CN110828974A

CN110828974A - Robot

Info

Publication number: CN110828974A
Application number: CN201911281480.2A
Authority: CN
Inventors: 王彦龙
Original assignee: Beijing Geekplus Technology Co Ltd
Current assignee: Beijing Geekplus Technology Co Ltd
Priority date: 2019-12-13
Filing date: 2019-12-13
Publication date: 2020-02-21

Abstract

The application discloses a robot, which comprises a chassis, wherein the chassis is provided with a shell, the side wall of the shell is provided with at least one antenna, and each antenna is provided with a contact; the contact is connected with the robot mainboard through a feeder line; the shell is provided with a metal clearance area corresponding to the antenna. According to the antenna, the antenna is arranged at the position of the machine shell, so that the antenna is away from a metal covering area of the chassis, the shielding and shielding influence of metal devices in the chassis area of the robot on the antenna is reduced, and the communication effect of the antenna is improved; the metal clearance area is arranged at the position, corresponding to the antenna, of the shell, so that the antenna receives and radiates electromagnetic wave signals without distortion, the performance of the antenna is exerted to the maximum extent, the signal strength of the antenna is improved, and the robot is ensured to have a good communication effect.

Description

Robot

Technical Field

The application relates to an antenna technology, in particular to a robot.

Background

At present, robots are widely applied to the fields of storage, logistics and the like, and are used for realizing automatic transportation of goods.

At present, an antenna for communicating with the outside is all built-in inside the casing for the robot, and it is enclosed between the metal parts such as wheel chassis, the shell that sprays paint and the iron plate that supports the stand, because metal device causes the signal strength decay to electromagnetic wave reflection and absorption, and then leads to complete machine reception sensitivity to descend, has influenced the reliability of haulage equipment's communication.

Disclosure of Invention

The application provides a robot, so that the robot can reliably communicate with the outside.

The application provides a robot, which comprises a chassis, wherein the chassis is provided with a shell, the side wall of the shell is provided with at least one antenna, and each antenna is provided with a contact; the contact is connected with the robot mainboard through a feeder line; and a metal clearance area is arranged at the position of the shell corresponding to the antenna.

Optionally, at least one accommodating area is disposed on a side wall of the housing, and the antenna is disposed in the accommodating area; an opening is formed in one side, facing the inner cavity of the chassis, of the accommodating area, the opening corresponds to the contact, and the feeder line penetrates through the opening to be connected with the contact.

Optionally, the metal clearance area covers the accommodating area; the contact extends out of the opening to be connected with the feeder line.

Optionally, a position of the inner cavity of the chassis corresponding to each accommodating area is provided with a patch panel, the antenna is connected with the robot main board through the patch panel, wherein,

an elastic needle is arranged on one side, facing the antenna, of the adapter plate and abuts against the contact, so that the adapter plate is communicated with the contact of the antenna through the elastic needle;

the patch board is further provided with a radio frequency connector, and the radio frequency connector is connected with the robot main board through a feeder line.

Optionally, the contact includes a feeding point and a feeding point, the pogo pin has a two-pin structure with a signal pin and a ground pin, and the signal pin and the ground pin are arranged in an isolated manner; wherein the content of the first and second substances,

the feed point is communicated with the signal pin, and the feed point is communicated with the grounding pin;

and a signal pin of the radio frequency connector is connected with the signal pin through a signal wire, and a grounding pin of the radio frequency connector is connected with the grounding pin through another signal wire.

Optionally, the adapter plate is fixed to the chassis through a fixing column with a set height, and the adapter plate is arranged to face the metal clearance area through the fixing column;

the radio frequency connector is an SMA type connector.

Optionally, the length and the shape of the antenna are adjusted according to the dielectric constant of the metal clearance area and the thickness of the metal clearance area.

Optionally, the number of the accommodating areas is two, the two accommodating areas are symmetrically arranged on two sides of the housing, and each accommodating area is provided with one antenna.

Optionally, the antennas arranged in the two accommodating areas are a first antenna and a second antenna, the first antenna is a vertically polarized antenna, and a first preset included angle is formed between the first antenna and the horizontal direction; the second antenna is a horizontally polarized antenna, and a second preset included angle is formed between the second antenna and the horizontal direction; the sum of the first preset included angle and the second preset included angle is 90 degrees.

