Four-axis linkage for coal washing process

Abstract

The application discloses a four-axle linkage device in a coal washing process, which comprises a driving mechanism, a working mechanism and three groups of connecting rod mechanisms; wherein the three groups of connecting rod mechanisms are evenly installed between the driving mechanism and the working mechanism. The four-axle linkage device can replace the mounting frame or the connecting rod mechanism according to actual requirements. The mounting frame and the connecting rod mechanism can be freely replaced, subsequent maintenance is simple, and the maintenance cost is low. Moreover, the mounting frame and the connecting rod mechanism of different sizes can be replaced according to different objects or different processing requirements, so that the linkage device can be diversifiedly used, the connecting rod mechanism and the hydraulic rod can work simultaneously or be used independently in work, the required effect can be achieved when being used independently, and mutual auxiliary promotion can be achieved when working together, the stability in work is improved, and diversified work can be achieved.

Description

Technical Field

[0001] This invention relates to a four-axis linkage device, specifically a four-axis linkage device in the coal washing process, belonging to the technical field of coal washing equipment. Background Technology

[0002] Generally, the coal washing process consists of five steps: raw coal preparation, raw coal sorting, product dewatering, product drying, and coal slurry water treatment. In the raw coal preparation step, the raw coal needs to be transported to the coal washing unit through a sorting and loading linkage device to complete the other processes.

[0003] In the prior art, patent CN210474079U discloses a coal grabbing device with a crushing function. This device uses a connecting component and a grab head to grab coal, and the grab bucket is opened and closed by the extension and retraction of an electric push rod. However, the problems with this patent, not limited to the above-mentioned patent, are as follows: 1) Due to the incomplete continuity of the extension and retraction of the electric push rod, the grabbing device has poor stability in grabbing coal; 2) The size or regularity of the coal is not fixed, and the position of the coal blocks is also uncertain, making it impossible to achieve grabbing at multiple angles and different positions, resulting in poor flexibility.

[0004] The two objective problems mentioned above result in low efficiency of existing coal grabbing devices, which cannot improve the overall efficiency of the coal washing and processing production line. Summary of the Invention

[0005] The purpose of this invention is to provide a four-axis linkage device in the coal washing process to solve at least one of the above-mentioned technical problems, which can effectively improve the stability of the coal grabbing process and improve production efficiency.

[0006] The objective of this invention can be achieved through the following technical solution: a four-axis linkage device in the coal washing process, comprising a drive mechanism, a working mechanism and three sets of linkage mechanisms, wherein the three sets of linkage mechanisms are evenly installed between the drive mechanism and the working mechanism.

[0007] The linkage mechanism includes a force-bearing arm and two tie rods. A second rotating rod is rotatably mounted on the bottom end of the force-bearing arm, and the upper ends of the two tie rods are fixedly connected to the two ends of the second rotating rod, respectively.

[0008] The drive mechanism includes a top plate and a second motor. Mounting platforms are evenly installed on the bottom of the top plate, and the second motor is installed inside the mounting platforms. The output shaft of the second motor is connected to the top of the force arm through an adjustment mechanism.

[0009] The working mechanism includes a base plate and a mounting frame. The mounting frame is detachably installed on the bottom of the base plate. Three sets of end plates are detachably connected evenly to the outer periphery of the base plate. A first rotating rod is rotatably installed on the end of the end plate away from the base plate. The lower ends of two tie rods are fixedly connected to the two ends of the first rotating rod, respectively. A rotating shaft is rotatably installed inside the mounting frame. A detachable gripping head and a punching head are installed on the outside of the rotating shaft. A hydraulic rod is installed between the top of the base plate and the bottom of the top plate. The upper and lower ends of the hydraulic rod are rotatably installed to the base plate and the top plate through swing joints.

[0010] As a further technical solution of the present invention: the swing joint includes a first connector and a second connector. The opposite ends of the first connector and the second connector are provided with grooves. A pin is fixedly connected inside the groove. The pin at the end of the second connector passes through the pin at the end of the first connector and is rotatably installed with the first connector. The pins at the end of the second connector and the pins at the end of the first connector are arranged in a cross shape. The second connectors in the upper and lower swing joints are respectively connected to the top plate and the bottom plate. Both ends of the hydraulic rod are threadedly connected to the end of the first connector.

