Control box heat dissipation structure of combined type grabbing device

Abstract

The utility model relates to the technical field of equipment heat dissipation, in particular to a control box heat dissipation structure of a combined type grabbing device, which comprises a control box, multiple paths of power transmission equipment are arranged in the control box, a plurality of heat dissipation holes are arranged on the control box, and a heat dissipation fan and a controller are arranged in the control box. A first temperature sensor and a power regulator are arranged in the control box, and a second temperature sensor is arranged outside the control box; hall current sensors for collecting current for each path of power transmission equipment are respectively arranged in the control box; a wind speed sensor is further arranged inside or outside the control box, and the installation position of the wind speed sensor is right opposite to the wind outlet direction of the cooling fan. The cooling fan is connected to the mains supply through the power adjuster, and the power adjuster, the first temperature sensor, the second temperature sensor, the wind speed sensor and the Hall current sensors are electrically connected with the controller. According to the utility model, the temperature of the control box is timely and rapidly reduced, and the temperature fluctuation in the control box is reduced.

Description

Technical Field

[0001] This utility model relates to the field of equipment heat dissipation technology, and in particular to a heat dissipation structure for the control box of a combined gripping device. Background Technology

[0002] Currently, automation of machinery is a common trend, and gripping devices have largely replaced manual labor. Existing gripping devices typically include a transverse conveyor, a longitudinal conveyor, a mechanical gripping mechanism, and a control box (also called an electrical control box) that controls the operation of the transverse conveyor, longitudinal conveyor, and mechanical gripping mechanism, thereby enabling the free movement and gripping of items.

[0003] Currently, in this field, the main method of heat dissipation for control boxes is through the installation of cooling fans. These fans typically operate at a constant power. This requires the fans to consistently provide effective cooling, so they operate at maximum power to maximize airflow, resulting in significant noise. In reality, the amount of heat generated within the control box varies depending on the different stages of the grabbing equipment's operation and the specific equipment being used. Most of the time, the cooling fans do not need to operate at maximum power, leading to energy waste.

[0004] Another approach involves installing a temperature sensor inside the control box to detect the internal temperature and adjust the cooling fan power accordingly. The drawback of this method is that the temperature fluctuations inside the control box are significant. The cooling fan power adjustment is triggered only when the temperature change exceeds a certain threshold, making this adjustment method lagging. Furthermore, the motors of the horizontal conveyor, vertical conveyor, and lifting seats generate large currents during startup and braking, causing the internal electrical equipment to heat up rapidly. This results in repeated temperature fluctuations within the control box, accelerating the aging of the electrical equipment. Utility Model Content

[0005] Therefore, in order to address the above-mentioned problems, this utility model proposes a heat dissipation structure for the control box of a combined gripping device, which can cool down the control box in a timely and rapid manner, reducing temperature fluctuations inside the control box.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A heat dissipation structure for the control box of a combined gripping device includes a control box, which contains multiple power transmission devices that can supply power to the load. The control box has multiple heat dissipation holes, and a cooling fan and a controller are installed inside the control box.

[0008] A first temperature sensor and a power regulator are installed inside the control box, and a second temperature sensor is installed outside the control box.

[0009] Hall current sensors are installed in the control box to collect current for each power transmission device;

[0010] A wind speed sensor is also installed inside or outside the control box, with the wind speed sensor installed directly facing the air outlet direction of the cooling fan.

[0011] The cooling fan is connected to the mains power via a power regulator. The power regulator, the first temperature sensor, the second temperature sensor, the fan speed sensor, and each Hall current sensor are electrically connected to the controller.

[0012] Furthermore, it also includes an audible and visual alarm installed outside the control box, which is electrically connected to the controller.

[0013] Furthermore, it also includes a display screen located outside the control box, which is electrically connected to the controller.

