Antenna device, self-mobile device and snow-sweeping robot

Abstract

The present application discloses an antenna device, a self-moving device, and a snow-sweeping robot. Among them, the antenna device includes: an antenna, a junction box for fixing the antenna, a first guide member electrically connected to the antenna, and a pre-tightening mechanism for maintaining the electrical connection between the first guide member and the antenna connector. When installing the antenna, the first guide member undergoes a certain amount of displacement under the abutment of the antenna. Therefore, when the length of the antenna or the first guide member changes, the first guide member moves under the abutment of the antenna to adapt to their respective sizes. The elastic member acts on the first guide member to provide a force for the first guide member to approach the antenna connector, so that the first guide member and the antenna connector remain in close contact, thus enabling antennas or first guide members of different sizes to maintain electrical connection, thereby increasing the compatibility of the device with antennas of different models. At the same time, during the disassembly and assembly process, when the antenna is removed, due to the action of the elastic member, the connecting member automatically pops up upward, facilitating disassembly.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and particularly to an antenna device, a self-mobile device, and a snow-sweeping robot. Background Art

[0002] With the rapid development of robot technology, domestic robots have begun to enter every corner of life. As a type of snow-sweeping robot, the snow-sweeping robot includes a snow-sweeping device and a carrier for dragging the snow-sweeping device to move in the courtyard. The carrier is usually a wheeled or tracked self-propelled device. The snow-sweeping device mainly includes a snow-rolling mechanism and a snow-throwing mechanism. The snow-rolling mechanism accumulates the snow on the ground into the snow-rolling cabin, and then the snow-throwing mechanism throws the snow in the snow-rolling cabin in a specified direction.

[0003] During the working process of the snow-sweeping robot, it needs to maintain a communication state with the outside world, such as receiving remote control, or interacting with a charging pile to achieve automatic charging, etc. Therefore, the snow-sweeping robot is equipped with an antenna for receiving and transmitting communication signals. Since there are many types of antennas, it is often necessary to replace the antenna according to different application scenarios. The wiring dimensions of different models of antennas often have deviations, and the existing snow-sweeping robots have poor compatibility with antennas, resulting in antennas of different sizes being unable to be normally installed on the snow-sweeping robot, seriously affecting the normal use of the equipment. Summary of the Invention

[0004] Embodiments of the present invention aim to provide an antenna device, a self-mobile device, and a snow-sweeping robot, which can solve the technical problem that the charging of the existing snow-sweeping robot depends on manual labor.

[0005] The embodiments of the present invention solve their technical problems by adopting the following technical solutions:

[0006] According to the first aspect of the present application, the present application discloses an antenna device, including:

[0007] An antenna, with an antenna connector provided at the bottom of the antenna;

[0008] A wiring box is provided with a circuit board communicatively connected to the antenna, and the wiring box is provided with an assembly part for installing the antenna;

[0009] A connecting member, the connecting member includes a first guide member with one end electrically connected to the circuit board and the other end electrically connected to the antenna;

[0010] A pre-tightening mechanism, the pre-tightening mechanism includes an elastic member for maintaining the electrical connection between the first guide member and the antenna connector. The first guide member can displace a certain dimension relative to the wiring box (3) under the top support of the antenna, thereby driving the elastic member to generate a corresponding elastic deformation.

[0011] When installing the antenna, the first guide is displaced to a certain extent under the support of the antenna. Therefore, when the length of the antenna or the first guide changes, the first guide moves under the support of the antenna to adapt to each other's size. The elastic member acts on the first guide to make the first guide produce a force to approach the antenna connector, so that the first guide and the antenna connector are closely fitted, so that antennas or first guides of different sizes can maintain electrical connection, so as to increase the compatibility of the device with antennas of different models. At the same time, during the disassembly process, when the antenna is removed, the connector automatically pops up due to the action of the elastic member, which is convenient for disassembly.

[0012] In a possible embodiment, the connector includes a first connector for electrically connecting to the antenna connector, the first connector is arranged at the head end of the first guide, the elastic member is a spring, the head end of the spring abuts against the first connector, and the tail end of the spring abuts against the junction box.

[0013] In this way, the spring exerts an elastic force on the first connector away from the junction box, so that the first connector always maintains contact with the antenna connector to ensure continuous electrical connection between the two. At the same time, when the device vibrates, the spring not only maintains the electrical connection between the first guide and the antenna connector, but also plays a buffering role to achieve an anti-vibration effect.