[0011] As a further technical solution of the present invention: a plurality of mounting seats are uniformly fixed to the outside of the rotating shaft along the circumferential direction. The punching head and the gripping head are both connected to the mounting seats by bolts. A first motor is installed on one side of the mounting frame. The output end of the first motor is fixedly connected to one end of the rotating shaft. A threaded rod is welded to one end of the mounting frame, and the mounting frame is threaded to the bottom of the base plate through the threaded rod.

[0012] As a further technical solution of the present invention: the connection between the outer periphery of the base plate and the end plate is provided with a socket hole, and the top of the base plate is threaded with a fastening bolt above each socket hole. The bottom end of the fastening bolt can extend into the interior of the socket hole. The end plate facing the base plate is integrally connected with a plug that is compatible with the socket hole. The top of the plug is provided with a threaded hole that is compatible with the fastening bolt.

[0013] As a further technical solution of the present invention: the interior of the mounting platform is provided with a moving groove at one end facing the force-bearing arm, and the output shaft of the second motor extends into the interior of the moving groove.

[0014] As a further technical solution of the present invention: the adjustment mechanism includes a gear and a gear sleeve, the gear is fixedly mounted on the outside of the output end of the second motor, the connecting shaft is rotatably mounted on the middle of the end face of the output end of the second motor in the horizontal direction, the inside of the force arm is provided with a snap-fit ​​groove, the inside of the snap-fit ​​groove is fitted with a fixing plate, one end of the connecting shaft is rotatably connected to the fixing plate, and both ends of the connecting shaft are rotatably connected to the fixing plate and the output shaft of the second motor respectively through bearings.

[0015] As a further technical solution of the present invention: a toothed sleeve is fitted on the outside of the connecting shaft, and a toothed ring adapted to the gear is provided inside the toothed sleeve; several electric telescopic columns are horizontally connected to the end of the force arm facing the second motor, and the telescopic end of the electric telescopic column is fixedly connected to the end edge of the toothed sleeve, and can drive the toothed sleeve to move in the horizontal direction.

[0016] As a further technical solution of the present invention: the upper edge of the force-bearing arm is threaded with a positioning bolt, and the bottom of the positioning bolt extends into the interior of the fixing plate.

[0017] A method for using a four-axis linkage device in a coal washing process, the method comprising the following steps:

[0018] Step 1: When coal needs to be picked up or put down, the second motor drives the gear to rotate, which in turn drives the gear sleeve to rotate. The force arm rotates together with the gear sleeve. The two ends of the pull rod are respectively connected to the end plate and the force arm. The rotation of the pull rod drives the bottom plate below to move. The mounting frame at the bottom moves to the top of the coal to be picked up or put down. The first motor drives the rotating shaft to rotate, turning the gripper head downwards to face the coal to be picked up or put down. The gripper head drives the coal to be picked up or put down to move.

[0019] Step 2: If the coal needs preliminary processing before or after handling, after the bottom plate moves above the coal, the coal is ground and pressed using a punching head or grinding head; during operation, the first motor drives the rotating shaft to rotate, and different processing instruments on the outside of the rotating shaft face the coal in sequence to process the coal.

[0020] Step 3: If only the hydraulic rod needs to extend and retract vertically to move the base plate and process the coal below, the power transmission between the force arm and the second motor is cut off, the electric telescopic column retracts, and the gear sleeve disengages from the gear.

[0021] If the second motor and the hydraulic rod work simultaneously during operation, the second motor drives the base plate to face different directions through gears, while the hydraulic rod remains tilted, processing the coal from different angles and positions. During the extension or retraction of the hydraulic rod, the second motor drives the lever arm to rotate, generating an auxiliary force on the hydraulic rod and increasing the impact force during stamping.

[0022] Step 4: During use, when replacing the mounting bracket, twist the mounting bracket so that the upper threaded rod disengages from the base plate, and the mounting bracket disengages from the base plate. The mounting bracket to be used is connected to the base plate through the threaded rod.

[0023] When replacing the linkage mechanism, tighten the fastening bolts to disengage the plug, and pull the plug out of the socket. The end plate will then detach from the base plate. Loosen the positioning bolts and pull the lever arm outward until the fixing plate disengages from the snap-fit ​​groove. Finally, the gear sleeve will disengage from the connecting shaft, and the linkage mechanism will be disassembled. When installing the linkage mechanism to be used, insert the plug at the end of the end plate into the socket and tighten the fastening bolts into the threaded hole. Insert the fixing plate into the snap-fit ​​groove and tighten the positioning bolts into the fixing plate. The fixing plate will then be fixed inside the snap-fit ​​groove.

