Self-locking gripping assistance device adapted to complex terrain

Abstract

The application discloses a self-locking grabbing assisting device suitable for complex terrains and relates to the technical field of exoskeleton robots. The device can not only meet the pickup of stretchers by medical staff in complex terrains, but also provide assistance in the pickup and carrying process. The device comprises a hoisting device, a quick plug and a self-locking grabber. The hoisting device comprises a shell and a spool, a Bowden wire, a coil spring and a Bowden wire locking mechanism. The shell is internally provided with a shell shaft part, and the spool is sleeved on the shell shaft part. The upper end of the Bowden wire is connected to the spool, and the lower end is connected to the quick plug. The coil spring is arranged between the shell shaft part and the spool and can provide the spool with a curling force for driving the Bowden wire to retract. The Bowden wire locking mechanism can prevent the Bowden wire from extending or retracting. The self-locking grabber can realize the pickup and locking of the handle of the stretcher. The quick plug can automatically lock the self-locking grabber at a preset position after the self-locking grabber picks up the handle of the stretcher and quickly connect the self-locking grabber and the shell of the hoisting device.

Description

Technical Field

[0001] This application relates to the field of exoskeleton robot technology, and in particular to a self-locking gripping assist device suitable for complex terrain. Background Technology

[0002] Wearable flexible exoskeleton robots are human-computer interaction devices that enhance limb function through mechanical means. In the medical industry, they can assist in the transport of injured and sick persons, effectively improving transport efficiency and saving physical effort. In the industrial field, they can assist workers in moving small and medium-sized equipment. In the firefighting industry, they can efficiently transfer injured persons.

[0003] An exoskeleton robot for assisting in the transport of injured or ill patients works in collaboration with the wearer to transfer some of the force exerted on the wearer by the injured or ill patient to the ground, reducing the pressure of the load on the wearer's lower limb joints. Chinese patent "An Exoskeleton Robot for Assisting in the Transport of Injured or Ill Patients" (Publication No.: CN 115837663A) discloses such a robot, including a waist assembly, a load-bearing block assembly, a hip joint assembly, a thigh assembly, a knee joint assembly, a lower leg assembly, an ankle joint assembly, and a foot pedal assembly. The load-bearing block assembly, which is fixed to the stretcher, is integrated with the waist assembly and secured to the wearer's waist by a flexible waist belt. The load-bearing block assembly transfers the weight of the load to the waist assembly, and then through the hip joint assembly, thigh assembly, knee joint assembly, lower leg assembly, ankle joint assembly, and foot pedal assembly to the ground.

[0004] The disadvantages of this exoskeleton robot are:

[0005] 1. Since the load-bearing component can only provide assistance after medical staff have lifted the stretcher, it cannot meet the picking requirements of medical staff in various postures under complex terrain, and it also cannot provide assistance during the picking process.

[0006] 2. During the transfer and removal of the stretcher, medical staff must hold the stretcher handles firmly with both hands to ensure its stability. In complex terrain, this is not conducive to medical staff maintaining balance and moving quickly. In addition, during the movement of the load-bearing components, medical staff need to hold the stretcher handles firmly with both hands to maintain the stability of the mechanical connection, which reduces the coordination and stability of medical staff during movement.

[0007] 3. The load-bearing components adopt a rigid structure, and the size cannot be arbitrarily adjusted when used with people of different heights. Summary of the Invention

[0008] The embodiments of this application provide a self-locking gripping assistance device suitable for complex terrain, which is connected to the hip joints on both sides of the main exoskeleton. It can not only meet the needs of medical staff to pick up the stretcher in any posture under complex terrain, but also provide assistance to medical staff during the picking and stretcher carrying process, and can free up the hands of medical staff to the greatest extent, realizing exoskeleton-assisted carrying.

[0009] To achieve the above objectives, embodiments of this application provide a self-locking gripping assist device suitable for complex terrain, comprising a winch, a quick-connect plug, and a self-locking gripper connected in series along the axial direction; the winch includes a housing and a spool, Bowden line, coil spring, and Bowden line locking mechanism disposed within the housing; the housing has a housing shaft portion, and the spool is sleeved on the housing shaft portion; the upper end of the Bowden line is connected to and wound on the spool, and the lower end is connected to the quick-connect plug; the coil spring is disposed between the housing shaft portion and the spool and can provide the spool with a winding force to drive the Bowden line to retract; the Bowden line locking mechanism can prevent the Bowden line from extending or retracting; the self-locking gripper can realize the gripping and locking of the stretcher handle; the quick-connect plug can automatically lock the self-locking gripper in a preset position after the self-locking gripper grips the stretcher handle, and quickly connect the self-locking gripper to the housing of the winch.

