A compound type file taking robot for a compact shelf

Abstract

The application discloses a composite file taking and placing robot for a compact shelf, which comprises a file taking and placing mechanism, wherein the file taking and placing mechanism comprises a lifting mechanism, the top of the lifting mechanism is provided with an external pulling mechanism and a clamping mechanism, the external pulling mechanism comprises a first connecting rod pulled by a pulling spring, the outer end of the first connecting rod is provided with a transversely extending rod, a first conductive terminal is arranged on the first connecting rod, the first conductive terminal is attached to a first resistance coil, the first resistance coil, the first conductive terminal and a first power supply form a first loop; the clamping mechanism comprises an electric clamp jaw, one clamping arm of the electric clamp jaw is provided with a second connecting rod pushed by a spring, the outer end of the second connecting rod is connected with a clamping block, a second conductive terminal is arranged on the second connecting rod, the second conductive terminal is attached to a second resistance coil, the second resistance coil, the second conductive terminal and a second power supply form a second loop, and the first current value of the first loop and the second current value of the second loop are collected by a control device. The clamping force can be adjusted according to the weight of the file box.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of file management, and particularly relates to a composite file taking robot for a compact shelf and a file taking and placing mechanism of the composite file taking robot. BACKGROUND

[0002] The compact cabinet is a new type of tool for storing books, archives, goods, and financial documents, and has a large storage capacity and saves space compared with traditional bookshelves, goods shelves and file shelves. The traditional compact shelf stores and takes files manually, and the compact shelf is high, so it is inconvenient for manual taking of goods, and personnel cannot easily carry heavy goods, which wastes manpower and resources. With the increasing requirement for the safety of archives, and in order to make it more convenient to store and take files, a robot for automatically storing and taking files has appeared.

[0003] CN111113367A discloses a file management robot, which comprises a controller, an autonomous navigation moving device, an identification device and an execution device. The execution device comprises a lifting mechanism, a mechanical arm and a suction device. The lifting mechanism is connected with the suction device through the mechanical arm, and the end of the lifting mechanism away from the mechanical arm is connected with the autonomous navigation moving device. The lifting mechanism is used to drive the suction device to reciprocate in the vertical direction. The free end of the mechanical arm is connected with the suction device, and the suction device is used to suck and fix the file. The suction device comprises a support frame, a second driving mechanism, a sliding mechanism and a suction part. One end of the support frame is connected with the free end of the mechanical arm. The second driving mechanism and the sliding mechanism are arranged on the support frame. The second driving mechanism is in transmission connection with the suction part through the sliding mechanism. The second driving mechanism is in electrical signal connection with the controller. The controller controls the opening and closing of the second driving mechanism according to the information fed back by the identification device. The second driving mechanism is used to drive the suction part to move along the sliding mechanism. The suction part is provided with a suction disc for contacting the file. However, the file is generally stored in a file bag or a file box, the suction and fixing effect of the suction disc is poor, and the file is easy to fall off. After falling off, the file needs to be manually picked up, which leads to poor use effect.

[0004] For example, CN114313741A discloses an archive management robot, which discloses another structure for taking and placing archives. The end of the clamping rod is connected with a clamping seat, which includes two vertical plates, a bottom plate and a plurality of connecting rods. The bottom plate is elastically connected with the clamping rod. The connecting rods are hinged between the vertical plate and the clamping rod, and the connecting rods are hinged between the bottom plate and the vertical plate. The distance between the two connecting rods hinged to the clamping rod and the bottom plate is the same as the distance between the connecting rods hinged to the same vertical plate, i.e. forming a parallelogram structure, so that the two vertical plates can move towards or away from each other. When the clamping rod is extended, the bottom plate first contacts the vertical surface of the archive box, and the archive box is pressed against the first vertical rod. The clamping rod continues to extend, the bottom plate does not move, the clamping rod pushes the connecting rod, and the vertical plate clamps the two sides of the archive box, thereby clamping the archive box from four sides, and the effect is more reliable. When the archive box needs to be released, the reverse operation is performed, i.e. the archive box is released. The above-mentioned archive management robot takes and places the archive box or archive bag by clamping, and the clamping rod is extended and retracted to clamp and release the archive box. However, the clamping force of this clamping structure is determined by the extension amount of the elastic connection structure (spring), and only a specific size of force can be set for a specific size of archive box. The premise of use is to unify the archive box. However, in many cases, the size of the archive box and the weight of the archive box will differ to some extent. Therefore, this clamping device cannot meet the clamping requirements of archive boxes of different sizes and weights. Overly heavy archive boxes are prone to falling, overly large archive boxes are prone to being clamped, and overly small archive boxes are prone to being clamped. SUMMARY

[0005] The present application provides a composite archive taking robot for compact shelves, which can be applied to clamping archive boxes of different sizes and can automatically adjust the clamping force according to the weight of the archive box. It can meet the clamping requirements of archive boxes of different sizes and weights, and will not damage the archive box due to excessive clamping force or cause the archive box to fall due to insufficient clamping force.