[0014] By adopting the aforementioned technical solution, the beneficial effects of this utility model are:

[0015] This invention utilizes Hall current sensors installed inside the control box to collect the current of each power transmission device. It calculates the heat generation based on the resistance and current of each device, and adjusts the power output of the power regulator to the cooling fan based on the real-time temperature inside and outside the control box. This intelligently regulates the fan speed, thereby quickly and promptly cooling the control box and reducing internal temperature fluctuations. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the combined gripping device.

[0017] Figure 2 This is a schematic diagram of the structure in which a cooling fan and a first temperature sensor are installed inside the control box.

[0018] Figure 3 This is a three-dimensional structural diagram of the mechanical gripping mechanism.

[0019] Figure 4 This is an exploded structural diagram of the mechanical gripping mechanism.

[0020] Figure 5 This is a top-down structural diagram of the mechanical gripping mechanism.

[0021] Figure 6 This is a structural diagram of the mechanical gripper seat.

[0022] Figure 7 This is a structural schematic diagram of the mechanical gripper from the front view.

[0023] Figure 8 This is a structural schematic diagram of the mechanical gripper from the rear view.

[0024] Figure 9 This is a schematic diagram of the gripping robotic arm.

[0025] Figure 10 This is a structural diagram of the gripper component.

[0026] Figure 11 This is a schematic diagram of the three-dimensional structure of the grasping flap.

[0027] Figure 12 This is a schematic diagram of the frontal structure of the grasper flap.

[0028] Figure label:

[0029] 1. Horizontal conveyor seat; 2. Longitudinal conveyor seat; 21. Longitudinal conveyor slide rail; 22. Longitudinal rack; 3. Control box; 31. Heat dissipation hole; 32. Cooling fan; 33. First temperature sensor; 4. Mechanical gripping mechanism; 41. Mechanical gripping seat; 411. First motor mounting hole; 412. Second motor mounting hole; 413. First protrusion; 414. First groove; 42. Walking drive mechanism; 421. Slider; 422. Walking servo motor; 423. First gear; 43. Lifting and conveying assembly; 431. Connecting plate; 4311. Second protrusion; 4312. Second groove; 432. Lifting... 433. Lifting rack; 44. Lifting drive mechanism; 441. Lifting servo motor; 442. Second gear; 5. Gripping robot; 51. Gripping motor; 52. Spline sleeve; 53. Spline shaft; 54. Lead screw; 6. Gripper flap; 61. Support end; 62. Third gear; 63. Clamping mechanism; 611. Snap-fit ​​groove; 612. Snap-fit ​​protrusion; 613. Limiting groove; 614. Limiting block; 631. Inner clamping plate; 632. Outer clamping plate; 633. Clamping plate support; 634. First clamping plate support; 635. Second clamping plate support; 636. Bending part. Detailed Implementation

[0030] The present invention will now be further described in conjunction with the accompanying drawings and specific embodiments.

[0031] refer to Figures 1-12This embodiment provides a heat dissipation structure for the control box of a combined gripping device. The combined gripping device includes a transverse conveyor 1, a longitudinal conveyor 2 that can slide along the transverse conveyor 1, two mechanical gripping mechanisms 4 that can move along the longitudinal conveyor 2, and a control box 3 that drives the longitudinal conveyor 2 and the mechanical gripping mechanisms 4. The control box 3 controls the transverse conveyor 1, the longitudinal conveyor 2, and the two mechanical gripping mechanisms 4 to perform related actions. When the control box 3 is working, it generates a lot of heat, which needs to be dissipated in a timely manner.

[0032] The improvement of this utility model lies in the control box 3, which is equipped with multiple Hall current sensors that can collect current from power transmission equipment that can supply power to the load. Specifically, each Hall current sensor is located inside the control box 3 and collects the current I1 of the transverse conveyor 1, the current I2 of the longitudinal conveyor 2, the current I3 of the two mechanical gripping mechanisms 4, and the current of the combined gripping device on other electrical equipment, which are respectively I4...I n ;

[0033] The control box 3 has multiple heat dissipation holes 31. Inside the control box 3 are a cooling fan 32, a first temperature sensor 33, a power regulator, and a controller (not marked in the diagram). It should be noted that the position of the power regulator and controller within the control box 3 does not affect their operation. The power regulator and controller are existing devices in the art and will not be described in detail here.

