Energy storage cabinet self-walking robot

Abstract

The application discloses a self-walking robot of an energy storage cabinet and relates to the technical field of welding. The self-walking robot of the energy storage cabinet comprises a welding part, a moving device, a walking device and a wire feeding device. The wire feeding device comprises a bearing part and further comprises a first compensation mechanism. The self-walking robot of the energy storage cabinet is provided with the first compensation mechanism between the wire feeder and the bearing part. When the rate at which the wire feeder transports the welding material is inconsistent with the rate at which the bearing part transports the welding material, for example, the welding material is abnormally pulled between two transported points on the welding material, in this state, the welding material exerts force on the first compensation mechanism after being excessively stressed, the first compensation mechanism is immediately deformed adaptively to absorb the impact energy caused by the abnormal pulling of the welding material, the risk of breakage of the welding material caused by excessive tension is avoided, and the basic protection function is provided under the premise that the electric control wire feeding device is arranged.

Description

Technical Field

[0001] This invention relates to the field of welding technology, specifically to a self-propelled robot for energy storage cabinets. Background Technology

[0002] Energy storage cabinets / boxes, also known as energy storage containers, have a large overall structural size and are manufactured by welding. In this invention, the welding production of energy storage cabinets / boxes is used as an example, mainly referring to a self-propelled robot, and more specifically, a self-propelled welding robot for energy storage cabinets.

[0003] Welding robots mainly consist of robotic arms and welding equipment. Self-propelled welding robots are welding robots with the addition of a walking device, such as a mobile cart, which enables the welding robot to perform full welding of products with large structural dimensions, such as energy storage cabinets / boxes, that require welding production.

[0004] To achieve uninterrupted welding by the self-propelled welding robot, a wire feeder for carrying the welding wire is assembled on the self-propelled robot. That is, there are at least two wire feeding parts on the self-propelled welding robot, one of which is the wire feeder and the other is the wire feeder at the welding torch. To ensure stable wire feeding, the wire feeding rates of the wire feeder and the wire feeder must be highly synchronized. Therefore, an electronic control method is used to synchronize the wire feeder and the wire feeder. (1) In order to reduce the load on the robotic arm, the wire feeder is mounted on the base of the robotic arm or on the trolley. In order to be suitable for welding energy storage cabinets / boxes, the robotic arm has a certain length. Therefore, there is a long wire feeding distance between the welding gun and the wire feeder. At the same time, the electric wire feeding may have a delay range, such as between 800ms and 3s, which mainly depends on factors such as communication protocol or network configuration. Especially in the implementation scenario of a long robotic arm, the synchronization error accumulates a lot, which may cause the welding wire to be pulled during the wire feeding process. In severe cases, the welding wire becomes thinner or even breaks. (2) The robotic arm has a high degree of freedom and its running path is complex. Under the premise of a long wire feeding distance, there are certain technical thresholds and technical costs for the control mechanism such as the controller and encoder feedback system for synchronous wire feeding. When the synchronization error is large, it will cause wire feeding delay / redundancy, which in other words has a direct impact on the quality of the products being welded. (3) When the robotic arm needs to make large-angle movements, the risk of wire deformation / breakage increases significantly under the premise of error accumulation in wire feeding. Therefore, in the prior art, the overall welding efficiency of the welding robot is limited by the upper limit of its wire feeding efficiency.

[0005] In light of the above, we propose a self-propelled robot for energy storage cabinets. Summary of the Invention

[0006] [Technical problems solved] To address the shortcomings of existing technologies, this invention provides a self-propelled robot for energy storage cabinets, which has advantages such as mechanical foundation compensation and protection, and multi-level compensation, and can effectively solve the problems in the background technology.

[0007] [Technical Solution] To achieve the above objectives, the technical solution adopted by the present invention is as follows: a self-propelled robot for energy storage cabinet, including a welding part, a moving device, a walking device and a wire feeding device. The wire feeding device includes a carrier for temporarily storing welding materials. The wire feeding device also includes a primary compensation mechanism, which is configured to compensate for the tension applied to the welding materials when the conveyed part of the welding materials is subjected to abnormal tension.

[0008] Preferably, the welding part includes a welding torch, the moving device includes a robotic arm, and the walking device includes a mobile trolley. These are all optional configurations made by those skilled in the art with reference to existing technology, and therefore will not be described in detail or construed as further limitations on the present invention.

[0009] Preferably, the welding material is welding wire, which is wound around the carrier, and the carrier is externally connected to a rotating drive such as a motor for rotation drive.

[0010] Preferably, the primary compensation mechanism includes a support member for supporting the welding material and a connecting member two as an assembly part. A connecting member one is provided on the support member. The connecting member one is used to drive the support member to move synchronously during the movement. An elastic member one is provided between the connecting member one and the connecting member two. The elastic member one is configured to compress when the conveyed part on the welding material is subjected to abnormal tension.