[0024] The beneficial effects of this invention are:

[0025] 1) By setting up a gripping head, the gripping head can drive the coal to be picked up and placed according to a preset trajectory during operation. The hydraulic rod can be disassembled during the coal picking and placing process, saving the energy consumption of the hydraulic rod. The hydraulic rod can also be used to assist the movement of the bottom plate, making the bottom plate more stable during the movement. During the movement of the bottom plate, the hydraulic rod extends or retracts, and both ends swing with the tie rod through the swing joint. The extension or retraction of the hydraulic rod can stabilize the rotation of the tie rod and the force arm, and can provide auxiliary force for the rotation of the force arm. The efficiency of coal movement is improved and it is not easy to shake during movement.

[0026] 2) By setting up a mounting frame and installing different processing equipment inside the frame, different handling methods can be adopted according to the actual coal handling situation. If the coal needs to be processed before or after handling, it can be processed before or after handling. After the bottom plate moves above the coal, the gripping head can be used to grip and move the coal, or the punching head or grinding head can be used to process the coal. Different punching heads, grinding heads, gripping heads or other processing equipment can be connected to the outside of the rotating shaft using mounting seats to adapt to different processing needs. During use, the first motor drives the rotating shaft to rotate, which allows different instruments outside the rotating shaft to face the coal in sequence, enabling comprehensive processing of the coal, improving work efficiency, reducing the use of other work steps, reducing coal processing costs, and making full use of the robot arm, increasing the function and application range of the same robot arm.

[0027] 3) By using an adjustment mechanism to connect the lever arm and the second motor, if only the hydraulic rod needs to extend and retract vertically to move the base plate up and down to process the coal below, the power transmission between the lever arm and the second motor can be cut off, reducing the influence of the second motor on the hydraulic rod. During the vertical extension and retraction of the hydraulic rod, the tie rod and the lever arm can rotate freely without affecting the extension and retraction of the hydraulic rod, and the resistance of the gears can be reduced. Multiple tie rods improve the stability of the hydraulic rod during operation, making it less prone to swaying. The second motor and the hydraulic rod can also work simultaneously during operation. The second motor can drive the base plate to face different directions through gears, allowing the hydraulic rod to maintain an inclined state, which can meet the processing of coal at different angles and positions. During the extension or retraction of the hydraulic rod, the second motor drives the lever arm to rotate, which can generate an auxiliary force on the hydraulic rod, increase the impact force during stamping, and improve the processing effect.

[0028] 4) During use, the mounting frame or linkage mechanism can be replaced according to actual needs. The mounting frame and linkage mechanism can be freely replaced, and subsequent maintenance is simple and low-cost. The mounting frame and linkage mechanism of different sizes can be replaced for different coal or different processing needs. During operation, the linkage mechanism and hydraulic rod can work simultaneously or be used independently. They can achieve the desired effect when used independently, and they can produce a mutually supportive effect when working together, improving the stability during operation and the effect of subsequent processing, and realizing diversified working functions. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0030] Figure 2 This is a schematic diagram of the internal structure of the mounting bracket of the present invention.

[0031] Figure 3 For the present invention Figure 1 A detailed, enlarged structural diagram of point A in the middle.

[0032] Figure 4 This is a schematic diagram of the installation structure of the end plate and the bottom plate of the present invention.

[0033] Figure 5 For the present invention Figure 1 Enlarged structural diagram of section B in the middle.

[0034] Figure 6 This is a schematic diagram of the internal structure of the mounting platform of the present invention.

[0035] In the diagram: 1. Top plate; 2. Mounting platform; 3. Tie rod; 4. Hydraulic rod; 5. Force arm; 6. Base plate; 7. Mounting bracket; 8. First motor; 9. Rotating shaft; 10. Gripping head; 11. Mounting base; 12. Punching head; 13. Threaded rod; 14. First connector; 15. Pin; 16. Groove; 17. Second connector; 18. Fastening bolt; 19. End plate; 20. Insertion hole; 21. Plug; 22. Threaded hole; 23. Snap-fit ​​groove; 24. Positioning bolt; 25. Gear sleeve; 26. Second motor; 27. Gear; 28. Moving groove; 29. ​​Fixing plate; 30. Electric telescopic column; 31. Connecting shaft; 32. Bearing. Detailed Implementation

[0036] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0037] Example 1, such as Figures 1 to 6 As shown, a four-axis linkage device in a coal washing process includes a drive mechanism, a working mechanism, and three sets of linkage mechanisms, which are evenly installed between the drive mechanism and the working mechanism.

