A heat dissipation method for a combined grasping device

Abstract

The present invention relates to the technical field of equipment heat dissipation, in particular to a heat dissipation method for a combined gripping device. The combined gripping device includes a horizontal conveying seat, a vertical conveying seat, two mechanical gripping mechanisms, and a control box. A heat dissipation fan and a controller are provided in the control box. The method includes: Step 1, collecting the resistance values of the electrical loads in the control box and the current of each electrical load; Step 2, if the current of the electrical load suddenly changes during the operation of the combined gripping device, the heat dissipation fan operates at the maximum power; Step 3, calculating the total heat generation value #imgabs1# within the acquisition cycle time #imgabs0#; if #imgabs2# ≤ #imgabs3#, the heat dissipation fan operates at the maximum power; if #imgabs4# > #imgabs5# and #imgabs6# > #imgabs7#, the controller adjusts the real-time power #imgabs8# of the heat dissipation fan to cool the control box in a timely and rapid manner and reduce the temperature fluctuation inside the control box.

Description

Technical Field

[0001] The present invention relates to the technical field of equipment heat dissipation, and particularly to a heat dissipation method for a combined grasping device. Background Art

[0002] At present, the automation of machinery has been a relatively common trend, and grasping devices have generally replaced manual labor. Existing grasping devices usually include a horizontal conveying seat, a vertical conveying seat, a mechanical grasping mechanism, and a control box (also called an electric control box) for controlling the operation of the horizontal conveying seat, the vertical conveying seat, and the mechanical grasping mechanism, so as to achieve the free movement and grasping of objects.

[0003] At present, in this field, the heat dissipation method of the control box mainly relies on installing a cooling fan on the control box for heat dissipation. The cooling fan generally operates at a constant power. This operating method requires ensuring that the cooling fan can always play a good heat dissipation role. Therefore, the cooling fan always operates at the maximum power, making the air volume delivered by the cooling fan the largest, which results in a large noise during the operation of the cooling fan. In fact, at different operating stages of the grasping device, different devices are put into operation, and the heat generated in the control box is also different. Most of the time, it is not necessary for the cooling fan to operate at the maximum power, which causes waste of electric energy.

[0004] Another situation is to set a temperature sensor in the control box to detect the temperature inside the control box and adjust the power of the cooling fan. The disadvantage of this operating method is that the temperature change inside the control box is relatively large. It is necessary to detect that the temperature change inside the control box exceeds a certain value to trigger the adjustment of the power of the cooling fan. Therefore, this adjustment method is lagging. Moreover, when the motor devices of the horizontal conveying seat, the vertical conveying seat, and the lifting seat start and brake instantaneously, a large current will be generated, causing the load device to quickly heat up, resulting in repeated temperature rises and falls inside the control box, which will accelerate the aging of the load device. Summary of the Invention

[0005] Therefore, in view of the above problems, the present invention proposes a heat dissipation method for a combined grasping device, which can cool down the control box in a timely and rapid manner and reduce the temperature fluctuation inside the control box.

[0006] To achieve the above object, the present invention adopts the following technical solutions:

[0007] A heat dissipation method for a combined grasping device, the combined grasping device includes a horizontal conveying seat, a vertical conveying seat slidable along the horizontal conveying seat, two mechanical grasping mechanisms movable along the vertical conveying seat, and a control box for driving the vertical conveying seat and the mechanical grasping mechanism to work. A plurality of heat dissipation holes are opened on the control box, and a cooling fan and a controller are arranged inside the control box;

[0008] A first temperature sensor for detecting the temperature inside the control box is provided inside the control box. The preset temperature inside the control box is A second temperature sensor for detecting the ambient temperature is provided outside the control box. ;

[0009] It is characterized in that the heat dissipation method includes:

[0010] Step 1: Establish a load model, including:

[0011] The load resistance values of the horizontal conveyor seat are collected and recorded as R1, the load resistance values of the vertical conveyor seat are recorded as R2, the load resistance values of the two mechanical gripping mechanisms are recorded as R3, and the other electrical loads powered by the control box of the combined gripping device are respectively recorded as R4...R n ; n≥4;