[0034] A second temperature sensor (not shown in the figure) is installed outside the control box. The second temperature sensor is used to detect the ambient temperature.

[0035] A wind speed sensor is also installed inside or outside the control box 3. The wind speed sensor is installed facing the air outlet direction of the cooling fan 32 and is used to detect the rotation speed of the cooling fan 32.

[0036] The cooling fan 32 is connected to the mains power through a power regulator. The power regulator, the first temperature sensor 33, the second temperature sensor, the wind speed sensor, and each Hall current sensor are electrically connected to the controller.

[0037] By installing Hall current sensors in the control box 3 to collect the current of each electrical load in the control box 3, the heat generation can be calculated based on the resistance value and current of each electrical load in the control box. Combined with the real-time temperature inside and outside the control box 3, the power output of the power regulator to the cooling fan 32 is adjusted to intelligently adjust the fan speed of the cooling fan 32, thereby cooling the control box 3 in a timely and rapid manner and reducing the temperature fluctuation inside the control box 3.

[0038] Specifically:

[0039] The first temperature sensor 33 detects the internal temperature T1 of the control box 3 and transmits it to the controller. The second temperature sensor detects the ambient temperature T2 outside the control box 3 and transmits it to the controller. The controller presets the internal temperature of the control box 3 to T0, where T1 ≥ T0 > T2.

[0040] The load resistance values ​​of the power transmission equipment (including the power lines and corresponding electronic components connected to the horizontal conveyor 1 inside the control box 3) can be collected in advance and recorded as RL1; the load resistance value of the power transmission equipment (including the power lines and corresponding electronic components connected to the horizontal conveyor 1 inside the control box 3) can be recorded as RL2; the load resistance value of the power transmission equipment (including the power lines and corresponding electronic components connected to the vertical conveyor 2 inside the control box 3) can be recorded as RL3; the load resistance value of the power transmission equipment (including the power lines and corresponding electronic components connected to the two mechanical gripping mechanisms 4 inside the control box 3) can be recorded as RL4...RL. n n≥4;

[0041] The rated current I supplied to the transverse conveyor 1 H The rated current I supplied to the longitudinal conveyor 2 Z The rated current I supplied to the two mechanical gripping mechanisms 4 J ;

[0042] The controller calculates the total heat generation value Q within the time Δt of each load acquisition cycle;

[0043]

[0044] (1) If, during the operation of the combined grasping device, the monitored current I1 ≥ mI is within one acquisition cycle time Δt. H , and / or I2≥mI Z 、 and / or I3≥mI J If m∈[5, 10], then control the cooling fan 32 to P in the next acquisition cycle time Δt. MAX Run, P MAX The maximum power of cooling fan 32; until I1 < mI Z And I2 < mI H And I3 < mI J Furthermore, the internal temperature of control box 3 drops to T1≤T0.

[0045] (2) If PMAX If Δt ≤ Q, then the controller will control the cooling fan 32 to operate at maximum power starting from the next acquisition cycle time Δt; until P MAX Δt>Q, and the internal temperature of control box 3 drops to T1≤T0;

[0046] (3) If P MAX Given Δt > Q and T1 > T0, the controller adjusts the real-time power P1 of the cooling fan 32, and subsequently adjusts the real-time fan speed F of the cooling fan 32, so that T1 ≤ T0, P MAX >P1;

[0047]

[0048] Where r is the blade radius of cooling fan 32, C is the specific heat capacity of air, ρ is the air density, V is the air volume of cooling fan 32, and η is the correction coefficient, η∈[1.1, 1.5].

[0049] The wind speed sensor detects the real-time wind speed F0 of the cooling fan 32. If the detected real-time wind speed F0 ≠ F, the controller adjusts the power of the cooling fan 32 until the real-time wind speed F0 = F.

