CN114126098B - Communication base station for robot and laying method - Google Patents
Communication base station for robot and laying method Download PDFInfo
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- CN114126098B CN114126098B CN202111458239.XA CN202111458239A CN114126098B CN 114126098 B CN114126098 B CN 114126098B CN 202111458239 A CN202111458239 A CN 202111458239A CN 114126098 B CN114126098 B CN 114126098B
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- base station
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- balancing weight
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- 238000004891 communication Methods 0.000 title claims abstract description 92
- 238000000034 method Methods 0.000 title claims abstract description 15
- 230000005484 gravity Effects 0.000 claims abstract description 21
- 238000011084 recovery Methods 0.000 claims 1
- 230000000694 effects Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 241000282414 Homo sapiens Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W88/00—Devices specially adapted for wireless communication networks, e.g. terminals, base stations or access point devices
- H04W88/08—Access point devices
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04Q—SELECTING
- H04Q1/00—Details of selecting apparatus or arrangements
- H04Q1/02—Constructional details
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04Q—SELECTING
- H04Q1/00—Details of selecting apparatus or arrangements
- H04Q1/02—Constructional details
- H04Q1/04—Frames or mounting racks for selector switches; Accessories therefor, e.g. frame cover
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Manipulator (AREA)
- Variable-Direction Aerials And Aerial Arrays (AREA)
Abstract
The invention provides a communication base station for a robot and a placement method, and relates to the technical field of communication base stations. The communication base station for the robot comprises a shell, an upper cover, a lower balancing weight, a fixed support, a supporting rod, an outer movable support, an inner movable support, an antenna assembly plate, an upper balancing weight and an antenna. According to the communication base station for the robot and the arrangement method, the robot manipulator can grab and arrange the communication base station for the robot more randomly, and after the communication base station for the robot is arranged on the ground, the antenna is enabled to face upwards or obliquely upwards under the action of the gravity of the lower balancing weight, and the antenna is enabled to be kept in the vertical direction under the action of the gravity of the upper balancing weight, so that the arrangement efficiency of the communication base station is remarkably improved; if the laid communication base station for the robot is inclined under the action of external force, the antenna can be self-adaptively restored to the vertical posture under the action of the gravity of the lower balancing weight and the upper balancing weight.
Description
Technical Field
The invention relates to the technical field of communication base stations, in particular to a communication base station for a robot and a distribution method.
Background
With the progress and development of technology, robots are popularized and applied in the fields of high-risk area operation, disaster relief, and the like, and the robots replace human beings to enter first-line operation. The robot is provided with a manipulator, a sensor and the like, is used for remote operation and recognition of on-site working condition parameters and the like, and is communicated with the upper computer through the wireless communication module. However, in some working scenarios (such as rescue in mines), as the robot advances to a remote place, the wireless communication distance of the robot is limited, and the robot needs to keep communication with the upper computer through the communication base station. The current communication base station needs to be arranged in a land form flat area or needs to be righted by a robot after being arranged so that an antenna of the communication base station is upwards erected. By the operation, the arrangement efficiency of the communication base station is reduced, and the operation efficiency of the robot is also reduced. In addition, if the laid communication base station is tilted under the action of external force, the antenna is tilted and cannot restore to the vertical posture, so that the normal signal transmission of the antenna is affected.
Disclosure of Invention
The invention aims to provide a communication base station for a robot and a deployment method thereof, which are used for solving the technical problems that the deployment efficiency of the existing communication base station is low, and the deployed communication base station is inclined by external force and an antenna cannot recover to an upright posture.
