CN112968328B

CN112968328B - Wired communication device and system for mobile robot

Info

Publication number: CN112968328B
Application number: CN202110136833.0A
Authority: CN
Inventors: 任开文
Original assignee: Suzhou Jiuwu Interworking Intelligent Technology Co ltd
Current assignee: Suzhou Jiuwu Intelligent Technology Co ltd
Priority date: 2021-02-01
Filing date: 2021-02-01
Publication date: 2022-05-31
Anticipated expiration: 2041-02-01
Also published as: CN112968328A

Abstract

The invention discloses a wired communication device for a mobile robot, which comprises a rear mounting bracket, a front mounting bracket and a female head connecting seat, wherein connecting shafts are respectively arranged on opposite surfaces of the rear mounting bracket and the front mounting bracket, elastic cantilevers are arranged on the two connecting shafts in an interference manner, a probe head is arranged on the front mounting bracket, a probe sheet matched with the probe head is arranged on the female head connecting seat, and magnetic pieces which are consistent in relative positions with the probe head and the probe sheet and are opposite in magnetism are respectively arranged on the front mounting bracket and the female head connecting seat. A wired communication system for a mobile robot comprises a wired communication device, a charging pile and the robot. The high-precision automatic butt joint of the movable end and the fixed end can be realized, the durability is good, the service life is long, and the automatic production requirement under confidential communication is met.

Description

Wired communication device and system for mobile robot

Technical Field

The invention relates to the technical field of wired communication of mobile robots, in particular to a wired communication device for a mobile robot and a wired communication system for the mobile robot.

Background

In recent years, with the continuous enrichment and development of intelligent manufacturing technology, more and more production applications are gradually replaced by automatic and unmanned production. The mobile robot IGV (Intelligent Guided vehicle) based on the laser SLAM navigation technology realizes autonomous navigation and positioning, automatically plans a path and automatically avoids barriers under the condition of not laying auxiliary navigation equipment such as magnetic nails, two-dimensional codes and the like in an application environment, and becomes a main application carrier for cross-process production and transportation. The IGV of the mobile robot can realize the automatic transportation task between point to point of materials, and the IGV is mainly connected to a production local area network by a wireless router through WiFi communication to finish the scheduling of the robot task. With the development of 5G communication technology, the response of the robot is faster due to the characteristics of high bandwidth and low time delay, the application is more convenient, and the 'tail' of the cable of the robot becomes history. Due to flexible communication, intelligent scheduling and simple operation, the IGV becomes the main force of intelligent workshop carrying gradually, and becomes an important component of an intelligent factory.

In military industry and part of large modeling enterprises, in order to ensure the safety of production data, wireless network information transmission is not allowed, and the robot can only use near-field infrared communication or wired network data transmission.

Infrared communication can only be applied to short-distance transmission, and cannot be applied when the distance is long. Meanwhile, infrared transmission belongs to optical communication transmission and is easily interfered by the outside, and the transmission precision can be influenced by shielding of dust and foreign matters. The infrared communication technology mainly aims to replace cable connection for wireless data transmission, and has single function and poor expansibility.

Patent with publication number CN 108608442B: a communication device and a method for converting a mobile robot into a wire wirelessly are introduced, a communication metal sheet is arranged on a robot based on inertial navigation and is contacted with a metal probe in communication equipment fixed relative to the ground to finish the transmission of communication data. The mode is simple and easy to implement, and the probes are arranged in two rows, so that the probe card has a protection effect. Although the patent mentions that the fixed end and the movable end of the communication equipment are fixed by flexible materials, the docking flexibility can be improved, but the scheme has low tolerance, so that the docking randomness can be caused, and the accuracy of docking use cannot be ensured; meanwhile, the flexible material lacks rigidity, and along with the increase of the use times, the flexible material is subjected to plastic deformation, so that the butt joint accuracy is reduced until the flexible material fails to be in butt joint. In conclusion, the above solutions lack docking accuracy and durability in use.

Disclosure of Invention

The technical problem to be solved by the invention is to provide a wired communication device and system for a mobile robot, which can realize high-precision automatic butt joint of a mobile end and a fixed end through reasonable structural design, have good durability and long service life, and meet the automatic production requirement under confidential communication.