[0010] Furthermore, the Bowden wire locking mechanism includes a release key, a positioning gear, a gear ring, and a spring; the spool has a positioning gear mounting cavity; the gear ring is fixedly connected to the opening of the positioning gear mounting cavity; the positioning gear is slidably connected to the shaft of the housing and meshes with the gear ring; the two ends of the spring abut against the bottom wall of the positioning gear mounting cavity and the first end face of the positioning gear, respectively; the release key is connected to the second end face of the positioning gear, a spring pin is provided between the release key and the housing, and a radially penetrating limiting hole is provided at the bottom of the housing; the limiting hole is located near the positioning gear; and a pressing hole for pressing the release key is provided on the housing.

[0011] Furthermore, the outer casing includes a housing and a front cover that fastens to the opening of the housing; the front cover is provided with a release key mounting cavity, and the opening of the release key mounting cavity is provided with a pressure plate for preventing the release key from the release key mounting cavity, and the pressing hole is located on the pressure plate.

[0012] Furthermore, the Bowden wire locking mechanism also includes an "L"-shaped reset pin; the lower part of the housing is provided with a limiting groove; one end of the reset pin is inserted into the limiting hole, and the other end extends into the limiting groove.

[0013] Furthermore, the spool is also provided with a coil spring mounting cavity coaxially arranged with the positioning gear mounting cavity; the inner ring of the coil spring is connected to the outer casing shaft, and the outer ring is connected to the side wall of the coil spring mounting cavity.

[0014] Furthermore, the quick plug includes a sliding sleeve, a quick interface, and a quick connector; the lower end of the Bowden wire passes through the quick interface and connects to the quick connector; a ball is embedded in the inner wall of the sliding sleeve, and a groove adapted to the ball is provided on the outer wall of the quick connector; a retaining ring is provided at the lower part of the outer wall of the quick interface to prevent the sliding sleeve from moving downward; a reset device is provided inside the quick interface; the reset device can drive the ball to disengage from the groove.

[0015] Furthermore, the self-locking gripper includes a gripper fixing component, a gripper movable half-ring, and a buckle; the gripper fixing component includes a connecting part and a gripper fixing half-ring; the connecting part is connected to the quick connector, the lower part of the gripper fixing half-ring is hinged to the lower part of the gripper movable half-ring, and the upper part of the gripper movable half-ring is fastened to the gripper movable half-ring and quickly locked by the buckle.

[0016] Furthermore, the movable half-ring of the gripper is connected to the latch via a ratchet and pawl structure; the ratchet and pawl structure includes ratchet teeth disposed on the upper part of the movable half-ring of the gripper and pawls disposed on the lower part of the latch.

[0017] Furthermore, the upper part of the buckle is provided with a handle, and the connecting part includes a connecting shaft and a connecting shell located at the lower part of the connecting shaft; the connecting shell is provided with an opening on the side facing the movable half ring of the gripper, and the handle extends out of the opening and abuts against the upper side wall of the opening.

[0018] Furthermore, the connecting shaft and the quick connector are hinged together by a pin.

[0019] This application has the following advantages over the prior art:

[0020] 1. This embodiment of the application achieves a high degree of rigidity and flexibility by setting a spool, Bowden line and Bowden line locking mechanism in the winch device and setting a quick plug between the winch device and the self-locking gripper. When the quick plug is in the separated state, the Bowden line can extend freely to cope with grasping tasks in any complex terrain and various postures; when the quick plug is in the plugged state, the quick gripper connects to the outer shell of the winch device, assisting medical staff during stretcher transport.

[0021] 2. In this embodiment of the application, a coil spring is provided between the spool and the housing shaft. When the Bowden line is stretched under the action of external force, it drives the spool to rotate. The coil spring is gradually pre-tightened, and the resulting coiling force acts on the spool, thereby assisting medical staff in picking up the stretcher.

[0022] 3. The embodiments of this application, by setting a ratchet and pawl mechanism on the self-locking gripper, realize the rapid gripping and locking of the stretcher. Thus, during the stretcher transportation process, the hands of medical staff can be freed up to the greatest extent, which helps to improve the stability of the entire transportation system.