[0014] In a possible embodiment, the junction box is provided with a fixing groove, the bottom of the antenna is fixedly connected to the top of the fixing groove, the bottom of the fixing groove is provided with a threading hole allowing the first guide to pass through, the spring is sleeved on the first guide, the top of the spring abuts against the first joint, and the bottom of the spring abuts against the bottom of the fixing groove.

[0015] In this way, the bottom of the spring abuts against the bottom of the fixing groove, and the first guide is enclosed in the fixing groove, which not only plays a protective effect, but also prevents the first guide from moving radially, thereby playing a guiding role.

[0016] In a possible implementation manner, the pre-tensioning mechanism further includes a sheath disposed at the top end of the spring, and the sheath is located between the top end of the spring and the first joint.

[0017] By providing the sheath, the top of the spring is separated from the first joint, so as to avoid direct contact between the spring and the first joint to damage the first joint. At the same time, it is easy to pass the first guide and the installation is more convenient.

[0018] In a possible implementation manner, the pre-tightening mechanism further includes a fixing ring disposed at the bottom of the spring, and the fixing ring is fixedly connected to the bottom of the fixing groove.

[0019] In this way, by fixing the bottom of the spring to the fixing groove, the spring is prevented from shaking, thereby ensuring that the first guide and the antenna connector always maintain electrical connection, increasing the ability of the device to cope with complex environments and improving the robustness of the product.

[0020] In a possible implementation, the connecting member further includes a second guiding member and a supporting rod for accommodating the second guiding member. The junction box is provided with a fixing groove, and the bottom of the supporting rod is detachably connected to the fixing groove. The supporting rod is of a hollow structure. The antenna is arranged at the top of the supporting rod, and the second guiding member is arranged between the first guiding member and the antenna and is electrically connected to both of them.

[0021] In this embodiment, through the detachable connection between the supporting rod and the junction box, the second guiding member is arranged in the supporting rod. By means of the second guiding member and the supporting rod, the length or height of the antenna is extended, so as to facilitate the replacement of the antenna that requires a certain length and height, and increase the compatibility of the product with the antenna. When disassembly is required, the second guiding member automatically pops out of the top of the supporting rod under the action of the spring, which is convenient for disassembly and installation.

[0022] In a possible implementation, the top of the second guiding member is provided with a second connector, and the bottom is provided with a third connector. The second connector abuts against and is electrically connected to the antenna connector, and the third connector abuts against and is electrically connected to the first connector.

[0023] The electrical connection between the antenna connector and the first connector is respectively realized through the second connector and the third connector of the second guiding member.

[0024] In a possible implementation, the top of the supporting rod is provided with an installation groove for the bottom of the antenna to be inserted. The second connector is located in the installation groove, and a wiring channel that allows the third connector to pass through and restricts the second connector from passing through is provided at the bottom of the installation groove.

[0025] The wiring channel enables the bottom of the installation groove to play a limiting role on the second connector. In this way, when the second connector contacts the bottom of the installation groove, the pressure of the antenna will no longer be transmitted to the first guiding member through the second guiding member, which is convenient for fixing the antenna to the supporting rod. At the same time, the second guiding member is stabilized to prevent it from shaking in the supporting rod and causing accelerated wear, thereby extending the service life of the device.

[0026] In a possible implementation, the connecting member further includes a supporting member arranged between the second connector and the third connector.

[0027] The rigidity of the second guiding member is increased through the supporting member, preventing it from bending under the action of the spring and offsetting the deformation of the spring, ensuring that the elastic force of the spring is transmitted from the first guiding member to the second connector, thereby ensuring that the second guiding member is in close contact with the first guiding member and the antenna, and realizing the stability of the electrical connection among the three.

[0028] According to the second aspect of the present application, the present application also discloses a self - moving device, including a device main body and the above - mentioned antenna device;

[0029] The antenna device is installed on the device main body;

[0030] And / or, two antenna devices are provided, and the two antenna devices are respectively arranged on both sides of the device body.

