Flexible grabbing device

Abstract

The flexible grabbing device 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, 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, and in the locking process, the braid is clamped in the opening process. 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] This utility model relates to the technical field of gripping structures, and in particular to a flexible gripping device. Background Technology

[0002] When rescuing people trapped in deep wells or similar environments, rescuers typically use rescue ropes to enter the well and lift the trapped person out. This is especially problematic when the trapped person is unconscious, as it makes it difficult to rescue them effectively and quickly, affecting both rescue efficiency and the safety of the personnel during the rescue.

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

[0004] In summary, when using rescue ropes or mechanical grippers to lift people or objects, the lack of corresponding flexible gripping and lifting components not only reduces safety when lifting people or objects, but also reduces the efficiency of rescue work using rescue ropes. Improvements are needed in these areas. Summary of the Invention

[0005] This invention addresses the shortcomings of existing technologies, such as low safety when using ropes or mechanical grippers to grab and lift people or objects, and low efficiency when using rescue ropes for rescue work, by providing a new flexible grabbing device.

[0006] To solve the above-mentioned technical problems, this utility model is achieved through the following technical solution:

[0007] A flexible gripping device includes an arc-shaped outer frame, an arc-shaped rack, a tape, a locking component, a controller, a drive component, a guide post, and a limiting and tightening component. The arc-shaped rack is provided with a hook. The drive component is electrically connected to the controller. The limiting and tightening component has a through-hole formed on it.

[0008] The locking component is rotatably mounted on the arc-shaped outer frame. The driving component, guide post, and limiting and tightening component are mounted on the arc-shaped outer frame. The arc-shaped rack is rotatably inserted between the driving component and the guide post. The inner side of the arc-shaped rack is in contact with the guide post, and the outer side of the arc-shaped rack is engaged with the driving component. The braided tape is disposed on the inner surface of the arc-shaped rack. One end of the braided tape passes through the insertion gap and is tightened by the limiting and tightening component.

[0009] The arc-shaped outer frame, arc-shaped rack, hook, braided tape, and locking assembly form a locking process and an unlocking process. During the locking process, the driving assembly drives the arc-shaped rack to rotate towards the locking assembly. The arc-shaped rack and the arc-shaped outer frame form a closed loop. The hook engages with the locking assembly. The braided tape is tightened by the limiting and tightening assembly. The braided tape abuts against the arc-shaped outer frame and the guide post.

[0010] The limiting post and drive assembly limit the rotation direction of the arc-shaped rack, improving its stability during rotation. The closed ring is locked by the cooperation of the locking assembly and the hook. The drive assembly and the arc-shaped rack enhance the tightness of the hook against the locking assembly, improving the stability of the closed ring when locked. In use, the braided strap separates the closed ring from the person or object, improving its flexibility and preventing scratches on the object's surface. Furthermore, the flexible gripping device, mostly made of metal, has excellent waterproof properties, enhancing safety during use. When used for rescue, if the trapped person is unconscious, the device can be secured without their active cooperation, improving convenience and efficiency. When the trapped person is in good condition, they can secure the device themselves without rescuers' intervention, protecting their safety.

[0011] Preferably, in the above-described flexible gripping device, the locking component includes a servo motor, on which an electric locking rod is rotatably mounted. The servo motor drives the electric locking rod to rotate in the horizontal direction, and the servo motor drives the electric locking rod to insert into or retract from the hook.

[0012] The electric locking lever is driven by a servo motor, which improves the convenience of opening or locking the closed ring and enhances the stability of the electric locking lever when inserted into the hook. This frees up the user's hands and further facilitates its use.

[0013] Preferably, in the above-described flexible gripping device, the limiting and tightening assembly includes a pressure detection element, a first limiting post, a pressure detection arm, a take-up shaft, and a tightening motor. The pressure detection element and the tightening motor are electrically connected to the controller. The pressure detection arm is disposed on the pressure detection element. The guide post, the first limiting post, and the pressure detection arm are all covered with a first protective sleeve. The first limiting post, the pressure detection arm, and the take-up shaft are disposed on an arc-shaped outer frame. The first limiting post and the pressure detection arm form the through-hole gap. The sidewall of the tape is in contact with the first protective sleeve.

[0014] The tightening motor is connected to the take-up shaft and drives the take-up shaft to rotate. The tape is tightened by the take-up shaft. The pressure detection device detects the tightening force of the tape through the pressure detection arm and sends the force data to the controller. The controller controls the start and stop of the tightening motor.