[0012] Hall current sensors for collecting the currents of each electrical load are respectively installed in the control box; among them, the Hall current sensors detect the real-time current I1 supplied to the horizontal conveyor seat, the real-time current I2 supplied to the vertical conveyor seat, the real-time current I3 supplied to the two mechanical gripping mechanisms, and the real-time currents of the other electrical loads powered by the control box are respectively corresponding to I4...I n ;

[0013] The rated current I supplied to the horizontal conveyor seat H ; The rated current I supplied to the vertical conveyor seat Z ; The rated current I supplied to the two mechanical gripping mechanisms J ;

[0014] Step 2: Monitor the operating state of the combined gripping device;

[0015] If, during the operation of the combined gripping device, within one acquisition cycle time it is monitored that the actual current I1≥mI H , or I2≥mI Z , or I3≥mI J , m∈[5, 10], then control the cooling fan to operate at in the next acquisition cycle time ; until I1<mI Z , and I2<mI H , and I3<mI J , and the temperature inside the control box drops to ≤ , then enter Step 3;

[0016] If, during the operation of the combined gripping device, within one acquisition cycle time The internal monitoring implementation current I1 < mI H and I2 < mI Z and I3 < mI J , directly proceed to Step Three;

[0017] Step Three: The controller calculates the total heat generation value within each load acquisition cycle time ; ;

[0018] ;

[0019] If ≤ , then the controller controls the cooling fan to operate at the maximum power at the start of the next acquisition cycle time ;

[0020] Until > , and the internal temperature of the control box drops to ≤ ;

[0021] If > , and > , the controller adjusts the real-time power of the cooling fan and then adjusts the wind speed of the cooling fan so that ≤ , > ;

[0022] ;

[0023] ;

[0024] Among them, is the blade radius of the cooling fan, is the specific heat capacity of air, is the air density, is the air delivery volume value of the cooling fan, is the correction coefficient, ∈[1.1, 1.5].

[0025] Furthermore, a wind speed sensor for detecting the real-time wind speed of the cooling fan is also provided on the control box ;

[0026] The wind speed sensor is electrically connected to the controller.

[0027] Furthermore, it also includes an audible and visual alarm, and the audible and visual alarm is electrically connected to the controller;

[0028] If, after adjusting the real-time power of the cooling fan through Step 2 and Step 3 the internal temperature of the control box cannot drop to ≤ and the internal temperature of the control box gradually rises, the controller controls the sound and light alarm to emit an alarm sound.

[0029] Furthermore, the mechanical grasping mechanism includes a mechanical grasping seat that can move along the longitudinal conveying seat, a traveling drive mechanism provided on the mechanical grasping seat, a lifting and conveying assembly detachably provided on the mechanical grasping seat, a grasping manipulator provided at the lower end of the lifting and conveying assembly, and a lifting drive mechanism. The lifting and conveying assembly includes a connecting plate for fastening to the mechanical grasping seat and a lifting rod that can slide up and down along the connecting plate. The lifting drive mechanism drives the lifting rod to slide up and down. A calibration mechanism for realizing calibration cooperation is provided on the connecting plate and / or the mechanical grasping seat, and a locking mechanism for fastening is provided on the connecting plate and / or the mechanical grasping seat;

[0030] Two longitudinal conveying slide rails are provided on the longitudinal conveying seat, and a longitudinal rack is provided between the two longitudinal conveying slide rails. The traveling drive mechanism includes a slider that cooperates with the two longitudinal conveying slide rails, a traveling servo motor provided on the mechanical grasping seat, and a first gear. A first motor mounting hole is provided on the mechanical grasping seat. The traveling servo motor and the slider are respectively provided on opposite side surfaces of the mechanical grasping seat. The rotating shaft of the traveling servo motor passes through the first motor mounting hole, and the first gear is provided on the rotating shaft of the traveling servo motor. The first gear meshes with the longitudinal rack to achieve driving;

