An anti-collision intelligent guidance robot

Abstract

The present invention discloses an anti-collision intelligent guidance robot, which relates to the field of robots and includes a base, a driving seat for providing driving force for the device is provided below the base, a mounting seat is provided above the base, a robot body is provided above the mounting seat, an anti-collision plate is provided on the outside of the mounting seat, and the top cross-section of the anti-collision plate is designed as an arc-shaped structure. The anti-collision plates are evenly distributed on the outside of the mounting seat to form a ring-shaped structure. A monitoring mechanism is installed on the outside of the anti-collision plate to detect obstacles outside the anti-collision plate. The anti-collision intelligent guidance robot can provide anti-collision protection for the mounting seat through the anti-collision plate with a ring-shaped structure formed on the outside of the mounting seat, and can provide all-round protection of the circumference. The anti-collision plate is located outside the mounting seat to prevent collisions from directly acting on the mounting seat, thereby improving the anti-collision effect of the device.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to an anti-collision intelligent guiding robot. Background Art

[0002] Intelligent robot technology has begun to continuously penetrate into various fields of human activities. Combined with the application characteristics of these fields, people have developed a variety of special robots and various intelligent robots with perception, decision-making, action and interaction capabilities. Through guidance, robots can replace humans in providing some information guidance. Robots can be equipped with manipulators to perform some gesture guidance or help for guiding, transferring and explaining operations.

[0003] Prior art 1 (application number CN202221726963.6, Chinese patent published on November 18, 2022) An intelligent service guiding robot relates to the technical field of intelligent service guiding robots, including a body, the front surface of the body is fixedly connected to a display screen, a first cavity is opened on the upper side of the inside of the display screen, and an oblique opening is opened on the front side of the inner wall of the first cavity. A movable groove is opened on the upper side of the inner wall of the display screen, and a micro pump is fixedly connected to the front side of the inner wall of the movable groove. The output end of the micro pump is fixedly connected to an elastic tube, and a second cavity is opened on both sides of the inner wall of the display screen, and a movable mechanism is provided on the upper side of the two inner walls of the second cavity. This application can automatically disinfect and wipe the internal display device, eliminating the workload of operators in disinfecting the equipment, increasing the efficiency of equipment disinfection, ensuring the normal use of the equipment, and improving the adaptability of the equipment. Prior Art 2 (Application No. CN202111556467.0, a Chinese patent published on April 12, 2022) describes an intelligent guidance robot for scenic area play, comprising a base and a robot body. The robot body is fixedly mounted above the base, a connecting bracket is fixedly connected between the robot body and the base, a robot chest is fixedly mounted on the front of the robot body, and a command input mechanism is fixedly connected to the outer surface of the robot chest. This intelligent guidance robot for scenic area play is equipped with a route planner and a display screen below the robot body. When tourists are unfamiliar with the scenic area route, they can enter the desired destination on the route planner. A route planning map will appear above the display screen to guide tourists. There is also a navigation service. If the tourists are too young or really unfamiliar with route planning, the robot can also perform "manual navigation" to lead tourists to the desired destination.

[0004] When the current guide robot is in use, the range of movement of the manipulator is larger than the fuselage, which makes it easy to collide with the outside. In addition, when the robot is moving, its collision monitoring module is set on the fuselage. When encountering some sudden collisions, the impact is directly applied to the fuselage, which can easily cause damage to the fuselage. It cannot prevent the approach of surrounding objects, which reduces the anti-collision effect of the guide robot. Summary of the Invention

[0005] The purpose of the present invention is to provide an anti-collision intelligent guiding robot to solve the problem raised in the above background technology that when the current guiding robot is in use, the range of movement of the manipulator is larger than the fuselage, which is easy to collide with the outside, and when the robot is moving, its collision monitoring module is set on the fuselage. When encountering some sudden collisions, the impact is directly applied to the fuselage, which can easily cause damage to the fuselage.

