Parallel crusher and driving method thereof

Abstract

The application discloses a parallel type crusher and a driving method thereof, and belongs to the field of crushing machines. The parallel type crusher comprises a rack, a fixed cone arranged in the rack, and an inner cavity of the fixed cone being narrow at the top and wide at the bottom; a movable cone is arranged in the inner cavity of the fixed cone at the upper part and extends out of the inner cavity of the fixed cone at the lower part, and three rotating connecting parts are uniformly and separately arranged on the bottom end surface of the movable cone in the circumferential direction; three branch chain mechanisms are arranged in the rack and are uniformly and separately arranged in the circumferential direction of the movable cone, and the three branch chain mechanisms are rotatably connected with the three rotating connecting parts; the moving track of each branch chain mechanism has a torsion interval with the rotating connecting part; the movable cone is driven by the three branch chain mechanisms to realize a rotating swing movement of two movements and one rotation, so that the basic crushing purpose is realized; the rotating of the rotating connecting part is central rotation, the wear is greatly reduced compared with the existing eccentric sleeve rotation, the stress of the three rotating connecting parts can be dispersed to the three rotating connecting parts, the stress concentration of the existing eccentric sleeve is avoided, and the wear degree caused by the stress of a certain position alone is also relieved to a certain extent.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of crushing machines, in particular to a parallel type crushing machine and a driving method thereof. BACKGROUND

[0002] The crushing machine is a kind of equipment commonly used in construction engineering, mainly for crushing materials. With the modernization of China, the demand for ore mining is also increasing, so the application of the crushing machine is also gradually important. At present, the crushing machines on the market mainly include jaw crushers, impact crushers and cone crushers. Among them, the cone crusher is increasingly applied by more and more industries due to its flexible application, strong adaptability and simple maintenance operation. However, the cone crusher also has its shortcomings. At present, the power source of most cone crushers is an electric motor driving an eccentric sleeve to rotate, and the moving cone rotates and swings under the impetus of the eccentric sleeve. The eccentricity of this eccentric structure is fixed, and the particle size of the crushed materials is fixed. When different materials need to be crushed, especially when the particle size is smaller than the crushing space, this cone crusher is helpless. Therefore, the current cone crusher cannot change the motion trajectory of the moving cone according to different materials to achieve crushing of different materials. In addition, this eccentric structure is a stress concentration position, which is prone to cause wear and tear of the eccentric sleeve. SUMMARY

[0003] The existing cone crusher mainly rotates the eccentric sleeve, and the moving cone rotates and swings under the impetus of the eccentric sleeve. This eccentric structure is prone to cause wear and tear of the eccentric sleeve, especially in the medium and fine crushing process, which may cause serious wear and tear in about six months, directly affecting the production efficiency and quality. The present application at least one purpose or one aspect can solve the above problems, and specifically designs a parallel type crushing machine and a driving method thereof. The technical scheme adopted is:

[0004] A parallel type crushing machine and a driving method thereof, comprising:

[0005] a rack;

[0006] a fixed cone, the fixed cone being arranged in the rack and having an inner cavity with a narrow upper part and a wide lower part;

[0007] a moving cone, the moving cone having its upper part extending into the inner cavity of the fixed cone and its lower part extending out of the inner cavity of the fixed cone, and the moving cone having three rotating connection parts arranged uniformly along its circumferential direction at its bottom end face;

[0008] three branch chain mechanisms, the three branch chain mechanisms being arranged in the rack and uniformly arranged along the circumferential direction of the moving cone, and the three branch chain mechanisms being rotatably connected with the three rotating connection parts, respectively, the moving direction of each branch chain mechanism being along the tangent direction of the moving cone, and the moving trajectory of each branch chain mechanism having a torsion distance with the rotating connection part.

[0009] Preferably, each branch mechanism comprises:

[0010] A slide rail is arranged along the tangent direction of the moving cone, and has a torsion distance between the slide rail and the rotating connecting part;

[0011] A slide base is slidingly arranged on the slide rail;

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

[0013] A connecting arm is rotatably connected between the slide base and the rotating connecting part.

