Self-locking gripping power-assist apparatus suited to complex terrains

Abstract

Disclosed in the present application is a self-locking gripping power-assist apparatus suited to complex terrains, relating to the technical field of exoskeleton robots. The apparatus not only allows medical staff to pick up stretchers on complex terrains, but also provides assistance in picking up and carrying stretchers. The apparatus comprises a winding apparatus, a quick connector, and a self-locking gripper. The winding apparatus comprises an outer housing, a reel, a Bowden cable, a coil spring, and a Bowden cable locking mechanism, wherein an outer housing shaft part is provided within the outer housing, and the reel is sleeved on the outer housing shaft part; the upper end of the Bowden cable is connected to and wound around the reel, and the lower end of the Bowden cable is connected to the quick connector; the coil spring is disposed between the outer housing shaft part and the reel, and provides the reel with a winding force for driving the Bowden cable to retract; the Bowden cable locking mechanism can prevent the Bowden cable from extending or retracting; the self-locking gripper can grip and lock a stretcher handle; and after the self-locking gripper grips the stretcher handle, the quick connector automatically locks the self-locking gripper in a preset position, and quickly connects the self-locking gripper to the outer housing of the winding apparatus.

Description

A self-locking grabbing assist device suitable for complex terrain Technical Field

[0001] The present application relates to the technical field of exoskeleton robots, and in particular to a self-locking grasping assist device suitable for complex terrains. Background Art

[0002] Wearable flexible exoskeletons are human-machine interaction devices that mechanically enhance limb function. In the medical industry, they can assist in the transport of injured and sick personnel, effectively improving efficiency and saving physical effort. In the industrial sector, they can assist workers in carrying small and medium-sized equipment, and in the firefighting industry, they can efficiently transfer injured personnel.

[0003] The exoskeleton robot for assisting patients in transporting patients at the scene of injury works in collaboration with the wearer to transmit part of the force exerted by the patient on the wearer to the ground, thereby reducing the pressure of the load weight on the wearer's lower limb joints. The Chinese patent "An exoskeleton robot for assisting patients in transporting patients at the scene of injury" (publication number: CN 115837663 A) discloses an exoskeleton robot for assisting patients in transporting patients at the scene of injury, comprising a waist assembly, a load-bearing block assembly, a hip joint assembly, a thigh assembly, a knee joint assembly, a calf assembly, an ankle joint assembly and a foot pedal assembly. The load-bearing block assembly of the fixed stretcher is fixed together with the waist assembly and fixed 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 transfers it to the ground through the hip joint assembly, thigh assembly, knee joint assembly, calf assembly, ankle joint assembly and foot pedal assembly.

[0004] The disadvantages of this exoskeleton robot are:

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

[0006] 2. During the transport and removal of the stretcher, medical staff must hold the stretcher handles tightly with both hands to ensure its stability. This is not conducive to medical staff maintaining balance and rapid movement in complex terrain. In addition, during the movement of the load-bearing components, medical staff need to hold the stretcher handles tightly with both hands to maintain the stability of the mechanical connection, which loses the coordination and collaborative stability of medical staff during movement.

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

[0008] Summary of the Invention

[0009] An embodiment of the present application provides a self-locking grasping assist device suitable for complex terrain, which is connected to the left and right hip joints 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 process and the stretcher transportation process. It can also free the hands of medical staff to the greatest extent and realize exoskeleton-assisted transportation.

[0010] To achieve the above-mentioned objectives, an embodiment of the present application provides a self-locking grasping assist device suitable for complex terrain, comprising a winch device, a quick plug and a self-locking gripper connected in series along the axial direction; the winch device comprises a shell and a spool, a Bowden cable, a coil spring and a Bowden cable locking mechanism arranged in the shell; a shell shaft portion is provided in the shell, and the spool is sleeved on the shell shaft portion; the upper end of the Bowden cable is connected and wound around the spool, and the lower end is connected to the quick plug; the coil spring is arranged between the shell shaft portion and the spool and can provide a winding force for the spool to drive the Bowden cable to retract; the Bowden cable locking mechanism can prevent the Bowden cable from extending or retracting; the self-locking gripper can realize the grasping and locking of the stretcher handle; the quick plug can automatically lock the self-locking gripper in a preset position after the self-locking gripper grasps the stretcher handle, and quickly connect the self-locking gripper to the shell of the winch device.