In order to solve the technical problem, the invention provides a wired communication device for a mobile robot, which comprises a rear mounting bracket, a front mounting bracket and a female connecting seat, wherein the rear mounting bracket and the front mounting bracket are respectively provided with a connecting shaft on opposite surfaces, and the two connecting shafts are provided with elastic cantilevers in an interference manner; a probe head is arranged on the front mounting bracket, and a probe sheet matched with the probe head is arranged on the female head connecting seat; the probe head comprises a front mounting support, a female head connecting seat and a probe piece, and is characterized in that a first magnetic part is arranged on the front mounting support, a second magnetic part is arranged on the female head connecting seat, the magnetism of the first magnetic part is opposite to that of the second magnetic part, and the relative position of the first magnetic part and the probe head is consistent with that of the second magnetic part and the probe piece.

In a preferred embodiment of the present invention, the device further comprises a guide rod, two ends of the guide rod are slidably disposed on the rear mounting bracket and the front mounting bracket, respectively, and the guide rod and the elastic cantilever are coaxially disposed.

In a preferred embodiment of the present invention, the elastic cantilever is provided as a spring, two ends of the spring are respectively sleeved on the two connecting shafts in an interference manner, a pin hole is formed in the connecting shaft, a pin is arranged in the pin hole, an outer diameter of the pin is smaller than inner diameters of the pin hole and the spring, and the pin is slidably arranged in the pin hole.

In a preferred embodiment of the present invention, the pin further comprises an outer diameter of the pin set to be one third to one half of an inner diameter of the spring.

In a preferred embodiment of the present invention, the pin further includes a small end penetrating through the connecting shaft on the front mounting bracket, and a large end remaining on the butt side, the front mounting bracket is fixedly provided with a clamping piece, the clamping piece abuts against the large end of the pin, and the small end of the pin is connected with the nut or the snap spring after penetrating through the connecting shaft of the rear mounting bracket.

In a preferred embodiment of the present invention, the front mounting bracket further includes a male connecting seat, the male connecting seat is provided with a probe head hole, the probe head hole is provided with a probe seat, and the probe seat is internally provided with a probe spring and a probe head in sequence from inside to outside.

In a preferred embodiment of the present invention, the probe head is a brass probe head, and the brass probe head is processed with gold plating or nickel plating; the brass probe sheet is arranged as a brass probe sheet, and the surface of the brass probe sheet is treated by adopting a gold plating or nickel plating process.

In a preferred embodiment of the present invention, the apparatus further comprises an elastic floating module, wherein the elastic floating module comprises a large swing head, a small swing head and a connecting bracket, the large swing head and the small swing head are coaxially hinged at the fixed end, the rear mounting bracket is arranged on the connecting bracket, and the female head connecting seat is arranged at the movable end.

The utility model provides a wired communication device for mobile robot, includes that elasticity floats module, probe head and probe piece, elasticity floats the module and includes that big swing head, little swing head and linking bridge, swing head and little swing head coaxial hinge at the stiff end greatly, the probe head sets up on linking bridge, the probe piece sets up and is moving the end.

A wired communication system for a mobile robot comprises the wired communication device, a charging pile and the robot.

The invention has the beneficial effects that:

the wired communication device and the system for the mobile robot can realize functions of communication, charging and the like, when the robot finishes the current task or needs to be charged, the robot enters the charging pile, and meanwhile, the wired communication device is automatically connected in a butt joint mode to finish information communication based on a TCP/IP protocol. The automatic production requirements of the military industry, the manufacturing industry, a data machine room and the like with communication confidentiality requirements are met, the SLAM offline autonomous navigation technology of the mobile robot is matched, the mobile robot is automatically butted with upper-layer systems such as WMS and MES through the connection of the robot and a charging pile wired communication module, and then the interconnection and intercommunication of the whole production line are completed. Accurate butt joint, good durability and long service life.