[0006] In order to solve the above technical problems, the application is solved by the following technical scheme: a composite file taking robot for compact shelves, comprising a robot main body, the robot main body comprising a mobile execution mechanism, a file taking and placing mechanism and a control device, the file taking and placing mechanism being provided with a visual recognition device, the mobile execution mechanism, the file taking and placing mechanism and the visual recognition device being electrically connected with the control device, the file taking and placing mechanism comprising a lifting mechanism, the lifting mechanism being provided at the top with an external pulling mechanism and a clamping mechanism, the external pulling mechanism comprising a first guide sleeve, the first guide sleeve being provided inside with a first connecting rod, the outer end of the first connecting rod being provided with a transversely extending rod, the first guide sleeve being provided inside with a first resistance coil, the first connecting rod being provided with a first conductive terminal which is in contact with the first resistance coil, a tension spring being provided between the first conductive terminal and the end of the first guide sleeve, the first resistance coil, the first conductive terminal and a first power source forming a first loop, when the mobile execution mechanism pulls the file box in cooperation with the external pulling mechanism, the control device collects the first current value of the first loop; the clamping mechanism comprising an electrically operated clamping jaw, the electrically operated clamping jaw comprising two clamping arms, one of the clamping arms being provided with a second guide sleeve, the second guide sleeve being provided inside with a second connecting rod, the outer end of the second connecting rod being connected with a clamping block between the two clamping arms, the second guide sleeve being provided inside with a second resistance coil, the second connecting rod being provided with a second conductive terminal which is in contact with the second resistance coil, a spring being provided between the second conductive terminal and the end of the second guide sleeve, the second resistance coil, the second conductive terminal and a second power source forming a second loop, when the electrically operated clamping jaw performs the clamping file box action, the control device collects the second current value of the second loop; when the second current value change reaches the set ratio of the first current value change, the control device controls the electrically operated clamping jaw to stop the clamping action.

[0007] In the above technical scheme, preferably, the control device comprises a main control chip, and the main control chip collects the first current value and the second current value through a Hall sensor.

[0008] In the above technical scheme, preferably, the clamping arm provided with the clamping block is provided with a plurality of guide holes, and the clamping block is provided with a plurality of guide rods which are correspondingly arranged in the guide holes.

[0009] In the above technical scheme, preferably, the electrically operated clamping jaw comprises a shell, the shell being provided at the side with a transversely extending sliding groove, the two clamping arms being slidably arranged in the transversely extending sliding groove, the shell being provided inside with a screw rod which is arranged in the same direction as the transversely extending sliding groove, the screw threads on the two sides of the screw rod being opposite in direction, one end of the two clamping arms in the shell being respectively threadedly connected with the opposite screw threads on the screw rod, the screw rod being driven by an electric motor, and the electric motor being electrically connected with the control device.

[0010] Preferably, in the technical scheme, the visual recognition device is arranged at the bottom center of the electric clamping jaw.

[0011] Preferably, in the technical scheme, one end of the first guide sleeve is threadedly connected with a first positioning seat, the other end of the first guide sleeve is inwardly bent, the inner diameter of one side of the first guide sleeve near the bent end is larger than that of the other side, a first cylindrical limiting piece is arranged at the large inner diameter side of the first guide sleeve, a first limiting ring is extended inwardly from one end of the first cylindrical limiting piece near the first positioning seat, a first positioning cylinder is arranged at the inner side of the other end of the first cylindrical limiting piece away from the first positioning seat, the first electric resistance coil is arranged between the first positioning cylinder and the first limiting ring, the first connecting rod is arranged in the first positioning cylinder, a first conductive terminal is threadedly connected with one end of the first connecting rod in the first electric resistance coil, a tension spring is arranged between the first conductive terminal and the first positioning seat, and the outer diameter of the first conductive terminal is larger than the inner diameter of the first limiting ring.