[0011] Preferably, the support is a pulley, which supports the welding material to form point contact, thereby minimizing the contact friction coefficient between the support and the welding material while ensuring effective support and tension.

[0012] Preferably, the pulley serving as the support member can be rotatably connected to the connecting member.

[0013] Preferably, the second connector, as an assembly part, refers to the actual implementation situation where, when only a primary compensation mechanism is installed, the second connector can be a basic assembly part that is fixed in place and does not move. As described below, under the premise of a structure with a secondary compensation mechanism, the second connector is movably connected to the drive component.

[0014] Preferably, the elastic element is a spring, one end of which is fixedly connected to the first connector, and the other end can be fixedly connected to the second connector.

[0015] Preferably, the primary compensation mechanism is provided in at least two sets, and is arranged in a ring array based on the axis of the bearing member.

[0016] Preferably, the wire feeding device further includes a secondary compensation mechanism for compensating the tension applied to the welding material when the elastic element is compressed to its upper limit and continues to be subjected to force during abnormal tension on the conveyed part of the welding material.

[0017] Preferably, the secondary compensation mechanism includes a guide that restricts the connecting member to move only in the radial direction of the bearing member. The guide is fixed in place. The secondary compensation mechanism also includes a driving member for driving all the supporting members on the primary compensation mechanism to move synchronously toward the axis of the bearing member when the elastic member in at least one of the primary compensation mechanisms is compressed to its upper limit and subjected to continuous force.

[0018] Preferably, the guide being fixed means that the guide can be fixedly connected to the outside via a frame, or it can be fixedly connected to the cover of the wire feeding device.

[0019] Preferably, the driving component can be an electric drive device that can drive all the support components on the first-level compensation mechanism to move synchronously after receiving an electrical signal that the elastic element 1 in at least one of the first-level compensation mechanisms has been compressed to its upper limit. For example, a pressure sensor and an electric push rod are provided on the first-level compensation mechanism. The set threshold of the pressure sensor corresponds to the upper limit value of the compression of the elastic element 1. When the upper limit value of compression is reached, the electric push rods on the remaining first-level compensation mechanisms and the first-level compensation mechanism on which the elastic element 1 has been compressed to its upper limit will drive the corresponding support components to move synchronously.

[0020] Preferably, the driving member includes a rotating member coaxially arranged with the bearing member. The rotating member has guide portions two, the number of which corresponds to the number of the two connecting members. The rotating member is movably connected to the two connecting members based on the guide portions two. It is configured such that when the rotating member rotates, it drives the first connecting member to move, and when the first connecting member moves, it drives the rotating member to rotate. An elastic member two is provided on the driving member.

[0021] Preferably, the rotating component is a turntable, and the guide part two is an arc-shaped groove formed on the turntable.

[0022] Preferably, the wire feeding device further includes a reset mechanism for resetting the primary compensation mechanism and / or the secondary compensation mechanism. The reset mechanism includes a force-applying member, and a moving drive member is provided on the force-applying member for moving the force-applying member. The force-applying member is configured such that when the moving drive member moves the force-applying member, the force-applying member drives the first connector and / or the second connector to reset.

[0023] Preferably, the moving drive component can be any of the following, which are well known and understood by those skilled in the art: electric push rod, hydraulic rod, or cylinder. This is an optional configuration made by those skilled in the art for the actual implementation situation.

[0024] Preferably, the moving drive includes a piston cylinder, configured to fill the piston cylinder with fluid during the reset operation of the primary compensation mechanism and the secondary compensation mechanism to restore the piston cylinder to its maximum extension length, and the piston rod on the piston cylinder can slide on its own during the non-reset operation of the primary compensation mechanism and the secondary compensation mechanism.

[0025] Preferably, the piston cylinder includes a cylinder body and a piston rod slidably connected inside it. The cylinder body is connected to an external fluid supply device, such as an air pump or a liquid pump, through a pipe to deliver fluid into the cylinder body to drive the piston rod to move.

[0026] Preferably, a guide portion is provided on the first connector, the guide portion being axially offset from the axis of the bearing member, and the offset direction being away from the force-applying member. A force-receiving portion is movably connected to the second connector, one end of the force-receiving portion being in contact with the guide portion, and the other end being in contact with the force-applying member.

[0027] Preferably, the guide part can be fixedly connected to the connector.

[0028] Preferably, the guide portion is axially offset from the axis of the bearing member, and the offset direction is away from the force-applying member. This means the guide portion is configured as follows: Figure 4 , 7 The structural state shown.

[0029] As a preferred option, the force-bearing part is as follows: Figure 4 The rod-shaped object shown has one end of the force-receiving part one that can contact the guide part one, meaning that the force-receiving part one is set on the movement path of the guide part one, and this movement path is with reference to the movement of the guide part one relative to the connecting member two. The other end of the force-receiving part one that can contact the force-applying member means that the force-receiving part one is set on the movement path of the force-applying member.