[0031] A lifting rack is provided on the lifting rod. The lifting drive mechanism includes a lifting servo motor provided on the mechanical grasping seat and a second gear. A second motor mounting hole is provided on the mechanical grasping seat. The rotating shaft of the lifting servo motor passes through the second motor mounting hole, and the second gear is provided on the rotating shaft of the lifting servo motor. The second gear meshes with the lifting rack to achieve driving;

[0032] At least one grasping manipulator includes a grasping motor provided at the lower end of the lifting and conveying assembly, a spline sleeve provided on the rotating shaft of the grasping motor, a spline shaft sleeved in the spline sleeve, a lead screw connected to the lower end of the spline shaft, and a gripper assembly driven by the lead screw. The gripper assembly is composed of three gripper petals clamped together. Each gripper petal includes a support end, a third gear rotatably provided below the support end, and a clamping mechanism connecting the third gears. The three third gears are distributed on the outer circumference of the lead screw and are in transmission cooperation with the lead screw. When the grasping motor rotates, it drives the lead screw to move up or down, thereby realizing the closing or opening of multiple clamping mechanisms;

[0033] The load resistance value of the mechanical gripping mechanism is denoted as R3, including the resistance values of the traveling servo motor, the lifting servo motor, and the gripping motor.

[0034] By adopting the foregoing technical solution, the beneficial effects of the present invention are as follows:

[0035] The heat dissipation method of this combined gripping device can adjust the power of the cooling fan in real time according to the power supply situation of the electric control box, cool the control box in a timely and rapid manner, reduce the temperature wave inside the control box, and improve the energy efficiency of the cooling fan. Specifically, it includes the following situations:

[0036] If during the operation of the combined gripping device, within one acquisition cycle time the monitored actual current I1≥mI H and / or I2≥mI Z and / or I3≥mI J , then control the cooling fan to operate at in the next acquisition cycle time which is the maximum power of the cooling fan; until I1<mI , and I2<mI Z , and I3<mI H , and the temperature inside the control box drops to J ≤ ≤ ;

[0037] (2) If ≤ , then the controller controls the cooling fan to start operating at the maximum power in the next acquisition cycle time ; until > , and the temperature inside the control box drops to ≤ ;

[0038] (3) If > , and > , the controller adjusts the real-time power of the cooling fan and then adjusts the wind speed of the cooling fan so that ≤ , > . BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 is a schematic structural diagram of this combined gripping device.

[0040] Figure 2It is a schematic structural diagram of the installation of a cooling fan and a first temperature sensor inside the control box of this combined grasping device.

[0041] Figure 3 It is a three-dimensional structural schematic diagram of the mechanical grasping mechanism of this combined grasping device.

[0042] Figure 4 It is an exploded structural schematic diagram of the mechanical grasping mechanism of this combined grasping device.

[0043] Figure 5 It is a schematic structural diagram of the mechanical grasping mechanism of this combined grasping device in a top view state.

[0044] Figure 6 It is a schematic structural diagram of the mechanical grasping seat part of this combined grasping device.

[0045] Figure 7 It is a schematic structural diagram of the front view of the mechanical grasping seat of this combined grasping device.

[0046] Figure 8 It is a schematic structural diagram of the rear view of the mechanical grasping seat of this combined grasping device.

[0047] Figure 9 It is a schematic structural diagram of the grasping manipulator of this combined grasping device.

[0048] Figure 10 It is a schematic structural diagram of the gripper assembly of this combined grasping device.

[0049] Figure 11 It is a three-dimensional structural schematic diagram of the gripper lobe of this combined grasping device.

[0050] Figure 12 It is a front structural schematic diagram of the gripper lobe of this combined grasping device.

