Outdoor robot

Abstract

The utility model relates to the technical field of robots, in particular to an outdoor robot. The outdoor robot comprises a robot body, a balance sensing mechanism, a supporting mechanism and a controller. The balance sensing mechanism comprises a swinging device and triggers, the swinging device is movably hung on the robot body, and the multiple triggers are fixedly installed on the robot body; the swinging device has a swinging stroke relative to the robot main body, and the swinging device has an initial position corresponding to a normal working posture of the robot main body and a triggering position for swinging to trigger any trigger in the swinging stroke; the supporting mechanism is arranged on the robot main body and has a supporting posture for stretching out and supporting the robot main body and a retraction posture for retracting to an initial state; the controller is used for receiving a trigger signal generated when the trigger is triggered and controlling the corresponding supporting mechanism to stretch out so as to prevent the robot body from toppling over.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field, especially a kind of outdoor robot. BACKGROUND

[0002] Outdoor robot has been widely applied in industrial automation, logistics handling, cleaning maintenance and other fields to replace manual operation in harsh environment. Outdoor robot generally has its own specific running route, and works according to its own specific running route through driving wheel and other movement mechanisms.

[0003] However, outdoor robot working on offshore platform usually needs to face many harsh marine environments, such as strong wind, heavy rain and so on. This means that outdoor robot needs to pay attention to its running speed, balance and other performances to overcome adverse environmental factors such as strong wind, heavy rain and slippery ground.

[0004] The existing outdoor robot lacks corresponding anti-toppling design, and is prone to roll over due to factors such as strong wind, heavy rain and slippery ground. This can easily affect the normal operation of offshore platform, and even damage the outdoor robot and cause economic loss in serious cases. INVENTION CONTENTS

[0005] The utility model embodiment proposes an outdoor robot to overcome the above problems.

[0006] The outdoor robot of the utility model embodiment comprises a robot main body, a balance sensing mechanism, a supporting mechanism and a controller.

[0007] The balance sensing mechanism comprises a swing and a trigger, the swing is movably suspended on the robot main body, and the trigger is provided with a plurality of and fixedly installed on the robot main body. The swing has a swing stroke relative to the robot main body, and the swing has an initial position corresponding to the normal working posture of the robot main body and a trigger position triggering any trigger within the swing stroke.

[0008] The supporting mechanism is arranged on the robot main body, and the supporting mechanism has a supporting posture extending and supporting the robot main body and a retracted posture retracting to the initial state.

[0009] The controller is used to receive the trigger signal when the trigger is triggered, and control the corresponding supporting mechanism to extend to prevent the robot main body from toppling.

[0010] Preferably, the robot main body comprises a cylindrical shell and an arc-shaped dome; the cylindrical shell and the arc-shaped dome are fixedly connected.

[0011] The balance induction mechanism and the controller are arranged inside the cylindrical shell, and the support mechanism is arranged outside the cylindrical shell.

[0012] Preferably, the swing device comprises a flexible traction member and a counterweight pendulum;

[0013] One end of the flexible traction member is fixedly connected to the bottom of the arc-shaped dome, and the other end is fixedly connected to the counterweight pendulum; and the trigger is arranged on the inner wall of the cylindrical shell.

[0014] The counterweight pendulum has a swing contact portion, the trigger has a trigger contact portion, and when the swing device is in the trigger position, the swing contact portion and the trigger contact portion are electrically conductive, so that the trigger is triggered and a trigger signal is sent.

[0015] Preferably, when the flexible traction member and the counterweight pendulum are in the initial position, the flexible traction member extends along the direction of gravity and the extension direction coincides with the center of gravity of the robot body.

[0016] When the flexible traction member and the counterweight pendulum are in the trigger position, the extension direction of the flexible traction member is towards the trigger, and the trigger is arranged corresponding to the position of the counterweight pendulum.

[0017] Preferably, the outdoor robot further comprises a driving wheel, a displacement sensor and a speed reducer.

[0018] The driving wheel is rotatably installed at the lower end of the cylindrical shell to drive the robot body to move.

[0019] The displacement sensor is arranged inside the arc-shaped dome to detect the side slip displacement of the robot body and send a side slip displacement signal to the controller.

[0020] The speed reducer is arranged on the robot body to reduce the moving speed of the robot body under the control of the controller.