[0030] Preferably, a force-receiving part two is provided on the second connector toward the force-applying member, and the force-receiving part two is axially deviated from the axis of the bearing member, and the deviation direction is adjacent to the force-applying member.

[0031] Preferably, the second force-bearing part is a rod-shaped object, and is configured as follows: Figure 7 , 8 In the tilted structure shown, the second force-bearing part can be fixedly connected to the second connector.

[0032] [Beneficial Effects] Compared with the prior art, the present invention provides a self-propelled robot for energy storage cabinets, which has the following beneficial effects: This self-propelled robot energy storage cabinet features a primary compensation mechanism between the wire feeder and the carrier. When the wire feeder's rate of feeding the welding material differs from that of the carrier, for example, when the welding material is abnormally pulled between two feeding points, the welding material, after being subjected to excessive force, will exert force on the primary compensation mechanism. The primary compensation mechanism then undergoes adaptive deformation to absorb the impact energy from the abnormal pulling of the welding material, preventing the welding material from breaking due to excessive tension. This provides basic protection under the premise of an electrically controlled wire feeding device, especially in welding scenarios with large turns, providing compensation and protection against possible operational conditions of the electrically controlled wire feeding. Attached Figure Description

[0033] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings: Figure 1 This is a schematic diagram of the overall structure of the self-propelled robot for the energy storage cabinet of the present invention.

[0034] Figure 2 This is a partial structural schematic diagram of the self-propelled robot for the energy storage cabinet of the present invention.

[0035] Figure 3 This is a schematic diagram of the wire feeding device in the self-propelled robot of the energy storage cabinet of the present invention.

[0036] Figure 4 This is a schematic diagram of the primary compensation mechanism used in the wire feeding device of the self-propelled robot energy storage cabinet of the present invention.

[0037] Figure 5 This is a schematic diagram of the secondary compensation mechanism used in the wire feeding device of the self-propelled robot energy storage cabinet of the present invention.

[0038] Figure 6 This is an exploded view of the secondary compensation mechanism in the self-propelled robot energy storage cabinet of the present invention.

[0039] Figure 7 This is a schematic diagram of the reset mechanism used in the wire feeding device of the self-propelled robot of the energy storage cabinet of the present invention.

[0040] Figure 8 This is a side view of the wire feeding device in the self-propelled robot of the energy storage cabinet of the present invention.

[0041] In the picture: 001. Welding materials; 1. Welding section; 2. Moving device; 3. Wire feeding device; 4. Traveling device; 31. Bearing component; 32. Primary compensation mechanism; 33. Secondary compensation mechanism; 34. Reset mechanism; 321. Support component; 322. Elastic component one; 323. Connector one; 324. Connector two; 3231. Guiding Section 1; 3241. Force-bearing part one; 3242. Force-bearing part two; 331. Guide component; 332. Elastic component two; 333. Drive component; 3331. Guiding Section Two; 341. Force-applying component; 342. Moving drive component; 343. Fixing component. Detailed Implementation

[0042] To make the technical means, creative features, achieved objectives, and functional effects of this invention readily understandable, the invention will be further described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are merely some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0043] To address the shortcomings of existing technologies, such as Figures 1-3 As shown, the present invention provides a self-propelled robot for energy storage cabinets, including a welding part 1, a moving device 2, a walking device 4, and a wire feeding device 3. The wire feeding device 3 includes a carrier 31 for temporarily storing welding material 001. The wire feeding device 3 also includes a primary compensation mechanism 32, which is configured to compensate for the tension applied to the welding material 001 when the conveyed part on the welding material 001 is subjected to abnormal tension.

[0044] The welding part 1 includes a welding torch, the moving device 2 includes a robotic arm, and the walking device 4 includes a moving trolley. These are all optional configurations made by those skilled in the art with reference to existing technology. Therefore, they will not be described in detail in this embodiment, nor will they be considered as further limitations on the present invention. Welding material 001 is welding wire. The welding wire, which is the welding material 001, is wound on the support member 31. The support member 31 is externally connected to a rotating drive member such as a motor for rotation drive. In addition to the carrier 31, a wire feeder is provided on the welding part 1 or the moving device 2. Under normal operating conditions, the wire feeder and the wire feeding device 3 have the same wire feeding rate. Abnormal tension on the conveyed part of the welding material 001 refers to the fact that the conveying speed of the welding material 001 by the wire feeder is inconsistent with the conveying speed of the wire feeding device 3. For example, the conveying speed of the wire feeder is faster than the conveying speed of the wire feeding device 3, thus creating a tension state on the welding material 001 during the conveying process.