[0006] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: an anti-collision intelligent guided robot, comprising a base, a driving seat for providing driving force for the device is provided below the base, and a mounting seat is provided above the base, and a robot body is provided above the mounting seat, an anti-collision plate is provided on the outer side of the mounting seat, and the top cross-section of the anti-collision plate is designed as an arc-shaped structure, and the anti-collision plates are evenly distributed on the outer side of the mounting seat to form a ring structure, a monitoring mechanism is installed on the outer side of the anti-collision plate to detect obstacles on the outer side of the anti-collision plate, a connecting shaft is connected to the inner side of the anti-collision plate, and the inner end of the connecting shaft is located inside the mounting seat, and a rotation control mechanism is provided on the outer side of the connecting shaft, which drives the anti-collision plate to rotate by rotating the connecting shaft, and the inner end of the connecting shaft is connected to a movement control mechanism to control the horizontal movement of the connecting shaft in the mounting seat to retract the anti-collision plate.

[0007] To further optimize this technical solution, the driving source under the driving seat is a crawler driving source, and the steering effect is achieved through the differential speed of the two sets of crawlers.

[0008] To further optimize this technical solution, the monitoring mechanism is composed of detection sensors, and the detection sensors are installed on the outside of the anti-collision plate in the moving direction of the driving seat, and the detection sensors are respectively arranged on the upper and lower sides and the front side of the anti-collision plate.

[0009] Further optimizing the technical solution, the rotation control mechanism includes a driving gear, a transmission gear ring, a transmission gear and a first motor;

[0010] The driving gear is rotatably mounted inside the mounting seat, and a rotational connection is formed between the driving gear and the mounting seat. A ball bearing is provided on the outer side of the driving gear, and the connecting shaft passes through the middle of the driving gear;

[0011] The transmission gear ring is arranged below the driving gear and is meshed with the driving gear to form a meshing connection, and the transmission gear ring is rotationally connected to the mounting seat;

[0012] A transmission gear is arranged on the inner side of the transmission gear ring and is meshed with the transmission gear ring;

[0013] The first motor is arranged below the transmission gear to control the rotation of the transmission gear.

[0014] To further optimize this technical solution, a storage groove is provided on the outer side of the mounting seat, and the storage groove is opened vertically. The anti-collision plate provides storage space. A connecting block is fixed on the inner side of the driving gear. The driving gear drives the connecting shaft to rotate through the connecting block, and a horizontal sliding connection is formed between the connecting shaft and the connecting block.

[0015] Further optimizing the technical solution, the movement control mechanism includes a first spring, a sliding ring and an inner pulling mechanism;

[0016] a first spring, arranged at the inner end of the connecting shaft to provide an outward thrust to the connecting shaft;

[0017] A sliding ring is fixed to the outer end of the first spring and fits the connecting shaft;

[0018] The inner pulling mechanism is connected to the connecting shaft to provide pulling force for the connecting shaft.

[0019] Further optimizing the technical solution, the inner pulling mechanism includes a first control rope, a rotating head, a driving plate, a first control shaft and a second motor;

[0020] a first control rope disposed at the inner end of the connecting shaft;

[0021] A rotating head is rotatably mounted on the inner end of the connecting shaft and is connected to the first control rope;

[0022] A driving plate is arranged inside the mounting seat and between the mounting seat to form an up and down sliding structure, and the driving plate is connected to the inner end of the first control rope;

[0023] A first control shaft passes through the drive plate and forms a threaded connection between the drive plate, and a first control shaft and the mounting seat form a rotational connection;

[0024] The second motor is connected to the first control shaft to control the rotation of the first control shaft.

[0025] To further optimize this technical solution, an up and down sliding structure is formed between the driving seat and the base, and a second spring is fixed above the driving seat to provide a downward thrust for the driving seat, and an auxiliary positioning mechanism is provided on the outside of the driving seat.

[0026] Further optimizing the technical solution, the auxiliary positioning mechanism includes a second control shaft, a drive frame, a second control rope, a movable plate, a third spring and an adsorption mechanism;

[0027] A second control axis is provided below the first control axis and rotates synchronously with the first control axis;

[0028] The driving frame is arranged on the outer side of the second control shaft and is threadedly connected to the second control shaft, and an up-and-down sliding structure is formed between the driving frame and the mounting seat;

[0029] A second control rope is fixed above the driving seat;

[0030] A movable plate is arranged below the driving frame, and the movable plate is connected to the upper end of the second control rope;

[0031] A third spring is provided below the movable plate to provide an upward thrust for the movable plate, and the elastic force of the third spring is greater than the elastic force of the second spring;

[0032] The adsorption mechanism is arranged below the driving frame.