[0023] 4. In this embodiment of the application, a reset pin is provided between the spool and the housing, so that the Bowden cable can be locked by pressing the reset pin before it retracts to engage with the quick plug. Therefore, it can be applied to medical personnel of all heights. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a schematic diagram of the structure of a self-locking gripping assist device suitable for complex terrain according to an embodiment of this application;

[0026] Figure 2 This is a cross-sectional view of the winch device in a self-locking gripping assist device suitable for complex terrain according to an embodiment of this application;

[0027] Figure 3 This is a three-dimensional structural diagram of the winch device in a self-locking gripping assist device suitable for complex terrain according to an embodiment of this application (with the front cover removed);

[0028] Figure 4 This is a schematic diagram of the housing structure in the self-locking gripping assist device suitable for complex terrain according to an embodiment of this application;

[0029] Figure 5 This is a schematic diagram of the spool structure in the self-locking gripping assist device suitable for complex terrain according to an embodiment of this application;

[0030] Figure 6 This is a schematic diagram of the quick-connect plug in a self-locking gripping assist device suitable for complex terrain, as described in an embodiment of this application.

[0031] Figure 7 This is a three-dimensional structural diagram of the self-locking gripper in a self-locking gripping assist device suitable for complex terrain, according to an embodiment of this application.

[0032] Figure 8 This is a cross-sectional view of the self-locking gripper in a self-locking gripping assist device suitable for complex terrain according to an embodiment of this application;

[0033] Figure 9 This is a schematic diagram of the connection structure between the self-locking gripping assistance device suitable for complex terrain and the main exoskeleton in an embodiment of this application.

[0034] Figure 10 This is a diagram showing the state of the self-locking gripping assist device suitable for complex terrain in this application when picking up a stretcher;

[0035] Figure 11 This is a diagram showing the state of the self-locking gripping assist device suitable for complex terrain in this application embodiment during stretcher transport. Detailed Implementation

[0036] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0037] In the description of this application, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0038] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation", "connection" and "joining" should be interpreted broadly, for example, as fixed connection, detachable connection, or integral connection; those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0039] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0040] Reference Figure 1 The embodiments of this application provide a self-locking gripping assist device 100 suitable for complex terrain, including a winch device 1, a quick plug 2 and a self-locking gripper 3 connected in series along the axial direction.

[0041] Reference Figures 2 to 5The winch device 1 includes a housing 11 and a spool 12, Bowden wire 13, coil spring 14, and Bowden wire locking mechanism 15 disposed within the housing 11. The housing 11 includes a shell 111 and a front cover 112 that fastens to the opening of the shell 111. The shell 111 includes upper and lower parts: the upper part is a forward-opening cylinder 113 extending horizontally, and the lower part is a hollow prism 114 extending vertically, with the front side of the hollow prism 114 lower than the front end face of the cylinder 113.

[0042] A housing shaft 115 is coaxially disposed inside the cylinder 113. The bobbin 12 is sleeved on the housing shaft 115. (See reference) Figure 5 The rim of the spool 12 is provided with a Bowden wire fixing hole 121. The upper end of the Bowden wire 13 is wound in the groove of the spool 12 and then fixed at the Bowden wire fixing hole 121. The lower end passes through the hollow prism 114 and is connected to the quick plug 2.

[0043] Continue to refer to Figure 2 The Bowden wire locking mechanism 15 includes a release key 151, a spring pin 152, a positioning gear 153, a gear ring 154, and a spring 155. The front cover 112 has a release key mounting cavity 116, and the inner cavity of the spool 12 is divided into a positioning gear mounting cavity 122 and a spring mounting cavity 123. The gear ring 154 is welded to the opening of the positioning gear mounting cavity 122, and the positioning gear 153 is slidably connected to the housing shaft 115 and meshes with the gear ring 154. The two ends of the spring 155 abut against the bottom wall of the positioning gear mounting cavity 122 and the rear end face of the positioning gear 153, respectively. The release key 151 is connected to the front end face of the positioning gear 153. The opening of the release key mounting cavity 116 has a pressure plate 157 for preventing the release key 151 from disengaging from the release key mounting cavity 116, and the pressure plate 157 has a pressing hole 158 for pressing the release key 151. A spring pin 152 is provided between the release key 151 and the outer casing 11. The spring pin 152 includes a key control pin and a spring. Specifically, the release key 151 has a radially extending key control pin mounting hole 156, in which a key control pin is installed, and a spring is provided between the key control pin and the key control pin mounting hole 156. A limiting hole 117 is also provided on the rear side of the release key mounting cavity 116. The limiting hole 117 is located near the positioning gear 153. When the release key 151 is pressed, the key control pin enters the limiting hole 117.