Optionally, each of the antennas includes a first radiator and a second radiator, where the first radiator matches a 2.4GHz band, and the second radiator matches a 5GHz band.

According to the antenna, the antenna is arranged at the position of the machine shell, so that the antenna is away from a metal covering area of the chassis, the shielding and shielding influence of metal devices in the chassis area of the robot on the antenna is reduced, and the communication effect of the antenna is improved; the metal clearance area is arranged at the position, corresponding to the antenna, of the shell, so that the antenna receives and radiates electromagnetic wave signals without distortion, the performance of the antenna is exerted to the maximum extent, the signal strength of the antenna is improved, and the robot is ensured to have a good communication effect.

Drawings

FIG. 1 is a schematic diagram of a robot according to the present disclosure;

FIG. 2 is an enlarged partial view of the antenna area of FIG. 1;

fig. 3 is a block diagram of the interposer provided in the present application.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.

Fig. 1 is a schematic structural diagram of a robot provided by the present application, where the robot may be an automatic transfer robot, and the robot radiates or receives an electromagnetic wave signal to the outside through an antenna, so as to implement communication between the robot and the outside. The robot comprises a chassis 10, wherein the chassis 10 is provided with a shell 20, the side wall of the shell 20 is provided with at least one antenna, and each antenna 30 is provided with a contact; the contact is connected with the robot main board 40 through a feeder 50; the housing 20 is provided with a metal clearance area corresponding to the antenna 30.

The chassis 10 is a load-bearing component of the robot, and can be used for bearing robot accessories such as batteries and motors. And meanwhile, a walking wheel can be arranged on the chassis, so that the robot can move according to a preset instruction through the walking wheel. The chassis is provided with an iron plate and a metal upright column for supporting parts such as a transmission mechanism of the robot and the like, so that the robot can have a carrying function.

The chassis 10 is provided with a housing 20 to protect the chassis and associated devices disposed within the chassis. In one embodiment, a cavity structure is formed inside the chassis by the shell 20 and the iron plate on the chassis, and the battery, the motor and other accessories of the robot are uniformly distributed in the cavity, and meanwhile, the electronic devices such as the robot main board 40 and the like are arranged in the cavity.

The housing 20 is made of plastic or other non-metallic materials, so as to avoid shielding effect on the antenna due to the use of metallic materials. The side wall of the housing 20 is provided with at least one antenna, i.e. the number of the arranged antennas 30 is one or more, and the one or more antennas are all arranged on the housing 20 of the robot, for example, the antennas 30 can be fixed on the outer side wall of the housing, so that the antennas 30 leave the chassis cavity. Because a large number of metal devices are arranged around the chassis 10, considering that metal has absorption and reflection effects on electromagnetic waves, when the antenna 30 is arranged in the inner cavity of the chassis, the metal devices can shield the antenna 30, and the radiation effect of the antenna 30 is reduced. The antenna 30 is disposed at the robot housing 20, which is equivalent to moving the antenna 30 out of the shielding space of the metal device, thereby reducing the shielding and interference effects of the metal device on the antenna 30. Meanwhile, the antenna 30 is arranged at the housing 20, so that the antenna 30 is far away from the influence of the radio frequency devices inside the chassis, and the interference of the radio frequency signals generated by the radio frequency devices on the communication effect of the antenna 30 is also reduced.

Because the housing 20 has a certain thickness, in one embodiment, the antenna 30 is disposed within a sidewall of the housing 20 such that the antenna 30 is integrated with the housing 20. Fig. 2 is a partial enlarged view of an antenna area provided in the present application, and as can be seen from fig. 2, at least one accommodation area 202 is disposed at a side wall of the housing 20, and the antenna 30 is disposed in the accommodation area 202; an opening is formed in one side of the accommodating area 202 facing the inner cavity of the chassis, the opening corresponds to the contact 301 in position, and the feeder line 50 passes through the opening to be connected with the contact 301. The feeder 50 may be a conventional coaxial cable. The accommodating area 202 is arranged on the side wall of the shell 20, so that the antenna 30 can be arranged in the accommodating area 202, the antenna 30 and the shell 20 have an integrated structure, the antenna 30 can be stably fixed, and the possibility that the antenna falls off due to repeated shaking in the use process is avoided; meanwhile, compared with the case 20 in which the antenna 30 is disposed outside the case 20, the antenna 30 is protected by the case 20, and the possibility of damaging the antenna 30 by collision with other devices is avoided. In another embodiment, the antenna 30 and the housing 20 are integrally formed by injection molding, so that the antenna 30 and the housing 20 are integrated.