In order to achieve the above purpose, the technical solution adopted by the present invention is as follows:
A communication base station for a robot comprises a shell, an upper cover, a lower balancing weight, a fixed bracket, a supporting rod, an outer movable bracket, an inner movable bracket, an antenna assembly plate, an upper balancing weight and an antenna;
the upper part of the shell is provided with an opening, and an upper cover is hermetically assembled at the opening of the shell;
the lower end of the inside of the shell is provided with a lower balancing weight, and a space is reserved between the lower balancing weight and the upper cover in the inside of the shell and is used for assembling a communication module;
A plurality of lower supporting seats are arranged on the upper cover along the circumferential direction, and the upper supporting seats which correspond to the lower supporting seats in number are arranged on the fixed bracket along the circumferential direction;
The fixed support is positioned above the upper cover, one end of the supporting rod is connected with the lower supporting seat, and the other end of the supporting rod is connected with the upper supporting seat;
The two opposite ends of the outer movable support are rotatably connected with the fixed support through a first rotating shaft, and the outer movable support can swing relative to the fixed support;
opposite ends of the inner movable support are rotatably connected with the outer movable support through a second rotating shaft, and the inner movable support can swing relative to the outer movable support;
the axis of the first rotating shaft is vertical to the axis of the second rotating shaft;
the lower end of the inner movable support is provided with an upper balancing weight which is arranged in a suspending way;
The upper end of the inner movable support is provided with an antenna assembly plate, and an antenna is assembled on the antenna assembly plate.
Preferably, the upper cover is provided with an antenna interface, one end of the antenna interface is connected with the communication module through a signal cable, and the other end of the antenna interface is connected with the antenna through the signal cable.
Preferably, the lower support seat is hinged with a lower screw sleeve, the upper support seat is hinged with an upper screw sleeve, one end of the support rod is connected with the lower screw sleeve in a threaded manner, and the other end of the support rod is connected with the upper screw sleeve in a threaded manner.
Preferably, the fixed bracket is provided with a first bearing, and the first rotating shaft is assembled with an inner ring of the first bearing; the outer movable support is provided with a second bearing, and the second rotating shaft is assembled with an inner ring of the second bearing.
Preferably, the antenna assembly plate is provided with two antennas.
Preferably, the shell is in a hemispherical structure, and the outer contour of the lower balancing weight is attached to the inner surface contour of the shell.
Preferably, the fixed support and the outer movable support are both arranged to be of a frame structure, the outer movable support is located in the fixed support, and the inner movable support is located in the outer movable support.
Preferably, the upper cover is provided with a charging port, a space between the lower balancing weight and the upper cover in the shell is provided with a charging power supply, and the charging port is electrically connected with the charging power supply.
Preferably, the upper cover is provided with a power switch, and the power switch is connected to a cable between the charging power supply and the communication module.
A method for arranging a communication base station for a robot aims at the communication base station for the robot, and the method comprises the following steps:
A plurality of communication base stations for robots are loaded on the robots, and the robot carrying robots move through the communication base stations; when the robot runs to a set position, grabbing the communication base station for the robot by a manipulator of the robot and placing the communication base station on the ground; under the action of the gravity of the lower balancing weight, an antenna on the communication base station for the robot faces upwards or obliquely upwards; under the action of the gravity of the upper balancing weight, the outer movable support swings relative to the fixed support, the inner movable support swings relative to the outer movable support, and the antenna on the communication base station for the robot is kept in the vertical direction.
The beneficial technical effects of the invention are as follows:
According to the communication base station for the robot and the arrangement method, the robot manipulator can be used for grabbing and arranging the communication base station at will, after the communication base station for the robot is arranged on the ground, the antenna is enabled to face upwards or obliquely upwards under the action of the gravity of the lower balancing weight, and the antenna is enabled to be kept in the vertical direction under the action of the gravity of the upper balancing weight, so that the arrangement efficiency of the communication base station is remarkably improved; if the laid communication base station for the robot is inclined under the action of external force, the antenna can be self-adaptively restored to the vertical posture under the action of the gravity of the lower balancing weight and the upper balancing weight.
Drawings
FIG. 1 is a perspective view of a communication base station for a robot according to an embodiment of the present invention;
fig. 2 is a front view of a communication base station for a robot according to an embodiment of the present invention;
FIG. 3 is a left side view of a communication base station for a robot according to an embodiment of the present invention;
FIG. 4 is a right side view of a communication base station for a robot according to an embodiment of the present invention;
FIG. 5 is a top view of a communication base station for a robot according to an embodiment of the present invention;
FIG. 6 is a bottom view of a communication base station for a robot according to an embodiment of the present invention;
fig. 7 is a perspective view of a communication base station for a robot according to an embodiment of the present invention, in which a fixed bracket, an outer movable bracket, an inner movable bracket, and the like are shown in section.