[0012] Preferably, in the technical scheme, one end of the second guide sleeve is threadedly connected with a second positioning seat, the other end of the second guide sleeve is closed except for a wire hole, the inner diameter of one side of the second guide sleeve near the second positioning seat is larger than that of the other side, a second cylindrical limiting piece is arranged at the large inner diameter side of the second guide sleeve, a second limiting ring is extended inwardly from one end of the second cylindrical limiting piece away from the second positioning seat, the second electric resistance coil is arranged between the second positioning seat and the second limiting ring, a second conductive terminal is threadedly connected with one end of the second connecting rod in the second electric resistance coil, and a spring is arranged between the second conductive terminal and one end of the second guide sleeve with the wire hole.

[0013] Compared with the prior art, the compound file taking robot for the compact shelf has the following beneficial effects: the robot can be applied to clamping and taking file boxes of different sizes, and can automatically adjust the clamping force according to the weight of the file box, so that the file box of different sizes and weights can be clamped and taken without damaging the file box due to excessive clamping force or causing the file box to fall due to insufficient clamping force. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 FIG. 1 is a structural schematic view of a file taking and placing mechanism in an embodiment of the present application.

[0015] Figure 2 FIG. 3 is a structural schematic view of an outer pulling mechanism and a clamping mechanism in an embodiment of the present application.

[0016] Figure 3 FIG. 4 is a partial sectional view of the outer pulling mechanism in an embodiment of the present application.

[0017] Figure 4A cross-sectional structure schematic diagram of the clamping mechanism in the embodiment of the present application.

[0018] Figure 5 A cross-sectional structure schematic diagram of the clamping mechanism in the embodiment of the present application.

[0019] Figure 6 A Figure 5 partial enlarged view. Embodiment

[0020] The present application will be further described in conjunction with the drawings and specific embodiments: refer to Figures 1 to 6 A compound type file taking robot for a compact shelf, comprising a robot main body, the robot main body comprising a moving execution mechanism, a file taking and placing mechanism 1 and a control device, the file taking and placing mechanism 1 is provided with a visual recognition device 2, the moving execution mechanism, the file taking and placing mechanism 1 and the visual recognition device 2 are all electrically connected with the control device, wherein the moving execution mechanism is prior art, including a mechanism similar to a vehicle body with wheels, which realizes the position movement of the vehicle body through the control of the control device, the visual recognition device 2 and the control device are also prior art, and their specific structures will not be described herein.

[0021] The file taking and placing mechanism 1 comprises a lifting mechanism 3, the top of the lifting mechanism 3 is provided with an external pulling mechanism 4 and a clamping mechanism 5, the lifting mechanism 3 can adopt any one of the prior art, and the external pulling mechanism 4 and the clamping mechanism 5 are lifted through the control of the control device, so that the external pulling mechanism 4 and the clamping mechanism 5 can cooperate to clamp various different height file boxes, the external pulling mechanism 4 comprises a first guide sleeve 41, a first connecting rod 42 is slidably arranged in the first guide sleeve 41, a transversely extending rod 43 is arranged at the outer end of the first connecting rod 42, a first resistance coil 44 is arranged in the first guide sleeve 41, a first conductive terminal 45 is arranged on the first connecting rod 42 and abuts against the first resistance coil 44, a tension spring 46 is arranged between the first conductive terminal 45 and the end of the first guide sleeve 41, the first resistance coil 44, the first conductive terminal 45 and a first power source form a first loop, when the moving execution mechanism pulls the file box in cooperation with the external pulling mechanism 4, the first current value of the first loop is collected by the control device, the first current value is positively correlated with the pulling force of the first connecting rod 42, the connection position of the wire and the first resistance coil 44 is located close to one end of the transversely extending rod 43, in the case that the first connecting rod 42 is not pulled, the first conductive terminal 45 is located at the end of the first resistance coil 44 far away from the transversely extending rod 43, in the case that the first connecting rod 42 is not pulled, the resistance value of the first resistance coil 44 connected to the first loop is the largest, with the increase of the pulling force of the first connecting rod 42, the current gradually increases, and the positive correlation is presented; the clamping mechanism 5 comprises an electrically operated clamping jaw 51, the electrically operated clamping jaw 51 comprises two clamping arms 52, one of the two clamping arms 52 is provided with a second guide sleeve 53, a second connecting rod 54 is slidably arranged in the second guide sleeve 53, the second connecting rod 54 is connected to a clamping block 55 located between the two clamping arms 52 at the outer end, a second resistance coil 56 is arranged in the second guide sleeve 53, a second conductive terminal 57 is arranged on the second connecting rod 54 and abuts against the second resistance coil 56, a spring 58 is arranged between the second conductive terminal 57 and the end of the second guide sleeve 53, the second resistance coil 56, the second conductive terminal 57 and a second power source form a second loop, when the electrically operated clamping jaw 51 performs the clamping action of the file box, the second current value of the second loop is collected by the control device, the second current value is positively correlated with the pressure of the second connecting rod 54, the connection position of the wire and the second resistance coil 56 is located away from the clamping block 55, in the case that the second connecting rod 54 is not pressed, the second conductive terminal 57 is located at the end of the second resistance coil 44 close to the clamping block 55, the resistance value of the second resistance coil 56 connected to the second loop is the largest, with the increase of the pressure on the second connecting rod 54, the current gradually increases, and the positive correlation is presented; when the variation amount of the second current value reaches the set proportion of the variation amount of the first current value, the control device controls the electrically operated clamping jaw 51 to stop the clamping action.

