CN109434797A - A kind of intelligent fire robot - Google Patents

Abstract

The invention discloses a kind of intelligent fire robots, belong to fire-fighting domain, it include: ontology, the ontology is equipped with sprocket wheel, water inlet pipe and the sparge pipe for driving ontology mobile, the sparge pipe is used for outside water spray to put out a fire, and ontology is equipped with the camera that image and video acquisition are carried out to danger zone；Lever arm, the lever arm is connected with ontology, there are two lever arms for the movable connection of ontology, the end of lever arm is connected with pendulous device, pendulous device is fixedly connected with handgrip, in the case where lever arm is motionless, the pendulous device can provide the one-movement-freedom-degree in a direction and the rotational freedom of both direction to handgrip to control handgrip in the movement of different angle and direction；Pendulous device；Handgrip.

Description

A kind of intelligent fire robot

Technical field

The present invention relates to fire-fighting equipment fields.

Background technique

The one kind of fire-fighting robot as specialized robot plays very important work in fire extinguishing and rescue further With.Various Large Scale Petrochemical Enterprises, tunnel, subway etc. are increasing, and oil product combustion gas, toxic gas leakage explosion, tunnel, subway collapse The equal Hidden hazrads that collapse are continuously increased.Fire-fighting robot can replace fire-fighting and rescue personnel to enter inflammable and explosive, toxic, anoxic, dense smoke The equal hazards scene of the accident carries out data sampling and processing, feedback.

In fire-fighting robot, there is a kind of rescue robot, the robot of advanced science and technology development taken for rescue, Such as earthquake rescue robot, it is a kind of dedicated for looking for survivors executes rescue in the ruins of market place builet below the ground after violent earthquake The robot of task.This robot is equipped with colour TV camera, thermal imaging system and communication system.

The Chinese patent of Publication No. 108671451A discloses a kind of intelligent fire robot, and the document is cited in full text To in the application.

When rescuing robot for fire control carries out fire-fighting and rescue,.

Summary of the invention

The present invention is directed to above-mentioned problem, discloses a kind of intelligent fire robot, comprising:

Ontology, the ontology are equipped with sprocket wheel, water inlet pipe and the sparge pipe for driving ontology mobile, the sparge pipe be used for For outside water spray to put out a fire, ontology is equipped with the camera that image and video acquisition are carried out to danger zone；

Lever arm, the lever arm are connected with ontology, and there are two lever arm, the ends of lever arm to connect for the movable connection of ontology There is pendulous device, pendulous device is fixedly connected with handgrip, and in the case where lever arm is motionless, the pendulous device can be grabbed Hand provides the one-movement-freedom-degree in direction and the rotational freedom of both direction to control handgrip in different angle and direction It is mobile；

Pendulous device；

Handgrip.

Further, the lever arm includes the first lever arm being flexibly connected with ontology and the activity of the first lever arm The end connection of second lever arm of connection, the third lever arm being flexibly connected with the second lever arm, third lever arm swings dress It sets.

Further, the ontology is equipped with lighting system and power supply system to need to acquire to camera in the dark Place provides enough light.

Further, the pendulous device includes:

Swinging base, the swinging base are fixed on robot movable arm, and robot movable arm can control swinging base The rotation of at least two axis direction and the movement in 1 direction；

Fixing seat, fixing seat are used to fix handgrip, and the handgrip is used to handgrip human body or/object to be rescued；

Three sliding seat, three sliding seat being distributed on swinging base at positive direction, each sliding seat is interior to be equipped with screw rod and sets There is electric motor driven screw rotation, sliding unit is cased on screw rod, screw rod rotate driving sliding unit is moved axially along screw rod, sliding Moving cell is hinged with oscillating rod, three screw rods in three sliding seat in one plane, and the extension of three screw rod axial directions Line intersects at a point, and three motors are actuated to driving oscillating rod and the hinged place of sliding seat can only move along the axial direction of screw rod The movement or/and rotation of dynamic further control fixing seat；

Three oscillating rods, each oscillating rod one end is corresponding and three sliding seat in one it is hinged, the other end and fixing seat are logical It crosses hinged ball and fixing seat ball connects.