[0011] Furthermore, the Bowden cable locking mechanism includes a separation key, a positioning gear, a ring gear and a clockwork spring; a positioning gear mounting cavity is provided in the spool; the ring gear is fixedly connected to the mouth of the positioning gear mounting cavity; the positioning gear is slidably connected to the shaft of the shell and meshes with the ring gear; the two ends of the clockwork spring respectively abut the bottom wall of the positioning gear mounting cavity and the first end face of the positioning gear; the separation key is connected to the second end face of the positioning gear, a spring pin is provided between the separation key and the shell, and a radially penetrating limiting hole is provided at the bottom of the shell; the limiting hole is arranged close to the positioning gear; a pressing hole for pressing the separation key is provided on the shell.

[0012] Furthermore, the shell includes a shell and a front cover snapped onto the mouth of the shell; a separation key installation cavity is provided on the front cover, and the mouth of the separation key installation cavity is provided with a pressing piece for preventing the separation key from falling out of the separation key installation cavity, and the pressing hole is located on the pressing piece.

[0013] Furthermore, the Bowden cable locking mechanism also includes an "L"-shaped reset pin; a limiting slide groove is provided at the lower portion of the shell; one end of the reset pin is inserted into the limiting hole, and the other end extends into the limiting slide groove.

[0014] Furthermore, a coil spring installation cavity is provided in the spool and is coaxially arranged with the positioning gear installation cavity; the inner ring of the coil spring is connected to the shaft portion of the shell, and the outer ring is connected to the side wall of the coil spring installation cavity.

[0015] Furthermore, the quick plug includes a sliding sleeve, a quick interface and a quick connector; the lower end of the Bowden cable passes through the quick interface and is connected to the quick connector; a ball is embedded on 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 on the lower part of the outer wall of the quick interface to prevent the sliding sleeve from descending; a reset device is provided in the quick interface; the reset device can drive the ball out of the groove.

[0016] Furthermore, the self-locking gripper includes a gripper fixing part, a gripper movable half ring and a buckle; the gripper fixing part 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 buckled with the gripper movable half ring and quickly locked by the buckle.

[0017] Furthermore, the movable half ring of the gripper is connected to the buckle via a ratchet and pawl structure; the ratchet and pawl structure includes a ratchet arranged on the upper part of the movable half ring of the gripper and a pawl arranged on the lower part of the buckle.

[0018] Furthermore, a handle is provided on the upper part of the buckle, and the connecting part includes a connecting shaft and a connecting shell located at the lower part of the connection; 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.

[0019] Furthermore, the connecting shaft and the quick connector are hinged via a pin.

[0020] Compared with the prior art, this application has the following beneficial effects:

[0021] 1. The embodiment of the present application achieves a high degree of rigidity and flexibility by arranging a spool, a Bowden cable and a Bowden cable locking mechanism in the winch device, and arranging a quick plug between the winch device and the self-locking gripper. When the quick plug is in the separated state, the Bowden cable can be freely extended to cope with any complex terrain and various postures. Grabbing tasks; when the quick plug is in the plugged state, the quick gripper is connected to the outer shell of the winch device, assisting medical staff in the stretcher carrying process.

[0022] 2. In the embodiment of the present application, a coil spring is arranged between the spool and the shaft of the housing, so that when the Bowden cable is extended under the action of an external force, the spool is driven to rotate, the coil spring is gradually pre-tightened, and the generated curling force acts on the spool, thereby assisting medical staff in the process of picking up the stretcher.

[0023] 3. The embodiment of the present application realizes the rapid grasping and locking of the stretcher by providing a ratchet pawl mechanism on the self-locking gripper. Thus, during the stretcher transportation process, the hands of medical staff can be freed to the greatest extent, which helps to improve the stability of the entire transportation system.