Drawings

Fig. 1 is a self-contained schematic view of a wired communication device for a mobile robot according to a preferred embodiment of the present invention;

FIG. 2 is a self-contained schematic view of a male module in accordance with a preferred embodiment of the present invention;

FIG. 3 is a schematic horizontal cross-sectional view of a male module in a preferred embodiment of the invention;

FIG. 4 is a schematic diagram of a partial explosion of the male module in accordance with a preferred embodiment of the present invention;

FIG. 5 is an exploded view of the female module in accordance with the preferred embodiment of the present invention;

FIG. 6 is a schematic partial exploded view of a female module in accordance with a preferred embodiment of the present invention;

FIG. 7 is a self-contained schematic view of a resilient floating module in accordance with a preferred embodiment of the present invention;

fig. 8 is a self-contained schematic view of a wired communication system for a mobile robot in accordance with a preferred embodiment of the present invention;

FIG. 9 is a self-contained schematic view of a charging post in accordance with a preferred embodiment of the present invention;

FIG. 10 is a self-contained schematic view of a robot in accordance with a preferred embodiment of the present invention;

fig. 11 is a schematic diagram illustrating the operation of a wired communication system for a mobile robot according to a preferred embodiment of the present invention.

The reference numbers in the figures illustrate:

1-male module, 10-guide cover, 11-rear mounting bracket, 110-connecting shaft I, 12-front mounting bracket, 120-connecting shaft II, 121-card, 13-male connecting seat, 130-probe head, 131-probe head hole, 132-probe seat, 133-probe elastic piece, 134-male PCB, 14-male connecting wire, 15-elastic cantilever, 16-guide rod, 160-pin head and 17-first magnetic piece.

2-female head module, 20-female head mounting seat, 200-clamping seat, 201-screw, 202-fixing hole, 21-female head connecting seat, 210-probe sheet, 211-probe sheet hole, 212-female head PCB, 22-female head connecting line and 23-second magnetic piece.

3-elastic floating module, 30-large swing head, 301-swing groove, 31-small swing head, 310-telescopic piece, 311-socket, 32-connecting bracket.

4-charging pile, 40-network cable and 41-power line.

5-robot, 50-housing, 51-sonar, 52-charging port.

Detailed Description

The present invention is further described below in conjunction with the following figures and specific examples so that those skilled in the art may better understand the present invention and practice it, but the examples are not intended to limit the present invention.

Example 1

The present embodiment discloses a wired communication device for a mobile robot, which is shown in fig. 1 to 6, and includes a rear mounting bracket 11, a front mounting bracket 12, and a female connector holder 21. The rear mounting bracket 11 and the front mounting bracket 12 are provided with connecting shafts on opposite surfaces. The two connecting shafts are provided with elastic cantilevers 15 in an interference manner. The front mounting bracket 12 is provided with a probe head 130. The female connector holder 21 is provided with a probe sheet 210 matched with the probe head 130. The front mounting bracket 12 is provided with a first magnetic member 17, the female connector holder 21 is provided with a second magnetic member 23, the first magnetic member 17 and the second magnetic member 23 have opposite magnetism, and the relative position of the first magnetic member 17 and the probe head 130 is consistent with the relative position of the second magnetic member 23 and the probe sheet 210. Above optimized structural design, when using, can set up back installing support 11 and female first connecting seat 21 respectively at removal end and stiff end, or set up respectively at removal end and removal end. The front mounting bracket 12 and the rear mounting bracket 11 are elastically arranged, so that the probe head 130 can freely float when being docked. When the front mounting bracket 12 and the female connecting seat 21 are close to each other, the two magnetic pieces attract each other; and under the guidance of the magnetic attraction between the two magnetic parts, the probe head 130 is inserted into the probe sheet 210 without obstacles, so that the butt joint tolerance and the butt joint difficulty are reduced, the influence of factors such as repeated butt joint precision errors, ground flatness differences, equipment installation deviation and the like on butt joint is reduced, the stable connection after the butt joint is ensured, the reliability is high, and the service life is long.