[0038] The linkage mechanism includes a force-bearing arm 5 and two tie rods 3. A second rotating rod is rotatably mounted on the bottom end of the force-bearing arm 5, and the upper ends of the two tie rods 3 are fixedly connected to the two ends of the second rotating rod, respectively.

[0039] The drive mechanism includes a top plate 1 and a second motor 26. Mounting platforms 2 are evenly installed on the bottom of the top plate 1. The second motor 26 is installed inside the mounting platform 2. The output shaft of the second motor 26 is connected to the top of the force arm 5 through an adjustment mechanism.

[0040] The working mechanism includes a base plate 6 and a mounting frame 7. The mounting frame 7 is detachably installed on the bottom of the base plate 6. Three sets of end plates 19 are detachably connected evenly to the outer periphery of the base plate 6. A first rotating rod is also rotatably installed on the end of the end plate 19 away from the base plate 6. The lower ends of the two tie rods 3 are fixedly connected to the two ends of the first rotating rod respectively. A rotating shaft 9 is rotatably installed inside the mounting frame 7. A detachable gripping head 10 and a punching head 12 are installed on the outside of the rotating shaft 9. A hydraulic rod 4 is installed between the top of the base plate 6 and the bottom of the top plate 1. The upper and lower ends of the hydraulic rod 4 are rotatably installed on the base plate 6 and the top plate 1 through swing joints.

[0041] Example 2, as Figures 1 to 6As shown, in addition to the technical features in Embodiment 1, this embodiment also includes: a swing joint comprising a first connector 14 and a second connector 17, each having a groove 16 at one opposite end of the first connector 14 and the second connector 17, with a pin 15 fixedly connected inside the groove 16; the pin 15 at the end of the second connector 17 passes through the pin 15 at the end of the first connector 14 and is rotatably mounted to the first connector 14; the pins 15 at the end of the second connector 17 and the pins 15 at the end of the first connector 14 are arranged in a cross shape; the second connectors 17 in the upper and lower swing joints are respectively connected to the top plate 1 and the bottom plate 6; both ends of the hydraulic rod 4 are threadedly connected to the end of the first connector 14; the first connector 14 and the second connector 17 can rotate relative to each other through the pin 15, thereby allowing the hydraulic rod 4 to swing in different directions with the linkage mechanism.

[0042] Several mounting seats 11 are evenly welded to the outside of the rotating shaft 9 along the circumferential direction. The punching head 12 and the gripping head 10 are both connected to the mounting seats 11 by bolts. A first motor 8 is mounted on one side of the mounting frame 7. The output end of the first motor 8 is fixedly connected to one end of the rotating shaft 9. A threaded rod 13 is welded to one end of the mounting frame 7, and the mounting frame 7 is threadedly connected to the bottom of the base plate 6 through the threaded rod 13. The mounting seats 11 facilitate the installation of different processing equipment on the outside of the rotating shaft 9. The first motor 8 can drive the rotating shaft 9 to rotate, thereby driving different processing equipment to move towards the coal to be picked up or placed. The threaded rod 13 facilitates the installation and disassembly of the mounting frame 7 and the base plate 6.

[0043] The outer periphery of the base plate 6 and the connection point of the end plate 19 are provided with insertion holes 20. The top of the base plate 6 is threaded with a fastening bolt 18 above each insertion hole 20. The bottom end of the fastening bolt 18 can extend into the interior of the insertion hole 20. The end plate 19 facing the base plate 6 is integrally connected with a plug 21 that is compatible with the insertion hole 20. The top of the plug 21 is provided with a threaded hole 22 that is compatible with the fastening bolt 18. The plug 21 is inserted into the interior of the insertion hole 20, and the fastening bolt 18 enters into the interior of the threaded hole 22, which facilitates the installation of the end plate 19 and the base plate 6, and allows for quick disassembly during subsequent replacement.