[0031] According to the third aspect of the present application, the present application also discloses a snow sweeper robot, including:

[0032] Snow removal equipment for removing snow on the moving path;

[0033] Self-propelled equipment fixedly connected to the snow removal equipment for towing the snow removal equipment to move;

[0034] The above-mentioned antenna device, the self-propelled equipment is provided with a travel control system, and the antenna is communicatively connected to the travel control system.

[0035] Since the snow sweeper robot is provided with the above-mentioned antenna device, its compatibility with various types of antennas is increased, so that the corresponding antenna can be replaced according to different application scenarios, enabling the snow sweeper robot to achieve good communication effects in different environments and greatly improving the product's ability to adapt to the environment. Description of the Drawings

[0036] One or more embodiments are exemplarily illustrated by pictures in the corresponding drawings. These exemplary illustrations do not limit the embodiments. Elements with the same reference numerals in the drawings are represented as similar elements, unless otherwise stated, and the drawings in the figures do not constitute a proportional limitation.

[0037] Figure 1 It is a schematic structural diagram of the snow sweeper robot in the embodiment of the present application;

[0038] Figure 2 It is a three-dimensional structural diagram of the antenna device in the embodiment of the present application;

[0039] Figure 3 It is an assembly diagram of the antenna device in the embodiment of the present application;

[0040] Figure 4 It is a left view of the antenna device in the embodiment of the present application;

[0041] Figure 5 It is Figure 4 The A-A cross-sectional view in;

[0042] Figure 6 It is a cross-sectional view of the fixing ring in the embodiment of the present application;

[0043] Figure 7 It is a three-dimensional structural diagram of the antenna device in another embodiment of the present application;

[0044] Figure 8 It is an assembly diagram of the antenna device in another embodiment of the present application;

[0045] Figure 9 In another embodiment of the present application, it is the left view of the antenna device;

[0046] Figure 10 is Figure 9 the sectional view taken along line B-B in

[0047] Reference numerals in the drawings and their corresponding meanings:

[0048] Snow removal device 1, snow collection device 11, snow throwing device 12;

[0049] Moving trolley 2;

[0050] Terminal box 3, assembly part 30, fixing groove 31, wire threading hole 32;

[0051] Antenna 4, antenna connector 40;

[0052] First connector 50, first guide member 51, second guide member 52, second connector 53, third connector 54;

[0053] Spring 6, sheath 61, fixing ring 62, claw 620, spring seat 63;

[0054] Support rod 7, installation groove 70, limiting hole 71, wire guide 72. Detailed implementation manners

[0055] To facilitate the understanding of the present invention, the present invention will be described in more detail below with reference to the accompanying drawings and specific embodiments. It should be noted that when an element is expressed as "fixed to" another element, it can be directly on the other element, or there can be one or more intermediate elements therebetween. When an element is expressed as "connected to" another element, it can be directly connected to the other element, or there can be one or more intermediate elements therebetween. The terms "upper", "lower", "inner", "outer", "vertical", "horizontal", etc. used in this specification indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be construed as a limitation to the present invention.

[0056] In addition, terms such as "first", "second", etc. are for descriptive purposes only and should not be construed as indicating or implying relative importance. Words such as "comprising" or "including" mean that the elements or objects appearing before this word cover the elements or objects listed after this word and their equivalents, without excluding other elements or objects. Words such as "connected" or "coupled" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. Unless otherwise defined, features such as "parallel", "perpendicular", and "identical" used in the embodiments of the present invention include the strict sense of "parallel", "perpendicular", "identical", etc., as well as cases with certain errors such as "substantially parallel", "substantially perpendicular", "substantially identical", etc. For example, the above "substantially" may mean that the difference between the compared objects is within 10% or 5% of the average value of the compared objects. When the number of a component or element is not specifically indicated in the following text of the embodiments of the present invention, it means that the component or element can be one or more, or can be understood as at least one. "At least one" means one or more, and "a plurality" means at least two.

[0057] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by those of ordinary skill in the technical field to which this invention belongs. The terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used in this specification includes any and all combinations of one or more of the related listed items.

[0058] In addition, the technical features involved in different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Based on the described embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention.