[0045] It should be noted that in this embodiment, we take the workpiece that needs to be welded for production / maintenance, such as energy storage cabinets / boxes, as an example, and take the welding gun as the welding part 1, the robotic arm as the moving device 2, the welding wire as the welding material 001, and the moving trolley as the walking device 4 as an example. During the welding process, considering the large structural size of the energy storage cabinet, the welding part 1 is moved by a moving device 2 such as a robotic arm. The welding material 001 is loaded on the wire feeding device 3. At the same time, the welding material 001 is synchronously transported to the welding part 1 by the wire feeder mounted on the moving device 2 or the welding part 1. The welding part 1 melts the transported welding material 001 onto the surface of the workpiece, thus forming a complete welding process. On the wire feeding device 3, the welding material 001 is mainly wound around the carrier 31. The carrier 31 is rotatable and can rotate in an orderly manner under the premise that a rotation drive such as a motor is provided on its exterior to drive the carrier 31 to rotate. During the welding process, if the welding part 1 needs to be moved significantly, such as at a corner, the welding part 1 needs to be moved significantly. For example, multiple shafts on the moving device 2 drive the welding part 1 to move synchronously. The non-operating part of the wire feeding device 3 is fixed to a certain part of the walking device 4 or the moving device 2. Thus, during the significant movement of the welding part 1, while the bearing 31 is rotated in an orderly manner by the rotating drive at a certain speed, the welding material 001 will be pulled. Under the premise that the conveying speed of the welding material 001 is different and the force is uneven, the welding material 001 will exert force on the carrier 31, so that at least one of the primary compensation mechanisms 32 closest to the conveyed part of the welding material 001 will radially contract based on the axis of the carrier 31 after being subjected to force. The passive operation of the primary compensation mechanism 32 is realized based on the degree of tension of the welding material 001. For example, since at least two primary compensation mechanisms 32 are arranged in a ring array based on the axis of the carrier 31, the degree of tension of the welding material 001 can only exert force on one or a few primary compensation mechanisms 32 closest to the conveyed part of the welding material 001, while the remaining primary compensation mechanisms 32 far away from the conveyed part of the welding material 001 may not be passively operated. After radial contraction by the primary compensation mechanism 32, the conveying circumference corresponding to the welding material 001 is shortened, thereby compensating for the conveying state of the welding material 001 after it is stretched.

[0046] It is worth mentioning that by setting a primary compensation mechanism 32 between the wire feeder and the carrier 31, when the rate at which the wire feeder conveys the welding material 001 is inconsistent with the rate at which the carrier 31 conveys the welding material 001, for example, when the welding material 001 is abnormally pulled between two conveyed points, the welding material 001 will exert force on the primary compensation mechanism 32 after being subjected to excessive force. The primary compensation mechanism 32 will then undergo adaptive deformation to absorb the impact energy of the abnormally pulled welding material 001, thus avoiding the risk of breakage of the welding material 001 due to excessive tension. This provides basic protection under the premise of having an electrically controlled wire feeding device, especially in welding scenarios with large angles, and provides compensation protection for possible operating conditions of the electrically controlled wire feeding.

[0047] Specifically, such as Figure 4 As shown, the first-level compensation mechanism 32 used by the self-propelled robot of the energy storage cabinet includes a support member 321 for supporting the welding material 001 and a second connector 324 as an assembly part. A first connector 323 is provided on the support member 321. The first connector 323 is used to drive the support member 321 to move synchronously during the movement. An elastic member 322 is provided between the first connector 323 and the second connector 324. The elastic member 322 is configured to compress when the conveyed part on the welding material 001 is subjected to abnormal tension.

[0048] Among them, the support member 321 is a pulley, which supports the welding material 001 to form point contact, thereby minimizing the contact friction coefficient between the support member 321 and the welding material 001 while ensuring effective support and tension. In this embodiment, the pulley serving as the support member 321 may be rotatably connected to the connector 323; The second connector 324, which is an assembly part, refers to the actual implementation situation. When only the first-level compensation mechanism 32 is installed, the second connector 324 can be a basic assembly part that is fixed in one place and does not move. As described below, under the premise of the structure with the second-level compensation mechanism 33 installed, the second connector 324 is movably connected to the drive component 333. The elastic element 322 is a spring, one end of which is fixedly connected to the connector 323, and the other end can be fixedly connected to the connector 324.