[0015] The braided tape is tightened by a tightening motor and a take-up shaft, which improves the convenience of fixing and lifting the flexible gripping device. The tightening degree of the braided tape is detected by a pressure detection device, and the tightening motor is stopped in time by the controller. This allows for precise control of the tightening force of the braided tape, ensuring the reliability of the braided tape on personnel or objects and improving the safety of gripping and fixing. The first protective sleeve reduces the friction on the braided tape and extends its service life.

[0016] Preferably, in the above-described flexible gripping device, the limiting and tightening component includes a second limiting post, a third limiting post, and a pull ring. The two ends of the second and third limiting posts protrude from the ends of the arc-shaped outer frame, forming the protrusion gap. A second protective sleeve is fitted around the guide post, the second limiting post, and the third limiting post. The second protective sleeve is in contact with the side wall of the braided tape. The pull ring is disposed on the braided tape and is used to cooperate with the lifting device.

[0017] The locking assembly includes a manual locking lever, an upper torsion spring, and a lower torsion spring. A sliding groove is formed through the arc-shaped outer frame. The lower end of the manual locking lever protrudes from the sliding groove. One end of the upper torsion spring is located on the upper part of the manual locking lever, and the other end of the upper torsion spring is located on the upper part of the second and third limiting posts. One end of the lower torsion spring is located on the lower part of the manual locking lever, and the other end of the lower torsion spring is located on the lower part of the second and third limiting posts. The upper and lower torsion springs pull the manual locking lever to move outward from the sliding groove, and the upper and lower torsion springs pull the manual locking lever to press against the inner wall of the sliding groove near the limiting and tightening assembly.

[0018] The drive assembly and arc-shaped rack allow the hook to move away from the limiting tightening assembly. The upper and lower torsion springs not only ensure the manual locking lever is firmly engaged with the hook when inserted, but also prevent it from slipping out, improving the stability of the flexible gripping device during locking. The manual locking lever slides within a sliding groove, limiting its movement and allowing for quick and precise insertion or removal from the hook, simplifying operation. The second protective sleeve reduces friction on the tape, extending its lifespan. The pull ring allows the tape to be used with rescue tripod hooks or other lifting equipment, further enhancing safety during rescue operations.

[0019] Preferably, in the above-described flexible gripping 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. The arc-shaped rack drives the stop block to move closer to or away from the first limit switch and the second limit switch. During the locking process, the stop block abuts against the first limit switch and triggers the first limit switch. During the opening process, the stop block abuts against the second limit switch and triggers the second limit switch. The first limit switch and the second limit switch are electrically connected to the controller and send a stop signal to the controller. The controller controls the drive component to stop working.

[0020] The combined use of the first limit switch, the second limit switch, and the stop block can precisely control the starting position of the arc-shaped rack rotation, preventing the arc-shaped rack from rotating too much and accidentally touching other parts, thus extending the service life of the flexible gripping device.

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

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

[0023] Preferably, in the above-described flexible gripping device, the driving assembly includes a main gear, a first driven gear, a second driven gear, a drive motor, and a worm gear. The worm gear is mounted on the output shaft of the drive motor, and the main gear is mounted on the upper end of the first driven gear. The first and second driven gears are distributed on the outer side of the arc-shaped rack and mesh with it. The worm gear meshes with the main gear, and the drive motor drives the main gear to rotate through the worm gear. 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 rotation of the arc rack, ensuring the stability of the arc rack rotating along a fixed path. On the other hand, the first driven gear and the second driven gear can drive the arc rack at multiple points, increasing the speed of the arc rack rotation and further facilitating its use.

[0025] Preferably, in the above-described flexible gripping device, a gas detector, a temperature sensor, and a humidity sensor are provided on the arc-shaped outer frame. 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 gases such as oxygen, carbon monoxide, sulfur dioxide, and hydrocarbons at the location of the flexible gripping device. Temperature and humidity sensors can monitor temperature and humidity in real time, thereby enabling timely detection of potential hazards during use and further improving safety.

[0027] Preferably, the flexible gripping device described above further includes a long rod and a flipping component. The flipping component is connected to the arc-shaped outer frame and the long rod respectively. The flipping component drives the arc-shaped outer frame to rotate towards or away from the long rod. The lower half of the long rod is provided with a speaker, a camera and a light.