[0021] Preferably, the speed reducer comprises a speed reduction telescopic rod and a friction damping structure.

[0022] The fixed end of the speed reduction telescopic rod is fixed at the lower end outside the cylindrical shell, and the extending end is arranged towards the ground.

[0023] The friction damping structure is arranged on the extending end of the speed reduction telescopic rod to abut on the ground to reduce the moving speed of the robot body.

[0024] Preferably, the speed reducer is provided with at least two.

[0025] Preferably, the support mechanism is provided with a plurality of support telescopic rods and elastic bases.

[0026] The fixed end of the supporting telescopic rod is fixed at the outer lower end of the cylindrical shell, and the extending end is arranged towards the ground;

[0027] The elastic base is arranged on the extending end of the supporting telescopic rod for contacting the ground.

[0028] Preferably, the supporting mechanism is arranged uniformly in the circumference.

[0029] Preferably, the trigger is provided with at least eight and is arranged uniformly in the circumference of the inner wall of the robot body.

[0030] Compared with the prior art, the utility model has the advantages of:

[0031] The outdoor robot comprises a robot body, a balance sensing mechanism, a supporting mechanism and a controller. The balance sensing mechanism specifically comprises a swing device movably hung on the robot body and a plurality of triggers fixedly installed on the robot body. When the robot body normally travels, the swing device is located at an initial position. When the robot body inclines, the swing device inclines relative to the robot body until the trigger corresponding to the inclined position is triggered. At this time, the trigger sends a trigger signal to the controller, and the controller controls the supporting mechanism to extend to a supporting posture after receiving the trigger signal, so as to help the robot body to keep stable. In this way, the outdoor robot has good ability to cope with inclination, is not easy to incline due to environmental factors such as wind, and can overcome the influence of offshore platform environment on normal operation. BRIEF DESCRIPTION OF DRAWINGS

[0032] In order to more clearly illustrate the technical scheme of the embodiments of the utility model, the following will briefly introduce the drawings needed to be used in the description of the embodiments of the utility model. Obviously, the drawings in the following description are only some embodiments of the utility model, and for those skilled in the art, other drawings can also be obtained according to these drawings without creative labor.

[0033] Figure 1 It is a structural schematic view of the outdoor robot of the utility model;

[0034] Figure 2 It is a structural schematic view of the supporting mechanism in the Figure 1

[0035] Figure 3 It is a structural schematic view of the speed reducer in the Figure 1

[0036] ​​Fig. 1, robot body; 11, cylindrical shell; 12, arc-shaped dome; 2, balance sensing mechanism; 21, swing; 211, flexible traction member; 212, counterweight pendulum; 22, trigger; 3, controller; 4, support mechanism; 41, support telescopic rod; 42, elastic base; 5, displacement sensor; 6, speed reducer; 61, speed reduction telescopic rod; 62, friction damping structure; 7, drive wheel; 8, auxiliary wheel. DETAILED DESCRIPTION

[0037] In order to make the above-mentioned purposes, features and advantages of the utility model more obvious and easy to understand, the utility model will be further described in detail below with the help of the drawings and specific embodiments.

[0038] The utility model embodiment proposes a kind of outdoor robot.The outdoor robot described in the utility model embodiment is applicable to some environment is relatively severe, and it is prone to outdoor robot to overturn in working occasion, such as offshore work platform, gobi, desert and the natural condition of relatively severe natural occasion.Offshore work platform is generally faced with wind, sea wave and other factors influence all the year round, ground is wet and slippery, and outdoor robot is poor in stability when running, and it is prone to overturn and sideslip due to wind and wave and other reasons.

[0039] In order to overcome the above-mentioned environmental influence, as shown in Figure 1 The outdoor robot described in the utility model adds balance sensing mechanism 2, support mechanism 4, controller 3 and other structures on robot body 1.Robot body 1 generally uses existing robot structure, and according to different application scenarios, it can be the structure of transport robot, or the structure of inspection robot.No matter what kind of robot structure robot body 1 adopts, power source, driving member and auxiliary wheel 8 are arranged on robot body 1.Driving member can be track or wheel, and when using, robot body 1 can travel according to preset route under the driving of power source and driving member, and turn under the action of auxiliary wheel 8.Power source generally uses motor, and the power output end of motor is directly transmission connected with driving member, or transmission connected through gear set and other transmission assemblies.