[0049] It should be noted that the present invention is a self-propelled robot for energy storage cabinets. In this embodiment, the second connector 324 is fixedly connected to the outside of the cabinet and does not move, through the first-level compensation mechanism 32. The second connector 324 is connected to the first connector 323 through the elastic element 322. When the welding material 001 is stretched and exerts force on the support 321 during the conveying process, the support 321 drives the connecting part 1 323 to move after being subjected to force, and forms a relative movement with the connecting part 2 324. This movement mechanism constitutes the conveying compensation of the welding material 001. During this period, pressure is applied to the elastic part 1 322, and the elastic potential energy of the elastic part 1 322 increases after being compressed. Then, if it is necessary to restore the welding material 001 to its original feeding state, the rotation speed of the bearing 31 is increased while maintaining its original rotation speed. As the rotation speed of the bearing 31 increases, the welding material 001 on the bearing 31 is fed faster, thereby easing the tension between the stretched welding material 001 and the support 321. At the same time, the pressure on the elastic element 322 gradually decreases. Because the elastic element 322 was previously compressed and its elastic potential energy increased, the elastic element 322 needs to release its elastic potential energy to rebound, thereby driving the connecting element 323 and the support 321 to return to their original state, waiting for subsequent compensation operations on the welding material 001.

[0050] In a preferred embodiment, the primary compensation mechanism 32 is provided with at least two sets, and is arranged in a ring array based on the axis of the support member 31.

[0051] In the above embodiment, since there are at least two primary compensation mechanisms 32 to compensate for the conveying of the welding material 001, and the multiple primary compensation mechanisms 32 are arranged in a ring array based on the axis of the bearing member 31, the conveying circumference of the welding material 001 is maximized during the process of compensating for the conveying of the welding material 001. Considering the possibility of rapid and wide-ranging stretching of the welding material 001, such as the need for large-angle rotation of the moving device 2 in a circular welding path, malfunction of the rotation drive of the bearing component 31, or signal delay, only one or more primary compensation mechanisms 32 closest to the conveyed part of the welding material 001 are passively operated. Alternatively, even if the welding material 001 is still excessively stretched even when the operating limit of the primary compensation mechanism 32 is reached, it may cause significant bending of the welding material 001. Therefore: like Figure 3As shown, the wire feeding device 3 used for the self-propelled robot of the energy storage cabinet also includes a secondary compensation mechanism 33, which is used to compensate for the tension applied to the welding material 001 when the elastic element 322 is compressed to the upper limit and continuously subjected to force during the abnormal pulling process of the conveyed part on the welding material 001.

[0052] Specifically, such as Figure 5 As shown, the secondary compensation mechanism 33 used for the self-propelled robot of the energy storage cabinet includes a guide 331 that restricts the connecting member 323 to move only in the radial direction based on the support member 31. The guide 331 is fixed. The secondary compensation mechanism 33 also includes a drive 333, which is used to drive the support members 321 on all the primary compensation mechanisms 32 to move synchronously toward the axis of the support member 31 when the elastic member 322 in at least one of the primary compensation mechanisms 32 is compressed to the upper limit and continuously subjected to force.

[0053] The fact that the guide 331 is fixed means that the guide 331 can be fixedly connected to the outside through the frame or fixedly connected to the cover of the wire feeding device 3. In this embodiment, the driving member 333 can be an electric drive device that can drive the support members 321 on all the first-level compensation mechanisms 32 to move synchronously after receiving an electrical signal that the elastic member 322 in at least one of the first-level compensation mechanisms 32 has been compressed to the upper limit. For example, a pressure sensor and an electric push rod are provided on the first-level compensation mechanism 32. The set threshold of the pressure sensor corresponds to the upper limit value of the compression of the elastic member 322. When the upper limit value is reached, the electric push rods on the remaining first-level compensation mechanisms 32 and the first-level compensation mechanism 32 on which the elastic member 322 has been compressed to the upper limit will drive the corresponding support members 321 to move synchronously.

[0054] Furthermore, the driving member 333 includes a rotating member coaxially arranged with the bearing member 31. The rotating member has guide portions 3331 in number corresponding to the number of connecting members 324. The rotating member is movably connected to the connecting members 324 based on the guide portions 3331. It is configured to drive the connecting members 323 to move when the rotating member rotates, and drive the rotating member to rotate when the connecting members 323 move. An elastic member 332 is provided on the driving member 333.

[0055] The rotating component is a turntable, and the guide part 3331 is an arc-shaped groove opened on the turntable.

[0056] It should be noted that this invention is a self-propelled robot for energy storage cabinets. Through the secondary compensation mechanism 33, and assuming at least two primary compensation mechanisms 32 are present, when one of the primary compensation mechanisms 32 reaches its operational limit and continues to be subjected to force, it will cause the connecting member 324 on that primary compensation mechanism 32 to move relative to its corresponding guide member 331. This causes radial contraction based on the axis of the driving member 333. Simultaneously, during this movement, the connecting member 324 on the primary compensation mechanism 32 will radially compress the driving member 333. When force is applied, under the guidance of the guide part 3331, the connecting part 324 moves radially, causing the driving part 333 to rotate. During the rotation of the driving part 333, the connecting parts 324 on the first-level compensation mechanism 32 are driven to move relative to their corresponding guide parts 331 through the guide part 3331 corresponding to the connecting part 324 on the first-level compensation mechanism 32, so as to form synchronous radial contraction, so that the distance between the support part 321 on the first-level compensation mechanism 32 and the axis of the bearing part 31 changes synchronously.

