Parallel crusher and driving method thereof

Abstract

The invention relates to a parallel crusher and a driving method thereof, and belongs to the field of crushing machinery. The fixed cone is arranged on the rack and is provided with an inner cavity with a narrow upper part and a wide lower part; the upper portion of the movable cone extends into an inner cavity of the fixed cone, the lower portion of the movable cone extends out of the inner cavity of the fixed cone, and three rotary connecting parts are evenly arranged on the bottom end face of the movable cone in the circumferential direction at intervals. The three branch chain mechanisms are arranged on the rack and are uniformly arranged at intervals in the circumferential direction of the movable cone, the three branch chain mechanisms are correspondingly and rotationally connected with the three rotary connecting parts, a twisting distance is formed between the moving track of each branch chain mechanism and the corresponding rotary connecting part, and the three branch chain mechanisms drive the movable cone to achieve two-movement and one-rotation rotary swing movement, so that the basic crushing purpose is achieved, and the crushing efficiency is improved. And the rotation of the rotary connecting parts is the center rotation, so that compared with the rotation of the existing eccentric sleeve, the abrasion is greatly reduced, the three rotary connecting parts can disperse the stress to the three rotary connecting parts, the condition of concentrated stress of the existing eccentric sleeve is avoided, and the abrasion degree caused by independent stress of a certain position is also relieved to a certain extent.

Description

Technical Field

[0001] The present invention relates to the field of crushing machinery, and in particular to a parallel crusher and a driving method thereof. Background Art

[0002] Crusher is a commonly used equipment in construction projects, mainly for crushing materials. With the modernization of my country, the demand for ore mining is also increasing, so the application of crushers is becoming more and more important. At present, the crushers on the market mainly include jaw crusher, impact crusher, cone crusher, etc. Among them, cone crusher is used by more and more industries for its flexible application, strong adaptability, and simple maintenance and operation. However, cone crusher also has its shortcomings. That is, the power source of most cone crushers is mainly the motor driving the eccentric sleeve to rotate through the transmission device, and the moving cone rotates and swings under the force of the eccentric sleeve. The eccentric distance of this eccentric structure is certain, and the particle size of the crushed material is certain. When different materials need to be crushed, especially when the particle size is smaller than the crushing space, this cone crusher is powerless. Therefore, the current cone crusher cannot change the motion trajectory of the moving cone according to different materials to achieve the crushing of different materials. In addition, this eccentric structure is a position where the force is concentrated, which can easily cause the eccentric sleeve to wear. Summary of the invention

[0003] The existing cone crusher mainly rotates the eccentric sleeve, and the moving cone rotates and swings under the force of the eccentric sleeve. This eccentric structure can easily cause the eccentric sleeve to wear, especially in the process of medium and fine crushing. Severe wear may occur in about six months, which directly affects the production efficiency and quality. At least one purpose or one aspect of the present application can solve the above problem. Specifically, a parallel crusher and a driving method thereof are designed, and the technical solution adopted is:

[0004] A parallel crusher and a driving method thereof, comprising:

[0005] frame;

[0006] The fixed cone is arranged on the frame, and has an inner cavity which is narrow at the top and wide at the bottom;

[0007] A moving cone, the upper part of which extends into the inner cavity of the fixed cone, and the lower part of which extends out of the inner cavity of the fixed cone, and the bottom end surface of the moving cone is provided with three rotating connecting parts evenly spaced along its circumference;

[0008] The three branch chain mechanisms are arranged on the frame and are evenly spaced along the circumference of the moving cone. The three branch chain mechanisms are correspondingly rotatably connected with the three rotating connecting parts. The moving direction of each branch chain mechanism is along the tangent direction of the moving cone. The moving trajectory of each branch chain mechanism has a torsional spacing with the rotating connecting part.