[0040] However, simply rely on driving member cannot resist the influence of wind and other factors on outdoor robot.For this reason, balance sensing mechanism 2, support mechanism 4, controller 3 and other structures are arranged on robot body 1, as shown in Figure 1As shown, the balance sensing mechanism 2 specifically comprises a swing 21 and a trigger 22. The swing 21 is movably suspended on the robot body 1. The swing 21 is provided with a plurality of, and all are fixedly installed on the robot body 1. When the robot body 1 tilts, the swing 21 can swing relative to the trigger 22 under the action of gravity. The swing direction of the swing 21 is not restricted, but the swing amplitude depends on the tilting range that the outdoor robot can withstand. Generally speaking, the maximum angle that the swing 21 can be deflected is not greater than 45 degrees. That is, the setting position of the trigger 22 should ensure that the swing 21 swings by an angle of not greater than 45 degrees to trigger the trigger 22.

[0041] At the same time, when the tilting angle of the robot body 1 is small, the robot body 1 can still maintain a relatively stable working posture. That is, in general, the deflection angle of the swing 21 when triggering the trigger 22 cannot be too small, and the deflection angle is generally greater than 10 degrees.

[0042] Within the swing stroke of the swing 21, the swing 21 has an initial position corresponding to the normal working posture of the robot body 1 and a trigger position at which the swing 21 swings and triggers any of the triggers 22. Generally, the normal working posture of the robot body 1 is perpendicular to the ground, and the initial position of the swing 21 corresponds to the position of the swing 21 perpendicular to the ground. When the swing 21 deviates from the initial position due to the tilting of the robot body 1 and is deflected to the position of contacting and triggering the trigger 22, the position of the swing 21 is the trigger position of the swing 21. That is, the initial position of the swing 21 is generally single, and the trigger position is provided with a plurality of corresponding to the number of triggers 22.

[0043] The controller 3 adopts an existing control structure, which is provided with a communication line with the trigger 22 and receives the trigger signal sent by the trigger 22 after being triggered through the communication line. After receiving the trigger signal, the controller 3 can control the support mechanism 4 to support on the ground to help the outdoor robot maintain balance and prevent the outdoor robot from falling. In this embodiment, the controller 3 and the balance sensing mechanism 2 are arranged inside the robot body 1 to prevent the controller 3 and the balance sensing mechanism 2 from being affected by the environment and malfunctioning.

[0044] The support mechanism 4 is arranged outside the robot body 1 and has a support posture and a retracted posture. When the robot body 1 is in a normal working posture, the support mechanism 4 is in a retracted posture to prevent the support mechanism 4 from interfering with the normal work of the robot body 1. When the robot body 1 tilts and the trigger 22 is triggered, the support mechanism 4 is deformed from the retracted posture to the support posture and stably supports on the ground to help the robot body 1 maintain a stable posture.

[0045] When the robot body 1 is normally running on the offshore work platform, the swing 21 generally remains at or near the initial position under the influence of its own weight. When the robot body 1 tilts due to environmental factors such as wind, the swing 21 will swing relative to the robot body 1 until the trigger 22 corresponding to the tilt position is triggered. At this time, the trigger 22 sends a trigger signal to the controller 3, and the controller 3 controls the support mechanism 4 to deform to the support posture after receiving the trigger signal, so as to help the robot body 1 to keep the posture stable. In this way, the outdoor robot has better ability to cope with tilting, is not easy to tilt due to environmental factors such as wind, and can overcome the influence of offshore platform environment to ensure normal operation.

[0046] On the basis of the foregoing structure, the robot body 1 can include a cylindrical shell 11 and an arc-shaped dome 12, and the cylindrical shell 11 and the arc-shaped dome 12 are fixedly connected to form a relatively closed internal space of the robot body 1. Correspondingly, the balance sensing mechanism 2 and the controller 3 are arranged inside the cylindrical shell 11, and the support mechanism 4 is arranged outside the cylindrical shell 11.

[0047] Referring to Figure 1 As shown, the swing 21 includes a flexible traction member 211 and a counterweight pendulum 212, one end of the flexible traction member 211 is fixedly connected to the bottom of the arc-shaped dome 12, and the other end is fixedly connected to the counterweight pendulum 212. The flexible traction member 211 can be a flexible structure such as a rope, a chain, a cable, etc., and the counterweight pendulum 212 can be spherical, cubic, etc. The trigger 22 is correspondingly arranged on the inner wall of the cylindrical shell 11.