[0051] Reference numerals:

[0052] 1. Horizontal conveying seat; 2. Longitudinal conveying seat; 21. Longitudinal conveying slide rail; 22. Longitudinal rack; 3. Control box; 31. Heat dissipation holes; 32. Heat dissipation fan; 33. First temperature sensor; 4. Mechanical grasping mechanism; 41. Mechanical grasping seat; 411. First motor mounting hole; 412. Second motor mounting hole; 413. First protrusion; 414. First groove; 42. Walking driving mechanism; 421. Slide block; 422. Walking servo motor; 423. First gear; 43. Lifting and conveying assembly; 431. Connecting plate; 4311. Second protrusion; 4312. Second groove; 432. Lifting rod; 433. Lifting rack; 44. Lifting driving mechanism; 441. Lifting servo motor; 442. Second gear; 5. Grasping manipulator; 51. Grasping motor; 52. Spline sleeve; 53. Spline shaft; 54. Lead screw; 6. Gripping flap; 61. Support end; 62. Third gear; 63. Clamping mechanism; 611. Clamping groove; 612. Clamping protrusion; 613. Limiting groove; 614. Limiting block; 631. Inner clamping plate; 632. Outer clamping plate; 633. Clamping plate support; 634. First clamping plate support part; 635. Second clamping plate support part; 636. Bending part. Detailed implementation manners

[0053] The present invention will be further described below in conjunction with the accompanying drawings and specific implementation manners.

[0054] Refer to Figures 1 - 12 , this embodiment provides a heat dissipation method for a combined grasping device, the combined grasping device includes a horizontal conveying seat 1, a longitudinal conveying seat 2 slidable along the horizontal conveying seat 1, two mechanical grasping mechanisms 4 movable along the longitudinal conveying seat 2, and a control box 3 for driving the longitudinal conveying seat 2 and the mechanical grasping mechanism 4 to work. A plurality of heat dissipation holes 31 are opened on the control box 3, and a heat dissipation fan 32 and a controller (not marked in the figure) are arranged in the control box 3. It should be noted that the position where the controller is installed in the control box 3 does not affect the use of the controller. The controller is an existing device in the art and will not be elaborated here in detail.

[0055] A first temperature sensor 33 for detecting the temperature inside the control box 3 is arranged inside the control box 3, the preset temperature inside the control box 3 is , and a second temperature sensor (not shown in the figure) for detecting the ambient temperature is arranged outside the control box 3;

[0056] The heat dissipation method includes:

[0057] Step 1: Establish a load model, including:

[0058] The load resistance values of the horizontal conveyor base 1 are collected and denoted as R1, the load resistance values of the vertical conveyor base 2 are denoted as R2, the load resistance values of the two mechanical gripper mechanisms 4 are denoted as R3, and the other electrical loads powered by the control box 3 of the combined gripper device are denoted as R4... R n ; n≥4;

[0059] Hall current sensors for collecting the current of each electrical load are respectively installed in the control box 3, not shown in the figure, but those skilled in the art should understand the implementation method of installing the Hall current sensor on each electrical load for detecting current; among them, the Hall current sensor detects the real-time current I1 supplied to the horizontal conveyor base 1, the real-time current I2 supplied to the vertical conveyor base 2, the real-time current I3 supplied to the two mechanical gripper mechanisms (4), and the real-time currents of the other electrical loads powered by the control box 3 are respectively corresponding to I4... I n ;

[0060] The rated current I supplied to the horizontal conveyor base 1 H ; The rated current I supplied to the vertical conveyor base 2 Z ; The rated current I supplied to the two mechanical gripper mechanisms 4 J ;

[0061] Step 2. Monitor the operating state of the combined gripper device;

[0062] If, when the combined gripper device is running, within one acquisition cycle time it is monitored that the actual current I1≥mI H 、or I2≥mI Z 、or I3≥mI J , m∈[5, 10], then control the cooling fan 32 to run at in the next acquisition cycle time , being the maximum power of the cooling fan 32; until I1<mI Z , and I2<mI H , and I3<mI J , and the internal temperature of the control box 3 drops to ≤ , then enter Step 3;

[0063] If, when the combined gripper device is running, within one acquisition cycle time it is monitored that the actual current I1<mI H and I2<mI Z and I3<mI, directly enter Step 3;

[0064] Step 3. The controller calculates the total heat generation value within each load acquisition cycle time ; ;

[0065] ;

[0066] If ≤ , the controller controls the cooling fan 32 to operate at the maximum power at the start of the next acquisition cycle time ;

[0067] Until > , and the internal temperature of the control box 3 drops to ≤ ;

[0068] If > , and > , the controller adjusts the real-time power of the cooling fan 32 Then adjusts the wind speed of the cooling fan 32 , so that ≤ , > ;

[0069] ;

[0070] ;

[0071] Among them, is the blade radius of the cooling fan 32, is the specific heat capacity of air, is the air density, is the air delivery volume value of the cooling fan 32, is the correction coefficient, ∈[1.1, 1.5].