[0009] Preferably, each branch chain mechanism comprises:

[0010] A slide rail is arranged along the tangent direction of the moving cone, and there is a torsional spacing between the slide rail and the rotating connection part;

[0011] A slide seat, the slide seat is slidably arranged on the slide rail;

[0012] A driving member is arranged on the frame, the driving member is connected to the slide seat, and drives the slide seat to move along the slide rail;

[0013] The connecting arm is rotatably connected between the sliding seat and the rotating connecting part.

[0014] Preferably, the rotating connection portion is a first rotating bearing, and the first rotating bearing is fixed in a mounting hole on the bottom end surface of the moving cone.

[0015] Preferably, the connecting arm includes a first connecting rod and a second connecting rod, one end of the first connecting rod is fixed to the sliding seat, and the other end is hinged to one end of the second connecting rod, the other end of the second connecting rod is installed with a second rotating bearing, and a rotating shaft is connected between the second rotating bearing and the rotating connecting part.

[0016] Preferably, the driving member comprises:

[0017] Two pulleys, which are respectively arranged at two ends of the slide rail;

[0018] A motor, wherein the output shaft of the motor is connected to one of the pulleys;

[0019] Conveyor belt, the conveyor belt drive is wound between two pulleys, and the slide is connected to the conveyor belt.

[0020] Preferably, the structure of the moving cone includes:

[0021] cone;

[0022] Crushing lining, which is laid on the conical surface of the cone;

[0023] The support plate is in the shape of a truncated cone which is wide at the top and narrow at the bottom. The support plate is arranged below the cone, and the rotating connection part is located on the lower surface of the support plate.

[0024] Preferably, a support platform is further provided on the frame, the branch chain mechanism is arranged on the support platform, a plurality of elastic members are further provided between the support platform and the frame, and springs are further provided on the periphery of the elastic members.

[0025] Preferably, the elastic member includes an upper fixing member and a lower fixing member, the upper fixing member is arranged on the lower surface of the support platform, and the lower fixing member is arranged on the frame. The upper fixing member and the lower fixing member have the same structure and both have an installation cavity, and a flexible connecting column is connected between the inner cavity of the upper fixing member and the inner cavity of the lower fixing member.

[0026] The present application also protects a driving method of a parallel crusher, which is used to drive a movable cone in the parallel crusher so that the movable cone moves along a trajectory achieved by the driving method and then crushes. The driving method comprises:

[0027] s2. Let the center coordinate axis of the moving cone be oxy, the center coordinate axis of the three branched chain mechanisms be OXY, the degree of freedom of each branched chain mechanism is M=3, the three degrees of freedom include one moving pair and two rotating pairs, the fixed platform formed by the three branched chain mechanisms is represented by (a1, a2, a3), the moving platform where the moving cone is located is represented by (b1, b2, b3), the position of the moving platform at a certain moment can be represented by x=(x, y, α0), and the moving distance of the moving pair in each branched chain mechanism is l i , the distance between the end point of the moving platform and the end point of the fixed platform is h1, the vertical distance between each rotating connection part and the moving trajectory of the corresponding branch chain mechanism moving pair is h2, the distance between the end point of the moving platform and the center point of the moving platform is h3, the angle of the moving platform at a certain moment is α0, and the rotation angle between the moving trajectory of the rotating pair relative to the moving pair in each branch chain mechanism is α i ;

[0028] s2. Each branch chain mechanism satisfies the spatial mechanism constraint equation

[0029] s3. Analyze the above constraint equations to obtain the displacement of the moving pairs of each branch chain mechanism, reversely solve the motion trajectory of the moving cone according to the moving positions of the moving pairs of the above three branch chain mechanisms, simulate the motion of the above branches, draw the displacement curves of the moving pairs of each branch chain mechanism at different times, and obtain the motion trajectory equation of the moving cone

[0030]

[0031] The present invention has the following technical effects through the above technical solution:

[0032] ① The three branch chain mechanisms drive the moving cone to realize the two-shift-one-turn swing motion, and the displacement of the slide is driven by controlling the motor of the three branch chain mechanisms. According to the different materials to be crushed, the movement trajectory of the moving cone is changed, thereby changing the change of the crushing space between the moving cone and the fixed cone, and realizing the crushing of different material particle sizes.