[0024] 4. In the embodiment of the present 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 is retracted to engage with the quick plug. Therefore, the Bowden cable can be suitable for medical staff of all heights. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0026] FIG1 is a schematic structural diagram of a self-locking grasping assist device suitable for complex terrain according to an embodiment of the present application;

[0027] FIG2 is a cross-sectional view of a winch device in a self-locking grasping assist device suitable for complex terrain according to an embodiment of the present application;

[0028] FIG3 is a schematic diagram of the three-dimensional structure of the winch device of the self-locking grasping assist device suitable for complex terrain according to an embodiment of the present application (with the front cover removed);

[0029] FIG4 is a schematic structural diagram of a housing in a self-locking grasping assist device suitable for complex terrain according to an embodiment of the present application;

[0030] FIG5 is a schematic structural diagram of a spool in a self-locking, power-assisting grasping device suitable for complex terrain according to an embodiment of the present application;

[0031] FIG6 is a schematic structural diagram of a quick plug in a self-locking grip assist device suitable for complex terrain according to an embodiment of the present application;

[0032] FIG7 is a schematic diagram of the three-dimensional structure of a self-locking gripper in a self-locking gripping assist device suitable for complex terrain according to an embodiment of the present application;

[0033] FIG8 is a cross-sectional view of a self-locking gripper in a self-locking gripping assist device suitable for complex terrain according to an embodiment of the present application;

[0034] FIG9 is a schematic diagram of the connection structure between the self-locking grasping assist device suitable for complex terrain and the main exoskeleton according to an embodiment of the present application;

[0035] FIG10 is a diagram showing the state of the self-locking grasping assist device suitable for complex terrain according to an embodiment of the present application when picking up a stretcher;

[0036] FIG11 is a state diagram of the self-locking grasping assist device suitable for complex terrain according to an embodiment of the present application when transporting a stretcher. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0038] In the description of this application, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and 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, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0039] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "install", "connect", and "connect" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0040] 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 the technical features being referred to. Thus, a feature specified as "first" or "second" may explicitly or implicitly include one or more of such features. Throughout this application, unless otherwise specified, "plurality" means two or more.

[0041] 1 , an embodiment of the present application provides a self-locking gripping assist device 100 suitable for complex terrains, comprising a hoisting device 1 , a quick plug 2 , and a self-locking gripper 3 connected in series along the axial direction.

[0042] 2 to 5 , the hoisting device 1 includes a housing 11, and a spool 12, a Bowden cable 13, a coil spring 14, and a Bowden cable locking mechanism 15 disposed within the housing 11. The housing 11 comprises a shell 111 and a front cover 112 that snaps onto the opening of the shell 111. The shell 111 comprises two parts: an upper portion comprising a cylinder 113 extending horizontally and opening forward, and a lower portion comprising a hollow prism 114 extending vertically, with the front side of the hollow prism 114 lower than the front end of the cylinder 113.

[0043] A housing shaft 115 is coaxially disposed within the cylinder 113. The spool 12 is sleeved onto the housing shaft 115. Referring to Figure 5 , the rim of the spool 12 is provided with a Bowden cable fixing hole 121. The upper end of the Bowden cable 13 is wound within the groove of the spool 12 and then secured to the Bowden cable fixing hole 121. The lower end then passes through the hollow prism 114 and connects to the quick connector 2.

[0044] Continuing with Figure 2, the Bowden cable locking mechanism 15 includes a release key 151, a spring pin 152, a positioning gear 153, a ring gear 154, and a winding spring 155. A release key mounting cavity 116 is provided on the front cover 112. The inner cavity of the spool 12 is divided into a positioning gear mounting cavity 122 and a winding spring mounting cavity 123. The ring gear 154 is welded to the opening of the positioning gear mounting cavity 122. The positioning gear 153 is slidably connected to the housing shaft 115 and meshes with the ring gear 154. The ends of the winding spring 155 respectively abut the bottom wall of the positioning gear mounting cavity 122 and the rear end face of the positioning gear 153. The release key 151 is connected to the front end face of the positioning gear 153. A pressure plate 157 is provided at the opening of the release key mounting cavity 116 to prevent the release key 151 from falling out of the release key mounting cavity 116. The pressure plate 157 is provided with a pressing hole 158 for pressing the release key 151. A spring pin 152 is installed between the release key 151 and the housing 11. The spring pin 152 comprises a key control pin and a spring. Specifically, the release key 151 is provided with a radially extending key control pin mounting hole 156. A key control pin is installed within this hole, with a spring interposed between the key control pin and the hole. A retaining hole 117 is also provided on the rear side of the release key mounting cavity 116. This retaining hole 117 is located near the positioning gear 153. When the release key 151 is pressed, the key control pin enters the retaining hole 117.