[0048] The counterweight pendulum 212 has a swing contact portion, and the trigger 22 has a trigger contact portion. When the swing 21 swings to the trigger position, the swing contact portion and the trigger contact portion are electrically connected, so that the trigger 22 is triggered and sends a trigger signal. Such a trigger mode is more sensitive, which can greatly improve the response speed of the trigger 22; at the same time, the structure is simple and reliable, and it is also easy to realize. In specific implementation, the counterweight pendulum 212 can be made of insulating material, and the part of the counterweight pendulum 212 for triggering the trigger 22 is provided with a conductive structure such as a conductive sheet. The conductive part is the swing contact portion on the counterweight pendulum 212. Correspondingly, the trigger 22 is provided with two contacts as the trigger contact portion. When the counterweight pendulum 212 swings to the trigger position, the aforementioned conductive part shorts the two contacts, so that the trigger 22 sends a short-circuit signal to the controller 3, which is the aforementioned trigger signal. Alternatively, the counterweight pendulum 212 is made of a conductor, and the flexible traction member 211 is a cable and the cable is in conduction with the counterweight pendulum 212. The part of the counterweight pendulum 212 for triggering the contactor is the trigger contact portion. The trigger 22 is provided with a single contact as the trigger contact portion. The trigger 22 and the counterweight pendulum 212 are connected by a cable to form an open circuit. When the counterweight pendulum 212 is deflected to the trigger position due to the side tilt of the robot body 1, the trigger contact portion and the swing contact portion are short-circuited, so that the trigger 22 sends a short-circuit signal to the controller 3, which is the aforementioned trigger signal.

[0049] Of course, in addition to the above-mentioned contact type trigger mode, a non-contact type trigger method can also be used to trigger the trigger 22. For example, the counterweight pendulum 212 is movably suspended on the robot body 1 by a flexible traction member 211 such as a rope or a chain, and the trigger 22 is specifically a proximity switch. When the robot body 1 tilts, the counterweight pendulum 212 is deflected and approaches the proximity switch until the proximity switch is triggered. At this time, the position of the counterweight pendulum 212 is the aforementioned trigger position.

[0050] It should be noted that whether it is a contact type trigger mode or a non-contact type trigger mode, it is based on the structure that the counterweight pendulum 212 is movably suspended on the robot body 1 by the flexible traction member 211, and the counterweight pendulum 212 can trigger the trigger 22 by deflection. Under this structural premise, the specific structure of the swing 21 and the trigger 22 can be designed according to actual needs, and the aforementioned contact type trigger mode and non-contact type trigger mode are specific examples for illustration.

[0051] In the arrangement, the flexible traction member 211 extends along the direction of gravity and the direction of extension coincides with the center of gravity of the robot body 1 when the flexible traction member 211 and the counterweight pendulum 212 are in the initial position. This can ensure that the balance sensing mechanism accurately senses the roll of the robot body 1. Generally, the center of gravity of the robot body 1 is located at the axis of the cylindrical shell 11. Therefore, in the arrangement, the flexible traction member 211 in the initial position can be naturally suspended at the axis of the cylindrical shell 11, and the counterweight pendulum 212 is suspended below the lower end of the flexible traction member 211. When the flexible traction member 211 and the counterweight pendulum 212 are in the triggered position, the direction of extension of the flexible traction member 211 is towards the trigger 22, and the position of the trigger 22 is set according to the position of the counterweight pendulum 212 at this time.

[0052] On the basis of the foregoing structure, further, as shown in Figure 1 The outdoor robot can further include a drive wheel 7, a displacement sensor 5, and a speed reducer 6. The drive wheel 7 is rotatably installed at the lower end of the cylindrical shell 11 to drive the robot body 1 to move. Due to the influence of heavy rain, waves, and the like, the offshore work platform may be waterlogged, and the ground may be slippery. When the outdoor robot is running, it may slide sideways due to the slippage of the drive wheel 7. Therefore, the displacement sensor 5 can be provided on the robot body 1 to detect the displacement of the robot body 1 when the robot body 1 slides sideways and send a sideways displacement signal to the controller 3. The speed reducer 6 is also provided on the robot body 1. When the controller 3 receives the sideways displacement signal from the displacement sensor 5, the controller 3 can control the speed reducer 6 to reduce the moving speed of the robot body 1 to slow down the tendency of the robot body 1 to slide sideways, thereby facilitating the outdoor robot to quickly reset to the predetermined route.