Further, the handgrip includes:

Power end, the power end are fixed on pendulous device；

Fixing pipe, fixing pipe one end are fixedly connected with power end, and hingedly there are two rotating bars for the other end；

Two rotating bars；

Two gripping arms, two gripping arms carry out catching human body, and rotating bar is hinged in gripping arm；

Movable bar unit comprising the first motion bar and the second motion bar for connecting with power end and being driven by power end, first Motion bar spring is equipped between motion bar and the second motion bar, the first motion bar is equipped with center-pole, and the second motion bar is equipped with Recess portion, in center-pole partial insertion recess portion, center-pole end enters concave bottom, and motion bar spring is tensional state；

Connector is connected with the second motion bar, and connector and gripping arm are hinged on the end of gripping arm；

Power end driving activity bar unit further controls the opening of gripping arm, and when gripping arm to control the movement of connector Power is greater than movable bar unit when threshold value and moves by big pulling force, the first motion bar with respect to the first motion bar to reduce gripping arm Damage to human body.

Detailed description of the invention

Fig. 1 is the structural schematic diagram of rescuing robot for fire control；

Fig. 2 is the schematic diagram of pendulous device；

Fig. 3 is the schematic diagram of swinging base；

Fig. 4 is screw rod schematic diagram；

Fig. 5 is handgrip schematic diagram；

Fig. 6 is motion bar cell schematics；

Fig. 7 is movable bar unit cross-sectional view；

Fig. 8 is the second motion bar cross-sectional view；

Fig. 9 is end effector bar schematic diagram；

Figure 10 is the schematic diagram of 3 control method of embodiment；

Figure 11 is 3 control system of embodiment；

Figure 12 is the conversion schematic diagram of 3 control method of embodiment；

Figure 13 is the control method schematic diagram of embodiment 3；

Figure 14 is the method schematic diagram for controlling handgrip rotation；

Figure 15 is to control the mobile method schematic diagram of handgrip

Marked in the figure: 1- ontology, 2- sprocket wheel, 3- water inlet pipe, 4- camera, 5- sparge pipe, 6- lever arm, the first activity of 601- Arm, the second lever arm of 602-, 603- third lever arm, 7- pendulous device, 71- swinging base, 73- fixing seat, 74- sliding seat, 75- oscillating rod, the hinged ball of 76-, 77- screw rod, 78- motor, 79- sliding unit, 791- sliding block, 792- hinged seat, 8- handgrip, 81- power end, 82- fixing pipe, 83- activity bar unit, the first motion bar of 831-, 832- center-pole, the second motion bar of 833-, 834- motion bar spring, 835- recess portion, 84- connector, 85- rotating bar, 86- gripping arm, 87- convex block, 9- end effector bar, 91- Outer tube, 92- inner tube, 93- reset spring, 94- pull ring, 95- fixed ring, 10- fixed cell, 101- fixed block, 102- level turn Axis, 103- change, the vertical shaft of 104-, 105- incude sliding block, and 106- incudes pedestal.

Specific embodiment

Specific embodiment 1: as shown in Figure 1, present embodiment discloses a kind of intelligent fire robot, including ontology 1 and The lever arm 6 connected with ontology 1.The ontology is equipped with sprocket wheel 2, water inlet pipe 4 and the sparge pipe 5 for driving ontology mobile, described Sparge pipe be used for outside water spray to put out a fire, ontology 1 be equipped with to danger zone carry out image and video acquisition camera 4.To drive fire-fighting robot to advance, sprocket wheel can be various forms of the sprocket wheel, be not limited to point out in attached drawing 1, example As can be between wheel without chain, it being primarily adapted for use in level land rescue, is also possible between wheel with chain, to need When wanting can stair climbing, the operation such as clear the jumps.Water inlet pipe is connected with water pipe, usually and fire hydrant, to provide Enough fire waters are equipped with water tank, water tank is connected with sparge pipe, in this way some in some embodiments in ontology Extreme case, in high fire, it is necessary to carry a small amount of water for some emergencies.Camera is mainly used for image and video Acquisition, so that fire fighter can observe ambient enviroment locating for fire-fighting robot in distal end, it is further fire fighter's work Command adapted thereto provides foundation out.The camera can be rotated in distal end by operation and lifting, the ontology are equipped with Lighting system and power supply system are to provide enough light to the place that camera needs to acquire in the dark.Described above disappears Anti- robot is merely capable of providing sprinkling fire operation, and in the case where some extreme, as having personnel in fire, this when is only Fire extinguishing be it is not all right, need to rescue personnel, but fire fighter itself enter fire in rescue will give fire fighter life Life brings great danger.