The metal clearance area 201 is disposed at the position of the housing 20 corresponding to the antenna 30, so as to reduce the shielding effect on the antenna 30, and further improve the radiation effect of the antenna 30. Specifically, as shown in fig. 2, the metal clearance area 201 is disposed at a position of the housing 20 corresponding to the accommodating area 202, and the metal clearance area 201 at least covers the accommodating area 202, and the metal clearance area 201 does not contain metal or magnetic substance, so that the metal clearance area 201 has no shielding effect on the electromagnetic wave signal, thereby ensuring that the antenna 30 can receive the external electromagnetic wave signal without distortion and radiate the electromagnetic wave signal outwards without distortion. For example, the outer shell 20 is usually treated by spraying to make the outer shell 20 present a predetermined appearance effect, before spraying, the position and size of the metal clearance area 201 are determined according to the area of the accommodating area 202, so that the metal clearance area 201 can cover the accommodating area and a certain range around the accommodating area, and then the metal-free paint is sprayed on the area to form the metal clearance area 201.

In another embodiment, in order to better protect the feeder 50 and prevent the feeder 50 from falling off or loosening due to long-term suspension, an adapter plate 80 is further disposed in the space of the chassis 10, specifically, the adapter plate 80 is disposed at a position of the chassis inner cavity corresponding to each accommodating area 202, and the antenna 30 is connected to the robot main board 40 through the adapter plate 80.

Fig. 3 is a schematic structural diagram of the interposer provided in the present application, wherein a pogo pin 801 is disposed on a side of the interposer 80 facing the antenna 30, and the pogo pin 801 abuts against the contact 301, so that the interposer 80 is conducted with the contact 301 of the antenna 30 through the pogo pin 801;

the interposer 80 is further provided with a radio frequency connector 802, and the radio frequency connector 802 is connected to the robot motherboard 40 through the feeder 50.

The adapter plate 80 can be a PCB, at least two signal lines are disposed on the adapter plate 80, one signal line is used for transmitting rf signals, and the other signal line is used for grounding, and the adapter plate 80 is encapsulated, so that the adapter plate 80 has a certain supporting strength.

Generally, the robot main board 40 is provided with a radio frequency signal port 60, and the feeder line 50 is connected to the radio frequency signal port 60. The elastic needle 801 is arranged on one side of the adapter plate 80, the radio frequency connector 802 is arranged on the other side of the adapter plate, and the side provided with the elastic needle 801 faces the antenna 30, so that the advantage that on one hand, due to the elastic action of the elastic needle 801, the adapter plate 80 can be always conducted with the contact 301 of the antenna 30, and the stable transmission of radio frequency signals is ensured; on the other hand, the rf connector 802 faces the robot motherboard 40, so that the feeder 50 can be directly connected to the interposer 80 without changing the direction, and the feeder 50 is prevented from being bent in a small range to the maximum extent, because the feeder 50 is a hard wire, the feeder is prevented from being bent in a small range, and the feeder 50 is protected from being damaged. Usually, when in use, the feeder 50 has a certain surplus length, if the feeder 50 is not fixed, the weight of the whole feeder 50 is borne by the connection point of the feeder and the antenna, which easily causes the risk of looseness and falling of the contact part of the antenna 30, by arranging the adapter plate 80 and fixing the feeder 50 on the adapter plate, the weight of the feeder 50 is borne by the adapter plate 80, so that the extra gravity is not borne by the connection part of the feeder 50 and the antenna 30, the connection part of the feeder 50 and the antenna 30 is ensured to be in a stable state to the maximum extent, the signal transmission between the feeder 50 and the antenna 30 can be reliably carried out, and the service life of the feeder is prolonged.