[0033] ② The above structure can disperse the force to the three rotating connection parts, avoiding the existing situation where the eccentric sleeve is subjected to concentrated force. This also alleviates the degree of wear caused by the force being applied to a certain position alone to a certain extent.

[0034] ③ This driving structure avoids the existing transmission device (most of which are gear transmissions) and directly sets the rotating connection part at the bottom of the moving cone, which can reduce the occupied space and volume and improve the compactness of the structure.

[0035] ④ The above technical solution can reduce energy consumption, make the structure simpler, facilitate maintenance and overhaul, and improve the crushing efficiency and quality of materials. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 A perspective view of the present invention;

[0037] Figure 2 It is a top view of a parallel mechanism consisting of three branch chain mechanisms;

[0038] Figure 3 It is the initial position diagram of the moving cone driven by the parallel mechanism;

[0039] Figure 4 It is a structural diagram of a parallel mechanism composed of a branch chain mechanism in the form of RPR;

[0040] Figure 5 It is a structural diagram of a parallel mechanism composed of a branched chain mechanism in the form of RRP;

[0041] Figure 6 It is a structural diagram of a parallel mechanism composed of a branch chain mechanism in the form of RRR;

[0042] Figure 7 It is the design flow chart of PRR type three-DOF parallel mechanism combination;

[0043] Figure 8 It is the force vector analysis diagram of the moving cone;

[0044] Fig. 9 It is the motion time and motion displacement curve of the slide;

[0045] Fig.10 It is the movement speed and movement time curve of the slide.

[0046] In the figure, 1, frame, 2, fixed cone, 3, moving cone, 4, branch chain mechanism, 401, slide rail, 402, slide seat, 403, connecting arm, 403a, first connecting rod, 403b, second connecting rod, 5, supporting platform, 6, elastic member, 601, flexible connecting column, 602, upper fixing member, 603, lower fixing member, 7, spring. DETAILED DESCRIPTION

[0047] In order to clearly illustrate the technical features of the present invention, the present invention is described in detail below through specific implementation methods in conjunction with the accompanying drawings.

[0048] In addition, in the description of the present invention, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0049] like Figure 1-10 As shown, a parallel crusher and a driving method thereof include a frame 1, a fixed cone 2, a movable cone 3 and three branch chain mechanisms 4. The frame 1 provides an installation position for other components. The frame 1 can generally refer to a number of scattered parts or an integral frame 1. In the present application, the frame 1 includes two scattered parts, which are collectively referred to as the frame 1.

[0050] The fixed cone 2 is arranged on one part of the frame 1, and the moving cone 3 is arranged on another part of the frame 1. The fixed cone 2 has a trumpet-shaped inner cavity which is narrow at the top and wide at the bottom. The upper part of the moving cone 3 extends into the inner cavity of the fixed cone 2, and the lower part extends out of the inner cavity of the fixed cone 2. Therefore, there is a certain gap between the part of the moving cone 3 extending into the inner cavity of the fixed cone 2 and the inner wall of the fixed cone 2. The gap is the crushing gap. Large pieces of material, especially stones, enter the inner cavity of the fixed cone 2 from the upper end, and are discharged after being crushed through the crushing gap. The specific crushing of the moving cone 3 is achieved by utilizing the change of the crushing gap between the moving cone 3 and the fixed cone 2. In the present application, the position change of the moving cone 3 in the horizontal plane is achieved by setting three rotating connecting parts on the bottom end surface of the moving cone 3. The three rotating connecting parts are evenly spaced along the circumference of the moving cone 3.

[0051] The above-mentioned three branch chain mechanisms 4 are arranged on the frame 1 and are evenly spaced along the circumference of the moving cone 3. The three branch chain mechanisms 4 are rotatably connected with the three rotating connecting parts to form a parallel mechanism. The moving direction of each branch chain mechanism 4 is along the tangential direction of the moving cone 3. The moving trajectory of each branch chain mechanism 4 has a torsional spacing with the rotating connecting part. Due to the existence of the torsional spacing, the moving cone 3 will rotate while moving horizontally, thereby achieving the purpose of crushing.