Therefore in some embodiments, lever arm and work are movably installed on the ontology of fire-fighting robot of the invention Handgrip is directly or indirectly installed on swing arm.Lever arm provides freedom degree for handgrip, to complete various rescue instructions.Lever arm Quantity can be one, be also possible to multiple, in a preferred scheme, the lever arm being mounted on robot body is It two, is shown in Fig. 1.

When fire-fighting and rescue, lever arm is needed to have multiple freedom degree, can according to surrounding environment change angle, because This is in further preferred embodiment, as shown in Figure 1, the lever arm includes the first lever arm being flexibly connected with ontology 601, the second lever arm 602 being flexibly connected with the first lever arm, the third lever arm 603 being flexibly connected with the second lever arm, The end of third lever arm connects pendulous device 7, and the connection of three lever arms enables robot to have multiple rotations or movement certainly By spending, to facilitate the progress of rescue.

Above-mentioned lever arm is since in order to complete operation as big as possible, lever arm to be arranged longer, in some behaviour When work, when such as small space rescue, this longer lever arm can not normally stretch, this when just can not be successfully Completion rescue.

Therefore in some preferred schemes, special pendulous device, institute are connected between the lever arm and handgrip Connection relationship between the pendulous device and traditional mechanical arm stated is different.This pendulous device situation static in lever arm Under, sufficiently large operating space freedom degree can be provided to handgrip according to the small-scale movement of itself component.

For pendulous device as Figure 1 shows between handgrip 8 and lever arm 7, Fig. 2 is the enlarged drawing of pendulous device.It is special Not as shown in Fig. 2, pendulous device include swinging base 71, fixing seat 73 and connection swinging base and fixing seat between three Oscillating rod 75 and three sliding seat 74.The swinging base is fixed on robot movable arm, and robot movable arm can be controlled The rotation of swinging base at least two axis direction processed and the movement in 1 direction, fixing seat are used to fix handgrip 8, and the handgrip is used Come handgrip human body or/object to be rescued.Three being distributed on swinging base at positive direction of sliding seat 74.Such as Fig. 3 and Fig. 4 It is shown, it is equipped with screw rod 77 in each sliding seat, and be equipped with motor 78 and drive screw turns, sliding unit 79, spiral shell are cased on screw rod Bar rotate driving sliding unit is moved axially along screw rod, and sliding unit is hinged with oscillating rod 75, and three in three sliding seat In one plane, and the extended line of three screw rod axial directions intersects at a point screw rod, and three motors are actuated to driving and swing The hinged place of bar and sliding seat only can further control moving or/and rotating for fixing seat along the axial movement of screw rod.If When fixing seat being needed to move forward and backward, sliding unit does identical movement in sliding seat, if desired rotates, then needs root Sliding unit is controlled according to the direction of rotation and angle.Each oscillating rod one end is corresponding and three sliding seat in one it is hinged, The other end and fixing seat 73 are connect by hinged ball 76 and fixing seat ball.Sliding unit includes the sliding block 791 being sleeved on the screw rod and pendulum The hinged hinged seat 76 of lever, hinged seat is fixedly connected with sliding block, and screw drive sliding block is mobile to drive oscillating rod.Pendulous device Control fixing seat is made mobile and is rotated can be driven automatically according to the operational order of distal end fire fighter by motor 78, hereafter Its principle can be illustrated.

The handgrip of robot is in far-end operation, and usually and direct body contact, in some cases, handgrip needs handgrip The promptly body part of human body, such as waist, hand, leg, neck.Remote control can not sense its handgrip to human body Grasp, and then handgrip grip is excessive causes to damage to human body in some operations, therefore the present invention changes handgrip Into when handgrip uses, to control its handgrip to the power of human body, when especially the grip is excessive, handgrip can press down The excessive power is made, to prevent the damage to human body.As illustrated in figs. 5-7, the handgrip include power end 81, fixing pipe 82, Two rotating bars 85, even gripping arm and movable bar unit, power end are fixed on pendulous device, are particularly equipped in pendulous device When fixing seat, power end is fixed in fixing seat.Fixing pipe one end is fixedly connected with power end, there are two the other end is hinged Rotating bar 85；Two gripping arms carry out catching human body, and rotating bar is hinged in gripping arm；Movable bar unit includes connecting simultaneously with power end The first motion bar 831 and the second motion bar 833 driven by power end is equipped with activity between the first motion bar and the second motion bar Bar spring, the first motion bar are equipped with center-pole 832, and the second motion bar is equipped with recess portion 835, and center-pole partial insertion recess portion is worked as In, center-pole end enters concave bottom, and motion bar spring is tensional state, and the second motion bar is connected with connector 84, connects Head and gripping arm are hinged on the end of gripping arm；Power end driving activity bar unit is to control the movement of connector, and further control is grabbed The opening of arm, and when the power of gripping arm is greater than threshold value, activity bar unit is by big pulling force, and the second motion bar is with respect to the One motion bar is moved to reduce damage of the gripping arm to human body, when the power of gripping arm is less than threshold value, the first motion bar and second Motion bar is opposing stationary, and to guarantee that gripping arm has enough grips, which can be according to the drawing force under the tensional state of spring It is controlled, the drawing force of spring is bigger under tensional state, and threshold value is bigger.This kind design, the gripping arm that can not only preserve value have foot Enough grips also limit grip increase, ensure that the safety of human body.