Detailed Description
The present invention will be further described in detail below with reference to specific embodiments and with reference to the accompanying drawings, in order to make the objects, technical solutions and advantageous effects of the present invention more apparent. Some embodiments of the present invention will now be described more fully hereinafter with reference to the accompanying drawings, in which some, but not all embodiments are shown. Indeed, various embodiments of the invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will satisfy applicable legal requirements.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "inner", "outer", "upper", "lower", "front", "rear", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In an embodiment of the present invention, a communication base station for a robot is provided, and please refer to fig. 1 to 7.
A communication base station for a robot comprises a shell 11, an upper cover 12, a lower balancing weight 2, a fixed support 3, a supporting rod 4, an outer movable support 51, an inner movable support 52, an antenna assembly plate 6, an upper balancing weight 7, an antenna 8 and the like.
The upper part of the shell 11 is opened, and an upper cover 12 is assembled at the opening of the shell 11 in a sealing way. Specifically, the upper edge position of the housing 11 is fitted with the edge position of the upper cover 12 via bolts. The lower end of the inside of the shell 11 is provided with a lower balancing weight 2, and a space is reserved between the lower balancing weight 2 and the upper cover 12 in the inside of the shell 11, and is used for assembling a communication module. Electronic devices such as a communication module and the like are assembled in the closed space so as to realize that the intrinsic safety meets the explosion-proof requirement.
The shell 11 is arranged into a hemispherical structure, and the outer contour of the lower balancing weight 2 is attached to the inner surface contour of the shell 11. The cooperation of the lower balancing weight 2 and the shell 11 is a 'tumbler' principle, and when the ground is flat and has no sundries, the antenna 8 is basically upwards oriented under the gravity action of the lower balancing weight 2; if the ground is uneven or there are foreign materials, one side of the bottom of the housing 11 may tilt, so that the antenna 8 is oriented obliquely upward.
Four lower supporting seats 91 are arranged on the upper cover 12 at equal intervals along the circumferential direction, four upper supporting seats 92 are arranged on the fixed bracket 3 at equal intervals along the circumferential direction, and the upper supporting seats 92 correspond to the lower supporting seats 91. The fixed bolster 3 is located the top of upper cover 12, and lower supporting seat 91 is connected to the one end of bracing piece 4, and upper supporting seat 92 is connected to the other end of bracing piece 4. The fixed support 3 is supported by the four support rods 4 together, a movable space is formed between the upper cover 12 and the fixed support 3, and the upper balancing weight 7 swings in the movable space; meanwhile, the supporting rod 4 can be clamped by the manipulator of the robot relatively easily, so that the communication base station can be conveniently grabbed.
Opposite ends of the outer movable bracket 51 are rotatably connected to the fixed bracket 3 via a first rotation shaft 511, and the outer movable bracket 51 is swingable with respect to the fixed bracket 3. Opposite ends of the inner movable bracket 52 are rotatably connected with the outer movable bracket 51 through a second rotating shaft 521, and the inner movable bracket 52 can swing relative to the outer movable bracket 51. The axis of the first rotating shaft 511 is perpendicular to the axis of the second rotating shaft 521. Specifically, a first bearing 512 is provided on the fixed bracket 3, and the first rotating shaft 511 is fitted with an inner ring of the first bearing 512; the outer movable bracket 51 is provided with a second bearing 522, and the second rotation shaft 521 is fitted with an inner race of the second bearing 522.
The fixed bracket 3 and the outer movable bracket 51 are both arranged into a frame structure, the outer movable bracket 51 is positioned in the fixed bracket 3, and the inner movable bracket 52 is positioned in the outer movable bracket 51. Therefore, the whole structure of the base station is more compact, and the volume of the base station is reduced.
The lower end of the inner movable support 51 is provided with an upper balancing weight 7, the upper balancing weight 7 is arranged in a suspended manner, and the upper balancing weight 7 is not contacted with other parts.
The upper end of the inner movable bracket 52 is provided with an antenna assembly plate 6, and two antennas 8 are assembled on the antenna assembly plate 6.
When the antenna 8 is not kept in the vertical direction, the outer movable bracket 51 swings relative to the fixed bracket 3 under the gravity action of the upper balancing weight 7, and the inner movable bracket 52 swings relative to the outer movable bracket 51, so that the antenna 8 is kept in the vertical direction.