[0033] Further optimizing the technical solution, the adsorption mechanism includes an adsorption chamber, a movable plug, a fourth spring and a third control rope;

[0034] The adsorption chamber is provided below the base;

[0035] The movable plug is arranged inside the adsorption chamber and between the adsorption chambers to form an up and down sliding structure;

[0036] a fourth spring, arranged above the movable stopper, to provide a downward thrust for the movable stopper;

[0037] The third control rope is arranged above the movable plug, and the upper end of the third control rope is connected to the driving frame.

[0038] Compared with the prior art, the present invention has the following beneficial effects:

[0039] (1) The anti-collision plate with a ring structure formed on the outside of the mounting seat can provide anti-collision protection for the mounting seat, and can provide all-round protection of the circumference. The anti-collision plate is located on the outside of the mounting seat, which can avoid the impact directly acting on the mounting seat, improve the anti-collision effect of the device, and better provide range protection for the manipulator.

[0040] (2) The anti-collision plate can be rotated and stored. After the anti-collision plate is rotated, it can be stored on the surface of the mounting base, thereby realizing the storage of the anti-collision plate. After the anti-collision plate is stored, the placement space of the device can be reduced. After the device stops moving, it can be folded up for easy storage.

[0041] (3) The connecting shaft is configured to be telescopic so that the anti-collision plate can compress the first spring when it is hit to buffer the impact force. The anti-collision plate can also be reset and extended by the first spring to provide buffering protection against the impact.

[0042] (4) The setting of the transmission gear ring can provide synchronous control for the rotation of multiple sets of connecting shafts, so that they can rotate synchronously, and the movement of the subsequent drive plate can be coordinated to synchronously control the extension and contraction of the connecting shafts, so that the operation of multiple sets of connecting shafts can be kept consistent.

[0043] (5) The base can be adsorbed on the support surface by setting the adsorption chamber. When the device stops moving, the drive seat is retracted and the adsorption chamber generates suction, which can improve the placement stability of the base on the support surface and increase the functionality of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0045] Figure 2 This is a schematic diagram of the structure of the present invention when viewed from above;

[0046] Figure 3 This is a schematic diagram of the top view of the anti-collision plate of the present invention;

[0047] Figure 4 This is a schematic diagram of the three-dimensional structure of the anti-collision plate of the present invention;

[0048] Figure 5 This is a schematic diagram of the structure in which the anti-collision plate of the present invention is folded;

[0049] Figure 6 This is a schematic diagram of the main cross-sectional structure of the mounting base of the present invention;

[0050] Figure 7 This is a schematic diagram of the top view of the transmission gear structure of the present invention;

[0051] Figure 8 This is a schematic diagram of the top view of the connecting shaft of the present invention;

[0052] Figure 9 For the present invention Figure 8 The enlarged structural diagram at a in the middle;

[0053] Figure 10 It is a schematic diagram of the side sectional structure of the base of the present invention.

[0054] In the figure: 1. Base; 2. Mounting seat; 3. Robot body; 4. Robot arm; 5. Driving seat; 6. Anti-collision plate; 7. Detection sensor; 8. Connecting shaft; 9. Driving gear; 901, Connecting block; 10. Transmission gear ring; 11. Transmission gear; 12. First motor; 13. First spring; 14. Sliding ring; 15. First control rope; 16. Rotating head; 17. Driving plate; 18. First control shaft; 19. Second motor; 20. Storage slot; 21. Second spring; 22. Second control shaft; 23. Driving frame; 24. Second control rope; 25. Movable plate; 26. Third spring; 27. Adsorption chamber; 28. Movable plug; 29. ​​Fourth spring; 30. Third control rope. DETAILED DESCRIPTION