[0057] It is worth mentioning that, under the premise of setting at least two primary compensation mechanisms 32, a driving component 333 and an elastic component 332 are added to the connecting part 324 on the primary compensation mechanism 32. When one or more primary compensation mechanisms 32 reach the upper limit of operation but the welding material 001 is still under continuous tension, the rotation of the driving component 333 drives multiple primary compensation mechanisms 32 to perform secondary compensation on the welding material 001 in the state of primary compensation. This secondary compensation state can avoid the situation where the welding material 001 may be bent significantly due to only at least one of the primary compensation mechanisms 32 performing compensation operation, thereby maximizing the protection of the circumference between each support point on the conveying path of the welding material 001 after tension compensation during the tension compensation process.

[0058] In the above embodiment, since elastic element 1 322 and elastic element 2 332 are used to compensate for the tension of the welding material 001, considering that during the operation of the device, there may be mechanical jamming or the welding material 001 may have a hard bend or a sudden change in diameter, which may cause the elastic element 1 322 and elastic element 2 332 to fail to spring back on their own, therefore: like Figure 3 As shown, the wire feeding device 3 used by the self-propelled robot of the energy storage cabinet also includes a reset mechanism 34 for resetting the primary compensation mechanism 32 and / or the secondary compensation mechanism 33.

[0059] Specifically, such as Figure 7 , 8As shown, the reset mechanism 34 for the self-propelled robot of the energy storage cabinet includes a force-applying member 341. A moving drive member 342 is provided on the force-applying member 341 for moving the force-applying member 341. It is configured such that when the moving drive member 342 moves the force-applying member 341, the force-applying member 341 drives the connecting member 1 323 and / or the connecting member 2 324 to perform a reset movement.

[0060] The moving drive component 342 can be any of the following moving drive components that are well known and understood by those skilled in the art: electric push rod, hydraulic rod, or cylinder. In this embodiment, it is an optional configuration made by those skilled in the art for the actual implementation situation.

[0061] And such as Figure 4 As shown, the first-level compensation mechanism 32 has a guide part 3231 on the connector 323. The guide part 3231 is axially deviated from the axis of the bearing member 31, and the deviation direction is away from the force-applying member 341. A force-receiving part 3241 is movably connected to the connector 324. One end of the force-receiving part 3241 can contact the guide part 3231, and the other end can contact the force-applying member 341.

[0062] Among them, the guide part 3231 may be fixedly connected to the connector 323; The guide portion 3231 is axially deviated from the axis of the bearing member 31, and the direction of deviation is away from the force-applying member 341. This means that the guide portion 3231 is configured as follows: Figure 4 , 7 The structural state shown; The force-bearing part 13241 is as follows Figure 4 The rod-shaped object shown has one end of the force-receiving part 3241 that can contact the guide part 3231, meaning that the force-receiving part 3241 is located on the movement path of the guide part 3231. This movement path is referenced to the movement of the guide part 3231 relative to the connecting member 324. The other end of the force-receiving part 3241 that can contact the force-applying member 341 means that the force-receiving part 3241 is located on the movement path of the force-applying member 341.

[0063] And such as Figure 7 , 8 As shown, the secondary compensation mechanism 33 has a force-receiving part 3242 on the connecting part 324 facing the force-applying part 341. The force-receiving part 3242 is axially deviated from the axis of the bearing part 31, and the deviation direction is close to the force-applying part 341.

[0064] Among them, the second force-bearing part 3242 is a rod-shaped object, and is configured as follows: Figure 7 , 8In the inclined structure shown, the second force-bearing part 3242 can be fixedly connected to the second connector 324.