In one embodiment, the adapter board 80 is fixed on the chassis 10 by the fixing post 90 with a set height, the adapter board 80 is set to face the accommodating area 202 by the fixing post 90, specifically, the elastic needle 801 of the adapter board 80 faces the position of the contact 301 of the antenna, and the contact 301 protrudes out of the opening to contact with the elastic needle 801. So that the pogo pins 801 are just against the contacts 301. The fixing column 90 can adopt a fixing column 90 with a height adjusting function, so that after the height adjustment, the elastic pin 801 on the adapter plate 80 can be opposite to the contact 301 of the antenna 30. In another embodiment, two fixing columns 90 are provided, and the two fixing columns 90 are fixedly connected with the adapter plate 80 at a certain distance respectively in a manner of matching the screw 100 and the nut 110, so that the adapter plate 80 is supported and limited at two positions at the same time, the stability of the adapter plate 80 is improved, and the adapter plate 80 and the antenna 30 can be stably and reliably connected all the time. Meanwhile, the adapter plate 80 and the fixing column 90 are fixed in a mode of matching the screw 100 and the nut 110, and the adapter plate 80 can be detached as required, so that the adapter plate 80 can be conveniently maintained or replaced when the adapter plate 80 breaks down. For example, in some cases, the elasticity of the pogo pin 801 may be weakened, so that the contact between the adapter plate and the antenna contact is loosened, and the communication signal of the robot is weakened, and at this time, the adapter plate 80 can be quickly removed by loosening the nut 110, and the pogo pin 801 can be replaced, thereby improving the efficiency of maintenance and repair.

The contact 301 is a signal transfer point between the antenna 30 and the radio frequency device, specifically, the antenna 30 transmits the received electromagnetic wave signal to the robot motherboard 40 through the contact 301 via the feeder 50, and meanwhile, the antenna 30 receives the radio frequency signal transmitted by the robot motherboard 40 through the contact 301 via the feeder 50, thereby completing communication between the robot motherboard 40 and the outside.

In one embodiment, the contact 301 includes a feeding point and a feeding point which are separately arranged, the spring pin 801 is a two-pin structure having a signal pin and a ground pin, and the signal pin and the ground pin are separately arranged; wherein the content of the first and second substances,

the signal pin of the radio frequency connector 802 is connected to the signal pin through a signal line, and the ground pin of the radio frequency connector 802 is connected to the ground pin through another signal line.

As can be seen from the above, by providing the adapter plate 80, and providing the radio frequency connector 802 on one side of the adapter plate 80, the radio frequency connector is connected to the feeder line 50; the elastic pin 801 is arranged on the other side of the adapter plate 80 and is communicated with the antenna 30, so that the antenna 30 is connected with the feeder line 50 through the adapter plate 80, the connection stability of the feeder line is improved under the condition that signal transmission is not influenced, and the service life of the feeder line 50 is prolonged.

In one embodiment, the rf connector 802 is an SMA type adaptor, which has four fixing pins, so as to improve the contact stability between the rf connector 802 and the interposer 80.

In order to further improve the communication effect of the antenna 30, in one embodiment, two receiving areas are provided, the two receiving areas are symmetrically disposed on two sides of the housing 20, and one antenna is disposed in each receiving area 202. Specifically, one accommodation area 202 is disposed right in front of the robot, and the other accommodation area 202 is disposed right behind the robot, so that the antennas 30 in the two accommodation areas 202 respectively exhibit good radiation effects in front of and behind the robot. Space diversity is formed by arranging two antennas, and one path of signal with larger signal amplitude and optimal signal-to-noise ratio is automatically selected from two antenna signals as the current communication signal by arranging a corresponding merging circuit on the robot mainboard 40, so that the influence of channel fading is reduced, the communication sensitivity of the antennas is improved, and the robot can obtain reliable communication signals all the time.

Furthermore, the two antennas adopt different polarization modes, and have the maximum isolation degree, so that the robot can obtain the optimal communication signal at any time. Specifically, the antennas 30 disposed in the two accommodating areas 202 are a first antenna and a second antenna, the first antenna is a vertically polarized antenna, and the second antenna is a horizontally polarized antenna; the included angle between the two antennas is 90 degrees.