[0052] Furthermore, the structure of each branch chain mechanism 4 specifically includes a slide rail 401, a slide seat 402, a driving member and a connecting arm 403, and the above components are connected to form a parallel mechanism in the form of 3-PRR. Each slide rail 401 is arranged along the tangent direction of the moving cone 3, and three slide rails 401 are evenly spaced along the circumference of the moving cone 3. The three branch chain mechanisms 4 move the moving cone 3 in the X and Y directions while rotating themselves to achieve a swinging motion, thereby continuously and cyclically changing the circumferential space between the moving cone 3 and the inner wall of the fixed cone 2 to achieve the purpose of crushing.

[0053] The slide 402 is slidably arranged on the slide rail 401, the driving member is arranged on the frame 1 and is located at one end of the slide rail 401, the driving member is connected to the slide 402, and drives the slide 402 to move along the slide rail 401. In order to realize the above-mentioned swinging motion of the movable cone 3 in the X direction and the Y direction, it is necessary to ensure that there is a torsion spacing between each slide rail 401 and the rotating connection part, and the torsion spacing is a vertical distance. The connecting arm 403 is rotatably connected between the slide 402 and the rotating connection part. The driving member pulls the connecting arm 403 to move and rotate while driving the slide 402 to move, thereby pulling the movable cone 3 to swing in the X direction and the Y direction. The so-called swinging means that the movable cone 3 swings in the X direction and the Y direction while rotating itself, and its moving state is similar to the eccentric motion formed by the current eccentric sleeve.

[0054] Of course, alternatively, the parallel structure formed by the branching mechanism 4 may also be in the form of RPR, RRP, or RRR.

[0055] When in RRR form, such as Figure 6 As shown, the motor, pulley, conveyor belt, slide rail 401 and slide seat 402 of the present application can be replaced by a motor reducer rotation form, and the connecting arm 403 is composed of two connecting rods hinged together, one of which is connected to the output shaft of the motor, and one end of the other connecting rod is rotatably connected to the rotating connection part of the moving cone 3.

[0056] When in RRP form, such as Figure 5 As shown, the motor, pulley, conveyor belt, slide rail 401 and slide seat 402 of the present application can be replaced by a motor reducer rotation form, and the connecting arm 403 is composed of two connecting rods hinged together, one of which is connected to the output shaft of the motor, and one end of the other connecting rod is slidably connected to the moving cone 3. This form can avoid the setting of a rotating connection part.

[0057] When in RPR form, such as Figure 4 As shown, the motor, pulley, conveyor belt, slide rail 401 and slide seat 402 of the present application can be replaced by a motor reducer rotating form, and the connecting arm 403 is replaced by a slider mechanism or a telescopic cylinder, one of the connecting rods of the slider mechanism or the telescopic rod of the telescopic cylinder is rotatably connected to the rotating connection part, and the slide groove of the slider mechanism or the cylinder body of the telescopic cylinder is connected to the output shaft of the motor reducer.

[0058] The parallel structure drives the moving cone to achieve X-direction and Y-direction movement and self-rotation, which requires the following degree of freedom to be satisfied, namely:

[0059]

[0060] The above formula is the Kutzbach-Grubler formula for the degrees of freedom of the spatial mechanism, where M represents the degrees of freedom of the mechanism; n represents the number of components including the frame; g represents the number of kinematic pairs; f i represents the degree of freedom of the i-th kinematic joint, and d represents the common constraint numerator of the mechanism.

[0061] In this application, the requirement of degree of freedom M=3 must be met, which is specifically reflected in that each branch chain mechanism must contain a rod group with one moving pair and two rotating pairs, such as Figure 7 shown.

[0062] It should be noted that, in actual applications, in order to prevent the crushed material from falling onto the branch chain mechanism 4, a material guide plate can be set below the crushing gap between the moving cone 3 and the fixed cone 2 as needed. The material guide plate is set along the crushing gap. When specifically set, it does not interfere with the moving cone 3.