[0065] It should be noted that the present invention is a self-propelled robot for energy storage cabinets. In this embodiment, based on the above-mentioned implementation method, it is carried out under the premise that the reset mechanism 34 is installed. After the primary compensation mechanism 32 and the secondary compensation mechanism 33 have performed their compensation operations, the force-applying component 341 is moved toward the positions of the primary compensation mechanism 32 and the secondary compensation mechanism 33 by the moving drive component 342. During the movement of the force-applying component 341, the force-applying component 341 applies force to the force-receiving part 3242 attached to the multiple connecting parts 324. The force-receiving part 3242 mainly has an inclined section. This inclined section forms a gap contraction from the direction away from the primary compensation mechanism 32 and the secondary compensation mechanism 33 toward the primary compensation mechanism 32 and the secondary compensation mechanism 33, such as... Figure 7 , 8 The structure shown is in a certain state. In this state, by moving the force-applying member 341 toward the positions of the primary compensation mechanism 32 and the secondary compensation mechanism 33, the force-applying member 341 applies force to the force-receiving part 3242 during the movement. With the second connector 324 and the first connector 323 restricted to only being able to move linearly relative to the guide 331, during the process of the force-applying member 341 applying force to the second force-receiving part 3242, the multiple second connectors 324 form a radial outward expansion based on their corresponding second force-receiving parts 3242. At the same time, during the process of the multiple second connectors 324 forming a radial outward expansion, the second guide part 3331 on the force-applying member 341 applies force to the driving member 333. Under the force action of the second guide part 3331, the driving member 333 rotates and resets to assist the second elastic member 332 in resetting and rebounding. During the process of the force-applying component 341 applying force to the force-receiving part 3242, when the force-applying component 341 contacts the force-receiving part 3241 and moves continuously, the force-applying component 341 drives the force-receiving part 3241 to apply force to the guide part 3231. The guide part 3231 mainly has an inclined section, and this inclined section forms an axial spacing that spreads from the part away from the axis of the bearing component 31 toward the upper axis of the bearing component 31, as if... Figure 4 The structure shown is in its current state. Similarly, when the second connector 324 and the first connector 323 can only move in a straight direction based on their corresponding guide 331, the first connector 323 moves and resets relative to its corresponding guide 331 during the process of the guide 3231 being subjected to force, so as to assist the elastic member 322 on the first-level compensation mechanism 32 to rebound and reset.

[0066] As described above, during the normal operation of the primary compensation mechanism 32 and the secondary compensation mechanism 33, for example, during the compensation operation of the secondary compensation mechanism 33, the second connecting member 324 moves relative to the axial direction of the bearing member 31. During the movement of the second connecting member 324, it drives the corresponding force-bearing part 3242 to move. During the compensation operation of the primary compensation mechanism 32, the second connecting member 324 moves relative to the corresponding first connecting member 323. During the movement of the second connecting member 324, it drives the force-bearing part 3241 to be subjected to force on the guide part 3231, thereby driving the force-bearing part 3241 to move. During this period, to avoid mechanical interference or other disturbances to the normal operation of the primary compensation mechanism 32 and the secondary compensation mechanism 33 caused by the installation of the moving drive component 342, for example, when the moving drive component 342 is a moving drive component such as an electric push rod, the electric push rod may contain an anti-reverse structure such as a worm gear. Therefore, in this embodiment, a moving drive component such as a piston cylinder is used as the moving drive component 342. The moving drive 342 includes a piston cylinder configured to fill with fluid during the reset operation of the primary compensation mechanism 32 and the secondary compensation mechanism 33 to restore the piston cylinder to its maximum extension length, and the piston rod on the piston cylinder can slide on its own during the non-reset operation of the primary compensation mechanism 32 and the secondary compensation mechanism 33.

[0067] The piston cylinder includes a cylinder body and a piston rod slidably connected inside it. The cylinder body is connected to an external fluid supply device, such as an air pump or a liquid pump, through a pipe to deliver fluid into the cylinder body to drive the piston rod to move.

[0068] It should be noted that when the piston cylinder is used as the moving drive component 342, in the above embodiment, during the normal compensation operation of the primary compensation mechanism 32 and the secondary compensation mechanism 33, for example, during the synchronous movement of the first force-receiving part 3241 and the second force-receiving part 3242 under the movement of the corresponding force-applying part 341, force will be applied to the force-applying part 341. After the force-applying part 341 is subjected to force, it drives the piston rod on the piston cylinder to move synchronously. During this process, that is, during the movement of the piston rod in the cylinder, no external fluid is applied to the inside of the cylinder, so as not to interfere with the normal operation of the primary compensation mechanism 32 and the secondary compensation mechanism 33. If it is necessary to perform auxiliary reset of the primary compensation mechanism 32 and the secondary compensation mechanism 33, fluid is filled into the piston cylinder, which serves as the moving drive component 342. Under the pressure of the fluid, the piston rod inside the piston cylinder drives the force application component 341 to move, thereby assisting in resetting the primary compensation mechanism 32 and the secondary compensation mechanism 33.

[0069] It is worth mentioning that when the piston cylinder is used as the moving drive component 342, the maximum extension length of the piston rod on the piston cylinder can be set to correspond to the original state of the first-level compensation mechanism 32 and the second-level compensation mechanism 33 in the non-forced state. That is, during the reset operation of the first-level compensation mechanism 32 and the second-level compensation mechanism 33, fluid is filled into the cylinder without measuring the extension length of the piston rod / the amount of fluid delivered until the extension length of the piston rod reaches the upper limit, which means that the first-level compensation mechanism 32 and the second-level compensation mechanism 33 have completed the reset. This operating mechanism can be specifically manifested in the inability to continuously apply fluid pressure to the inside of the cylinder. Compared to displacement sensors that need to be monitored in real time, or the extension length of moving drive components such as electric actuators that need to be monitored in real time, the simplest solution is to install a pressure limit valve on the cylinder, without having to monitor physical structural parameters such as air pressure and extension length in real time. On the one hand, using a piston cylinder as a moving drive component 342 can ensure that the normal operation of the primary compensation mechanism 32 and the secondary compensation mechanism 33 is not affected when no pressure is applied. On the other hand, fluid drive mechanisms such as piston cylinders are simpler than drive control mechanisms such as electric push rods.