[0044] The coil spring mounting cavity 123 and the positioning gear mounting cavity 122 are coaxially arranged. A coil spring 14 is installed inside the coil spring mounting cavity 123. (Refer to...) Figure 5 The side wall of the coil spring mounting cavity 123 is provided with a coil spring through hole 124 and a coil spring fixing hole 125. The inner ring of the coil spring 14 is engaged in the slot of the housing shaft portion 115, and the outer ring passes through the coil spring through hole 124 and is fixed to the coil spring fixing hole 125 by screws.

[0045] Before the release key 151 is pressed, the spring pin 152 is blocked outside the release key mounting cavity 116 and is in a free state under the elastic force of the spring 155. Simultaneously with pressing the release key 151, the spring pin 152 retracts and enters the release key mounting cavity 116, then into the limiting hole 117. The release key 151 pushes the connected positioning gear 153 backward, disengaging it from the gear ring 154 fixed on the spool 12. At this time, due to the presence of the coil spring 14, the spool 12 is in a semi-free state, rotating only under the coiling force of the coil spring 14. When the Bowden line 13 elongates under external force, it drives the spool 12 to rotate. The coil spring 14 gradually pre-tightens, and the resulting coiling force acts on the spool 12, thus enabling it to be used for grasping tasks in any complex terrain and various postures, and assisting medical personnel when picking up stretchers. When the external force acting on Bowden line 13 disappears, the coil spring 14 gradually returns to a relaxed state under the preload, thereby driving the spool 12 to rotate, and Bowden line 13 is then wound onto the spool 12. Thus, the length of Bowden line 13 can be automatically adjusted after the stretcher is picked up.

[0046] To accommodate medical personnel of varying heights, the Bowden thread locking mechanism 15 also includes an "L"-shaped reset pin 159. A long, narrow limiting groove 118 is provided on the hollow prism 114 at the lower part of the housing 11. One end of the reset pin 159 is inserted into the limiting hole 117 without contacting the spring pin 152, while the other end extends into the limiting groove 118. Thus, when a medical personnel is tall, they can manually push the reset pin 159 upwards while standing up after picking up the stretcher. This causes the reset pin 159 to push the spring pin 152 out of the limiting hole 117. Then, the release key 151 resets under the elastic force of the spring spring 155, driving the positioning gear 153 forward and engaging with the gear ring 154, thereby prematurely ending the rotation of the spool 12 to achieve the optimal dimensions.

[0047] Reference Figure 6The quick connector 2 includes a sliding sleeve 21, a quick interface 22, and a quick connector 23. The quick interface 22 is internally continuous, and the quick connector 23 has a shaft-like structure. The sliding sleeve 21 is fitted onto the quick interface 22, and ball bearings 211 are embedded in the inner wall of the sliding sleeve 21. The quick interface 22 is located above the quick connector 23, and the lower end of the Bowden wire 13 passes through the quick interface 22 and connects to the quick connector 23. The upper part of the quick interface 22 is connected to the hollow prism 114 of the hoisting device 1 by threads. Its outer wall has a groove 221 that matches the ball bearings 211, and its lower outer wall also has a retaining ring 222 to prevent the sliding sleeve 21 from moving downward. The quick interface 22 has a reset device 223, which includes a reset sleeve 224 and a reset spring 225. The reset spring 225 can push the reset sleeve 224 downward, thereby causing the ball bearings 211 to disengage from the groove 221. Specifically, when a stretcher needs to be picked up, the quick-connect plug 2 is in a disengaged state, meaning the quick-connect interface 22 and quick-connect coupling 23 are not connected. At this time, the Bowden cable 13 can extend freely. After the stretcher is picked up and the medical staff stands up, the Bowden cable 13 automatically retracts as the distance between the quick-connect plug 2 and the winch device 1 decreases. When retracted to... Figure 6 In the position shown, quick connector 23 pushes quick interface 22 and sliding sleeve 21 upwards until sliding sleeve 21 reaches its upper limit position and is limited. Then, the protrusion 212 inside sliding sleeve 21 squeezes ball bearing 211, causing it to embed into the slot 221 of quick interface 22. At this point, quick interface 22 and quick connector 23 are engaged. Since quick interface 22 is fixedly connected to the housing 11 of hoisting device 1, and quick connector 23 is fixedly connected to self-locking gripper 3, all three are rigidly connected, providing assistance to medical personnel during transport. It should be noted that the structure of quick plug 2 is similar to that of existing quick connector 23. Its specific structure will not be detailed here.