[0053] The displacement sensor 5 can have various options. For example, the displacement sensor 5 can be a laser displacement sensor 5, and multiple laser displacement sensors 5 are provided on the robot body 1, with the laser emission ends of the laser displacement sensors 5 facing the horizontal direction. When the laser displacement sensor 5 in a direction other than the predetermined direction detects displacement of the robot body 1 in that direction, it sends a sideways displacement signal to the controller 3.

[0054] Referring to Figure 3As shown, the speed reducer 6 specifically comprises a speed reduction telescopic rod 61 and a friction damping structure 62 arranged on the extending end of the speed reduction telescopic rod 61. The friction damping structure 62 can be a rubber pad, a patterned steel plate with anti-skid patterns, or other structures with large friction damping with the ground. The fixed end of the speed reduction telescopic rod 61 is fixed on the outer lower end of the cylindrical shell 11, and the extending end is arranged towards the ground; the friction damping structure 62 is arranged on the extending end of the speed reduction telescopic rod 61 so as to abut on the ground and reduce the travel speed of the robot body 1. The speed reduction telescopic rod 61 can be a hydraulic telescopic rod, a pneumatic telescopic rod, or other existing telescopic rod structures. When the lateral slip displacement signal is received by the outdoor robot upper displacement sensor 5, under the control of the controller 3, the speed reduction telescopic rod 61 is extended, so that the friction damping structure 62 abuts on the ground, increases the friction resistance between the outdoor robot and the ground, and further reduces the travel speed of the outdoor robot. In addition, the speed reduction telescopic rod 61 and the friction damping structure 62 can also provide support for the robot body 1 to help the robot body 1 maintain stability when the robot body 1 slips laterally.

[0055] Of course, the speed reducer 6 can also have other designs. For example, the speed reducer 6 can also be a caliper brake structure arranged on the driving wheel 7. When the lateral slip displacement signal is received by the outdoor robot upper displacement sensor 5, under the control of the controller 3, the brake caliper of the caliper brake structure clamps the driving wheel 7 of the outdoor robot to reduce the travel speed of the outdoor robot. Alternatively, a scissor-type telescopic structure can be used instead of the speed reduction telescopic rod 61, and the friction damping structure 62 is arranged on the extending end of the scissor-type telescopic structure. Alternatively, a rigid swing rod hinged on the robot body 1 can be used instead of the speed reduction telescopic rod 61, and the friction damping structure 62 is arranged on the end of the rigid swing rod. When the lateral slip displacement signal is received by the outdoor robot upper displacement sensor 5, under the control of the controller 3, the rigid swing rod is turned down, so that the friction damping structure 62 abuts on the ground to reduce the travel speed of the outdoor robot. The rigid swing rod can be driven by a motor, or by a hydraulic cylinder or a pneumatic cylinder.

[0056] Preferably, the decelerator 6 can be provided with at least two. Compared with the technical solution of providing only one decelerator 6 on the robot body 1, when the structure and size of the decelerator 6 do not change, the decelerator 6 provided with at least two can provide greater frictional damping when the outdoor robot slips sideways, can further reduce the distance of the outdoor robot slipping sideways, and thus is more conducive to the outdoor robot quickly resetting to the predetermined running route. In implementation, considering the installation space on the robot body 1, the decelerator 6 can generally be provided with two or three. Of course, in some special cases, such as facing an outdoor robot with a relatively large volume, the number of decelerators 6 provided can also be more, which can be four, five or even more. Of course, the decelerator 6 can also be provided with only one on the robot body 1 to reduce the processing cost of the outdoor robot. The arrangement of the at least two decelerators 6 on the robot body 1 can be specifically determined according to actual needs. For example, when the decelerator 6 is provided with three on the robot body 1, the decelerator 6 can be uniformly arranged along the circumference of the robot body 1, that is, the decelerator 6 is arranged in a triangular shape on the robot body 1. The decelerator 6 can also be arranged side by side in a certain direction on the robot body 1, or arranged in an array on the robot body 1. The number and position of the decelerator 6 provided on the robot body 1 depend on actual needs, which will not be described here.