[0050] Furthermore, it also includes an audible and visual alarm installed outside the control box, which is electrically connected to the controller. If, after adjusting the cooling fan power P1, the internal temperature of the control box 3 cannot drop to T1≤T0, and the internal temperature T1 of the control box 3 gradually rises, the controller will control the audible and visual alarm to sound an alarm.

[0051] Furthermore, it also includes a display screen located outside the control box, which is electrically connected to the controller. The display screen is used to display the internal temperature T1 of the control box 3, the ambient temperature T2, and the real-time wind speed F.

[0052] The electrical connection technology between the aforementioned electronic components is conventional in this field. Those skilled in the art, through a limited number of circuit connection experiments, can fully reproduce the heat dissipation structure of the control box of this combined gripping device and achieve the same technical effect.

[0053] Furthermore, in this specific embodiment:

[0054] The mechanical gripping mechanism 4 includes a mechanical gripping seat 41 that can move along the longitudinal conveyor seat 2, a walking drive mechanism 42 disposed on the mechanical gripping seat 41, a lifting and conveying assembly 43 detachably disposed on the mechanical gripping seat 41, a gripping manipulator 5 disposed at the lower end of the lifting and conveying assembly 43, and a lifting drive mechanism 44. The lifting and conveying assembly 43 includes a connecting plate 431 for fastening to the mechanical gripping seat 41 and a lifting rod 432 that can slide up and down along the connecting plate 431. The lifting drive mechanism 44 drives the lifting rod 432 to slide up and down. The connecting plate 431 and / or the mechanical gripping seat 41 are provided with a calibration mechanism for achieving calibration and fit. The connecting plate 431 and / or the mechanical gripping seat 41 are provided with a locking mechanism for fastening.

[0055] The longitudinal conveyor seat 2 is provided with two longitudinal conveyor slide rails 21, and a longitudinal rack 22 is provided between the two longitudinal conveyor slide rails 21. The walking drive mechanism 42 includes a slider 421 that cooperates with the two longitudinal conveyor slide rails 21, a walking servo motor 422 and a first gear 423 provided on the mechanical gripping seat 41. The mechanical gripping seat 41 has a first motor mounting hole 411. The walking servo motor 422 and the slider 421 are respectively provided on opposite sides of the mechanical gripping seat 41. The shaft of the walking servo motor 422 (not marked in the figure) passes through the first motor mounting hole 411. The first gear 423 is provided on the shaft of the walking servo motor 422. The first gear 423 meshes with the longitudinal rack 22 to achieve driving.

[0056] The lifting rod 432 is provided with a lifting rack 433. The lifting drive mechanism 44 includes a lifting servo motor 441 and a second gear 442 provided on the mechanical gripping seat 41. The mechanical gripping seat 41 is provided with a second motor mounting hole 412. The shaft of the lifting servo motor 441 passes through the second motor mounting hole 412. The second gear 442 is provided on the shaft of the lifting servo motor 441. The second gear 442 meshes with the lifting rack 433 to achieve drive.

[0057] At least one gripping robot 5 includes a gripping motor 51 located at the lower end of the lifting and conveying assembly 43, a spline sleeve 52 located on the rotating shaft of the gripping motor 51, a spline shaft 53 sleeved inside 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 composed of three gripper petals 6 that are snapped together. Each gripper petal 6 includes a support end 61, a third gear 62 rotatably located below the support end 61, and a clamping mechanism 63 connecting each third gear 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, thereby realizing the approach or opening of multiple clamping mechanisms 63.

[0058] The locking mechanism is a bolt assembly. It can also be other structures, such as quick-release chucks or other mechanisms capable of fastening. The calibration mechanism includes a first protrusion 413 on the mechanical gripper 41, a first groove 414 on the mechanical gripper 41, a second protrusion 4311 on the connecting plate 431, and a second groove 4312 on the connecting plate 431. The first protrusion 413 and the second groove 4312 cooperate, and the first groove 414 and the second protrusion 4311 cooperate, achieving a close fit between the connecting plate 431 and the mechanical gripper 41. The specific structure of the calibration mechanism can also be set according to actual needs, as long as precise fit between the connecting plate 431 and the mechanical gripper 41 is achieved.