In some schemes, the connector is cylindrical body, and the end of the gripping arm, which is equipped with, is fixed human body Convex block 87, to prevent the landing of human body in some cases.

Specific embodiment 2: robot described in specific embodiment 1 is used for remote control, therefore public in the present embodiment Opened the far-end control device that can control in robot, control lever arm according to existing control mode, it is remote End control device is mainly completed in the case where lever arm is remain stationary by the opening and closing of control pendulous device and handgrip corresponding Rescue operation.

As shown in figure 9, fire fighter passes through remote operation control present embodiment discloses a kind of fire-fighting equipment control device Device remotely controls fire-fighting robot and makes fire-fighting instruction, and described remotely refers to far from the danger area where fire-fighting robot Domain, the control device include the fixed cell 10 of end effector bar 9 and fixation ends operating stick.

End effector bar includes outer tube 91, inner tube 92, reset spring 93, pull ring 94, fixed ring 95, the outer tube and solid Determine ring connection, outer tube be it is hollow, inside is inner tube, and inner tube one end extends in the ring of fixed ring and is equipped with and can draw in end The pull ring 94 of inner tube is stretched, the inner tube other end exposes outer tube, and bared end is equipped with fixing head, is equipped with and resets between fixing head and outer tube Spring；Fire fighter holds fixed ring, pulls pull ring and then fixed inner tube is mobile relative to outer tube, outer tube and inner tube are equipped with and incude it The sensor of relative motion；

The fixed cell includes: fixed block 101, change 103, induction sliding block 105 and induction pedestal 106, fixed block is set There is a hollow portion, outer tube passes through hollow portion and fixes with fixed block；Change is cyclic structure, and fixed block is located in change and leads to It crosses horizontal rotating shaft 102 to connect with change, fixed block can be rotated with relative level shaft, and horizontal rotating shaft is fixedly connected with change, water The axial direction of flat turn axis and the axial direction of outer tube in same plane and are mutually perpendicular to, and are equipped with the sensing of sensation level shaft Device；Change is fixed on induction sliding block by vertical shaft, and can be rotated with relative induction sliding block around vertical shaft 104, and Equipped with the sensor for incuding this rotation, vertical shaft and horizontal rotating shaft on the same face and are mutually perpendicular to；Incuding sliding block can be with On one face, glide direction and vertical shaft are vertical for the axial direction of the sliding of relative induction pedestal, glide direction and outer tube.

In a kind of mode of operation in the present embodiment, manpower holds fixed ring, and finger controls pull ring, so that inner tube and outer The relative motion of pipe is sensed, which is converted to the instruction of handgrip power end 81, to control the opening and closing of handgrip, design and Execute-in-place handgrip especially offsets, it is only necessary to which a hand, this is vital to the far-end operation of fire-fighting robot.

The relative motion of the induction sliding block 105 and induction pedestal 106 is incuded, and converts transmitting to control fixation Seat 73 moves forward and backward and (by three motor controls, is stated above).Pass through turn of induction fixed block and change The rotation of dynamic and change and induction sliding block, it is (above-mentioned old by three motor controls with the rotation for controlling fixing seat It states).Vertical shaft and horizontal rotating shaft are in 90 degree, just keep it with enough rotational freedoms.Outer tube and horizontal rotating shaft are in 90 degree of structure designs for also complying with handgrip and pendulous device.When operating device of the invention uses, human body can body face it The operation in border does not need conversion site environment and then thinks deeply which kind of instruction needed to issue.

In a preferred approach, induction sliding block is equipped with a raised line, and induction pedestal is equipped with groove, incudes the raised line card of sliding block In a groove, and it can be slided with confronting grooves and then control induction sliding block relative induction pedestal sliding.