[0057] Reference can be made to Figure 2 As shown in the figure, the foregoing support mechanism 4 specifically includes a support telescopic rod 41 and an elastic base 42 provided on the extending end of the support telescopic rod 41. The elastic base 42 can be an elastic pad such as a rubber pad or a foam pad, so as to provide elastic buffering to the telescopic support rod when supporting. The support telescopic rod 41 can be a telescopic rod structure of the prior art such as a hydraulic telescopic rod or a pneumatic telescopic rod. The fixed end of the support telescopic rod 41 is fixed to the outer lower end of the cylindrical shell 11, and the extending end is arranged towards the ground; the elastic base 42 is provided on the extending end of the support telescopic rod 41 for contacting the ground. When the robot body 1 is in a normal working posture, the support telescopic rod 41 of the support mechanism 4 is in a retracted posture to avoid interfering with the normal work of the robot body 1. When the robot body 1 tilts and the trigger 22 of the balance sensing mechanism 2 is triggered, under the control of the controller 3, the telescopic end of the support telescopic rod 41 extends, that is, the support telescopic rod 41 is deformed from the retracted posture to the supporting posture. The elastic base 42 is tightly pressed against the ground to help the robot body 1 to keep the posture stable.

[0058] When the support mechanism 4 adopts the above structure, it needs to cooperate with other support mechanisms 4 to ensure the support effect on the robot body 1. That is, the support mechanism 4 needs to be provided in plurality, and when the robot body 1 tilts in a certain direction, the support mechanism 4 in the corresponding direction deforms to the support posture, so that the robot body 1 obtains support in the direction. For example, the support mechanism 4 can be specifically provided with three, four, six, eight, etc. It should be noted that the specific number of support mechanisms 4 depends on the actual needs. On this basis, the support mechanism 4 can be uniformly arranged on the robot body 1 in the circumferential direction. In this way, the support effect of the support mechanism 4 is more comprehensive and balanced. For example, when the outdoor robot has a straight line trajectory, the support mechanism 4 can be uniformly provided with four corresponding to east, south, west, and north along the circumferential direction of the robot body 1. When the outdoor robot is affected by the east wind and tilts towards the west side, at this time all the support mechanisms 4 are extended synchronously, and the support mechanism 4 corresponding to the west direction is supported on the ground first. After the robot body 1 returns to the normal working posture, the support mechanisms 4 in other directions are also supported on the ground subsequently to help the robot body 1 recover stability. Similarly, the support mechanism 4 can also be uniformly provided with eight corresponding to east, south, west, north, southeast, northeast, southwest, and northwest on the robot body 1 in the circumferential direction. When the outdoor robot is affected by the northeast wind and tilts towards the southwest side, at this time all the support mechanisms 4 are extended synchronously, and the support mechanism 4 corresponding to the southwest direction is supported on the ground first. After the robot body 1 returns to the normal working posture, the support mechanisms 4 in other directions are also supported on the ground subsequently to help the robot body 1 recover stability.

[0059] Of course, in other embodiments, the support mechanism 4 can also be provided with only one, at this time the support mechanism 4 can be a support frame. The support frame is arranged around the robot body 1, and can move up and down relative to the robot body 1 through a power source such as an oil cylinder, an air cylinder, or an electric cylinder. When the robot body 1 tilts, the controller 3 controls the support frame to fall and abut on the ground to realize the support effect on the robot body 1.

[0060] Corresponding to the foregoing, the triggers 22 are provided with at least eight and are evenly arranged circumferentially along the robot body 1. When the number of triggers 22 is too small, there will be a large arrangement gap between the triggers 22. When the swing arm 21 swings towards the arrangement gap between the triggers 22, even if the swing arm 21 swings enough angle, it cannot trigger the trigger 22. That is, when the number of triggers 22 is too small, the monitoring ability of the balance sensing mechanism 2 to the roll will become very limited, and there will be a large monitoring blind area. The triggers 22 are provided with at least eight, which can ensure that the triggers 22 have sufficient arrangement density on the robot body 1. That is, in the eight basic directions of east, south, west, north, southeast, southwest, northeast, and northwest, the robot body 1 has at least one trigger 22 corresponding to the direction. For example, when the triggers 22 are provided with eight, when the outdoor robot is affected by the northeast wind and tilts towards the southwest side, at this time the swing arm 21 swings towards the trigger 22 corresponding to the southwest direction, and the trigger 22 corresponding to the southwest side is triggered by the swing arm 21 and sends a trigger signal. When the triggers 22 are provided with twelve, when the outdoor robot is affected by the northeast wind and tilts towards the southwest side, at this time the swing arm 21 swings towards the trigger 22 corresponding to the southwest direction, and several triggers 22 corresponding to the southwest side are likely to be triggered by the swing arm 21 and send a trigger signal. Of course, the triggers 22 can also be nine, ten or even more in particular, and the specific number of triggers 22 depends on the actual needs to decide, which will not be repeated here.