[0063] Furthermore, the above-mentioned rotating connection part is a first rotating bearing, and the first rotating bearing is installed in the mounting hole on the bottom end surface of the moving cone 3. The bearing connection here has a higher connection strength than the traditional hinged form, and can also realize the rotation function. The working condition of this application is mainly the crusher crushing materials, especially crushing stones, which makes the force between the moving cone 3 and the fixed cone 2 larger. Therefore, the bearing connection can improve the connection strength and meet the use requirements.

[0064] Furthermore, the structure of the connecting arm 403 specifically includes a first connecting rod 403a and a second connecting rod 403b, one end of the first connecting rod 403a is fixed on the slide 402, and the other end is hinged to one end of the second connecting rod 403b, and the other end of the second connecting rod 403b is installed with a second rotating bearing, and a rotating shaft is connected between the second rotating bearing and the first rotating bearing. Compared with the connecting arm 403 being directly hinged to the slide 402, the former can rotate a larger angle when the slide 402 moves a smaller distance, thereby reducing the length requirement of the slide rail 401 to a certain extent, and reducing the occupied space and volume of the slide 402 as a whole.

[0065] Furthermore, the structure of the above-mentioned driving component includes two pulleys, a motor and a conveyor belt. The conveyor belt here preferably adopts a toothed belt, which can reduce the possibility of slipping due to force. The conveyor belt transmission is wound between the two pulleys, and the slide 402 is connected to the conveyor belt on the upper side. The two pulleys are correspondingly arranged at both ends of the slide rail 401. The motor is arranged on the frame 1, and its output shaft is connected to one of the pulleys. The motor drives the pulley to rotate so that the conveyor belt rotates, thereby driving the slide 402 to reciprocate on the slide rail 401.

[0066] In alternative embodiments, the above-mentioned driving member may also adopt existing chain drive, screw nut drive, etc., or may also be directly replaced by a pneumatic cylinder, an electric cylinder or an oil cylinder, etc.

[0067] Furthermore, the specific structure of the above-mentioned moving cone 3 includes a cone, a crushing liner and a support plate, the crushing liner is laid on the conical surface of the cone, the support plate is a truncated cone with a wide top and a narrow bottom, the support plate is arranged below the cone and connected to the cone screw, and the first rotating bearing is arranged on the lower surface of the support plate. The present application sets the moving cone 3 to the above-mentioned structure, especially sets the support plate to a shape with a wide top and a narrow bottom, which can reduce the diameter of the lower end surface of the support plate, reduce the volume of each branch chain mechanism 4 in the lateral direction as a whole, and improve the compact structure effect.

[0068] Furthermore, a support platform 5 is provided on the frame 1, and a branch chain mechanism 4 is arranged on the support platform 5. A plurality of elastic members 6 are provided between the support platform 5 and the frame 1. A spring 7 is provided on the periphery of the elastic member 6. The spring improves the stability of the elastic member when it is compressed. On the one hand, the elastic member 6 can be used for shock absorption of the moving cone 3 during its rotation and swing. On the other hand, when the moving cone 3 is stuck, the branch chain mechanism 4 and the support platform 5 associated with the moving cone 3 can compress the spring 7, so that the moving cone 3 moves downward to discharge the stuck object.

[0069] Furthermore, the structure of the elastic member 6 includes an upper fixing member 602 and a lower fixing member 603. The upper fixing member 602 is arranged on the lower surface of the supporting platform 5, and the lower fixing member 603 is arranged on the frame 1. The upper fixing member 602 and the lower fixing member 603 have the same structure and both have an installation cavity. A flexible connecting column 601 is connected between the inner cavity of the upper fixing member 602 and the inner cavity of the lower fixing member 603. The flexible connecting column 601 here can be a rubber column, which is compressible.