[0059] A snow-sweeping robot disclosed in the present application, such as Figure 1As shown, the snow sweeper robot includes a snow sweeping device 1 and a self-propelled device for towing the snow sweeping device to move. In this embodiment, the self-propelled device is a mobile trolley 2. The snow removal device 1 is used to remove the snow on the moving path, including a snow collecting device 11 for accumulating the snow, and a snow throwing device 12 for throwing the snow out. The mobile trolley 2 is fixedly connected to the snow removal device 1, and the snow removal device 1 is dragged by the mobile trolley 2 to move, so as to perform the snow removal operation. Inside the mobile trolley 2, there is a walking control system and an antenna device. The antenna device is fixedly arranged on the mobile trolley 2, which includes a junction box 3 fixed to the vehicle body, an antenna 4 extending out of the vehicle body, and a connecting piece electrically connected to the antenna 4. Specifically, a circuit board (not shown in the figure) is provided inside the junction box 3. The circuit board carries a control circuit electrically connected to the electric wire. An antenna connector 40 is provided at the bottom of the antenna 4. The connecting piece includes a first guide piece 51. One end of the first guide piece 51 is electrically connected to the control circuit on the circuit board, and the other end is electrically connected to the antenna connector 40. Among them, controlling the antenna to receive and transmit signals through the circuit is an existing mature technology, and this application will not elaborate on it here. The antenna device further includes a pre-tightening mechanism. The pre-tightening mechanism includes an elastic member. The elastic member acts on the first guide piece 51 to keep the first guide piece 51 in close fit with the antenna connector, so as to ensure electrical contact between the two. The junction box 3 is provided with an assembly part 30 for installing the antenna 4. The antenna 4 is detachably connected to the assembly part 30. When the antenna 4 is installed, it will abut against the first guide piece 51, pushing the first guide piece 51 to move a certain size relative to the junction box, thereby driving the elastic member to generate a corresponding elastic deformation.

[0060] In this way, when the antenna 4 is installed, the first guide piece 51 undergoes a certain size of displacement under the abutment of the antenna 4, and the pre-tightening mechanism makes the first guide piece 51 in close fit with the antenna connector 40. Therefore, when the length of the antenna 4 or the first guide piece 51 changes, the first guide piece 51 moves under the abutment of the antenna 4 to adapt to their respective sizes. The elastic member acts on the first guide piece 51 to provide a force for the first guide piece 51 to move closer to the antenna connector 40, so that the first guide piece always maintains a close fit with the antenna connector 40. In this way, antennas 4 or first guide pieces 51 of different sizes can maintain electrical connection, increasing the compatibility of the device with different models of antennas. At the same time, during the disassembly and assembly process, when the antenna 4 is removed, due to the action of the elastic member, the connecting piece automatically pops up upwards, facilitating disassembly.

[0061] As Figure 2 and Figure 3 shown, the connecting piece includes a first connector 50. The first connector head 50 is arranged at the head end (the end connected to the antenna) of the first guide piece 51. The tail end of the first guide piece 51 is electrically connected to the circuit board. In this embodiment, the elastic member is a spring 6. The head end of the spring 6 abuts against the first connector 50, and the tail end of the spring 6 abuts against the junction box 3. Of course, in other embodiments of this application, the elastic member can also be other elements with elastic deformation ability, such as elastic sheets, etc.

[0062] In this way, a spring force acting on the first connector 50 away from the junction box 3 is generated by the spring 6. Through the compression and extension of the spring 6, the space occupied by the first guide member 51 inside the assembly portion 4 changes dynamically according to the positional relationship between the first connector 50 and the antenna 4, so as to ensure that the first connector 50 always remains in contact with the antenna connector 40, thereby ensuring continuous electrical connection between the two and increasing the stability of the antenna device. At the same time, it can be compatible with first connectors 50 and antennas 4 of different sizes, expanding the applicable range of the device for the antenna 4. On the other hand, when the device vibrates, in addition to maintaining the point connection between the first guide member 51 and the antenna connector 40, the spring 6 can also play a buffering role, achieving the effects of earthquake resistance and anti-shake.

[0063] Specifically, as Figures 2 - 5 shown, the assembly portion 30 includes a fixing groove 31 provided in the junction box 3. The bottom of the antenna 4 is detachably connected to the top of the fixing groove 31. A wire passing hole 32 allowing the tail of the first guide member 51 to pass through is provided at the bottom of the fixing groove 31. The spring 6 is sleeved on the first guide member 51. The head end of the spring 6 abuts against the first connector 50, and the tail end abuts against the bottom of the fixing groove 31. In this embodiment, the antenna 4 is threadedly connected to the fixing groove 31. Of course, in other embodiments of the present application, the antenna 4 and the fixing groove 31 can also be connected by snap connection or plug-and-play connection.