[0061] In implementation, the displacement sensor 5 is preferably arranged at the upper end of the robot body 1. When the robot body 1 tilts, the displacement sensor 5 located at the upper end of the robot body 1 is easy to monitor a certain displacement, and then send a corresponding signal to make the speed reducer 6 slow down the robot body 1. In this way, the displacement sensor 5 and the speed reducer 6 can also slow down the robot body 1 when the robot body 1 tilts, thereby playing a certain auxiliary role in preventing the robot body 1 from tilting.

[0062] The support mechanism 4 and the speed reducer 6 are preferably arranged at the lower end of the robot body 1. In this way, the extension stroke of the support mechanism 4 and the speed reducer 6 is shorter, and the support mechanism 4 and the speed reducer 6 can be moved in place in time when the outdoor robot tilts or slides. In this way, the reliability of the support mechanism 4 and the speed reducer 6 can be improved, and the situation that the support mechanism 4 and the speed reducer 6 move to the position after the outdoor robot has tilted or slid for a distance can be prevented. In addition, this is also conducive to the miniaturization of the support mechanism 4 and the speed reducer 6, thereby being conducive to reducing the production and processing cost of the outdoor robot.

[0063] The outdoor robot will produce certain side inclination when the outdoor robot is in normal movement on the offshore operation platform, and then the wobbler 21 in the balance sensing mechanism 2 will have certain amplitude swing. When the wind force is too large, the inclination angle of the outdoor robot is too large, but the outdoor robot has not completely fallen down, the wobbler 21 will contact the trigger 22 in the corresponding side inclination direction. The wobbler 21 has a swing contact part, and the trigger 22 has a trigger contact part. When the wobbler 21 swings and contacts the trigger 22 in the corresponding side inclination direction, the swing contact part and the trigger contact part are electrically conducted, so that the trigger 22 is triggered and a trigger signal is sent. Then the controller 3 controls the multiple support mechanisms 4 to extend at the same time, the support mechanism 4 in the corresponding inclination direction first contacts the ground, and drives the outdoor robot to reset to the normal working posture. The other support mechanisms 4 then contact the ground to ensure the stability of the robot after returning to the normal position.

[0064] In addition, when encountering heavy rain, the ground of the offshore operation platform can be wet and even waterlogged. This will reduce the grip of the outdoor robot, and then the outdoor robot is prone to side slip when traveling. The displacement sensor 5 will detect the side slip displacement of the outdoor robot. When the platform ground is too wet, the displacement sensor 5 detects that the robot laterally slips to a certain distance, and then sends a side slip displacement signal to the controller 3. When the displacement sensor 5 on the outdoor robot receives the side slip displacement signal, the deceleration telescopic rod 61 extends under the control of the controller 3, so that the friction damping structure 62 abuts on the ground, so as to increase the friction resistance between the outdoor robot and the ground, and then reduce the traveling speed of the outdoor robot.

[0065] When the outdoor robot is completely reset, the decelerator 6 and the support mechanism 4 are retracted, so that the outdoor robot continues normal operation.

[0066] The above is only a specific embodiment of the utility model, but the protection scope of the utility model is not limited to this, any skilled person in the art can easily think of changes or replacements within the technical range disclosed by the utility model, which should be covered in the protection scope of the utility model. Therefore, the protection scope of the utility model should be limited by the protection scope of the claims.

[0067] It should be pointed out that for ordinary skilled person in the art, without departing from the principle of the utility model, some improvements and decorations can be made, which should be considered as the protection scope of the utility model.