Specifically, the structure of the end where the probe head 130 is located constitutes the male module 1. The structure of the end where the probe tile 210 is located constitutes the female head module 2. Public first module 1 is fixed in on charging pile 4. The female head module 2 is fixed on a robot 5. The connecting shaft comprises a first connecting shaft 110 and a second connecting shaft 120 which have the same diameter. Two ends of the elastic cantilever 15 are respectively sleeved on the first connecting shaft 110 and the second connecting shaft 120. And a male connecting seat 13 is arranged on the front mounting bracket 12. The male connector base 13 is provided with a male PCB134 and a male connecting wire 14. The probe head 130 and the male connecting wire 14 are connected to the male PCB 134. The female module 2 comprises a female mount 20. The female connector holder 21 is disposed on the female connector holder 20 by a screw 201. The female connector base 21 is provided with a probe sheet hole 211. The probe sheet 210 is buried in the probe sheet hole 211. The female connector base 21 is provided with a female PCB212 and a female connecting wire 22. The probe card 210 and the female connector 22 are connected to the female PCB 212. The outer diameter of the probe head 130 is smaller than the inner diameter of the probe tile 210. The male connection line 14 and the female connection line 22 are respectively connected to an external signal source terminal or a power source terminal. The magnetic members include a first magnetic member 17 on the front mounting bracket 12 and a second magnetic member 23 on the female connector holder 21. The relative positions of the first magnetic members 17 to the probe head 130 and the second magnetic members 23 to the probe tile 210 coincide, which includes the distance and orientation from the center of the first magnetic members 17 to the center of the probe head 130, and the distance and orientation from the center of the second magnetic members 23 to the center of the probe head 130. Preferably, there are two of the first magnetic member 17 and the second magnetic member 23. The two first magnetic members 17 are respectively located at two sides of the male connector base 13, and the two second magnetic members 23 are respectively located at two sides of the female connector base 21. The female connecting seat 21 may be formed by processing a wear-resistant nylon material.

In other embodiments, it is within the scope of the present invention to have a partially floating design for the probe tile 210, or to have both the probe head 130 and the probe tile 210 float simultaneously, and not be described again here.

In order to improve the durability of the elastic cantilever 15 and avoid the elastic cantilever 15 from being plastically deformed after long-term use, in the present embodiment, the guide rods 16 are slidably disposed on the rear mounting bracket 11 and the front mounting bracket 12. The guide bar 16 is arranged coaxially with the resilient cantilever 15. The coaxial arrangement minimizes the constraint of the guide rods 16 on the probe head 130 floating.

In particular, the elastic cantilever 15 is provided as a spring. Two ends of the spring are respectively sleeved on the two connecting shafts in an interference manner. And a pin hole is formed in the connecting shaft. The pin has an outer diameter smaller than the inner diameters of the pin hole and the spring. The pin is arranged in the pin hole in a sliding mode, and the swinging amplitude of the spring is ensured. Preferably, the outer diameter of the pin is set to be one third to one half of the inner diameter of the spring.

As a further improvement of the present invention, the small end of the pin passes through the connecting shaft on the front mounting bracket 12, and the large end is left at the butt side. A card 121 is fixedly arranged on the front mounting bracket 12. The card 121 abuts the large head end of the pin. The small end of the pin is connected with the nut or the snap spring after penetrating out of the connecting shaft of the rear mounting bracket 11. When the front mounting bracket 12 is compressed, only the pin can penetrate out towards the rear mounting bracket 11 side and does not penetrate out from the butt joint side, so that the safety of butt joint side parts is protected, and the pin cannot fall off during reciprocating sliding.

In order to further improve the floatability of the probe head 130, in the technical solution of this embodiment, the male connector base 13 is provided with a probe head hole 131. A probe seat 132 is arranged in the probe head hole 131. The probe base 132 is provided with a probe spring 133 and a probe head 130 from inside to outside in sequence. Which can improve the lifespan of the probe head 130. Preferably, the probe head 130 may have a cylindrical shape; the outer diameter of the guide rod can also be gradually increased from outside to inside so as to play a role in guiding.

In some preferred embodiments, the probe head 130 has an outer diameter of 1.0 mm. The stroke of the probe elastic member 133 is 1.5mm, and the maximum bearing force is 1.5N. The probe tile 210 has a diameter of 2.5 mm. The probe head 130 and the probe tile 210 have four in a rectangular arrangement, respectively. The pitch of the probe sheet 210 in the horizontal X-axis direction is 12mm, and the pitch of the probe sheet in the vertical Y-axis direction is 6 mm. The probe heads 130 correspond to the probe tiles 210 one to one. Of course, the size and arrangement of the probe head 130 and the probe tile 210 can be designed according to the requirement, and only one-to-one correspondence is needed. The four groups of probe heads 130 and probe sheets 210 can respectively realize functions of derived Data +, derived Data-, and the like.