[0059] One side of the support end 61 is provided with a snap-fit ​​groove 611, and the other side is provided with a snap-fit ​​protrusion 612. Adjacent support ends 61 are connected by the snap-fit ​​groove 611 and the snap-fit ​​protrusion 612 interlocking. The three support ends 61 form a hollow support platform. The lead screw 54 passes through the hollow part of the support platform and engages with the third gear 62. A limiting block 614 is provided on the upper end of the snap-fit ​​protrusion 612, and a limiting groove 613 is provided on the upper end of the snap-fit ​​groove 611. The limiting block 614 and the limiting groove 613 cooperate to achieve limiting snap-fit.

[0060] The clamping mechanism 63 includes an inner clamping plate 631, an outer clamping plate 632, and a clamping plate support member 633. The lower ends of the inner clamping plate 631 and the outer clamping plate 632 are connected, and the upper ends of the inner clamping plate 631 and the outer clamping plate 632 are respectively connected to the two 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 region. A first clamping plate support portion 634 is provided on the inner wall of the inner clamping plate 631, and a second clamping plate support portion 635 is provided on the inner wall of the outer clamping plate 632. The two ends of the clamping plate support member 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 material, and the clamping plate support member 633 is a metal part. The clamping plate support 633 has a bent portion 636 on its free end 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 located in the same clamping mechanism 63 are parallel to each other, and the angle α between each clamping plate support 633 and the inner clamping plate 631 is 60°-85°, and the angle β between the outer clamping plate 632 and the inner clamping plate 631 is 10°-20°.

[0061] When clamping is achieved, the presence of the clamping plate support 633 causes the outer clamping plate 632 and the inner clamping plate 631 to abut against each other, achieving basic hardness. However, due to the presence of included angles α and β, the inner clamping plate 631 will deform, thereby causing the outer clamping plate 632 to deform, thus achieving better clamping.

[0062] In this combined gripping device, the walking servo motor 422, the lifting servo motor 441, and the gripping motor 51 are all conventional components in the art. The aforementioned inner clamping plate 631, outer clamping plate 632, and third gear 62 can be integrally formed or separately formed, and their materials can be conventional flexible materials such as rubber and silicone. The aforementioned clamping plate support 633 can be stainless steel or other conventional metals.

[0063] Although the present invention has been specifically shown and described in conjunction with preferred embodiments, those skilled in the art should understand that various changes in form and detail may be made to the present invention without departing from the spirit and scope of the present invention as defined in the appended claims, and all such changes shall be within the scope of protection of the present invention.

Claims

1. A heat dissipation structure for the control box of a combined gripping device, comprising a control box, wherein the control box is provided with multiple power transmission devices that can supply power to the load, the control box is provided with multiple heat dissipation holes, and the control box is provided with a cooling fan and a controller; Its features are: A first temperature sensor and a power regulator are installed inside the control box, and a second temperature sensor is installed outside the control box. Hall current sensors are installed in the control box to collect current for each power transmission device; A wind speed sensor is also installed inside or outside the control box, with the wind speed sensor installed directly facing the air outlet direction of the cooling fan. The cooling fan is connected to the mains power via a power regulator. The power regulator, the first temperature sensor, the second temperature sensor, the fan speed sensor, and each Hall current sensor are electrically connected to the controller.

2. The heat dissipation structure of the control box of the combined gripping device according to claim 1, characterized in that: It also includes an audible and visual alarm installed outside the control box, which is electrically connected to the controller.

3. The heat dissipation structure of the control box of the combined gripping device according to claim 1 or 2, characterized in that: It also includes a display screen located outside the control box, which is electrically connected to the controller.

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