[0022] The composite file taking robot can move the horizontally extending rod 43 to the rear of the file box to be taken by the cooperation of the moving executive mechanism, the visual recognition device 2 and the lifting mechanism 3, and then move the file box in the file box storage slot of the compact shelf by the extending rod 43. In the process of moving the file box by the extending rod, the first connecting rod 42 is pulled outwards due to the friction force, and the greater the pulling force is, the greater the first current is. The control device records the first current value, and then moves the clamping arms 52 of the electric clamping jaw 51 to the two sides of the file box to be taken by the moving executive mechanism. The control device starts the motor to move the two clamping arms 52 towards each other. When one of the clamping arms 52 contacts the file box through the clamping block 55, with the continuous movement of the two clamping arms 52 towards each other, the second connecting rod 54 is compressed by the pressure of the file box, and the greater the pressure is, the greater the second current is. When the second current value reaches the set ratio of the first current value, the control device controls the electric clamping jaw 51 to stop the clamping action. The ratio of the change amount of the second current value to the change amount of the first current value needs to be set according to the actual situation, and the influencing factors are the resistance value X1 of the first resistance coil 44 per unit length, the voltage V1 of the first power supply, the stiffness coefficient K1 of the tension spring 46, the friction coefficient μ1 of the file box and the compact shelf, the resistance value X2 of the second resistance coil 56 per unit length, the voltage V2 of the second power supply and the stiffness coefficient K2 of the spring 58, and the friction coefficient μ2 of the file box and the electric clamping jaw. When the change amount of the first current value is I1, the change amount of the second current value I2≥2×V2×K2×I1×X1×μ1×μ2 / (V1×K1×X2), the control device controls the electric clamping jaw to stop the clamping action. Among them, only I1 is a variable, and T=2×V2×K2×X1×μ1×μ2 / (V1×K1×X2), it can be known that I2≥I1×T, the control device controls the electric clamping jaw to stop the clamping action. In order to prevent the taken file box from falling, T can be slightly increased according to the need, but it cannot be too large to damage the file box.

[0023] The compact shelf composite file taking robot can be applied to the clamping of file boxes of different sizes, and can automatically adjust the clamping force according to the weight of the file box. Since the clamping control is only related to the pressure on the second connecting rod 54, and is not related to the stroke and spacing of the clamping arm 52, it can meet the clamping of file boxes of different sizes and weights without damaging the file box due to excessive clamping force or causing the file box to fall due to insufficient clamping force.

[0024] In the embodiment, in order to conveniently collect the first current value and the second current value, the control device includes a main control chip, and the main control chip collects the first current value and the second current value through a Hall sensor.

[0025] In this embodiment, in order to enable the clamping block 55 to move stably with the clamping arm 52, the clamping arm 52 provided with the clamping block 55 is provided with two guide holes 521, and the clamping block 55 is provided with two guide rods 551, which are correspondingly arranged in the two guide holes 551.