In some preferred embodiments, the probe head 130 is configured as a brass probe head, and the brass probe head is surface treated with a gold or nickel plating process; the probe sheet 210 is a brass probe sheet, and the surface of the brass probe sheet is treated by gold plating or nickel plating; the probe holder 132 is configured as a brass probe holder, and the surface of the brass probe holder is treated by gold plating or nickel plating. The brass has strong wear resistance and soft quality, and the probe head, the probe sheet and the probe seat made of the brass have good conductive butt joint property and durability. The surface is treated by adopting a gold plating or nickel plating process, so that the chemical activity of the surface can be reduced, the surface cannot change in a humid environment, the contact reliability can be improved, and the connection fault caused by contact failure can be avoided.

For improved safety, a guide cover 10 is provided on the rear mounting bracket 11. The guide cover 10 is covered on the periphery of the elastic cantilever 15. A guide opening is formed in the front side of the guide cover 10.

Example 2

The present embodiment discloses a wired communication apparatus for a mobile robot, which is shown in fig. 1 and 7, and includes a resilient floating module 3, a probe head 130, and a probe tile 210. The elastic floating module 3 includes a large swing head 30, a small swing head 31, and a connecting bracket 32. The large swing head 30 and the small swing head 31 are coaxially hinged at a fixed end. The probe head 130 is disposed on the attachment bracket 32. The probe tile 210 is disposed at the moving end. When the movable end moves to the fixed end, if the movable end enters in a turning mode, the small swing head 31 can rotate along with the movable end to complete preliminary butt joint, then the large swing head 30 rotates along with the movable end to complete final butt joint, and two sections of butt joints can be suitable for larger angles. The probe head 130 and the probe sheet 210 have floatability when being butted by matching with the connecting bracket 32. The butt joint device is particularly suitable for large butt joint occasions with large butt joint errors.

The large swing head 30 is provided with a swing groove 301. The small swing head 31 is provided with a projection. The tab is located within the swing slot 301. The angle of the swing can be limited by the matching of the lug and the swing groove. Wherein the rocking groove 301 may be fan-shaped.

The small swing head 31 is provided at both sides with the telescopic members 310 and at the end with the socket 311. When the moving end enters the small swing head 31, the telescopic member 310 can provide the rotating power for the large swing head 30 first, the socket 311 can be charged with strong electricity, and communication and charging are completed simultaneously, and weak electricity and strong electricity are separated.

Example 3

The present embodiment discloses a wired communication device for a mobile robot, which is shown in fig. 1 to 7, and includes a male module 1, a female module 2, and an elastic floating module 3 in embodiment 1. The elastic floating module 3 includes a large swing head 30, a small swing head 31, and a connecting bracket 32. The large swing head 30 and the small swing head 31 are coaxially hinged at a fixed end. The male module 1 is arranged on the connecting bracket 32, i.e. the rear mounting bracket 11 is arranged on the connecting bracket 32. Female head module 2 sets up and is removing the end, is about to female head connecting seat 21 sets up and removes the end. When the movable end moves to the fixed end, if the movable end enters in a turning mode, the small swing head 31 can rotate along with the movable end to complete preliminary butt joint, then the large swing head 30 rotates along with the movable end to complete final butt joint, and two sections of butt joints can be suitable for larger angles. The probe head 130 and the probe sheet 210 have floatability when being butted by matching with the connecting bracket 32. The butt joint device is particularly suitable for large butt joint occasions with large butt joint errors.

The large swing head 30 is provided with a swing groove 301. The small swing head 31 is provided with a projection. The tab is located within swing slot 301. The angle of the swing can be limited by the matching of the lug and the swing groove. Wherein the rocking groove 301 may be fan-shaped.

Example 4

The embodiment discloses a wired communication system for a mobile robot, which is shown in fig. 1 to 11 and comprises a wired communication device, a charging pile 4 and a robot 5 in embodiment 3.

The charging pile 4 extends out of the bottom plate. The elastic floating module 3 is arranged on the bottom plate. And a network cable 40 and a power line 41 are arranged on the charging pile 4. The robot 5 is provided with a housing 50. The housing 50 is provided with a sonar 51 and a charging port 52 that mates with the receptacle 311. The enclosure 50 may be located at the rear end of the robot 5.

Referring to fig. 11, when the robot 5 is docked at a certain angle, the elastic floating module 3 on the charging pile 4 can rotate along with the robot through the guiding adjustment of the charging port 52 of the robot, so that the male module 1 is opposite to the robot 5, and the accuracy of the docking position of the male module 1 and the female module 2 is improved. When the robot 5 retreats to a designated position, the female head module 2 of the robot 5 and the male head module 1 of the charging pile attract each other through the magnetic member, connect the corresponding probe head 130 and the probe sheet 310, and then may start to transmit information or charge.