[0070] The present application also protects a driving method of a parallel crusher, which is used to drive a movable cone in the parallel crusher so that the movable cone moves along a trajectory achieved by the driving method and then crushes. The driving method comprises:

[0071] s2, such as Figure 8 As shown, let the central coordinate axis of the moving cone be oxy, the central coordinate axis of the three branched chain mechanisms be OXY, the degree of freedom of each branched chain mechanism is M=3, the three degrees of freedom include one moving pair and two rotating pairs, the fixed platform formed by the three branched chain mechanisms is represented by (a1, a2, a3), the moving platform where the moving cone is located is represented by (b1, b2, b3), the position of the moving platform at a certain moment can be represented by x=(x, y, α0), and the moving distance of the moving pair in each branched chain mechanism is l i, the distance between the end point of the moving platform and the end point of the fixed platform is h1, the vertical distance between each rotating connection part and the moving trajectory of the corresponding branch chain mechanism moving pair is h2, the distance between the end point of the moving platform and the center point of the moving platform is h3, the angle of the moving platform at a certain moment is α0, and the rotation angle between the moving trajectory of the rotating pair relative to the moving pair in each branch chain mechanism is α i .

[0072] s2. Each branch chain mechanism satisfies the spatial mechanism constraint equation

[0073] In the formula

[0074]

[0075] Simplified

[0076]

[0077] The variable T x and T y Expressed as

[0078]

[0079] According to the sine and cosine theorems, we can get: Al i 2 +Bl i +C=0

[0080] Where: A = 1, C=T x 2 +T y 2 -h2 2

[0081] From the root-finding formula we can get:

[0082]

[0083] The motion constraint equations are differentiated once with respect to time, where the velocity Jacobian matrix is ​​denoted by J.

[0084]

[0085] Therefore

[0086]

[0087] in,

[0088] s3. Analyze the constraint equations according to the analytical method to obtain the displacement of the moving pair of each branch mechanism. According to the moving position of the moving pair of the three branch mechanisms, the motion trajectory of the moving cone is reversely solved. After determining the size of the mechanism in combination with the actual situation, the motion of each branch is simulated for verification. The displacement curves of the moving pair of each branch mechanism at different times are plotted to obtain the motion trajectory equation of the moving cone.

[0089] The simulation time for this application is set to 10s. Fig. 9 is the movement time and movement displacement of the motor-driven slide (i.e. the distance l between the slide and the end point of the slide rail) i ) between the curves.

[0090] Fig.10 It is the curve between the corresponding slide movement speed and movement time.

[0091] The moving trajectory of the moving cone can be obtained in reverse based on the moving displacement of the slide at different times. The three slides can achieve different moving speeds and different moving displacements of the slides by controlling the different rotation speeds of the motor, so that the moving speeds and displacements of the three slides correspond to the moving trajectory of the moving cone. When it is necessary to change the movement trajectory for crushing different materials, the moving displacement of the moving cone can be changed by changing the moving speed and maximum moving displacement of the slide, thereby realizing the change of the crushing space.

[0092] The above specific implementation manner cannot be used as a limitation on the protection scope of the present invention. For those skilled in the art, any substitution, improvement or change made to the implementation manner of the present invention falls within the protection scope of the present invention.

[0093] The matters not described in detail in the present invention are all known technologies to those skilled in the art.

Claims

1. A parallel crusher, characterized in that: include: frame; A fixed cone, the fixed cone is arranged on the frame, and the fixed cone has an inner cavity which is narrow at the top and wide at the bottom; A moving cone, wherein the upper portion of the moving cone extends into the inner cavity of the fixed cone, and the lower portion extends out of the inner cavity of the fixed cone, and the bottom end surface of the moving cone is provided with three rotating connecting parts evenly spaced along the circumference thereof; Three branch chain mechanisms are arranged on the frame and evenly spaced along the circumference of the moving cone. The three branch chain mechanisms are rotatably connected to the three rotating connecting parts respectively. The moving direction of each branch chain mechanism is along the tangential direction of the moving cone. The moving trajectory of each branch chain mechanism has a torsional spacing with the rotating connecting part.