[0055] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0056] See also Figures 1-10 , Embodiment 1: The present invention provides the following technical solutions: an anti-collision intelligent guided robot, comprising a base 1, a driving seat 5 for providing driving force for the device is provided below the base 1, and a mounting seat 2 is provided above the base 1, a robot body 3 is provided above the mounting seat 2, an anti-collision plate 6 is provided on the outside of the mounting seat 2, and the top cross-section of the anti-collision plate 6 is designed as an arc-shaped structure, the anti-collision plates 6 are evenly distributed on the outside of the mounting seat 2 to form a ring structure, a monitoring mechanism is installed on the outside of the anti-collision plate 6 to detect obstacles on the outside of the anti-collision plate 6, the inner side of the anti-collision plate 6 is connected with a connecting shaft 8, and the connecting shaft 8 is connected to the anti-collision plate 6. The inner end of the connecting shaft 8 is located inside the mounting seat 2, and a rotation control mechanism is provided on the outer side of the connecting shaft 8, which drives the anti-collision plate 6 to rotate by rotating the connecting shaft 8. The inner end of the connecting shaft 8 is connected to a movement control mechanism to control the horizontal movement of the connecting shaft 8 in the mounting seat 2 to retract the anti-collision plate 6. The driving source under the driving seat 5 is a crawler driving source, and the steering effect is achieved by the differential speed of the two sets of crawlers. The monitoring mechanism is composed of a detection sensor 7, and the detection sensor 7 is installed on the outer side of the anti-collision plate 6 located in the moving direction of the driving seat 5, and the detection sensor 7 is respectively arranged on the upper and lower sides and the front side of the anti-collision plate 6.

[0057] A robotic arm 4 for assisting guidance is provided on the outside of the robot body 3, making the guidance method of the robot body 3 more diversified. The drive seat 5 provides power for the device, and the anti-collision plate 6 on the outside of the mounting seat 2 can provide it with anti-collision protection. It cooperates with the detection sensor 7 to detect external obstacles to prevent them from colliding with the anti-collision plate 6. Subsequently, the anti-collision plate 6 can be stored on the outside of the mounting seat 2 by rotating it to reduce its footprint.

[0058] Embodiment 2: Based on embodiment 1, a rotation control mechanism is disclosed, including a driving gear 9, a transmission gear ring 10, a transmission gear 11 and a first motor 12. The driving gear 9 is rotatably mounted inside the mounting seat 2, and a rotation connection is formed between the driving gear 9 and the mounting seat 2. A ball bearing is provided on the outside of the driving gear 9. The connecting shaft 8 passes through the middle of the driving gear 9. The transmission gear ring 10 is arranged below the driving gear 9 and meshes with the driving gear 9, and a rotation connection is formed between the transmission gear ring 10 and the mounting seat 2. The transmission gear 11 is arranged on the inside of the transmission gear ring 10 and meshes with the transmission gear ring 10. The first motor 12 is arranged below the transmission gear 11 to control the rotation of the transmission gear 11. A storage groove 20 is provided on the outside of the mounting seat 2, and the storage groove 20 is vertically opened. The anti-collision plate 6 provides a storage space. A connecting block 901 is fixed on the inside of the driving gear 9. The driving gear 9 drives the connecting shaft 8 to rotate through the connecting block 901, and a horizontal sliding connection is formed between the connecting shaft 8 and the connecting block 901. Then, the mobile control mechanism includes a first spring 13, a sliding ring 14 and an inner pulling mechanism. The first spring 13 is arranged at the inner end of the connecting shaft 8 to provide an external thrust for the connecting shaft 8. The sliding ring 14 is fixed to the outer end of the first spring 13 and fits the connecting shaft 8. The inner pulling mechanism is connected to the connecting shaft 8 to provide a pulling force for the connecting shaft 8. The inner pulling mechanism includes a first control rope 15, a rotating head 16, a driving plate 17, a first control shaft 18 and a second motor 19. The first control rope 15 is arranged at the inner end of the connecting shaft 8, the rotating head 16, is rotatably mounted on the inner end of the connecting shaft 8, and the rotating head 16 is connected to the first control rope 15, the driving plate 17 is arranged inside the mounting base 2 and between the mounting base 2 to form an up and down sliding structure, and the driving plate 17 is connected to the inner end of the first control rope 15, the first control shaft 18, passes through the driving plate 17 and forms a threaded connection between the driving plate 17, and the first control shaft 18 and the mounting base 2 form a rotational connection, the second motor 19, and the first control shaft 18 are connected to control the rotation of the first control shaft 18.