[0044] The mounting platform 2 has a movable groove 28 at one end facing the force arm 5. The output shaft of the second motor 26 extends into the movable groove 28. The adjustment mechanism includes a gear 27 and a gear sleeve 25. The gear 27 is fixedly mounted on the outside of the output end of the second motor 26. A connecting shaft 31 is rotatably mounted on the middle of the end face of the output end of the second motor 26 in the horizontal direction. The force arm 5 has a snap-fit ​​groove 23 inside. A fixing plate 29 is snap-fitted inside the snap-fit ​​groove 23. One end of the connecting shaft 31 is rotatably connected to the fixing plate 29. Both ends of the connecting shaft 31 are separated by a bearing 32 at one end. The connecting shaft 31 is rotatably connected to the fixed plate 29 and the output shaft of the second motor 26. A gear sleeve 25 is fitted onto the outside of the connecting shaft 31, and a gear ring adapted to the gear 27 is provided inside the gear sleeve 25. Several electric telescopic columns 30 are horizontally connected to the end of the force arm 5 facing the second motor 26. The telescopic ends of the electric telescopic columns 30 are fixedly connected to the end edge of the gear sleeve 25 and can drive the gear sleeve 25 to move horizontally. The second motor 26 can drive the gear 27 to rotate, which in turn drives the gear sleeve 25 to rotate. The force arm 5 rotates together with the gear sleeve, achieving stable power transmission. When the power transmission between the force arm 5 and the second motor 26 is cut off, the influence of the second motor 26 on the hydraulic rod 4 is reduced. When the electric telescopic columns 30 retract, they cause the gear sleeve 25 to disengage from the gear 27, allowing the entire force arm 5 to rotate freely at the end of the mounting platform 2 via the connecting shaft 31.

[0045] The upper edge of the load-bearing arm 5 is threaded with a positioning bolt 24. The bottom of the positioning bolt 24 extends into the interior of the fixing plate 29. The positioning bolt 24 can fix the fixing plate 29 inside the load-bearing arm 5, making it less likely to fall off during use.

[0046] Example 3: A method for using a four-axis linkage device in a coal washing process, comprising the following steps:

[0047] First: When coal needs to be picked up or put down, the second motor 26 drives the gear 27 to rotate, which in turn drives the gear sleeve 25 to rotate. The force arm 5 rotates together with the gear sleeve. The two ends of the pull rod 3 are respectively rotatably connected to the end plate 19 and the force arm 5. The rotation of the pull rod 3 drives the bottom plate 6 below to move. The bottom mounting bracket 7 moves to the top of the coal to be picked up or put down. The first motor 8 drives the rotating shaft 9 to rotate, which rotates the gripping head 10 to face the coal to be picked up or put down. The gripping head 10 drives the coal to be picked up or put down to move.

[0048] Second: If the coal needs to be pre-processed before or after being picked up or placed, after the bottom plate 6 moves above the coal, the stamping head 12 or the grinding head is used to grind and press the coal. During operation, the first motor 8 drives the rotating shaft 9 to rotate, and different processing instruments outside the rotating shaft 9 face the coal in sequence to process the coal.

[0049] Third: If only the hydraulic rod 4 needs to extend and retract in the vertical direction to move the base plate 6 to process the coal below, the power transmission between the force arm 5 and the second motor 26 is cut off, the electric telescopic column 30 retracts, and the gear sleeve 25 disengages from the gear 27.

[0050] When the second motor 26 and the hydraulic rod 4 work simultaneously, the second motor 26 drives the base plate 6 to face different directions through the gear 27, and the hydraulic rod 4 remains in an inclined state, processing the coal from different angles and positions; and during the extension or retraction of the hydraulic rod 4, the second motor 26 drives the force arm 5 to rotate, generating an auxiliary force on the hydraulic rod 4 and increasing the impact force during stamping.

[0051] Fourth: During use, when the mounting bracket 7 is replaced, the mounting bracket 7 is turned, and the upper threaded rod 13 is disengaged from the base plate 6, thereby disengaging the mounting bracket 7 from the base plate 6. The mounting bracket 7 to be used is connected to the base plate 6 through the threaded rod 13.

[0052] When replacing the linkage mechanism, tighten the fastening bolt 18 to disengage the plug 21 and pull the plug 21 out of the socket 20, causing the end plate 19 to detach from the base plate 6; loosen the positioning bolt 24 and pull the force arm 5 outward until the fixing plate 29 detaches from the snap-fit ​​groove 23, and finally the gear sleeve 25 detaches from the connecting shaft 31, thus disassembling the linkage mechanism. When installing the linkage mechanism to be used, insert the plug 21 at the end of the end plate 19 into the socket 20, and tighten the fastening bolt 18 into the threaded hole 22; insert the fixing plate 29 into the snap-fit ​​groove 23 and tighten the positioning bolt 24 into the fixing plate 29, fixing the fixing plate 29 inside the snap-fit ​​groove 23.