[0028] The lighting provides illumination in dimly lit environments such as deep wells, improving the visual experience during use. The camera allows staff to understand the current situation. The long pole and flipping component can adjust the curved outer frame to a suitable angle, improving the flexibility of the flexible gripping device. The loudspeaker enables real-time communication with rescuers and trapped individuals, further improving the efficiency of rescue operations.

[0029] Preferably, in the above-described flexible gripping device, the flipping assembly includes a flipping bracket, a flipping motor, and flanges mounted on the flipping bracket. The flipping motor has dual-head output shafts on both sides. The number of flanges corresponds one-to-one with the number of dual-head output shafts. The dual-head output shafts are connected to adjacent flanges and drive the flanges and the flipping bracket to reciprocate along the height direction.

[0030] The cooperation between the flange and the double-headed output shaft improves the stability and reliability of the flipping motor driving the flipping bracket to flip, making it more convenient to use. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0032] Figure 2 This is a top view illustrating the servo motor, drive assembly, first limit post, pressure detection element, and take-up spool of this utility model.

[0033] Figure 3 This is a partial structural diagram illustrating the through-hole gap, the first limiting post, the pressure detection arm, and the first protective sleeve of this utility model.

[0034] Figure 4 This is a structural schematic diagram of the servo motor, the first limiting post, the pressure detection arm, and the take-up spool from another perspective.

[0035] Figure 5 This is a schematic diagram illustrating the structure of the pull ring, manual locking lever, and upper torsion spring of this utility model;

[0036] Figure 6 This is a partial structural diagram illustrating the manual locking lever, upper torsion spring, and lower torsion spring of this utility model;

[0037] Figure 7 This is a schematic diagram of the structure of the flipping component of this utility model.

[0038] Explanation of reference numerals in the attached drawings: 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. Stop block; 3. Tape; 4. Locking assembly; 41. Servo motor; 411. Electric locking lever; 42. Manual locking lever; 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 gear; 7. Guide post; 8. Limiting and tightening assembly; 80. Through-hole clearance; 81. Pressure detection element; 82. First limiting post; 83. Pressure detection arm; 84. Take-up spool; 85. Tightening motor; 86. Second limiting post; 87. Third limiting post; 88. Pull ring; 9. First protective sleeve; 90. Second protective sleeve; 91. Long rod; 911. Horn; 912. Camera; 913. Lighting lamp; 92. Flip assembly; 921. Flip bracket; 922. Flip motor; 923. Flange; 924. Dual-head output shaft. Detailed Implementation

[0039] The following is in conjunction with the appendix Figure 1-7 The present invention will be further described in detail with reference to specific embodiments, but these are not intended to limit the present invention:

[0040] Example 1

[0041] like Figures 1-7 As shown, a flexible gripping device includes an arc-shaped outer frame 1, an arc-shaped rack 2, a braided tape 3, a locking component 4, a controller 5, a drive component 6, a guide post 7, and a limiting and tightening component 8. The arc-shaped rack 2 is provided with a hook 21. The drive component 6 is electrically connected to the controller 5. The limiting and tightening component 8 has a through-hole gap 80.

[0042] The locking component 4 is rotatably mounted on the arc-shaped outer frame 1. The driving component 6, guide post 7, and limiting and tightening component 8 are mounted on the arc-shaped outer frame 1. The arc-shaped rack 2 is rotatably inserted between the driving component 6 and the guide post 7. The inner side of the arc-shaped rack 2 is in contact with the guide post 7, and the outer side of the arc-shaped rack 2 is engaged with the driving component 6. The braided tape 3 is disposed on the inner surface of the arc-shaped rack 2. One end of the braided tape 3 passes through the insertion gap 80 and is tightened by the limiting and tightening component 8.

[0043] The arc-shaped outer frame 1, arc-shaped rack 2, hook 21, braided tape 3, and locking component 4 form a locking process and an unlocking process. During the locking process, the driving component 6 drives the arc-shaped rack 2 to rotate towards the locking component 4. The arc-shaped rack 2 and the arc-shaped outer frame 1 form a closed ring. The hook 21 engages with the locking component 4. The braided tape 3 is tightened by the limiting and tightening component 8. The braided tape 3 abuts against the arc-shaped outer frame 1 and the guide post 7.