[0072] By the above steps, the power of the cooling fan is adjusted in real time to cool the control box in a timely and rapid manner, reduce the temperature wave inside the control box 3, and improve the energy efficiency of the cooling fan 32.

[0073] A further implementation method is that a wind speed sensor (not shown in the figure) for detecting the real-time wind speed of the cooling fan 32 is further provided on the control box 3; the wind speed sensor is electrically connected to the controller. ;

[0074] Detect the real-time wind speed of the cooling fan 32 through the wind speed sensor , if ≠ , the controller further adjusts the power of the cooling fan 32 until = 。

[0075] A further embodiment is that it further includes an audible and visual alarm (not shown in the figure), and the audible and visual alarm is electrically connected to the controller.

[0076] If the real-time power of the cooling fan 32 is adjusted through Step 2 and Step 3 and the internal temperature of the control box 3 cannot be decreased to ≤ and the internal temperature of the control box 3 gradually rises, the controller controls the audible and visual alarm to emit an alarm sound.

[0077] In this specific embodiment:

[0078] The mechanical grasping mechanism 4 includes a mechanical grasping seat 41 that can move along the longitudinal conveying seat 2, a traveling driving mechanism 42 provided on the mechanical grasping seat 41, a lifting and conveying assembly 43 detachably provided on the mechanical grasping seat 41, a grasping manipulator 5 provided at the lower end of the lifting and conveying assembly 43, and a lifting driving mechanism 44. The lifting and conveying assembly 43 includes a connecting plate 431 for fastening to the mechanical grasping seat 41 and a lifting rod 432 that can slide up and down along the connecting plate 431. The lifting driving mechanism 44 drives the lifting rod 432 to slide up and down. A calibration mechanism for realizing calibration cooperation is provided on the connecting plate 431 and / or the mechanical grasping seat 41, and a locking mechanism for fastening is provided on the connecting plate 431 and / or the mechanical grasping seat 41.

[0079] Two longitudinal conveying slide rails 21 are provided on the longitudinal conveying seat 2, and a longitudinal rack 22 is provided between the two longitudinal conveying slide rails 21. The traveling driving mechanism 42 includes a slider 421 that cooperates with the two longitudinal conveying slide rails 21, a traveling servo motor 422 provided on the mechanical grasping seat 41, and a first gear 423. A first motor mounting hole 411 is provided on the mechanical grasping seat 41. The traveling servo motor 422 and the slider 421 are respectively provided on opposite sides of the mechanical grasping seat 41. The rotating shaft (not marked in the figure) of the traveling servo motor 422 passes through the first motor mounting hole 411, and the first gear 423 is provided on the rotating shaft of the traveling servo motor 422. The first gear 423 meshes with the longitudinal rack 22 to achieve driving.

[0080] A lifting rack 433 is provided on the lifting rod 432. The lifting drive mechanism 44 includes a lifting servo motor 441 and a second gear 442 provided on the mechanical gripping base 41. A second motor mounting hole 412 is provided on the mechanical gripping base 41. The rotating shaft of the lifting servo motor 441 passes through the second motor mounting hole 412. The second gear 442 is provided on the rotating shaft of the lifting servo motor 441. The second gear 442 meshes with the lifting rack 433 to achieve driving.