[0059] When the anti-collision plate 6 is bumped, the first spring 13 can be compressed to cushion the impact. When the anti-collision plate 6 needs to be folded up, the transmission gear 11 can be controlled to rotate by the first motor 12, so that the transmission gear 11 drives the transmission gear ring 10 to rotate. The transmission gear ring 10 drives the driving gear 9 to rotate through the engagement with the driving gear 9, so that it drives the connecting shaft 8 and the anti-collision plate 6 to rotate, and the anti-collision plate 6 is turned to a vertical state. Then, the first control shaft 18 is controlled to rotate by the second motor 19, so that it drives the driving plate 17 to move. The driving plate 17 is pulled by the first control rope 15 to move in the connecting shaft 8, and the anti-collision plate 6 is folded up.

[0060] Embodiment 3: On the basis of embodiment 2, it is disclosed that an up-and-down sliding structure is formed between the driving seat 5 and the base 1, and a second spring 21 is fixed above the driving seat 5 to provide a downward thrust for the driving seat 5, and an auxiliary positioning mechanism is provided on the outside of the driving seat 5, and the auxiliary positioning mechanism includes a second control shaft 22, a driving frame 23, a second control rope 24, a movable plate 25, a third spring 26 and an adsorption mechanism. The second control shaft 22 is arranged below the first control shaft 18 and rotates synchronously with the first control shaft 18. The driving frame 23 is arranged on the outside of the second control shaft 22 and is threadedly connected between the second control shaft 22, and an up-and-down sliding structure is formed between the driving frame 23 and the mounting seat 2. The second control rope 24 is fixed above the driving seat 5, and the movable plate 25 is provided. Below the driving frame 23, the movable plate 25 is connected to the upper end of the second control rope 24, and the third spring 26 is arranged below the movable plate 25 to provide an upward thrust for the movable plate 25, and the elastic force of the third spring 26 is greater than the elastic force of the second spring 21. The adsorption mechanism is arranged below the driving frame 23. The adsorption mechanism includes an adsorption chamber 27, a movable plug 28, a fourth spring 29 and a third control rope 30. The adsorption chamber 27 is opened below the base 1. The movable plug 28 is arranged inside the adsorption chamber 27 and between the adsorption chambers 27 to form an up and down sliding structure. The fourth spring 29 is arranged above the movable plug 28 to provide a downward thrust for the movable plug 28. The third control rope 30 is arranged above the movable plug 28, and the upper end of the third control rope 30 is connected to the driving frame 23.

[0061] When controlling the anti-collision plate 6 to move inward, the first control shaft 18 drives the second control shaft 22 to rotate, and the second control shaft 22 drives the driving frame 23 to move. The driving frame 23 pulls the driving seat 5 upward through the second control rope 24 so that it is stored inside the base 1. After the driving seat 5 stops moving, the driving frame 23 continues to move, and the movable plate 25 compresses the third spring 26. At the same time, the driving frame 23 continues to drive the movable plug 28 to move in the adsorption chamber 27 through the third control rope 30. The adsorption chamber 27 generates an adsorption force to adsorb the base 1 on the supporting surface. The bottom of the base 1 can be made of rubber or other materials to improve the placement stability of the base 1.

[0062] The contents not described in detail in this specification belong to the prior art known to those skilled in the art.