The upper cover 12 is provided with an antenna interface 121, one end of the antenna interface 121 is connected with the communication module through a signal cable 81, and the other end of the antenna interface 121 is connected with the antenna 8 through the signal cable 81.
The lower support seat 91 is hinged with a lower screw sleeve 911, the lower screw sleeve 911 can swing relative to the lower support seat 91, the upper support seat 92 is hinged with an upper screw sleeve 921, and the upper screw sleeve 921 can swing relative to the upper support seat 92. One end of the supporting rod 4 is connected with the lower threaded sleeve 911 in a threaded manner, and the other end of the supporting rod 4 is connected with the upper threaded sleeve 921 in a threaded manner. Before the support rod 4 is in threaded connection with the lower screw sleeve 911 and the upper screw sleeve 921, the swinging angles of the lower screw sleeve 911 and the upper screw sleeve 921 are adjusted so as to facilitate the connection between the support rod 4, the lower screw sleeve 911 and the upper screw sleeve 921. In addition, the support rod 4 may be rotated to adjust the length of the support rod 4 exposed from the lower screw sleeve 911 and the upper screw sleeve 921, thereby adjusting the levelness of the fixing bracket 3.
The upper cover 12 is provided with a charging port 122, a charging power supply is arranged in the space between the lower balancing weight 2 and the upper cover 12 in the shell 11, the charging power supply is electrically connected with the communication module, and the charging port 122 is electrically connected with the charging power supply. The charging port 122 is connected with an external power supply to charge the charging power supply, so that the charging power supply supplies power for the operation of the communication module. The upper cover 12 is provided with a power switch 123, and the power switch 123 is connected to a cable between the charging power supply and the communication module. When the base station is loaded on the robot, the power switch 123 is turned on.
In the embodiment of the invention, a method for arranging the communication base station for the robot is also provided, and the method is as follows for the communication base station for the robot:
A plurality of communication base stations for robots are loaded on the robots, and the robot carrying robots move through the communication base stations; when the robot runs to a set position (a position slightly smaller than the communication boundary of the base station), the communication base station for the robot is grabbed by a manipulator of the robot and placed on the ground; under the action of gravity of the lower balancing weight 2, an antenna 8 on the communication base station for the robot faces upwards or obliquely upwards; under the action of the gravity of the upper balancing weight 7, the outer movable support 51 swings relative to the fixed support 3, the inner movable support 52 swings relative to the outer movable support 51, and the antenna 8 on the communication base station for the robot is kept in the vertical direction.
If the laid communication base station for the robot is inclined by external force, the antenna 8 can be self-adaptively restored to the upright posture under the gravity action of the lower balancing weight 2 and the upper balancing weight 7, and the action process is the same as the laying stage.
The present embodiment has been described in detail with reference to the accompanying drawings. From the above description, the skilled person will be aware of the communication base station for robots according to the invention. According to the communication base station for the robot and the arrangement method, the robot manipulator can be used for grabbing and arranging the communication base station at will, after the communication base station for the robot is arranged on the ground, the antenna 8 is enabled to face upwards or obliquely upwards under the gravity action of the lower balancing weight 2, and the antenna 8 is enabled to be kept in the vertical direction under the gravity action of the upper balancing weight 7, so that the arrangement efficiency of the communication base station is remarkably improved; if the laid communication base station for the robot is inclined under the action of external force, the antenna 8 can be self-adaptively restored to the vertical posture under the gravity action of the lower balancing weight 2 and the upper balancing weight 7.
While the foregoing is directed to embodiments of the present invention, other and further details of the invention may be had by the present invention, it should be understood that the foregoing description is merely illustrative of the present invention and that no limitations are intended to the scope of the invention, except insofar as modifications, equivalents, improvements or modifications are within the spirit and principles of the invention.