[0081] At least one gripping manipulator 5 includes a gripping motor 51 provided at the lower end of the lifting and conveying assembly 43, a spline sleeve 52 provided on the rotating shaft of the gripping motor 51, a spline shaft 53 sleeved in the spline sleeve 52, a lead screw 54 connected to the lower end of the spline shaft 53, and a gripper assembly driven by the lead screw 54. The gripper assembly is formed by clamping three gripper petals 6. Each gripper petal 6 includes a support end 61, a third gear 62 rotatably provided below the support end 61, and a clamping mechanism 63 connecting the third gears 62. The three third gears 62 are distributed on the outer circumference of the lead screw 54 and are in transmission cooperation with the lead screw 54. When the gripping motor 51 rotates, it drives the lead screw 54 to move upward or downward, so as to realize the closing or opening of a plurality of clamping mechanisms 63.

[0082] The locking mechanism is a bolt assembly. It can also be other structures, such as quick clamps and other mechanisms that can achieve fastening. The calibration mechanism includes a first protrusion 413 provided on the mechanical gripping base 41, a first groove 414 provided on the mechanical gripping base 41, a second protrusion 4311 provided on the connecting plate 431, and a second groove 4312 provided on the connecting plate 431. The first protrusion 413 cooperates with the second groove 4312, and the first groove 414 cooperates with the second protrusion 4311 to realize the fitting of the connecting plate 431 and the mechanical gripping base 41. The specific structure of the calibration mechanism can also be set according to actual needs, as long as the precise fitting between the connecting plate 431 and the mechanical gripping base 41 is realized.

[0083] A clamping groove 611 is provided on one side of the support end 61, and a clamping protrusion 612 is provided on the other side. Adjacent support ends 61 are connected by means of plugging and matching between the clamping groove 611 and the clamping protrusion 612. The three support ends 61 form a hollow support platform. The lead screw 54 passes through the hollow part of the support platform and cooperates with the third gear 62. A limiting block 614 is provided at the upper end of the clamping protrusion 612, and a limiting groove 613 is provided at the upper end of the clamping groove 611. The limiting block 614 and the limiting groove 613 cooperate to realize limiting clamping.

[0084] The clamping mechanism 63 includes an inner clamping plate 631, an outer clamping plate 632 and a clamping plate support 633. The lower ends of the inner clamping plate 631 and the outer clamping plate 632 are connected. The upper ends of the inner clamping plate 631 and the outer clamping plate 632 are respectively connected to both sides of the third gear 62. The inner clamping plate 631, the outer clamping plate 632 and the third gear 62 form a hollow triangular area. A first clamping plate support portion 634 is provided on the inner side wall of the inner clamping plate 631, and a second clamping plate support portion 635 is provided on the inner side wall of the outer clamping plate 632. Both ends of the clamping plate support 633 are respectively inserted into the first clamping plate support portion 634 and the second clamping plate support portion 635. The inner clamping plate 631 and the outer clamping plate 632 are made of flexible materials, and the clamping plate support 633 is a metal part. A bending portion 636 is provided at the free ends of the clamping plate support 633 passing through the first clamping plate support portion 634 and the second clamping plate support portion 635 to achieve stable insertion. When the inner clamping plate 631 is vertical, the clamping plate supports 633 in the same clamping mechanism 63 are parallel to each other, and the included angle α between each clamping plate support 633 and the inner clamping plate 631 is 60° - 85°, and the included angle β between the outer clamping plate 632 and the inner clamping plate 631 is 10° - 20°.

[0085] When clamping is achieved, due to the presence of the clamping plate support 633, the outer clamping plate 632 and the inner clamping plate 631 will abut against each other to achieve the basic hardness. However, due to the existence of the included angle α and the included angle β, the inner clamping plate 631 will deform, thereby driving the outer clamping plate 632 to deform, so as to achieve better clamping.

[0086] The load resistance value of the mechanical grasping mechanism 4 is denoted as R3, including the resistance values of the traveling servo motor 422, the lifting servo motor 441, and the grasping motor 51.

[0087] In this combined grasping device, the traveling servo motor 422, the lifting servo motor 441, and the grasping motor 51 are all conventional components in the art. The above-mentioned inner clamping plate 631, outer clamping plate 632, and third gear 62 can be integrally formed or separately formed, and their materials can be made of conventional flexible materials such as rubber and silica gel. The above-mentioned clamping plate support 633 can be stainless steel or other conventional metals.