The first antenna is vertically polarized, and the second antenna is horizontally polarized. In one embodiment, the first preset included angle is set to 90 degrees, the second preset included angle is set to 0 degrees, and the sum of the first preset included angle and the second preset included angle is 90 degrees. In another embodiment, the first preset included angle and the second preset included angle are both set to be 45 degrees, so that the sum of the first preset included angle and the second preset included angle is 90 degrees. Note that the above setting method for the first preset included angle and the second preset included angle is only an example, and should not be construed as a limitation to the present embodiment. The advantage of setting the sum of the included angles between the two antennas and the horizontal direction to 90 degrees is that (certainly, the sum of the included angles between the two antennas and the vertical direction is also 90 degrees), when one of the antennas attenuates a signal greatly at a certain moment, the other antenna attenuates the signal less at the moment, so that by the setting, the two antennas can have the maximum isolation, and then by switching the two antennas, the robot can obtain the best communication signal at any moment.

On the basis of the above technical solution, each antenna 30 is a dual-band antenna, and specifically, each antenna 30 includes a first radiator and a second radiator; the first radiator is matched with a 2.4GHz frequency band, and the second radiator is matched with a 5GHz frequency band. In one embodiment, the antenna 30 is a PIFA antenna, and the length of the antenna is adjusted by adjusting the distance between the source point of the PIFA antenna and the ground and open ends.

Since the metal clearance area 201 is provided on the housing 20, metal clearance areas made of different materials have different dielectric constants, which have an influence on the wavelength of the electromagnetic wave. Therefore, the length of the antenna needs to be adjusted according to the dielectric constant of the metal clearance area and the thickness of the metal clearance area, so that the antenna reaches the optimal resonant frequency, and the robot obtains the optimal communication signal.

The working principle of the robot is as follows: the antenna is arranged at the position of the robot shell, and the antenna area is isolated, so that the antenna avoids the shielding effect of metal devices and metal materials to the maximum extent, and the communication signal strength of the robot is improved.

According to the antenna, the antenna is arranged at the position of the machine shell, so that the antenna is away from a metal covering area of the chassis, the shielding and shielding influence of metal devices in the chassis area of the robot on the antenna is reduced, and the communication effect of the antenna is improved; the metal clearance area is arranged at the position, corresponding to the antenna, of the shell, so that the antenna receives or radiates electromagnetic wave signals without distortion, the signal strength is further improved, the performance of the antenna is exerted to the maximum extent, and the robot has good communication signals.

It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A robot is characterized by comprising a chassis, wherein the chassis is provided with a shell, the side wall of the shell is provided with at least one antenna, and each antenna is provided with a contact; the contact is connected with the robot mainboard through a feeder line; and a metal clearance area is arranged at the position of the shell corresponding to the antenna.

2. The robot of claim 1, wherein at least one receiving area is disposed at a sidewall of the housing, the antenna being disposed in the receiving area; an opening is formed in one side, facing the inner cavity of the chassis, of the accommodating area, the opening corresponds to the contact, and the feeder line penetrates through the opening to be connected with the contact.

3. The robot of claim 2, wherein said metal clearance zone covers said containment zone; the contact extends out of the opening to be connected with the feeder line.

4. The robot of claim 2, wherein a patch panel is disposed at a position of the chassis cavity corresponding to each of the receiving areas, and the antenna is connected to the robot main board through the patch panel,

5. The robot of claim 4, wherein the contacts include a feed point and a feed point, the pogo pin has a two-pin structure having a signal pin and a ground pin, and the signal pin is disposed apart from the ground pin; wherein the content of the first and second substances,

6. The robot as claimed in claim 4, wherein the adapter plate is fixed to the chassis by fixing posts having a set height, and the adapter plate is disposed to face the metal clearance area by the fixing posts;

the radio frequency connector is an SMA type connector.

7. The robot of claim 1, wherein the length and shape of the antenna are adjusted according to the dielectric constant of the metal clearance area and the thickness of the metal clearance area.

8. The robot as claimed in any one of claims 2 to 7, wherein there are two receiving areas, the two receiving areas are symmetrically disposed on two sides of the housing, and one antenna is disposed in each receiving area.

9. The robot of claim 8, wherein the antennas disposed in the two receiving areas are a first antenna and a second antenna, the first antenna is a vertically polarized antenna, and the first antenna and the horizontal direction have a first preset included angle; the second antenna is a horizontally polarized antenna, and a second preset included angle is formed between the second antenna and the horizontal direction; the sum of the first preset included angle and the second preset included angle is 90 degrees.

10. The robot of claim 8, wherein each of the antennas includes a first radiator and a second radiator, the first radiator matching a 2.4GHz band and the second radiator matching a 5GHz band.