[0063] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A collision-proof intelligent guided robot, comprising a base (1), a driving seat (5) for providing driving force for the device being provided below the base (1), a mounting seat (2) being provided above the base (1), and a robot body (3) being provided above the mounting seat (2); Its characteristics are: The outer side of the mounting seat (2) is provided with an anti-collision plate (6), and the top cross-section of the anti-collision plate (6) is designed as an arc-shaped structure. The anti-collision plate (6) is evenly distributed on the outer side of the mounting seat (2) to form a ring structure. A monitoring mechanism is installed on the outer side of the anti-collision plate (6) to detect obstacles outside the anti-collision plate (6). The inner side of the anti-collision plate (6) is connected to a connecting shaft (8), and the inner end of the connecting shaft (8) is located inside the mounting seat (2). A rotation control mechanism is provided on the outer side of the connecting shaft (8), and the anti-collision plate (6) is rotated by rotating the connecting shaft (8). The inner end of the connecting shaft (8) is connected to a movement control mechanism to control the horizontal movement of the connecting shaft (8) in the mounting seat (2) to retract the anti-collision plate (6); The rotation control mechanism comprises a driving gear (9), a transmission gear ring (10), a transmission gear (11) and a first motor (12); A driving gear (9) is rotatably mounted inside the mounting seat (2), and a rotational connection is formed between the driving gear (9) and the mounting seat (2). A ball bearing is provided on the outer side of the driving gear (9), and a connecting shaft (8) passes through the middle of the driving gear (9); A transmission gear ring (10) is provided below the driving gear (9) and is meshed with the driving gear (9), and a rotational connection is formed between the transmission gear ring (10) and the mounting seat (2); A transmission gear (11) is arranged on the inner side of the transmission gear ring (10) and is meshedly connected with the transmission gear ring (10); A first motor (12) is arranged below the transmission gear (11) to control the rotation of the transmission gear (11); A receiving groove (20) is provided on the outer side of the mounting seat (2), and the receiving groove (20) is provided vertically. The anti-collision plate (6) provides a receiving space. A connecting block (901) is fixed on the inner side of the driving gear (9). The driving gear (9) drives the connecting shaft (8) to rotate through the connecting block (901), and a horizontal sliding connection is formed between the connecting shaft (8) and the connecting block (901).

2. The anti-collision intelligent guidance robot according to claim 1, characterized in that: The driving source below the driving seat (5) is a crawler-type driving source, and the steering effect is achieved through the differential speed of two sets of crawlers.

3. The anti-collision intelligent guided robot according to claim 1, characterized in that: The monitoring mechanism is composed of a detection sensor (7), and the detection sensor (7) is installed on the outside of the anti-collision plate (6) located in the moving direction of the drive seat (5), and the detection sensor (7) is respectively arranged on the upper and lower sides and the front side of the anti-collision plate (6).

4. The anti-collision intelligent guidance robot according to claim 1, characterized in that: The movement control mechanism comprises a first spring (13), a sliding ring (14) and an inner pulling mechanism; A first spring (13) is provided at the inner end of the connecting shaft (8) to provide an outward thrust for the connecting shaft (8); A sliding ring (14) is fixed to the outer end of the first spring (13) and fits the connecting shaft (8); The inner pulling mechanism is connected to the connecting shaft (8) to provide a pulling force for the connecting shaft (8).

5. The anti-collision intelligent guidance robot according to claim 4, characterized in that: The inner pulling mechanism comprises a first control rope (15), a rotating head (16), a driving plate (17), a first control shaft (18) and a second motor (19); A first control rope (15) is provided at the inner end of the connecting shaft (8); A rotating head (16) is rotatably mounted on the inner end of the connecting shaft (8), and the rotating head (16) is connected to the first control rope (15); A driving plate (17) is arranged inside the mounting seat (2) and between the mounting seat (2) to form an up-and-down sliding structure, and the driving plate (17) is connected to the inner end of the first control rope (15); A first control shaft (18) passes through the drive plate (17) and forms a threaded connection between the drive plate (17), and a rotational connection is formed between the first control shaft (18) and the mounting seat (2); The second motor (19) is connected to the first control shaft (18) to control the rotation of the first control shaft (18).

6. The anti-collision intelligent guidance robot according to claim 5, characterized in that: An up-and-down sliding structure is formed between the driving seat (5) and the base (1), and a second spring (21) is fixed above the driving seat (5) to provide a downward thrust for the driving seat (5). An auxiliary positioning mechanism is provided on the outer side of the driving seat (5).

7. The anti-collision intelligent guided robot according to claim 6, characterized in that: The auxiliary positioning mechanism includes a second control shaft (22), a drive frame (23), a second control rope (24), a movable plate (25) and a third spring (26); A second control shaft (22) is disposed below the first control shaft (18) and rotates synchronously with the first control shaft (18); A drive frame (23) is arranged on the outside of the second control shaft (22) and is threadedly connected to the second control shaft (22), and an up-and-down sliding structure is formed between the drive frame (23) and the mounting seat (2); A second control rope (24) is fixed above the drive seat (5); A movable plate (25) is provided below the driving frame (23), and the movable plate (25) is connected to the upper end of the second control rope (24); The third spring (26) is arranged below the movable plate (25) to provide an upward thrust for the movable plate (25), and the elastic force of the third spring (26) is greater than the elastic force of the second spring (21).

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