[0088] Although the present invention is specifically shown and described in conjunction with the preferred embodiments, those skilled in the art should understand that various changes can be made to the present invention in terms of form and details without departing from the spirit and scope of the present invention defined by the appended claims, and all of them are within the protection scope of the present invention.

Claims

1. A heat dissipation method for a combined grasping device, the combined grasping device comprising a transverse conveying base (1), a longitudinal conveying base (2) slidable along the transverse conveying base (1), two mechanical grasping mechanisms (4) movable along the longitudinal conveying base (2), and a control box (3) for driving the longitudinal conveying base (2) and the mechanical grasping mechanisms (4) to work. A plurality of heat dissipation holes (31) are formed in the control box (3), and a heat dissipation fan (32) and a controller are arranged in the control box (3); Inside the control box (3), a first temperature sensor (33) for detecting the internal temperature of the control box (3) is provided. The preset internal temperature of the control box (3) is Outside the control box (3), a second temperature sensor for detecting the ambient temperature is provided. ​ It is characterized in that The heat dissipation method includes: Step 1, establishing a load model, including: The load resistances of the horizontal conveyor base (1) are collected separately and denoted as R1, the load resistances of the vertical conveyor base (2) are denoted as R2, the load resistances of the two mechanical grasping mechanisms (4) are denoted as R3, and the other electrical loads of the combined grasping device powered by the control box (3) are denoted as R4... R n ; n≥4; Hall current sensors for collecting the currents of each electrical load are respectively installed in the control box (3); among them, the Hall current sensors detect the real-time current I1 supplied to the transverse conveying base (1), the real-time current I2 supplied to the longitudinal conveying base (2), the real-time current I3 supplied to the two mechanical grasping mechanisms (4), and the real-time currents of other electrical loads powered by the control box (3) are respectively corresponding to I4... I n ; The rated current I of the supply horizontal conveyor seat (1) H ; The rated current I of the supply vertical conveyor seat (2) Z ; The rated current I of the supply of the two mechanical grasping mechanisms (4) J ; Step 2, monitoring the operating state of the combined grasping device; If, during the operation of the combined gripping device, within one acquisition cycle time the monitored real-time current I1 ≥ mI H or I2 ≥ mI Z or I3 ≥ mI J , where m ∈ [5, 10], then control the cooling fan (32) to operate at at for the next acquisition cycle time which is the maximum power of the cooling fan (32); until I1 < mI Z and I2 < mI H and I3 < mI J and the internal temperature of the control box (3) drops to ≤ , then proceed to Step Three; If during the operation of the combined grasping device, within one acquisition cycle time the monitored real-time current I1 < mI H and I2 < mI Z and I3 < mI J , directly proceed to step three; Step 3: The controller calculates the total heat generation value within each load acquisition cycle time ;​ ； If ≤ , the controller controls the cooling fan (32) to start operating at the maximum power in the next acquisition cycle time ; until > , and the internal temperature of the control box (3) drops to ≤ ; If > and > the controller adjusts the real-time power of the cooling fan (32) and then adjusts the wind speed of the cooling fan (32) such that ≤ , > ; ； ； Among them, is the blade radius of the cooling fan (32), is the specific heat capacity of air, is the air density, is the air delivery volume value of the cooling fan (32), is the correction coefficient, ∈ [1.1, 1.5]; A wind speed sensor for detecting the real-time wind speed of the cooling fan (32) is further provided on the control box (3). ​ The wind speed sensor is electrically connected to the controller; Detect the real-time wind speed of the cooling fan (32) through the wind speed sensor , if ≠ , the controller continues to adjust the real-time power of the cooling fan (32) until = .

2. The heat dissipation method of a combined grasping device according to claim 1, characterized in that: It further includes an audible and visual alarm, and the audible and visual alarm is electrically connected to the controller; If, after adjusting the real-time power of the cooling fan (32) in Step 2 and Step 3 the internal temperature of the control box (3) cannot be decreased to ≤ , and the internal temperature of the control box (3) gradually rises, the controller controls the audible and visual alarm to emit an alarm sound.

Images