The working principle is as follows:

according to the actual project requirements, the invention is applied to the actual workshop production, and the working principle is as follows:

the moving robot 5 finishes the mapping of the working environment by laser scanning, when no task is executed, the robot 5 automatically drives into the charging pile 4 to stand by, and when the robot 5 stands by, the robot 5 can be charged and connected with the charging pile through wired communication. The male module 1 on the charging pile 4 can be connected to a Robot Management System (RMS) through a network cable, the RMS can be accessed into the MES upwards, and the task scheduling of the Robot 5 is completed by receiving the MES task. When a task instruction is received, the RMS is connected to the wired communication device through a network cable, and transmits the task instruction to the controller of the robot 5. And the robot 5 is disconnected from the charging pile 4 by a wired connection, autonomously goes to a designated position to execute a task according to an established running map in an off-line mode, and returns to the charging pile to enter a standby state after the task is completed. If robot 5 adopts the formula of retreating to charge, charge mouthful 52 in 5 rear sides below of robot, and robot 5's female head module 2 is installed at its end, can make things convenient for robot 5 to dock with communications facilities when being close to charging pile 4. The female module 2 of robot 4 passes through the mounting hole to be fixed on the back housing of robot 5, and female module 2 is connected to the robot controller through the net twine.

The above-mentioned embodiments are merely preferred embodiments for fully illustrating the present invention, and the scope of the present invention is not limited thereto. The equivalent substitution or change made by the technical personnel in the technical field on the basis of the invention is all within the protection scope of the invention. The protection scope of the invention is subject to the claims.

Claims

1. A wired communication device for a mobile robot, comprising: the connecting device comprises a rear mounting bracket, a front mounting bracket and a female head connecting seat, wherein connecting shafts are arranged on opposite surfaces of the rear mounting bracket and the front mounting bracket, and elastic cantilevers are arranged on the two connecting shafts in an interference manner; the front mounting bracket is provided with a probe head, and the female head connecting seat is provided with a probe sheet matched with the probe head; the front mounting bracket is provided with a first magnetic piece, the female head connecting seat is provided with a second magnetic piece, the magnetism of the first magnetic piece is opposite to that of the second magnetic piece, and the relative position of the first magnetic piece and the probe head is consistent with that of the second magnetic piece and the probe sheet;

the two ends of the guide rod are respectively arranged on the rear mounting bracket and the front mounting bracket in a sliding manner, and the guide rod and the elastic cantilever are coaxially arranged;

the elastic cantilever is arranged as a spring, two ends of the spring are respectively sleeved on the two connecting shafts in an interference fit manner, a pin hole is formed in each connecting shaft, a pin is arranged in each pin hole, the outer diameter of each pin is smaller than the inner diameter of each pin hole and the inner diameter of each spring, and each pin is arranged in each pin hole in a sliding manner;

the small end of the pin penetrates through a connecting shaft on the front mounting bracket, the large end of the pin is left on the butt joint side, a clamping piece is fixedly arranged on the front mounting bracket and is abutted against the large end of the pin, and the small end of the pin is connected with a nut or a snap spring after penetrating through the connecting shaft of the rear mounting bracket;

still include the elastic floating module, the elastic floating module includes that it is first, little rocking head and linking bridge to sway greatly, it is first coaxial articulated at the stiff end to sway greatly and to sway for a short time the head, back installing support sets up on linking bridge, female head connecting seat sets up and is moving the end.

2. The wired communication device for a mobile robot according to claim 1, wherein: the outer diameter of the pin is set to be one third to one half of the inner diameter of the spring.

3. The wired communication device for a mobile robot according to claim 1, wherein: the probe head mounting structure is characterized in that a male connecting seat is arranged on the front mounting support, a probe head hole is formed in the male connecting seat, a probe seat is arranged in the probe head hole, and a probe elastic piece and a probe head are sequentially arranged in the probe seat from inside to outside.

4. The wired communication device for a mobile robot according to claim 1, wherein: the brass probe head is arranged as a brass probe head, and the surface of the brass probe head is treated by adopting a gold plating or nickel plating process; the brass probe sheet is arranged as a brass probe sheet, and the surface of the brass probe sheet is treated by adopting a gold plating or nickel plating process.