[0068] Finally, it needs to be pointed out that in this paper, such as the first and second relationship terms are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between the entities or operations. Moreover, the term "includes", "comprises" or any other variant thereof is intended to cover non-exclusive inclusion, so that the process, method, article or terminal device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or terminal device. Without more limitations, the element defined by the statement "includes a" does not exclude the presence of other identical elements in the process, method, article or terminal device including the element.

[0069] The outdoor robot provided by the utility model is described in detail above, the principle and implementation mode of the utility model are described in this paper by applying specific examples, the above embodiment is only used to help understand the structure of the utility model and its core idea; at the same time, for the general technical personnel in the field, according to the idea of the utility model, the specific implementation mode and application range will have changes, and the above is described, the content of the specification should not be understood as the limitation of the utility model.

Claims

1. An outdoor robot, characterized in that, Includes the robot body, balance sensing mechanism, support mechanism, and controller; The balance sensing mechanism includes a swinger and a trigger. The swinger is movably suspended on the robot body, and multiple triggers are provided and fixedly installed on the robot body. The swinger has a swing stroke relative to the robot body, and within the swing stroke, the swinger has an initial position corresponding to the normal working posture of the robot body and a trigger position that triggers any one of the triggers. The support mechanism is disposed on the robot body, and the support mechanism has a supporting posture that extends to support the robot body and a retracting posture that retracts to the initial state; The controller is used to receive the trigger signal when the trigger is triggered, and to control the corresponding support mechanism to extend to prevent the robot body from tipping over.

2. The outdoor robot according to claim 1, characterized in that, The robot body includes a cylindrical outer shell and an arc-shaped dome; the cylindrical outer shell and the arc-shaped dome are fixedly connected. The balance sensing mechanism and the controller are disposed inside the cylindrical housing, and the support mechanism is disposed outside the cylindrical housing.

3. The outdoor robot according to claim 2, characterized in that, The swing device includes a flexible traction component and a counterweight pendulum. One end of the flexible traction component is fixedly connected to the bottom of the arc-shaped dome, and the other end is fixedly connected to the counterweight pendulum; the trigger is disposed on the inner wall of the cylindrical shell. The counterweight pendulum has a swing contact portion, and the trigger has a trigger contact portion. When the pendulum is in the trigger position, the swing contact portion and the trigger contact portion are electrically connected, so that the trigger is triggered and a trigger signal is emitted.

4. The outdoor robot according to claim 3, characterized in that, When the flexible traction component and the counterweight pendulum are in the initial position, the flexible traction component extends along the direction of gravity and the direction of extension coincides with the center of gravity of the robot body. When the flexible traction member and the counterweight pendulum are in the trigger position, the extension direction of the flexible traction member is towards the trigger, and the trigger is set corresponding to the position of the counterweight pendulum.

5. The outdoor robot according to claim 2, characterized in that, The outdoor robot also includes drive wheels, displacement sensors, and a reducer; The drive wheel is rotatably mounted at the lower end of the cylindrical outer shell to drive the robot body to move. The displacement sensor is installed inside the arc-shaped dome and is used to detect the lateral slip displacement of the robot body and send a lateral slip displacement signal to the controller. The speed reducer is mounted on the robot body and is used to reduce the robot body's travel speed under the control of the controller.

6. The outdoor robot according to claim 5, characterized in that, The reducer includes a speed reduction telescopic rod and a friction damping structure; The fixed end of the deceleration telescopic rod is fixed to the lower outer side of the cylindrical outer shell, and the extended end is arranged facing the ground; The friction damping structure is installed on the extended end of the deceleration telescopic rod and is used to abut against the ground to reduce the traveling speed of the robot body.

7. The outdoor robot according to claim 5, characterized in that, The speed reducer is provided in at least two.

8. The outdoor robot according to claim 2, characterized in that, The support mechanism is provided in multiple parts, including support telescopic rods and elastic bases; The fixed end of the support telescopic rod is fixed to the lower outer side of the cylindrical shell, and the extended end is arranged facing the ground; The elastic base is disposed on the extended end of the support telescopic rod for contact with the ground.

9. The outdoor robot according to claim 8, characterized in that, The support mechanism is evenly distributed along the circumference.

10. The outdoor robot according to claim 2, characterized in that, The triggers are provided in at least eight and are evenly spaced along the inner circumference of the robot body.

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