Claims (10)
1. The utility model provides a communication base station for robot which characterized in that: the antenna assembly device comprises a shell, an upper cover, a lower balancing weight, a fixed support, a support rod, an outer movable support, an inner movable support, an antenna assembly plate, an upper balancing weight and an antenna;
the upper part of the shell is provided with an opening, and an upper cover is hermetically assembled at the opening of the shell;
the lower end of the inside of the shell is provided with a lower balancing weight, and a space is reserved between the lower balancing weight and the upper cover in the inside of the shell and is used for assembling a communication module;
A plurality of lower supporting seats are arranged on the upper cover along the circumferential direction, and the upper supporting seats which correspond to the lower supporting seats in number are arranged on the fixed bracket along the circumferential direction;
The fixed support is positioned above the upper cover, one end of the supporting rod is connected with the lower supporting seat, and the other end of the supporting rod is connected with the upper supporting seat;
The two opposite ends of the outer movable support are rotatably connected with the fixed support through a first rotating shaft, and the outer movable support can swing relative to the fixed support;
opposite ends of the inner movable support are rotatably connected with the outer movable support through a second rotating shaft, and the inner movable support can swing relative to the outer movable support;
the axis of the first rotating shaft is vertical to the axis of the second rotating shaft;
the lower end of the inner movable support is provided with an upper balancing weight which is arranged in a suspending way;
An antenna assembly plate is arranged at the upper end of the inner movable bracket, and an antenna is assembled on the antenna assembly plate;
Under the action of the gravity of the lower balancing weight, the antenna is enabled to face upwards or obliquely upwards;
when the antenna is not kept in the vertical direction, the outer movable support swings relative to the fixed support under the gravity action of the upper balancing weight, and the inner movable support swings relative to the outer movable support, so that the antenna is kept in the vertical direction;
When the communication base station for the robot is inclined under the action of external force, the antenna is enabled to realize self-adaptive recovery to the vertical posture under the action of the gravity of the lower balancing weight and the upper balancing weight.
2. A communication base station for a robot according to claim 1, wherein: the upper cover is provided with an antenna interface, one end of the antenna interface is connected with the communication module through a signal cable, and the other end of the antenna interface is connected with an antenna through the signal cable.
3. A communication base station for a robot according to claim 1, wherein: the lower support seat is hinged with a lower screw sleeve, the upper support seat is hinged with an upper screw sleeve, one end of the support rod is connected with the lower screw sleeve in a threaded manner, and the other end of the support rod is connected with the upper screw sleeve in a threaded manner.
4. A communication base station for a robot according to claim 1, wherein: the fixed support is provided with a first bearing, and the first rotating shaft is assembled with an inner ring of the first bearing; the outer movable support is provided with a second bearing, and the second rotating shaft is assembled with an inner ring of the second bearing.
5. A communication base station for a robot according to claim 1, wherein: and two antennas are assembled on the antenna assembly plate.
6. A communication base station for a robot according to claim 1, wherein: the casing sets up to hemispherical structure, and the outline of lower balancing weight is laminated with the internal surface profile of casing.
7. A communication base station for a robot according to claim 1, wherein: the fixed support and the outer movable support are both arranged to be of a frame structure, the outer movable support is located in the fixed support, and the inner movable support is located in the outer movable support.
8. A communication base station for a robot according to claim 1, wherein: the upper cover is provided with a charging port, a space between the lower balancing weight in the shell and the upper cover is provided with a charging power supply, and the charging port is electrically connected with the charging power supply.
9. A communication base station for a robot according to claim 1, wherein: the upper cover is provided with a power switch which is connected to a cable between the charging power supply and the communication module.
10. A method for arranging a communication base station for a robot is characterized in that: the communication base station for a robot according to any one of claims 1 to 9, the method comprising:
A plurality of communication base stations for robots are loaded on the robots, and the robot carrying robots move through the communication base stations; when the robot runs to a set position, grabbing the communication base station for the robot by a manipulator of the robot and placing the communication base station on the ground; under the action of the gravity of the lower balancing weight, an antenna on the communication base station for the robot faces upwards or obliquely upwards; under the action of the gravity of the upper balancing weight, the outer movable support swings relative to the fixed support, the inner movable support swings relative to the outer movable support, and the antenna on the communication base station for the robot is kept in the vertical direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111458239.XA CN114126098B (en) | 2021-12-02 | 2021-12-02 | Communication base station for robot and laying method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111458239.XA CN114126098B (en) | 2021-12-02 | 2021-12-02 | Communication base station for robot and laying method |
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| CN114126098A CN114126098A (en) | 2022-03-01 |
| CN114126098B true CN114126098B (en) | 2024-04-26 |
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