[0045] The coil spring mounting cavity 123 is coaxially arranged with the positioning gear mounting cavity 122. A coil spring 14 is mounted within the coil spring mounting cavity 123. Referring to Figure 5 , the sidewalls of the coil spring mounting cavity 123 are provided with a coil spring through hole 124 and a coil spring fixing hole 125. The inner ring of the coil spring 14 engages with a slot in the housing shaft 115, while the outer ring passes through the coil spring through hole 124 and is fixed to the coil spring fixing hole 125 with screws.

[0046] Before pressing the release button 151, the spring pin 152 is blocked outside the release button mounting cavity 116 by the elastic force of the winding spring 155 and is in a free state. When the release button 151 is pressed, the spring pin 152 retracts and enters the release button mounting cavity 116 and then enters the limiting hole 117. The release button 151 pushes the positioning gear 153 connected to it backward, causing it to disengage from the ring gear 154 fixed to the spool 12. At this time, due to the presence of the coil spring 12, the spool 12 is in a semi-free state and is only subjected to the winding force of the coil spring 14 during rotation. When the Bowden cable 13 is extended by an external force, it will drive the spool 12 to rotate, and the coil spring 14 will gradually pre-tighten, generating a winding force that acts on the spool 12. This makes it suitable for grasping tasks in any complex terrain and various postures, and can assist medical staff when picking up stretchers. When the external force acting on the Bowden cable 13 disappears, the coil spring 14 gradually returns to a relaxed state under the action of the preload force, thereby driving the spool 12 to rotate, and the Bowden cable 13 is then wound onto the spool 12. In this way, the length of the Bowden cable 13 can be automatically adjusted after the stretcher is picked up.

[0047] To accommodate medical personnel of varying heights, the Bowden cable locking mechanism 15 also includes an L-shaped reset pin 159. A long, narrow limiting slot 118 is provided on the hollow prism 114 at the bottom 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 slot 118. Thus, when a tall medical personnel stands up after picking up the stretcher, they can manually push the reset pin 159 upward, forcing the spring pin 152 out of the limiting hole 117. The release key 151 then resets under the elastic force of the spring 155, driving the positioning gear 153 forward and engaging the ring gear 154, thereby prematurely ending the rotation of the spool 12 and achieving the optimal size.

[0048] Referring to Figure 6 , the quick plug 2 includes a sleeve 21, a quick interface 22, and a quick connector 23. The interior of the quick interface 22 is continuous from top to bottom, and the quick connector 23 is a shaft-like structure. The sleeve 21 is mounted on the quick interface 22, and a ball bearing 211 is embedded in the inner wall of the sleeve 21. The quick interface 22 is located above the quick connector 23, and the lower end of the Bowden cable 13 passes through the quick interface 22 and is connected to the quick connector 23. The upper portion of the quick interface 22 is threadedly connected to the hollow prism 114 of the hoisting device 1. A retaining groove 221 is provided on its outer wall, which is compatible with the ball bearing 211. A retaining ring 222 is also provided on its lower outer wall to prevent the sleeve 21 from descending. A reset device 223 is provided within the quick interface 22. The reset device 223 includes a reset sleeve 224 and a reset spring 225. The reset spring 225 pushes the reset sleeve 224 downward, thereby dislodging the ball bearing 211 from the retaining groove 221. Specifically, when the stretcher needs to be picked up, the quick plug 2 is in a separated state, that is, the quick interface 22 and the quick connector 23 are not connected. At this time, the Bowden cable 13 can be freely extended. When the stretcher is picked up and the medical staff stands up, the distance between the quick plug 2 and the hoisting device 1 becomes smaller, and the Bowden cable 13 automatically shrinks. When it shrinks to the position shown in Figure 6, the quick connector 23 pushes the quick interface 22 and the sliding sleeve 21 to move upward until the sliding sleeve 21 moves up to the upper limit position and is limited. 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 housing 11 of the hoisting device 1, and the quick connector 23 is fixedly connected to the self-locking gripper 3, the three are now rigidly connected, which can assist the medical staff during the transportation process. It should be noted that the structure of the quick plug 2 is similar to that of the existing quick connector 23. Its specific structure will not be described in detail here.