[0064] In this way, the bottom of the spring 6 abuts against the bottom of the fixing groove 31. After the antenna 4 is installed in the fixing groove 31, the first guide member 51 is enclosed in the fixing groove 31, preventing it from being exposed to the external environment and aging, playing a protective role. At the same time, it avoids the first guide member 51 being bent radially under the elastic force of the spring 6, playing a guiding role. In this way, the elastic force from the spring 6 will be transmitted along the first guide member 51 to between the first connector 50 and the antenna interface 40, ensuring stable electrical contact between the two.

[0065] As Figure 3 and Figure 5 shown, since the head end of the spring 6 is in line contact with the first connector 50, the contact point pressure is relatively large and the stability is poor. In this embodiment, a sheath 61 is further provided at the head end of the spring 6. The bottom of the sheath 61 is inserted into the head end of the spring 6 and sleeved with the spring 6. The top of the sheath 61 extends radially, and the overall shape is funnel-shaped. The tail of the first guide member 51 passes through the sheath 61 and enters the wire passing hole 32 through the tail end of the spring 6. The top of the sheath 61 abuts against the first connector 50. The inner diameter of the sheath 61 allows the first guide member 51 to pass through, but restricts the first connector 50 from passing through. In this way, the sheath 61 plays a role of limiting and supporting the first connector 50. When the first connector 50 is pressed by the antenna 4, the pressure will be transmitted to the sheath 61, and then drive the spring 6 to compress.

[0066] By setting the sheath 61 in this way, the top of the spring 6 is spaced apart from the first joint 50. Since the contact area between the spring 6 and the first joint 50 is small, the pressure is relatively large. Separating the two through the sheath 61 reduces the direct contact between them, slows down the wear of the device, extends the service life, and improves the structural stability. On the other hand, the sheath 61 facilitates the insertion of the first guide member 51 through the spring 6, making the product assembly more convenient.

[0067] As Figures 3 - 6 shown, the pre-tightening mechanism further includes a fixing ring 62 disposed at the bottom of the spring 6, and the fixing ring 62 is fixedly connected to the bottom of the fixing groove 31. Specifically, the bottom of the spring 6 is fixedly connected to the top of the fixing ring 62. The bottom of the fixing ring 62 is provided with a claw 620, and the bottom of the fixing groove 31 is provided with a spring seat 63. The spring seat 63 is fixedly connected to the fixing groove 31. The spring seat 63 is a hollow tubular structure. The bottom of the fixing ring 62 is inserted into the top of the spring seat 63, and the claw 620 is clamped to the bottom edge of the spring seat 63. In this way, the fixing connection between the spring 6 and the fixing groove 31 is realized through the clamping connection between the fixing ring 62 and the spring seat 63.

[0068] By fixedly connecting the bottom of the spring 6 to the fixing groove 31 in this way, the spring 6 is fixedly connected to the junction box 3, avoiding the spring 6 from shaking in a relatively bumpy or severely vibrating environment, so as to ensure that the first guide member 51 and the antenna joint 40 always maintain electrical connection, and improve the ability of the device to adapt to complex environments and the robustness of the product.

[0069] As Figures 7 - 8 shown, in another embodiment of the present application, the antenna device further includes a support rod 7. The antenna 4 is fixedly connected to the junction box 3 through the support rod 7. By means of the support rod 7, the height or length of the antenna can be increased, so that the snow-sweeping robot can also be installed with an antenna that requires a certain height or length extension, facilitating the free combination of antennas according to the requirements of different signal intensities, different wavelengths and frequencies. Specifically, in this embodiment, the support rod 7 is a hollow structure. The connecting member further includes a second guide member 52, and the second guide member 52 is received in the support rod 7. The bottom of the support rod 7 is detachably connected to the fixing groove 31, for example, by threaded connection. The antenna 4 is detachably disposed at the top of the support rod 7. The first end of the second guide member 52 is electrically connected to the antenna joint 40, and the second end is electrically connected to the first joint 50.