[0048] Reference Figure 7 and Figure 8The self-locking gripper 3 includes a gripper fixing component 31, a gripper movable half-ring 32, and a latch 33. The gripper fixing component 31 includes a connecting part and a gripper fixing half-ring 311. The connecting part includes a connecting shaft 312 and a connecting housing 313 located below the connecting shaft. The connecting shaft 312 is hinged to the quick connector 23 via a pin 4. The lower part of the gripper fixing half-ring 311 is hinged to the lower part of the gripper movable half-ring 32, and the upper part of the gripper movable half-ring 32 is engaged with it and quickly locked by the latch 33. Specifically, the gripper movable half-ring 32 and the latch 33 are connected by a ratchet and pawl structure, which includes ratchet teeth 321 located on the upper part of the gripper movable half-ring 32 and pawls 331 located on the lower part of the latch 33. The upper part of the buckle 33 is provided with a handle 332. The connecting shell 313 has an opening 314 on the side facing the movable half-ring 32 of the gripper. The handle 332 extends out of the opening 314 and abuts against the upper side wall of the opening 314. When the self-locking gripper 3 grips the stretcher handle, the pawl 331 cannot move in reverse because the handle 332 is locked, and the movable half-ring 32 of the gripper cannot rotate in reverse (open). When the handle 332 of the buckle 33 is pressed down, the movable half-ring 32 of the gripper can move in reverse and open, releasing the stretcher handle. Thus, the self-locking gripper 3 can realize the gripping and locking of the stretcher handle.

[0049] The working principle of this application embodiment is as follows:

[0050] Reference Figure 9 In this embodiment, the devices must be used in pairs. Before use, the winch device 1 in this embodiment is connected to the left and right hip joints of the main exoskeleton 200 worn by medical personnel. Specifically, during connection, bolts are welded to the center of the back of the outer shell 11 in the winch device 1, and then connected to the hip joints of the main exoskeleton using bolts.

[0051] Reference Figure 10 When it is necessary to grasp the stretcher, first press the release key 151 in the winch device 1 to allow the Bowden cable 13 to extend freely. It should also be noted that at this time, the quick-connect plug 2 is in a disengaged state due to the reset device 223 in the quick-connect plug 2. After the medical staff squats down, they hold the self-locking gripper 3 and fasten it to the handle of the stretcher 300. The self-locking gripper 3 automatically locks the handle of the stretcher 300, a process similar to that of handcuffs. During this process, the Bowden cable 13 is stretched and elongated under external force, causing the spool 12 to rotate. The coil spring 14 gradually pre-tightens, and the resulting coiling force acts on the spool 12. Because the Bowden cable 13 is flexible, it can be used for grasping tasks in any complex terrain and various postures. The pre-tightening force of the coil spring 14 can assist the medical staff in picking up the stretcher.

[0052] Reference Figure 11When the stretcher is retrieved and needs to be moved, the medical staff stand up. At this time, the distance between the winch device 1 and the self-locking gripper 3 decreases, the external force acting on the Bowden cable 13 disappears, and the coil spring 14 gradually returns to a relaxed state under the pre-tension force, thereby driving the spool 12 to rotate. The Bowden cable 13 then winds onto the spool 12. When it retracts to the preset position, the quick connector 23 pushes the quick interface 22 and the sliding sleeve 21 to move upward until the sliding sleeve 21 moves to the upper limit position and is limited. Then, the protrusion 212 in the sliding sleeve 21 squeezes the ball 211 so that it is embedded in the slot 221 of the quick interface 22. At this time, the quick interface 22 and the quick connector 23 are combined. Since the quick interface 22 is fixedly connected to the outer shell 11 of the winch device 1, and the quick connector 23 is fixedly connected to the self-locking gripper 3, all three are rigidly connected at this time, which can assist the medical staff during the transfer. Meanwhile, because the self-locking gripper 3 always locks the stretcher handle, medical staff can still free their hands, balance their bodies, and improve stability during the transfer.

[0053] In addition, when medical staff are tall, they can manually push the reset pin 159 while getting up after picking up the stretcher, so that the reset pin 159 is inserted into the limiting hole 117 of the front cover 112, thereby ending the rotation of the spool 12 in advance to obtain the optimal size.