[0044] Preferably, the locking assembly 4 includes a servo motor 41, on which an electric locking lever 411 is rotatably mounted. The servo motor 41 drives the electric locking lever 411 to rotate in the horizontal direction, and the servo motor 41 drives the electric locking lever 411 to insert into or retract from the hook 21.

[0045] Preferably, the limiting and tightening assembly 8 includes a pressure detection element 81, a first limiting post 82, a pressure detection arm 83, a take-up shaft 84, and a tightening motor 85. The pressure detection element 81 and the tightening motor 85 are electrically connected to the controller 5. The pressure detection arm 83 is disposed on the pressure detection element 81. The guide post 7, the first limiting post 82, and the pressure detection arm 83 are all covered with a first protective sleeve 9. The first limiting post 82, the pressure detection arm 83, and the take-up shaft 84 are disposed on the arc-shaped outer frame 1. The first limiting post 82 and the pressure detection arm 83 form the through-gap 80. The sidewall of the braided tape 3 is in contact with the first protective sleeve 9.

[0046] The tightening motor 85 is connected to the take-up shaft 84 and drives the take-up shaft 84 to rotate. The braided tape 3 is tightened through the take-up shaft 84. The pressure detection element 81 detects the tightening force of the braided tape 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.

[0047] Preferably, the limiting and tightening assembly 8 includes a second limiting post 86, a third limiting post 87, and a pull ring 88. The two ends of the second limiting post 86 and the third limiting post 87 extend from the ends of the arc-shaped outer frame 1, forming the through gap 80. A second protective sleeve 90 is fitted over the guide post 7, the second limiting post 86, and the third limiting post 87. The second protective sleeve 90 is in contact with the side wall of the braided tape 3. The pull ring 88 is disposed on the braided tape 3 and is used to cooperate with the lifting device.

[0048] The locking assembly 4 includes a manual locking lever 42, an upper torsion spring 43, and a lower torsion spring 44. A sliding groove 11 is provided through the arc-shaped outer frame 1. The lower end of the manual locking lever 42 extends out of the sliding groove 11. One end of the upper torsion spring 43 is located at the upper part of the manual locking lever 42, and the other end of the upper torsion spring 43 is located at the upper part of the second limiting post 86 and the third limiting post 87. One end of the lower torsion spring 44 is located at the lower part of the manual locking lever 42, and the other end of the lower torsion spring 44 is located at the lower part of the second limiting post 86 and the third limiting post 87. The upper torsion spring 43 and the lower torsion spring 44 pull the manual locking lever 42 to move outward toward the sliding groove 11. The upper torsion spring 43 and the lower torsion spring 44 pull the manual locking lever 42 to press against the inner wall of the sliding groove 11 near the limiting and tightening assembly 8.

[0049] Preferably, the arc-shaped outer frame 1 is provided with a first limit switch 12 and a second limit switch 13, and the arc-shaped rack 2 is provided with a stop block 22. The arc-shaped rack 2 drives the stop block 22 to move closer 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 drive component 6 to stop working.

[0050] Preferably, the opening angle of the arc-shaped outer frame 1 is in the range of 120 degrees to 180 degrees, and the opening angle of the arc-shaped rack 2 is in the range of 180 degrees to 240 degrees.

[0051] Preferably, the drive assembly 6 includes a main gear 61, a first driven gear 62, a second driven gear 63, a drive motor 64, and a worm gear 65. The worm gear 65 is mounted on the output shaft of the drive motor 64. The main gear 61 is mounted on 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 gear 65 meshes with the main gear 61. The drive motor 64 drives the main gear 61 to rotate through the worm gear 65, and the main gear 61 drives the first driven gear 62 to rotate.

[0052] 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, temperature sensor 15, and 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.

[0053] Preferably, the device also includes a long rod 91 and a flipping component 92. The flipping component 92 is connected to the arc-shaped outer frame 1 and the long rod 91 respectively. The flipping component 92 drives the arc-shaped outer frame 1 to rotate towards 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.

[0054] Preferably, the flipping assembly 92 includes a flipping bracket 921, a flipping motor 922, and a flange 923 disposed on the flipping bracket 921. The flipping motor 922 has dual-head output shafts 924 on both sides. The number of flanges 923 corresponds one-to-one with the number of dual-head output shafts 924. The dual-head output shafts 924 are connected to the adjacent flanges 923 and drive the flanges 923 and the flipping bracket 921 to reciprocate along the height direction.