[0070] In this embodiment, through the detachable connection between the support rod 7 and the junction box 3, a second guide member 52 is arranged inside the support rod 7. The length or height of the antenna is extended through the second guide member 52 and the support rod 7, so as to facilitate the replacement of large-sized antennas with certain required lengths or heights, expand the compatibility of the snow sweeping robot with different types of antennas, and realize the ability to match corresponding antennas according to the requirements of different signal intensities, frequencies and wavelengths. When it is necessary to replace a small-sized antenna, only need to remove the antenna 4 from the top of the support rod 7, remove the support rod 7 from the fixing groove 31, and then install the corresponding antenna 4 in the fixing groove 31. When it is necessary to replace the second guide member 52, remove the antenna 4 at the top of the support rod 7. The second guide member 52 automatically pops out from the top of the support rod 7 under the action of the spring 6, which is convenient for pulling out the second guide member 52 for replacement, bringing great convenience to assembly and maintenance.

[0071] Specifically, as Figure 8 and Figure 10 shown, a second connector 53 is provided at the top of the second guide member 52, a third connector 54 is provided at the bottom of the second guide member 52. The second connector 53 is docked with the antenna connector 40, and the third connector 54 is docked with the first connector 50, so as to realize the sequential abutment and electrical connection of the antenna 4, the second guide member 52 and the first guide member 51. Since the second guide member 52 abuts against the first guide member 51, the acting force of the spring 61 is transmitted to the second connector 53 of the second guide member 52, so that the antenna connector 40 and the second connector 53 maintain stable electrical connection under the action of the spring 6.

[0072] As Figure 8 and Figure 10As shown, a mounting groove 70 is provided at the top of the support rod 7, and a limiting hole 71 is provided at the bottom of the mounting groove 70. The second joint 53 is located in the mounting groove 70, and the limiting hole 71 allows the third joint 54 to pass through, blocking the second joint 53 from passing through. In this way, the second joint 53 is limited to one side of the mounting groove 70 by the limiting hole 71. The antenna 4 is detachably fixed to the mounting groove 70. In this embodiment, the bottom of the antenna 4 is threadedly connected to the mounting groove 70. When the antenna 4 is screwed into the mounting groove 70, the antenna joint 40 abuts against the second joint 53. Under the continuous advancement of the antenna 4, the second guide 52 moves in the opposite direction of the advancement of the antenna 4, and drives the first guide 51 to move, so that the compression amount of the spring 6 gradually increases. In other embodiments of the present application, a wire guide 72 is also provided at the bottom 70 of the mounting groove, and the limiting hole is opened at the center of the wire guide 72. The wire guide 72 is detachably arranged at the bottom of the mounting groove 70. When the second connector 53 contacts the limiting hole 71, the second guide 52 stops moving, and the pressure between the antenna connector 40 and the second connector 53 is no longer transmitted to the third connector 54. This makes it easier for the antenna 40 to be fastened to the second connector 53 alone, and avoids directly transmitting all the pressure to the first connector 50 and the third connector 54, which would cause excessive compression of the spring 6 and bending and deformation of the second guide 52. At the same time, the limiting hole 70 stabilizes the second guide 52, limits it at the center of the support rod 7, prevents it from shaking inside the support rod 7, increases the stability of the device, reduces the wear between it and the support rod 7, and prolongs the service life of the device.

[0073] In another embodiment of the present application, the connecting member may further include a supporting member, which is arranged between the second joint 53 and the third joint 54. The supporting member is a rigid member. In this embodiment, the supporting member is a telescopic bracket (not shown in the figure) fixedly arranged on the outside of the second guide member 52. During installation, the telescopic amount of the telescopic bracket can be adjusted according to the length of the second guide member 52 to match the sizes of the two.

[0074] In this way, the rigidity of the second guide 52 is increased by the support member to prevent it from bending under the action of the spring 6 and offsetting the deformation of the spring 6, thereby ensuring that the elastic force of the spring 6 is transmitted from the first guide 51 to the second connector 53, thereby ensuring that the second guide 52 is abutted against the first guide 51 and the antenna 4 in sequence, and the abutment makes the connection between the three always tightly fit, so as to achieve the stability of the electrical connection between the three, and then achieve the purpose of maintaining the continuity of the antenna communication.