2. A parallel crusher according to claim 1, characterized in that: Each of the branch chain mechanisms comprises: A slide rail, wherein the slide rail is arranged along the tangent direction of the moving cone, and a torsion spacing is provided between the slide rail and the rotating connection portion; A slide seat, the slide seat being slidably disposed on the slide rail; A driving member, disposed on the frame, connected to the slide seat, and driving the slide seat to move along the slide rail; A connecting arm is rotatably connected between the sliding seat and the rotating connecting portion.

3. A parallel crusher according to claim 1, characterized in that: The rotating connection part is a first rotating bearing, and the first rotating bearing is fixed in a mounting hole on the bottom end surface of the moving cone.

4. A parallel crusher according to claim 2, characterized in that: The connecting arm includes a first connecting rod and a second connecting rod. One end of the first connecting rod is fixed to the sliding seat, and the other end is hinged to one end of the second connecting rod. A second rotating bearing is installed at the other end of the second connecting rod. A rotating shaft is connected between the second rotating bearing and the rotating connecting part.

5. A parallel crusher according to claim 2, characterized in that: The driving member comprises: Two pulleys, the two pulleys are correspondingly arranged at two ends of the slide rail; A motor, wherein the output shaft of the motor is connected to one of the pulleys; A conveyor belt is driven and wound between the two pulleys, and the slide is connected to the conveyor belt.

6. A parallel crusher according to claim 1, characterized in that: The moving cone comprises: cone; A crushing liner, the crushing liner is laid on the conical surface of the cone; The support plate is in the shape of a truncated cone which is wide at the top and narrow at the bottom. The support plate is arranged below the cone, and the rotating connection part is located on the lower surface of the support plate.

7. A parallel crusher according to claim 1, characterized in that: A support platform is also provided on the frame, the branch chain mechanism is arranged on the support platform, a plurality of elastic members are also provided between the support platform and the frame, and springs are also provided on the periphery of the elastic members.

8. A parallel crusher according to claim 7, characterized in that: The elastic member includes an upper fixing member and a lower fixing member, the upper fixing member is arranged on the lower surface of the support platform, and the lower fixing member is arranged on the frame. The upper fixing member and the lower fixing member have the same structure and both have an installation cavity, and a flexible connecting column is connected between the inner cavity of the upper fixing member and the inner cavity of the lower fixing member.

9. A driving method for a parallel crusher, used for driving a movable cone in a parallel crusher according to any one of claims 1 to 8, so that the movable cone moves along a trajectory achieved by the driving method to perform crushing, characterized in that: The steps include: s1. Let the center coordinate axis of the moving cone be oxy, the center coordinate axis of the three branched chain mechanisms be OXY, the degree of freedom of each branched chain mechanism is M=3, the three degrees of freedom include one moving pair and two rotating pairs, the fixed platform formed by the three branched chain mechanisms is represented by (a1, a2, a3), the moving platform where the moving cone is located is represented by (b1, b2, b3), the position of the moving platform at a certain moment can be represented by x=(x, y, α0), and the moving distance of the moving pair in each branched chain mechanism is l i , the distance between the end point of the moving platform and the end point of the fixed platform is h1, the vertical distance between each rotating connection part and the moving trajectory of the corresponding branch chain mechanism moving pair is h2, the distance between the end point of the moving platform and the center point of the moving platform is h3, the angle of the moving platform at a certain moment is α0, and the rotation angle between the moving trajectory of the rotating pair relative to the moving pair in each branch chain mechanism is α i ; s2. Each branch chain mechanism satisfies the spatial mechanism constraint equation s3. Analyze the above constraint equations to obtain the displacement of the moving pairs of each branch chain mechanism, reversely solve the motion trajectory of the moving cone according to the moving positions of the moving pairs of the above three branch chain mechanisms, simulate the motion of the above branches, draw the displacement curves of the moving pairs of each branch chain mechanism at different times, and obtain the motion trajectory equation of the moving cone

Images