[0053] Working process: In use, the top of the top plate 1 is connected to the external drive mechanism to be used, and electrically connected to the external control mechanism. The trajectory of the entire robot arm can be set through the control mechanism to adapt to different work requirements. When coal needs to be picked up or put down, the second motor 26 drives the gear 27 to rotate, which in turn drives the gear sleeve 25 to rotate, and the force arm 5 rotates together with the gear sleeve 25. Both ends of the pull rod 3 rotate between the end plate 19 and the force arm 5 through the first rotating rod, thereby driving the bottom plate 6 below to move; the mounting frame 7 at the bottom moves above the coal to be picked up or put down, the first motor 8 drives the rotating shaft 9 to rotate, and rotates the gripping head 10 downward to face the coal to be picked up or put down. The gripping head 10 is a common mechanical claw or suction cup gripper, or a gripping structure used in conjunction with the coal to be picked up or put down. These are all commonly used gripping devices, which will not be described in detail here. The gripping head 10 can drive the coal to be picked up or put down according to the preset trajectory.

[0054] During coal handling, hydraulic rod 4 can be disassembled to save energy consumption. It can also be used to assist in the movement of the base plate 6, making its movement more stable. During base plate 6 movement, hydraulic rod 4 extends or retracts, with both ends swinging along with tie rod 3 via swing joints. The extension or retraction of hydraulic rod 4 stabilizes the rotation of tie rod 3 and the force arm 5, and provides auxiliary force for the rotation of the force arm 5, improving coal handling efficiency and reducing swaying during movement.

[0055] Different handling methods can be adopted according to the actual coal. If the coal needs to be processed before or after handling, such as grinding or stamping, it can be processed before or after handling. After the base plate 6 moves above the coal, the gripper head 10 can be used to grip and move the coal, or the punching head 12 or grinding head can be used to grind and press the coal. The punching head 12 and grinding head are both existing equipment and will not be described here. Different punching heads 12, grinding heads, gripper heads 10 or other processing equipment can be connected to the outside of the rotating shaft 9 using the mounting base 11 to adapt to different processing needs. During use, the first motor 8 drives the rotating shaft 9 to rotate, so that different instruments on the outside of the rotating shaft 9 can face the coal in sequence, enabling comprehensive processing of the coal, improving work efficiency, reducing the use of other working steps, reducing coal processing costs, and making full use of the robot, increasing the function and scope of use of the same robot.

[0056] If only the hydraulic rod 4 needs to extend and retract vertically to move the base plate 6 up and down to process the coal below, the power transmission between the force arm 5 and the second motor 26 can be cut off to reduce the influence of the second motor 26 on the hydraulic rod 4. The electric telescopic column 30 retracts, driving the gear sleeve 25 to disengage from the gear 27. The entire force arm 5 can rotate freely at the end of the mounting platform 2 through the connecting shaft 31, and the resistance to rotation is reduced. During the vertical extension and retraction of the hydraulic rod 4, the pull rod 3 and the force arm 5 rotate freely without affecting the extension and retraction of the hydraulic rod 4, and the resistance of the gear 27 is reduced. Multiple pull rods 3 improve the stability of the hydraulic rod 4 during operation, making it less prone to swaying. It can also make the second motor 26 and the hydraulic rod 4 work simultaneously during operation. The second motor 26 can drive the base plate 6 to face different directions through the gear 27, so that the hydraulic rod 4 can maintain an inclined state, which can meet the processing of coal at different angles and positions. During the extension or retraction of the hydraulic rod 4, the second motor 26 drives the force arm 5 to rotate, which can generate an auxiliary force on the hydraulic rod 4, increase the impact force during stamping, and improve the processing effect.