[0049] 7 and 8 , the self-locking gripper 3 includes a gripper fixing member 31, a gripper movable half ring 32 and a buckle 33. The gripper fixing member 31 includes a connecting portion and a gripper fixing half ring 311. The connecting portion includes a connecting shaft 312 and a connecting shell 313 located at the lower portion of the connecting shaft. The connecting shaft 312 and the quick connector 23 are hinged via a pin 4. The lower portion of the gripper fixing half ring 311 is hinged to the lower portion of the gripper movable half ring 32, and the upper portion of the gripper movable half ring 32 is buckled with the gripper movable half ring 32 and quickly locked via the buckle 33. Specifically, the gripper movable half ring 32 and the buckle 33 are connected via a ratchet and pawl structure, and the ratchet and pawl structure includes a ratchet 321 provided on the upper portion of the gripper movable half ring 32 and a pawl 331 provided on the lower portion of the buckle 33. A handle 332 is provided on the upper portion of the buckle 33. An opening 314 is provided on the side of the connecting shell 313 facing the movable gripper half ring 32. The handle 332 extends out of the opening 314 and abuts against the upper sidewall of the opening 314. When the self-locking gripper 3 grasps the stretcher handle, the handle 332 is stuck, preventing the pawl 331 from moving backward, and the movable gripper half ring 32 from rotating backward (opening). When the handle 332 of the buckle 33 is depressed, the movable gripper half ring 32 can move backward and open, releasing the stretcher handle. Thus, the self-locking gripper 3 can grasp and lock the stretcher handle.

[0050] The working principle of the embodiment of this application is as follows:

[0051] Referring to Figure 9 , the present embodiment of the present invention is used in pairs of two. Before use, the hoisting device 1 of the present embodiment is connected to the left and right hip joints of the main exoskeleton 200 worn by the medical staff. Specifically, a bolt is welded to the center of the back of the housing 11 of the hoisting device 1, and then connected to the hip joints of the main exoskeleton via the bolts.

[0052] Referring to Figure 10 , when it is necessary to grab a stretcher, the release button 151 in the hoisting device 1 is first pressed, allowing the Bowden cable 13 to extend freely. It should also be noted that at this point, the quick plug 2 is in a disengaged state due to the action of the reset device 223 in the quick plug 2. After the medical staff squats down, they hold the self-locking gripper 3 and buckle it against the handle of the stretcher 300. The self-locking gripper 3 automatically locks the handle of the stretcher 300. This process is similar to the principle of handcuffs. During this process, the Bowden cable 13 is stretched and elongated by the external force, driving the spool 12 to rotate, and the coil spring 14 is gradually pre-tightened. The resulting coiling force acts on the spool 12. Due to the flexibility of the Bowden cable 13, it can be used for grabbing tasks in any complex terrain and various postures. The pre-tightening force of the coil spring 14 can assist the medical staff when picking up the stretcher.

[0053] When the lifting device 1 is lifted up, the distance between the lifting device 1 and the self-locking gripper 3 is reduced, the external force acting on the Bowden cable 13 disappears, and the coil spring 14 gradually returns to a relaxed state under the action of the pre-tightening force, thereby driving the spool 12 to rotate, and the Bowden cable 13 is then wound around the spool 12. When it is retracted 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 up to the upper limit position and is limited. The convex portion 212 in the sliding sleeve 21 squeezes the ball 211 to make it fit into the card groove 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 housing 11 of the lifting device 1, and the quick connector 23 is fixedly connected to the self-locking gripper 3, the three are rigidly connected at this time, which can assist the medical staff in the process of moving. At the same time, since the self-locking grippers 3 always lock the handles of the stretcher, the medical staff can still free their hands, balance their bodies and improve stability during the transportation process.

[0054] In addition, when the medical staff is tall, they can manually push the reset pin 159 when standing up after picking up the stretcher, so that the reset pin 159 is inserted into the mounting hole 117 of the front cover 112, thereby ending the rotation of the spool 12 in advance to obtain the optimal size.

