16); the gas detector (14), the temperature sensor (15) and the humidity sensor (16) are electrically connected to the controller (5); the gas detector (14) is used to detect gas, the temperature sensor (15) is used to detect temperature, and the humidity sensor (16) is used to detect humidity.

9. A flexible gripping device according to claim 1, characterized in that: The invention also comprises a long rod (91) and a flip assembly (92), wherein the flip assembly (92) is connected to the arc-shaped outer frame (1) and the long rod (91) respectively, and the flip assembly (92) drives the arc-shaped outer frame (1) to rotate towards or away from the long rod (91); and the lower half of the long rod (91) is provided with a speaker (911), a camera (912) and an illumination lamp (913).

10. A method for using a flexible gripping device according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1, the locking assembly (4) is reversed and the locking assembly (4) is withdrawn from the hook (21); S2, the controller (5) controls the driving assembly (6) to rotate forward, the driving assembly (6) drives the arc-shaped rack (2) to rotate forward, the braid (3) contracts, and the closed loop is opened; S3, putting the arc-shaped outer frame (1) on the outside of the person or the component; S4, the controller (5) controls the driving component (6) to reverse, the driving component (6) drives the arc-shaped rack (2) to rotate in the opposite direction, the arc-shaped rack (2) and the arc-shaped outer frame (1) form a closed circular ring, and the braid (3) stretches; S5, the locking component (4) rotates forward and is rotated into the hook (21), the locking component (4) and the hook (21) are engaged with each other, and the limit tightening component (8) tightens the braid (3).

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