[0055] Specifically, such as Figures 1-2 As shown in the embodiment of this application, the arc-shaped outer frame 1, arc-shaped rack 2, locking component 4, driving component 6, guide post 7, long rod 91, and flipping component 92 are made of metal. One end of the braided tape 3 is fixed to the inner surface of the arc-shaped rack 2 by screws. The braided tape 3 can be made of fabric, metal, or carbon fiber.

[0056] A battery is installed inside the long rod 91. The battery is electrically connected to and supplies power to the first limit switch 12, the second limit switch 13, the gas detector 14, the temperature sensor 15, the humidity sensor 16, the horn 911, the camera 912, the light 913, and the controller 5. The controller 5 communicates wirelessly or via a transmission harness with the first limit switch 12, the second limit switch 13, the gas detector 14, the temperature sensor 15, the humidity sensor 16, the horn 911, the camera 912, and the light 913. The transmission harness is retracted inside the long rod 91. The camera 912 and the light 913 are both tilted downwards at an angle ranging from 60 degrees to 90 degrees.

[0057] 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, with 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 post 7 extend from the upper frame and the lower frame, and the guide post 7 is distributed at intervals along the inner edge of the arc-shaped outer frame 1.

[0058] Gas detector 14, temperature sensor 15, humidity sensor 16, and controller 5 are fixed on the lower surface of the lower frame. Second limit switch 13, locking component 4, and limit tightening component 8 are disposed at the head of the lower frame. Limit tightening component 8 is distributed between locking component 4 and second limit switch 13. In this embodiment, limit tightening component 8 includes an electric tightening structure and a manual tightening structure.

[0059] like Figures 2-4 As shown, the electric tightening structure includes a pressure detection element 81, a first limiting post 82, a pressure detection arm 83, a take-up shaft 84, and a tightening motor 85. In this embodiment, 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 tape 3.

[0060] like Figure 5 , Figure 6 As shown, the manual tightening structure includes a second limiting post 86, a third limiting post 87, and a pull ring 88. The tail of the braided tape 3 passes through the space between the second limiting post 86 and the third limiting post 87. The pull ring 88 is fixed to the tail of the braided tape 3. When it is necessary to pull out the trapped person, the pull ring 88 can be fixed to the rescue tripod hook or other lifting equipment, which facilitates the use of the lifting device to pull the trapped person out.

[0061] like Figure 5 As shown, in its natural state, the upper torsion spring 43 and the lower torsion spring 44 pull the manual locking rod 42 toward the direction of the limiting tightening assembly 8, and the manual locking rod 42 abuts against the inner side wall of the outer end of the sliding groove 11.

[0062] like Figure 7 As shown, the flipping assembly 92 includes a flipping bracket 921, a flipping motor 922, and a flange 923 mounted on the flipping bracket 921. The flipping motor 922 has a double-headed output shaft 924 integrally formed on both sides. The number of flanges 923 corresponds one-to-one with the number of double-headed output shafts 924. The double-headed output shafts 924 are connected to the adjacent flanges 923 and drive the flanges 923 and the flipping bracket 921 to reciprocate along the height direction.

[0063] More specifically, such as Figures 2-5 As shown, the hook 21 is integrally formed at the tail of the arc-shaped rack 2, the stop block 22 is installed at the head of the arc-shaped rack 2, and an inclined surface is formed on the inner side of the hook 21. The inclined surface extends along the length direction of the hook 21 and the front end of the inclined surface is inclined towards the outer side of the hook 21.

[0064] The flexible gripping device can be opened or locked using an electrically tightening structure, a servo motor 41, and an electrically operated locking lever 411. When it is necessary to secure the flexible gripping device to a person or object, the operating steps are as follows: Figures 1-4As shown, the drive motor 64 and the winding motor 85 are started 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 gear 65 and the main gear 61, which in turn pushes the head of the arc rack 2 to rotate towards the second limit switch 13. The arc rack 2 and the take-up shaft 84 drive the tape 3 to retract.

[0065] When the stop block 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 fit the arc-shaped outer frame 1 onto the person or object.

[0066] Then, the controller 5 controls the drive motor 64 and the tightening motor 85 to reverse, which drives the arc rack 2 and the tape 3 to unfold outward. When the stop 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 drive motor 64 to stop working. At this time, the hook 21 can be placed above the sliding groove 11. Finally, the servo motor 41 is turned on to drive the electric locking rod 411 to insert into the hook 21. At this time, the closed ring can be placed on the personnel or object and locked. The pressure detection element 81 and the pressure detection arm 83 can detect the tightness of the tape 3, and can accurately tighten the tape 3 on the personnel or object, which improves the safety during use.