[0075] The snow-clearing robot disclosed in the embodiment of the present application has the above-mentioned antenna device on its mobile vehicle, which increases its compatibility with antennas of various models. In this way, appropriate antennas can be replaced according to different application scenarios, so that the snow-clearing robot can achieve good communication effects in different environments, greatly improving the product's ability to adapt to the environment.

[0076] The embodiments of the present application also disclose a self - moving device, which includes a device main body and the above - mentioned antenna device, and the antenna device is installed on the device main body. In this embodiment, two antenna devices are provided, and the two antenna devices are respectively arranged on both sides of the device main body. In other embodiments of the present application, only one antenna device may also be provided. The self - moving device in this embodiment may be a self - propelled trolley, or a drone, a ship, etc.

[0077] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; under the idea of the present invention, the technical features in the above embodiments or different embodiments can also be combined, and the steps can be implemented in any order, and there are many other variations in different aspects of the present invention as described above. For the sake of brevity, they are not provided in detail; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An antenna device, characterized in that, comprising: an antenna, with an antenna connector provided at the bottom of the antenna; a junction box, in which a circuit board communicatively connected to the antenna is provided, and the junction box is provided with an assembly part for mounting the antenna; a connecting member, the connecting member comprising a first conductor with one end electrically connected to the circuit board and the other end electrically connected to the antenna connector; a pre-tightening mechanism, the pre-tightening mechanism comprising an elastic member for maintaining the electrical connection between the first conductor and the antenna connector, and the first conductor can move relative to the junction box under the abutment of the antenna, thereby driving the elastic member to generate corresponding elastic deformation; the connecting member comprises a first connector for electrically connecting to the antenna connector, the first connector is arranged at the head end of the first conductor, the elastic member is a spring, the top end of the spring abuts against the first connector, and the bottom end of the spring abuts against the junction box; the assembly part is a fixing groove provided in the junction box, the bottom of the antenna is detachably connected to the fixing groove, a wire passing hole allowing the first conductor to pass through is provided at the bottom of the fixing groove, the spring is sleeved on the first conductor, the top end of the spring abuts against the first connector, and the bottom end of the spring abuts against the bottom of the fixing groove; the pre-tightening mechanism further comprises a fixing ring arranged at the bottom of the spring, and the fixing ring is fixedly connected to the bottom of the fixing groove; the bottom of the spring is fixedly connected to the top of the fixing ring, a claw is provided at the bottom of the fixing ring, a spring seat is provided at the bottom of the fixing groove, the spring seat is fixedly connected to the fixing groove, the spring seat is a hollow tubular structure, the bottom of the fixing ring is inserted from the top of the spring seat, and the claw is clamped at the bottom edge of the spring seat.

2. The antenna device according to claim 1, characterized in that, the pre-tightening mechanism further comprises a sheath arranged at the top end of the spring, and the sheath is located between the top end of the spring and the first connector.

3. The antenna device according to claim 1, characterized in that, the connecting member further comprises a second conductor and a support rod for accommodating the second conductor, the junction box is provided with a fixing groove, the bottom of the support rod is detachably connected to the fixing groove, the support rod is a hollow structure, the antenna is arranged at the top of the support rod, the second conductor is arranged between the first conductor and the antenna and is electrically connected to both.

4. The antenna device according to claim 3, characterized in that, the second conductor is provided with a second connector at the top and a third connector at the bottom, the second connector abuts against and is electrically connected to the antenna connector, and the third connector abuts against and is electrically connected to the first connector.

5. The antenna device according to claim 4, characterized in that, the top of the support rod is provided with an installation groove for inserting the bottom of the antenna, the second connector is located in the installation groove, and a limiting hole allowing the third connector to pass through and restricting the second connector to pass through is provided at the bottom of the installation groove.

6. The antenna device according to claim 4, characterized in that, the connecting member further comprises a support member arranged between the second connector and the third connector.

7. A self - moving device, characterized in that, it includes a device main body and the antenna device according to any one of claims 1 - 6; the antenna device is installed on the device main body; and / or, there are two antenna devices, and the two antenna devices are respectively arranged on both sides of the device main body.

8. A snow - sweeping robot, characterized in that, it includes: a snow - removing device for removing snow on the moving path; a self - walking device connected to the snow - removing device for towing the snow - removing device to move; the antenna device according to any one of claims 1 - 6, the self - walking device is provided with a walking control system, and the antenna is communicatively connected to the walking control system.

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