[0026] In this embodiment, the electric clamping jaw 51 comprises a housing 511, the lateral surface of which is provided with a transverse sliding groove 512, two clamping arms 52 are slidingly arranged on the transverse sliding groove 512, and a screw rod 513 is arranged in the housing 511 in the same direction as the transverse sliding groove 512. The screw threads on the two sides of the screw rod 513 are opposite in direction, and the ends of the two clamping arms 52 located in the housing 511 are respectively threadedly connected with the opposite screw threads on the screw rod 513. The screw rod 513 is driven by a motor 514, and the motor 514 is electrically connected with a control device. The electric clamping jaw 51 can drive the two clamping arms 52 to move towards or away from each other through forward and reverse rotation of the motor 514, so as to realize clamping or unclamping of the file box.

[0027] In this embodiment, in order to accurately position, the visual recognition device 2 is arranged at the bottom center of the electric clamping jaw 51.

[0028] Referring to Figure 3 In this embodiment, for the convenience of assembly, a first positioning seat 47 is threadedly connected to one end of the first guide sleeve 41, the other end of the first guide sleeve 41 is inwardly bent, a hole is left in the center of the bent end for the first connecting rod 42 to pass through, the inner diameter of one side of the first guide sleeve 41 close to the bent end is larger than that of the other side, a first cylindrical limiting part 48 is fixedly arranged in the first guide sleeve 41 at the large inner diameter side, a first limiting ring 481 extends inwardly from one end of the first cylindrical limiting part 48 close to the first positioning seat 47, a first positioning cylinder 49 is arranged on the inner side of the other end of the first cylindrical limiting part 48 away from the first positioning seat 47, a first resistance coil 44 is arranged between the first positioning cylinder 49 and the first limiting ring 481, the first connecting rod 42 passes through the first positioning cylinder 49, the first positioning cylinder 49 is used for positioning the first resistance coil 44 and guiding the first connecting rod 42, and the outer side of the first positioning cylinder 49 is limited and fixed by the bent part of the end of the first guide sleeve 41. One end of the first connecting rod 42 located in the first resistance coil 44 is threadedly connected with a first conductive terminal 45, a tension spring 46 is arranged between the first conductive terminal 45 and the first positioning seat 47, and in order to limit the first conductive terminal 45 to slide in the first resistance coil 44, the outer diameter of the first conductive terminal 45 is larger than the inner diameter of the first limiting ring 481.

[0029] Referring to Figure 6In the embodiment, for convenience of assembly, the second guide sleeve 53 is threadedly connected with a second positioning seat 59 at one end, and is closed at the other end except for the wire hole 531. The inner diameter of the second guide sleeve 53 close to the second positioning seat 59 is larger than that of the other side, and the second guide sleeve 53 is provided with a second cylindrical limiting part 510 at the side with large inner diameter. The second cylindrical limiting part 510 is extended inwardly at the end away from the second positioning seat 59, and is provided with a second limiting ring 511. The second positioning seat 59 and the second limiting ring 511 are provided with a second resistance coil 56 therebetween. The second connecting rod 54 is threadedly connected with a second conductive terminal 57 at the end located in the second resistance coil 56. The second conductive terminal 57 and the end of the second guide sleeve 53 with the wire hole 531 are provided with a spring 58 therebetween.

[0030] The above is only the preferred embodiment of the present application, and it should be noted that those skilled in the art can make several improvements and refinements without departing from the principles of the present application, and these improvements and refinements should also be considered as the protection scope of the present application.