[0057] During use, the mounting frame 7 or the linkage mechanism can be replaced according to actual needs. When replacing the mounting frame 7, the mounting frame 7 is turned, and the upper threaded rod 13 is disengaged from the base plate 6, thereby causing the mounting frame 7 to detach from the base plate 6. The mounting frame 7 to be used is connected to the base plate 6 through the threaded rod 13. After the mounting frame 7 is replaced, the internal processing machinery can adapt to different coal processing. When replacing the linkage mechanism, tighten the fastening bolt 18 to disengage it from the plug 21, and pull the plug 21 out of the socket 20, causing the end plate 19 to detach from the base plate 6. Loosen the positioning bolt 24 and pull the force arm 5 outward until the fixing plate 29 detaches from the snap-fit ​​groove 23. Finally, the gear sleeve 25 detaches from the connecting shaft 31, completing the disassembly of the linkage mechanism. When installing the linkage mechanism to be used, insert the plug 21 at the end of the end plate 19 into the socket 20, tighten the fastening bolt 18 into the threaded hole 22, insert the fixing plate 29 into the snap-fit ​​groove 23, and tighten the positioning bolt 24 into the fixing plate 29, so that the fixing plate 29 can be fixed inside the snap-fit ​​groove 23 and is not easy to fall off during use. The mounting bracket 7 and the linkage mechanism can be freely replaced, and subsequent maintenance is simple and low-cost. Moreover, the mounting bracket 7 and the linkage mechanism of different sizes can be replaced for different coal or different processing needs, thus making the device versatile.

[0058] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0059] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment includes only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A four-axis linkage device for coal washing and beneficiation process, characterized in that, include: The driving mechanism includes a top plate (1) and a second motor (26). The bottom of the top plate (1) is uniformly equipped with mounting platforms (2). The second motor (26) is installed inside the mounting platform (2). The output shaft of the second motor (26) is connected to the top of the force arm (5) through an adjustment mechanism. The working mechanism includes a base plate (6) and a mounting frame (7). The mounting frame (7) is detachably installed on the bottom of the base plate (6). Three sets of end plates (19) are detachably connected to the outer periphery of the base plate (6). A first rotating rod is rotatably installed on one end of the end plate (19) away from the base plate (6). The lower ends of two pull rods (3) are fixedly connected to the two ends of the first rotating rod. A rotating shaft (9) is rotatably installed inside the mounting frame (7). A detachable gripping head (10), a punching head (12), and a grinding head are installed on the outside of the rotating shaft (9). A hydraulic rod (4) is installed between the top of the base plate (6) and the bottom of the top plate (1). The upper and lower ends of the hydraulic rod (4) are rotatably installed with the base plate (6) and the top plate (1) through a swing joint. The linkage mechanism consists of three sets of linkage mechanisms evenly installed between the drive mechanism and the working mechanism. The linkage mechanism includes the force arm (5) and the two pull rods (3). The bottom end of the force arm (5) is rotatably mounted with a second rotating rod. The upper ends of the two pull rods (3) are respectively fixedly connected to the two ends of the second rotating rod. The rotating shaft (9) has several mounting seats (11) evenly fixed to its outer side along the circumferential direction. The punching head (12) and the gripping head (10) are both connected to the mounting seats (11) by bolts. A first motor (8) is installed on one side of the mounting bracket (7). The output end of the first motor (8) is fixedly connected to one end of the rotating shaft (9). A threaded rod (13) is fixedly connected to one end of the mounting bracket (7), and the mounting bracket (7) is threadedly connected to the bottom of the base plate (6) through the threaded rod (13). The outer periphery of the base plate (6) and the connection between the end plate (19) are provided with insertion holes (20). The top of the base plate (6) is threaded with a fastening bolt (18) above each insertion hole (20). The bottom end of the fastening bolt (18) can extend into the interior of the insertion hole (20). The end plate (19) facing the bottom plate (6) is integrally connected to a plug (21) that is compatible with the socket (20), and the top of the plug (21) is provided with a threaded hole (22) that is compatible with the fastening bolt (18). The adjustment mechanism includes a gear (27) and a gear sleeve (25). The gear (27) is fixedly fitted on the outside of the output end of the second motor (26). A connecting shaft (31) is rotatably installed in the middle of the output end face of the second motor (26) in the horizontal direction. The inside of the force-bearing arm (5) is provided with a snap-fit ​​groove (23), and a fixing plate (29) is snap-fitted into the inside of the snap-fit ​​groove (23). One end of the connecting shaft (31) is rotatably connected to the fixed plate (29), and both ends of the connecting shaft (31) are rotatably connected to the fixed plate (29) and the output shaft of the second motor (26) respectively through bearings (32); The connecting shaft (31) is fitted with the toothed sleeve (25), and the toothed sleeve (25) has a toothed ring inside that is adapted to the gear (27). The end of the force arm (5) facing the second motor (26) is horizontally connected to several electric telescopic columns (30). The telescopic end of the electric telescopic column (30) is fixedly connected to the end edge of the toothed sleeve (25) and drives the toothed sleeve (25) to move in the horizontal direction. The upper edge of the force arm (5) is threaded with a positioning bolt (24), and the bottom of the positioning bolt (24) extends into the interior of the fixing plate (29).