Specific embodiment 3: the invention discloses a kind of fire-fighting equipment control methods, pass through the remote control of embodiment 2 Device controls the intelligent fire robot of embodiment 1, and steps are as follows for the control method:

Step 1: as shown in figure 11, camera obtains the live state information of fire-fighting danger zone, and by the live state information wireless transmission It to image-display units and shows, as obtained live state information, far-end control device attachment by the camera in embodiment 1 Limitation, so that the fire fighter of control far-end control device for example, may be provided with a display screen it can be seen that show；

Step 2: as shown in Figure 10, obtaining the rotation of the rotation information, second unit of the first unit of fire-fighting long-distance operating device Information, the mobile message of third unit, Unit the 4th mobile message, and be transmitted to processor, the rotation information For the rotational angle data for obtaining operating device component, the mobile message is the relative movement data of operating device component； In the present embodiment, the rotation information of the first unit is the rotation information of fixed block and change, specifically angle Rotation information, the rotation information can be detected by Hall sensor, can also pass through other possible sensors；Second is single The rotation information of member is the rotation information of change and induction sliding block, the especially rotation data of relative angle；The third list The mobile message of member is the mobile data of inner tube 92 and outer tube 91, specifically the data of relative translation；Described the 4th is single The mobile message of member is induction sliding block and induction pedestal relative movement data.

Step 3:

As shown in figure 13, it according to the mobile message of third unit, obtains moving operation and instructs a, and moving operation instruction a is exported Control the opening and closing of robot gripper to robot terminal, the opening and closing of handgrip be by the motor driven in power end (in figure not It shows, can refer to the prior art)；

Such as Figure 15, according to the mobile message of Unit the 4th, acquisition moving operation instructs b, and instructs b control to grab according to moving operation The forward-reverse of hand moves forward and backward according to three motor controls in fixing seat；

As shown in figure 14, according to the rotation information of the rotation information of first unit and second unit, rotation operational order is obtained, and According to the rotation of rotation operational order control robot gripper, operational order is rotated according to three motor controls in fixing seat System；

In the present invention, for rotating operational order, by the rotation information of first unit and second unit, two can be obtained and turned Dynamic data, convert by space coordinate, generate i.e. three rotation operational orders of three data, respectively rotation operational order a, Operational order b, rotation operational order c are rotated, rotation operational order a, rotation operational order b, rotation operational order c are controlled respectively System is located at three motors (78) in fixing seat to control the rotation of handgrip 8.It can thus be put with the motor of end three and three The three-legged structure of lever composition removes control handgrip.

In the present invention in order to controlling the rotation and movement of handgrip, therefore, handgrip simultaneously by three fixing seats It moves forward and backward and instructs b to realize by moving operation, moving operation instruction b has moving operation instruction b1, moving operation instruction B2, moving operation instruct b3, and moving operation instruction b1, moving operation instruction b2, moving operation instruction b3 control fixing seat respectively On three motors 78.

As shown in figure 12, in the present invention, according to induction sliding block and induction pedestal relative movement data, three fixations are obtained Motor rotation data on seat (moving operation instructs b1, moving operation instruction b2, moving operation to instruct b3).Secondly, according to solid Determine the rotation information (rotation information of first unit) of block and change, change and incude sliding block rotation information (second unit Rotation information), obtain the motor rotation data (rotation operational order a, b and c) of three fixing seats, then will two groups of stacked datas above Add, the final rotation data of the motor of three fixing seats, the rotation of fixing seat motor is controlled according to final rotation data, wherein basis Rotation or mobile message generate motor rotation data algorithm be not it is linear, need according to change, induction sliding block, fixed block The conversion of specific location space coordinate can reach the accuracies of data.I.e. in this approach, moving operation instructs b1 and turns Dynamic operational order a synthesis synthetic operation instructs a, and moving operation instructs b2 and rotation operational order b synthesis synthetic operation to instruct b, Moving operation instructs b3 and rotation operational order c synthesis synthetic operation to instruct c, operational order a, operational order b, operational order c Three motors 78 in fixing seat are controlled respectively.