[0070] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed invention.

Claims

1. A self-propelled robot for energy storage cabinets, comprising a welding unit (1), a moving device (2), a walking device (4), and a wire feeding device (3), wherein the wire feeding device (3) includes a carrier (31) for temporarily storing welding materials (001), characterized in that: The wire feeding device (3) also includes a primary compensation mechanism (32) configured to compensate for the tension applied to the welding material (001) when the conveyed part of the welding material (001) is subjected to abnormal tension.

2. The self-propelled robot for energy storage cabinets according to claim 1, characterized in that: The primary compensation mechanism (32) includes a support member (321) for supporting the welding material (001) and a second connector (324) as an assembly part. A first connector (323) is provided on the support member (321). The first connector (323) is used to drive the support member (321) to move synchronously during the movement. An elastic member (322) is provided between the first connector (323) and the second connector (324). The elastic member (322) is configured to compress when the conveyed part on the welding material (001) is subjected to abnormal tension.

3. The self-propelled robot for energy storage cabinets according to claim 2, characterized in that: The primary compensation mechanism (32) is provided in at least two sets, and is arranged in a ring array based on the axis of the bearing (31).

4. The self-propelled robot for energy storage cabinets according to claim 3, characterized in that: The wire feeding device (3) also includes a secondary compensation mechanism (33) for compensating the tension applied to the welding material (001) when the elastic element (322) is compressed to the upper limit and continuously subjected to force during the abnormal pulling process of the conveyed part on the welding material (001).

5. The self-propelled robot for energy storage cabinets according to claim 4, characterized in that: The secondary compensation mechanism (33) includes a guide (331) that restricts the first connecting member (323) to be able to move linearly only based on the radial direction of the bearing member (31). The guide (331) is fixed in place. The secondary compensation mechanism (33) also includes a drive (333) for driving all the support members (321) on the primary compensation mechanism (32) to move synchronously toward the axis of the bearing member (31) when the elastic member (322) in at least one of the primary compensation mechanisms (32) is compressed to the upper limit and continuously subjected to force.

6. The self-propelled robot for energy storage cabinets according to claim 5, characterized in that: The driving member (333) includes a rotating member coaxially arranged with the bearing member (31). The rotating member has a number of guide portions (3331) corresponding to the number of the connecting members (324). The rotating member is movably connected to the connecting members (324) based on the guide portions (3331). It is configured to drive the connecting members (323) to move when the rotating member rotates, and drive the rotating member to rotate when the connecting members (323) move. An elastic member (332) is provided on the driving member (333).

7. The self-propelled robot for energy storage cabinets according to claim 6, characterized in that: The wire feeding device (3) further includes a reset mechanism (34) for resetting the primary compensation mechanism (32) and / or the secondary compensation mechanism (33). The reset mechanism (34) includes a force-applying member (341). A moving drive member (342) is provided on the force-applying member (341) for moving the force-applying member (341). The force-applying member (341) is configured to move the connecting member one (323) and / or the connecting member two (324) when the moving drive member (342) moves the force-applying member (341).

8. The self-propelled robot for energy storage cabinets according to claim 7, characterized in that: The moving drive (342) includes a piston cylinder, configured to fill the piston cylinder with fluid during the reset operation of the primary compensation mechanism (32) and the secondary compensation mechanism (33) to restore the piston cylinder to its maximum extension length, and the piston rod on the piston cylinder can slide on its own during the non-reset operation of the primary compensation mechanism (32) and the secondary compensation mechanism (33).

9. The self-propelled robot for energy storage cabinets according to claim 7 or 8, characterized in that: A guide portion (3231) is provided on the first connector (323). The guide portion (3231) is axially deviated from the axis of the bearing member (31), and the deviation direction is away from the force-applying member (341). A force-receiving portion (3241) is movably connected to the second connector (324). One end of the force-receiving portion (3241) can contact the guide portion (3231), and the other end can contact the force-applying member (341).

10. The self-propelled robot for energy storage cabinets according to claim 9, characterized in that: A force-receiving part (3242) is provided on the second connector (324) at a position facing the force-applying member (341). The axis of the force-receiving part (3242) facing the bearing member (31) is axially deviated, and the direction of the deviation is close to the force-applying member (341).

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