2. The four-axis linkage device according to claim 1, characterized in that: The swing joint includes a first connector (14) and a second connector (17); The first connector (14) and the second connector (17) are each provided with a groove (16) at their opposite ends. A pin (15) is fixedly connected inside the groove (16). The pin (15) at the end of the second connector (17) passes through the pin (15) at the end of the first connector (14) and is rotatably installed with the first connector (14). The pin (15) at the end of the second connector (17) and the pin (15) at the end of the first connector (14) are arranged in a cross shape. The second connector (17) in the upper and lower swing joints are respectively connected to the top plate (1) and the bottom plate (6). Both ends of the hydraulic rod (4) are threaded to the end of the first connector (14).

3. The four-axis linkage device according to claim 1, characterized in that: The mounting platform (2) has a moving groove (28) at one end facing the force arm (5), and the output shaft of the second motor (26) extends into the moving groove (28).

4. A method of using a four-axis linkage device in a coal washing process according to any one of claims 1-3, characterized in that, The method of use includes: Step 1: When coal needs to be picked up or put down, the second motor (26) drives the gear (27) to rotate, and then drives the gear sleeve (25) to rotate through the gear (27). The force arm (5) rotates together with the gear sleeve (25). The two ends of the pull rod (3) are rotatably connected to the end plate (19) and the force arm (5) respectively. The rotation of the pull rod (3) drives the bottom plate (6) below to move. The mounting bracket (7) at the bottom of the bottom plate (6) moves to the top of the coal to be picked up or put down. The first motor (8) drives the rotating shaft (9) to rotate, and rotates the gripping head (10) downward toward the coal to be picked up or put down. The gripping head (10) drives the coal to be picked up or put down to move. Step 2: If the coal needs to be pre-processed before or after being picked up or placed, after the bottom plate (6) moves above the coal, the coal is pressed or ground by the punch head (12) or the grinding head. During operation, the first motor (8) drives the rotating shaft (9) to rotate. Different processing instruments on the outside of the rotating shaft (9) face the coal in sequence to process the coal. Step 3: If only the hydraulic rod (4) needs to extend and retract in the vertical direction to move the bottom plate (6) to process the coal below, the power transmission between the force arm (5) and the second motor (26) is cut off, and the electric telescopic column (30) retracts to drive the tooth sleeve (25) to disengage from the gear (27). If the second motor (26) and the hydraulic rod (4) work simultaneously during operation, the second motor (26) drives the base plate (6) to face different directions through the gear (27), and the hydraulic rod (4) remains in an inclined state, processing the coal from different angles and positions. During the extension or retraction of the hydraulic rod (4), the second motor (26) drives the force arm (5) to rotate, generating an auxiliary force on the hydraulic rod (4) and increasing the impact force during stamping. Step 4: When the mounting bracket (7) is replaced during use, the mounting bracket (7) is turned, and the threaded rod (13) on the upper part of the mounting bracket (7) is disengaged from the base plate (6), and then the mounting bracket (7) is disengaged from the base plate (6). The mounting bracket (7) to be used is connected to the base plate (6) through the threaded rod (13). When replacing the linkage mechanism, tighten the fastening bolt (18), the fastening bolt (18) disengages from the plug (21), and pulls the plug (21) out of the socket (20). The end plate (19) disengages from the base plate (6). Loosen the positioning bolt (24), pull the force arm (5) outward until the fixing plate (29) disengages from the snap-fit ​​groove (23). Finally, the toothed sleeve (25) disengages from the connecting shaft (31), and the linkage mechanism is disassembled. When installing the linkage mechanism to be used, the plug (21) at the end of the end plate (19) is inserted into the socket (20), and the fastening bolt (18) is tightened into the threaded hole (22). The fixing plate (29) is inserted into the snap-fit ​​groove (23), and the positioning bolt (24) is tightened into the fixing plate (29). The fixing plate (29) is fixed inside the snap-fit ​​groove (23).

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