The invention also discloses a kind of fire-fighting equipment control systems, including

Image collection unit and image-display units, the camera and display screen (not shown) of embodiment 1

Location information acquiring unit, i.e. acquisition fixed block, change, inner tube, outer tube, induction sliding block, induction pedestal relative motion number According to unit；

Processor；

End execution unit, intelligent fire robot of the invention

The image information that fire-fighting is jeopardously collected by image collection unit is transported to image-display units, and fire fighter is according to figure As the information operation sending command information of display unit, the command information acquired is transported to processing by location information acquiring unit Corresponding instruction control end execution unit occurs for device, processor

The present invention can avoid fire fighter and enter danger zone and then direct by the work of remote control fire-fighting robot Relief, reduces the injures and deaths of fire fighter, and improve relief efficiency.

In the far-end control system of another fire-fighting equipment, rotation information and second including obtaining first unit respectively are single Member rotation information first acquisition unit and second acquisition unit and include obtain the 4th unit mobile message the 4th obtain singly Member, processor, end execution unit, image collection unit and image-display units；First acquisition unit, second acquisition unit, 4th acquiring unit, end execution unit are connected with processor respectively；Image collection unit is connected with image-display units.

Claims (5)

1. a kind of intelligent fire robot characterized by comprising

Ontology (1), the ontology is equipped with sprocket wheel (2), water inlet pipe (4) and the sparge pipe (5) for driving ontology mobile, described Sparge pipe is used for outside water spray to put out a fire, and ontology is equipped with the camera (4) that image and video acquisition are carried out to danger zone；

Lever arm (6), the lever arm and ontology (1) connection, there are two lever arm, lever arms for ontology (1) movable connection End be connected with pendulous device (7), pendulous device is fixedly connected with handgrip (8), described in the case where lever arm is motionless Pendulous device the one-movement-freedom-degree in direction and the rotational freedom of both direction can be provided to handgrip to control handgrip In the movement of different angle and direction；

Pendulous device；

Handgrip.

2. intelligent fire robot according to claim 1, which is characterized in that the lever arm includes and ontology is movable The first lever arm (601) of connection, the second lever arm (602) being flexibly connected with the first lever arm, with the activity of the second lever arm The end of the third lever arm (603) of connection, third lever arm connects pendulous device (7).

3. intelligent fire robot according to claim 2, which is characterized in that the ontology is equipped with lighting system and confession Electric system is to provide enough light to the place that camera needs to acquire in the dark.

4. intelligent fire robot according to claim 3, which is characterized in that the pendulous device includes:

Swinging base (71), the swinging base are fixed on robot movable arm, and robot movable arm can control swing The rotation of pedestal at least two axis direction and the movement in 1 direction；

Fixing seat (73), fixing seat are used to fix handgrip (8), and the handgrip is used to handgrip human body or/object to be rescued；

Three sliding seat (74), three sliding seat being distributed on swinging base at positive direction, each sliding seat is interior to be equipped with screw rod (77), it and equipped with motor (78) drives screw turns, is cased on screw rod sliding unit (79), screw rod rotate driving sliding unit edge Screw rod axial movement, sliding unit is hinged with oscillating rod (75), three screw rods in three sliding seat in one plane, and And the extended line of three screw rod axial directions intersects at a point, three motors are actuated to drive the hinged place of oscillating rod and sliding seat only Moving or/and rotating for fixing seat can be further controlled along the axial movement of screw rod；

Three oscillating rods (75), each oscillating rod one end is corresponding and three sliding seat in hinged, the other end and a fixation Seat (73) is connect by hinged ball (76) and fixing seat ball.

5. intelligent fire robot according to claim 4, which is characterized in that the handgrip includes:

Power end (81), the power end are fixed on pendulous device；

Fixing pipe (82), fixing pipe one end are fixedly connected with power end, and hingedly there are two rotating bar (85) for the other end；

Two rotating bars (85)；

Two gripping arms (86), two gripping arms carry out catching human body, and rotating bar is hinged in gripping arm；

Movable bar unit comprising the first motion bar (831) and the second motion bar for connecting with power end and being driven by power end (833), motion bar spring is equipped between the first motion bar and the second motion bar, the first motion bar is equipped with center-pole (832), the Two motion bars are equipped with recess portion (835), and in center-pole partial insertion recess portion, center-pole end enters concave bottom, motion bar Spring is tensional state；

Connector (84), connects with the second motion bar, and connector and gripping arm are hinged on the end of gripping arm；

Power end driving activity bar unit further controls the opening of gripping arm, and when gripping arm to control the movement of connector Power is greater than movable bar unit when threshold value and moves by big pulling force, the first motion bar with respect to the first motion bar to reduce gripping arm Damage to human body.