[0054] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A self-locking gripping assist device suitable for complex terrain, characterized by, The device comprises a winding device, a quick plug and a self-locking gripper which are connected in sequence along the axial direction; the winding device comprises a shell, a spool, a Bowden wire, a coil spring and a Bowden wire locking mechanism which are arranged in the shell; the shell is provided with a shell shaft part, and the spool is arranged on the shell shaft part; the upper end of the Bowden wire is connected to the spool, and the lower end is connected to the quick plug; the coil spring is arranged between the shell shaft part and the spool and can provide the spool with a curling force for driving the Bowden wire to retract; the Bowden wire locking mechanism can prevent the Bowden wire from extending or retracting; the self-locking gripper can realize the gripping and locking of the stretcher handle; the quick plug can automatically lock the self-locking gripper at a preset position after the self-locking gripper grips the stretcher handle, and quickly connect the self-locking gripper with the shell of the winding device; The Bowden wire locking mechanism comprises a separation key, a positioning gear, a gear ring and a clock spring; the spool is provided with a positioning gear mounting cavity; the gear ring is fixedly connected to the mouth of the positioning gear mounting cavity; the positioning gear is slidingly connected to the shell shaft part and engaged with the gear ring; the two ends of the clock spring abut against the bottom wall of the positioning gear mounting cavity and the first end face of the positioning gear, respectively; the separation key is connected to the second end face of the positioning gear, and a spring pin is arranged between the separation key and the shell; the bottom of the shell is provided with a limiting hole which penetrates through the shell along the radial direction; the limiting hole is arranged close to the positioning gear; the shell is provided with a pressing hole for pressing the separation key.

2. The self-locking gripping assist device suitable for complex terrain according to claim 1, characterized in that, The shell comprises a shell body and a front cover which is buckled to the mouth of the shell body; the front cover is provided with a separation key mounting cavity, and the mouth of the separation key mounting cavity is provided with a pressing sheet for preventing the separation key from coming out of the separation key mounting cavity; and the pressing hole is located on the pressing sheet.

3. The self-locking gripping assist device suitable for complex terrain according to claim 2, characterized in that, The Bowden wire locking mechanism further comprises an "L"-shaped reset pin; the lower part of the shell is provided with a limiting sliding groove; one end of the reset pin is inserted into the limiting hole, and the other end extends into the limiting sliding groove.

4. The self-locking, complex-terrain-adapted gripping assistance device according to claim 3, characterized in that The spool is further provided with a coil spring mounting cavity which is coaxially arranged with the positioning gear mounting cavity; the inner ring of the coil spring is connected to the shell shaft part, and the outer ring is connected to the side wall of the coil spring mounting cavity.

5. The self-locking, complex-terrain-adapted gripping assistance device according to claim 1, characterized in that The quick plug comprises a sliding sleeve, a quick connector and a quick connector; the lower end of the Bowden wire is connected to the quick connector after penetrating through the quick connector; the inner wall of the sliding sleeve is inlaid with a ball, and the outer wall of the quick connector is provided with a clamping groove which is matched with the ball; the lower part of the outer wall of the quick connector is provided with a clamping ring for preventing the sliding sleeve from descending; the quick connector is provided with a reset device; the reset device can drive the ball to come out of the clamping groove.

6. The self-locking gripping assist device suitable for complex terrain according to claim 5, characterized in that, The self-locking gripper comprises a gripper fixed part, a gripper movable half ring and a buckle; the gripper fixed part comprises a connecting part and a gripper fixed half ring; the connecting part is connected to the quick connector, the lower part of the gripper fixed half ring is hinged to the lower part of the gripper movable half ring, and the upper part of the gripper movable half ring is buckled to the gripper movable half ring and is quickly locked by the buckle.

7. The self-locking, complex-terrain-adapted, grasping-assist device according to claim 6, characterized in that The pawl-and-ratchet structure is connected between the movable half ring of the grabber and the buckle, and comprises a ratchet gear arranged on the upper part of the movable half ring of the grabber and a pawl arranged on the lower part of the buckle.

8. The self-locking, complex-terrain-adapted gripping assistance device according to claim 7, characterized in that The upper part of the buckle is provided with a handle, the connecting part comprises a connecting shaft and a connecting shell arranged on the lower part of the connecting shaft, and the connecting shell is provided with an opening on the side facing the movable half ring of the grabber, the handle extends out of the opening and abuts against the upper side wall of the opening.

9. The self-locking, complex-terrain-adapted, grasping-assist device according to claim 8, characterized in that The connecting shaft and the quick connector are connected through a pin shaft.

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