Claims

1. A composite file retrieval robot for mobile shelving, comprising a robot body, the robot body including a mobile execution mechanism, a file retrieval and placement mechanism (1) and a control device, wherein a visual recognition device (2) is provided on the file retrieval and placement mechanism (1), the mobile execution mechanism, the file retrieval and placement mechanism (1) and the visual recognition device (2) are all electrically connected to the control device, and the file retrieval and placement mechanism (1) includes a lifting mechanism (3), characterized in that: The lifting mechanism (3) top is provided with an outer pull mechanism (4) and a clamping mechanism (5), the outer pull mechanism (4) includes a first guide sleeve (41), a first connecting rod (42) is slidably arranged in the first guide sleeve (41), the first connecting rod (42) is provided with a transversely extending rod (43) at the outer end, the first guide sleeve (41) is provided with a first resistance coil (44), the first connecting rod (42) is provided with a first conductive terminal (45) which is attached to the first resistance coil (44), a tension spring (46) is arranged between the first conductive terminal (45) and the end of the first guide sleeve (41), the first resistance coil (44), the first conductive terminal (45) and the first power source form a first loop, when the mobile executive mechanism pulls the file box in cooperation with the outer pull mechanism (4), the control device collects the first current value of the first loop; the clamping mechanism (5) includes an electric clamp jaw (51), the electric clamp jaw (51) includes two clamping arms (52), one of the clamping arms (52) is provided with a second guide sleeve (53), a second connecting rod (54) is slidably arranged in the second guide sleeve (53), the second connecting rod (54) is connected to a clamping block (55) between the two clamping arms (52) at the outer end, the second guide sleeve (53) is provided with a second resistance coil (56), the second connecting rod (54) is provided with a second conductive terminal (57) which is attached to the second resistance coil (56), a spring (58) is arranged between the second conductive terminal (57) and the end of the second guide sleeve (53), the second resistance coil (56), the second conductive terminal (57) and the second power source form a second loop, when the electric clamp jaw (51) performs the clamping file box action, the control device collects the second current value of the second loop; when the second current value change reaches the set ratio of the first current value change, the control device controls the electric clamp jaw (51) to stop the clamping action.

2. The combined type file taking robot for a compact shelf according to claim 1, characterized in that: The control device includes a master control chip, and the master control chip collects the first current value and the second current value through a Hall sensor.

3. The combined type file taking robot for a compact shelf according to claim 1, characterized in that: The clamping arm (52) provided with the clamping block (55) is provided with a plurality of guide holes (521), and the clamping block (55) is provided with a plurality of guide rods (551), the guide rods (551) are correspondingly arranged in the guide holes (521).

4. The compound type file taking robot for a compact shelf according to claim 1, characterized in that: The electric clamp jaw (51) includes a housing (511), the housing (511) is provided with a transverse sliding groove (512) on the side, the two clamping arms (52) are slidably arranged on the transverse sliding groove (512), a screw rod (513) is arranged in the housing (511) and is in the same direction as the transverse sliding groove (512), the screw threads on the two sides of the screw rod (513) are opposite, one end of the two clamping arms (52) in the housing (511) is respectively matched with the opposite screw threads on the screw rod (513), the screw rod (513) is driven by a motor (514), and the motor (514) is electrically connected with the control device.

5. The combined type file taking robot for a compact shelf according to claim 1, wherein: The visual recognition device (2) is arranged at the bottom center of the electric clamping jaw (51).

6. The compound type file taking robot for a compact shelf according to claim 1, characterized in that: One end of the first guide sleeve (41) is threadedly connected with a first positioning seat (47), the other end of the first guide sleeve (41) is inwardly bent, the inner diameter of one side of the first guide sleeve (41) close to the bent end is larger than that of the other side, the first guide sleeve (41) is provided with a first cylindrical limiting piece (48) at the large inner diameter side, one end of the first cylindrical limiting piece (48) close to the first positioning seat (47) extends inwardly with a first limiting ring (481), the inner side of the other end of the first cylindrical limiting piece (48) away from the first positioning seat (47) is provided with a first positioning cylinder (49), the first positioning cylinder (49) and the first limiting ring (481) are provided with the first resistance coil (44) therebetween, the first connecting rod (42) is arranged in the first positioning cylinder (49), one end of the first connecting rod (42) located in the first resistance coil (44) is threadedly connected with a first conductive terminal (45), the first conductive terminal (45) and the first positioning seat (47) are provided with a tension spring (46) therebetween, the outer diameter of the first conductive terminal (45) is larger than the inner diameter of the first limiting ring (481).

7. The combined type file taking robot for a compact shelf according to claim 1, wherein: One end of the second guide sleeve (53) is threadedly connected with a second positioning seat (59), the other end of the second guide sleeve (53) is closed except for a wire hole (531), the inner diameter of one side of the second guide sleeve (53) close to the second positioning seat (59) is larger than that of the other side, the second guide sleeve (53) is provided with a second cylindrical limiting piece (510) at the large inner diameter side, one end of the second cylindrical limiting piece (510) away from the second positioning seat (59) extends inwardly with a second limiting ring, the second positioning seat (59) and the second limiting ring are provided with the second resistance coil (56) therebetween, one end of the second connecting rod (54) located in the second resistance coil (56) is threadedly connected with a second conductive terminal (57), the second conductive terminal (57) and one end of the second guide sleeve (53) with the wire hole (531) are provided with a spring (58) therebetween.

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