[0067] The flexible gripping device can also be opened or locked using a manual tightening mechanism, manual locking lever 42, upper torsion spring 43, and lower torsion spring 44. When it is necessary to fix the flexible gripping device to a person or object, the operating steps are as follows: Figure 1 , Figure 5 and Figure 6 As shown, first fix the pull ring 88 to the rescue tripod hook or other lifting equipment, then pull the manual locking lever 42 to move it closer to the inside of the arc-shaped outer frame 1. At this time, the manual locking lever 42 can be disengaged from the hook 21, releasing the restriction on the arc-shaped rack 2.

[0068] Then, the drive motor 64 is started to rotate forward. The drive motor 64 drives the first driven gear 62 and the second driven gear 63 to rotate forward through the worm gear 65 and the main gear 61, thereby pushing the head of the arc-shaped rack 2 to rotate towards the second limit switch 13. The arc-shaped rack 2 drives the tape 3 to retract.

[0069] When the stop block 22 touches the second limit switch 13, the second limit switch 13 sends a stop signal to the controller 5. 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 fit the arc-shaped outer frame 1 onto the person or object.

[0070] Then, the controller 5 controls the drive motor 64 to reverse, thereby driving the arc rack 2 and the tape 3 to unfold outward. As the arc rack 2 rotates further, the inclined part of the hook 21 abuts against the manual locking lever 42 and pushes the manual locking lever 42 to move inward toward the sliding groove 11.

[0071] When the arc-shaped rack 2 moves into position, the opening of the hook 21 is aligned with the manual locking lever 42, and the manual locking lever 42 moves outward and resets under the pull of the upper torsion spring 43 and the lower torsion spring 44, so that the manual locking lever 42 is inserted into the hook 21 and locked together. The arc-shaped rack 2 closes the opening of the arc-shaped outer frame 1 to form a closed ring. At this time, the stop block 22 touches the first limit switch 12, and the first limit switch 12 sends a stop signal to the controller 5. The controller 5 controls the drive motor 64 to stop working, so that the closed ring can be kept in the locking process and fitted onto the person or object. Finally, by using the braided strap 3, the pull ring 88, and the long rod 91 in conjunction with the rescue tripod hook or other lifting equipment, the person can be pulled outward and rescued.

[0072] In addition to the steps described above, users can also add, remove, or sort these steps according to their actual needs.

[0073] When the flexible grasping device enters environments such as deep wells for rescue operations, the arc-shaped outer frame 1 can be rotated to a suitable angle using the flip motor 922. The surrounding environment is illuminated by the lighting lamp 913, and the speaker 911 and camera 912 facilitate personnel observation of the current situation and timely communication. The gas detector 14 facilitates the detection of oxygen, carbon monoxide, sulfur dioxide, and hydrocarbon gases, while the temperature sensor 15 and humidity sensor 16 detect temperature and humidity, facilitating responses to emergencies and improving safety during use.

[0074] In summary, the above description is only a preferred embodiment of the present utility model. All equivalent changes and modifications made within the scope of the patent application of the present utility model shall be covered by the present utility model.

Claims

1. A flexible gripping device, characterized in that: It includes an arc-shaped outer frame (1), an arc-shaped rack (2), a braided tape (3), a locking component (4), a controller (5), a drive component (6), a guide post (7), and a limiting and tightening component (8). The arc-shaped rack (2) is provided with a hook (21). The drive component (6) is electrically connected to the controller (5). The limiting and tightening component (8) has a through gap (80). The locking component (4) is rotatably mounted on the arc-shaped outer frame (1). The driving component (6), guide post (7), and limiting and tightening component (8) are mounted on the arc-shaped outer frame (1). The arc-shaped rack (2) is rotatably mounted between the driving component (6) and the guide post (7). The inner side of the arc-shaped rack (2) is in contact with the guide post (7), and the outer side of the arc-shaped rack (2) is engaged with the driving component (6). The braided tape (3) is mounted on the inner surface of the arc-shaped rack (2). One end of the braided tape (3) passes through the through-gap (80) and is tightened by the limiting and tightening component (8). The arc-shaped outer frame (1), arc-shaped rack (2), hook (21), braid (3), and locking component (4) form a locking process and an unlocking process. During the locking process, the driving component (6) drives the arc-shaped rack (2) to rotate towards the locking component (4). The arc-shaped rack (2) and the arc-shaped outer frame (1) form a closed ring. The hook (21) engages with the locking component (4). The braid (3) is tightened by the limiting tightening component (8). The braid (3) abuts against the arc-shaped outer frame (1) and the guide post (7).