[0055] The above are only specific embodiments of the present application, but the scope of protection of the present application is not limited thereto. Any changes or replacements within the technical scope disclosed in this application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A self-locking grabbing assist device suitable for complex terrain, characterized in that: The invention comprises a hoisting device, a quick plug and a self-locking gripper which are connected in series in the axial direction; the hoisting device comprises a shell and a bobbin, a Bowden wire, a coil spring and a Bowden wire locking mechanism arranged in the shell; a shell shaft is arranged in the shell, and the bobbin is sleeved on the shell shaft; the upper end of the Bowden wire is connected and wound on the bobbin, and the lower end is connected to the quick plug; the coil spring is arranged between the shell shaft and the bobbin and can provide the bobbin with a coiling 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 grasping 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 grasps the stretcher handle, and quickly connect the self-locking gripper to the shell of the hoisting device.

2. The self-locking grabbing assisting device suitable for complex terrain according to claim 1, characterized in that: The Bowden cable locking mechanism includes a separation key, a positioning gear, a ring gear and a clockwork spring; a positioning gear installation cavity is provided in the spool; the ring gear is fixedly connected to the mouth of the positioning gear installation cavity; the positioning gear is slidably connected to the shaft of the shell and meshes with the ring gear; the two ends of the clockwork spring respectively abut the bottom wall of the positioning gear installation cavity and the first end face of the positioning gear; the separation key is connected to the second end face of the positioning gear, a spring pin is provided between the separation key and the shell, and a radially penetrating limiting hole is provided at the bottom of the shell; the limiting hole is arranged close to the positioning gear; a pressing hole for pressing the separation key is provided on the shell.

3. The self-locking grab assist device suitable for complex terrain according to claim 2, characterized in that: The shell includes a shell and a front cover that is snapped onto the mouth of the shell; a separation key installation cavity is provided on the front cover, and a pressing sheet is provided at the mouth of the separation key installation cavity for preventing the separation key from escaping from the separation key installation cavity, and the pressing hole is located on the pressing sheet.

4. The self-locking grab assist device suitable for complex terrain according to claim 3, characterized in that: The Bowden cable locking mechanism also includes an "L"-shaped reset pin; a limiting slide groove is provided at the lower part of the shell; one end of the reset pin is inserted into the limiting hole, and the other end extends into the limiting slide groove.

5. The self-locking grab assist device suitable for complex terrain according to claim 4, characterized in that: The bobbin is also provided with a coil spring installation cavity coaxially arranged with the positioning gear installation cavity; the inner ring of the coil spring is connected to the shaft portion of the shell, and the outer ring is connected to the side wall of the coil spring installation cavity.

6. The self-locking grasping assisting device suitable for complex terrain according to claim 1, characterized in that: The quick plug includes a sliding sleeve, a quick interface and a quick connector; the lower end of the Bowden cable passes through the quick interface and is connected to the quick connector; a ball is embedded on the inner wall of the sliding sleeve, and a groove matched with the ball is provided on the outer wall of the quick connector; a clamping ring is provided at the lower part of the outer wall of the quick connector to prevent the sliding sleeve from descending; a reset device is provided in the quick interface; the reset device can drive the ball to escape from the groove.

7. The self-locking grab assist device suitable for complex terrain according to claim 1, characterized in that: The self-locking gripper includes a gripper fixing part, a gripper movable half ring and a buckle; the gripper fixing part 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, the upper part of the gripper movable half ring is buckled with the gripper movable half ring and quickly locked by the buckle.

8. The self-locking grab assist device suitable for complex terrain according to claim 7, characterized in that: The movable half ring of the gripper is connected to the buckle via a ratchet and pawl structure; the ratchet and pawl structure comprises a ratchet tooth arranged on the upper part of the movable half ring of the gripper and a pawl arranged on the lower part of the buckle.

9. The self-locking grab assist device suitable for complex terrain according to claim 8, characterized in that: A handle is provided on the upper part of the buckle, and the connecting part includes a connecting shaft and a connecting shell located at the lower part of the connection; an opening is provided on the side of the connecting shell 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.

10. The self-locking grasping assisting device suitable for complex terrain according to claim 9, characterized in that: The connecting shaft and the quick connector are hinged via a pin.

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