2. The flexible gripping device according to claim 1, characterized in that: The locking assembly (4) includes a servo motor (41), on which an electric locking lever (411) is rotatably mounted. The servo motor (41) drives the electric locking lever (411) to rotate in the horizontal direction. The servo motor (41) drives the electric locking lever (411) to insert into or retract from the hook (21).

3. The flexible gripping device according to claim 2, characterized in that: The limiting and tightening assembly (8) includes a pressure detection element (81), a first limiting post (82), a pressure detection arm (83), a take-up shaft (84), and a tightening motor (85). The pressure detection element (81) and the tightening motor (85) are electrically connected to the controller (5). The pressure detection arm (83) is set on the pressure detection element (81). The guide post (7), the first limiting post (82), and the pressure detection arm (83) are all covered with a first protective sleeve (9). The first limiting post (82), the pressure detection arm (83), and the take-up shaft (84) are set on the arc-shaped outer frame (1). The first limiting post (82) and the pressure detection arm (83) form the 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 braided tape (3) is tightened through the take-up shaft (84). The pressure detection element (81) detects the tightening force of the braided tape (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. The flexible gripping device according to claim 1, characterized in that: The limiting and tightening assembly (8) includes a second limiting post (86), a third limiting post (87), and a pull ring (88). The two ends of the second limiting post (86) and the third limiting post (87) protrude from the ends of the arc-shaped outer frame (1). The second limiting post (86) and the third limiting post (87) form the protrusion gap (80). The guide post (7), the second limiting post (86), and the third limiting post (87) are fitted with a second protective sleeve (90). The second protective sleeve (90) is in contact with the side wall of the braided tape (3). The pull ring (88) is disposed on the braided tape (3). The pull ring (88) is used to cooperate with the lifting device. The locking assembly (4) includes a manual locking lever (42), an upper torsion spring (43), and a lower torsion spring (44). A sliding groove (11) runs through the arc-shaped outer frame (1). The lower end of the manual locking lever (42) extends through the sliding groove (11). One end of the upper torsion spring (43) is positioned above the manual locking lever (42), and the other end is positioned above the second limiting post (86) and the third limiting post (87). The lower torsion spring (44)... 4) One end is set at the lower part of the manual locking rod (42), and the other end of the lower torsion spring (44) is set at the lower part of the second limiting post (86) and the third limiting post (87). The upper torsion spring (43) and the lower torsion spring (44) pull the manual locking rod (42) to move towards the outside of the sliding groove (11). 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) near the limiting tightening assembly (8).

5. The 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 closer to or further 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.

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

7. The flexible gripping device according to claim 1, characterized in that: The drive assembly (6) includes a main gear (61), a first driven gear (62), a second driven gear (63), a drive motor (64), and a worm gear (65). The worm gear (65) is mounted on the output shaft of the drive motor (64). The main gear (61) is mounted on 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 gear (65) meshes with the main gear (61). The drive motor (64) drives the main gear (61) to rotate through the worm gear (65). The main gear (61) drives the first driven gear (62) to rotate.

8. The flexible gripping device according to claim 1, characterized in that: 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), temperature sensor (15), and 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: It also includes a long rod (91) and a flipping assembly (92). The flipping assembly (92) is connected to the arc-shaped outer frame (1) and the long rod (91) respectively. The flipping assembly (92) drives the arc-shaped outer frame (1) to rotate towards or away from the long rod (91). The lower half of the long rod (91) is provided with a horn (911), a camera (912) and a lighting lamp (913).

10. A flexible gripping device according to claim 9, characterized in that: The flipping assembly (92) includes a flipping bracket (921), a flipping motor (922), and a flange (923) mounted on the flipping bracket (921). The flipping motor (922) has dual-head output shafts (924) on both sides. The number of flanges (923) corresponds one-to-one with the number of dual-head output shafts (924). The dual-head output shafts (924) are connected to the adjacent flanges (923) and drive the flanges (923) and the flipping bracket (921) to reciprocate along the height direction.

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