[0014] Preferably, the rotating connecting part is a first rotating bearing fixed in the mounting hole of the bottom end surface of the moving cone.

[0015] Preferably, the connecting arm comprises a first connecting rod and a second connecting rod, one end of the first connecting rod is fixed to the slide base, the other end is hingedly connected to one end of the second connecting rod, the other end of the second connecting rod is provided 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 are arranged at two ends of the slide rail correspondingly;

[0018] A motor is arranged, and an output shaft of the motor is connected with one of the pulleys;

[0019] A conveying belt is arranged between the two pulleys in a transmission mode, and the slide base is connected with the conveying belt.

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

[0021] A cone body;

[0022] A crushing liner is arranged on the conical surface of the cone body;

[0023] A support plate is arranged below the cone body, and the rotating connecting part is located on the lower surface of the support plate.

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

[0025] Preferably, the elastic member comprises an upper fixing member and a lower fixing member, the upper fixing member is arranged on the lower surface of the support platform, the lower fixing member is arranged on the frame, the upper fixing member and the lower fixing member are the same in structure and each has 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 application also protects a driving method of a parallel type crusher, used for driving a moving cone in the parallel type crusher, so that the moving cone moves according to the trajectory realized by the driving method and is crushed, and the driving method comprises the following steps of:

[0027] s2, the center coordinate axis of the moving cone is oxy, the center coordinate axis of the three branch mechanisms is OXY, the degree of freedom of each branch mechanism is M=3, the three degrees of freedom include one moving pair and two rotating pairs, the fixed platform formed by the three branch mechanisms is indicated as (a1, a2, a3), the moving platform where the moving cone is located is indicated as (b1, b2, b3), the position of the moving platform at a certain moment can be indicated as x=(x, y, alpha0), the moving distance of the moving pair in each branch 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 moving pair of the corresponding branch mechanism 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 when moving to a certain moment is alpha0, and the rotating angle between the rotating pair and the moving trajectory of the moving pair in each branch mechanism is alpha i ;

[0028] s2, each branch mechanism satisfies the spatial mechanism constraint equation

[0029] s3, the moving displacement of the moving pair of each branch mechanism is obtained by solving the constraint equation, the motion trajectory of the moving cone is reversely solved according to the moving positions of the moving pairs of the three branch mechanisms, the motion of each branch mechanism is simulated, the moving displacement curve of the moving pair of each branch mechanism at different times is drawn, and the motion trajectory equation of the moving cone is obtained

[0030]

[0031] The application has the following technical effects through the above technical scheme.

[0032] ①The three branch mechanisms drive the moving cone to realize the rotary swing motion of two moving and one rotating, and the displacement of the sliding seat is driven by controlling the motors of the three branch mechanisms, so that the change of the motion trajectory of the moving cone is realized according to the different crushing materials, the crushing space between the moving cone and the fixed cone is changed, and the crushing of different material particle sizes is realized.

[0033] ②The stress can be dispersed to the three rotating connection parts through the above structure, so that the stress concentration of the existing eccentric sleeve is avoided, and the wear degree caused by the stress of a certain position alone is also relieved to a certain extent.

[0034] ③The driving structure avoids the existing transmission device (i.e. most of the gear transmission), directly sets the rotating connection part at the bottom of the moving cone, can reduce the occupied space and volume, and improves the compact structure effect.

[0035] The technical scheme can reduce energy consumption, has a simpler structure, is convenient to maintain, is strong in crushing specificity for materials, and improves crushing efficiency and crushing quality. BRIEF DESCRIPTION OF DRAWINGS

[0036] Figure 1 is a perspective view of the present application;

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

[0038] Figure 3 is an initial position diagram of a moving cone under driving of a parallel mechanism;

[0039] Figure 4 is a structure diagram of a parallel mechanism composed of branch mechanisms in RPR form;

[0040] Figure 5 is a structure diagram of a parallel mechanism composed of branch mechanisms in RRP form;

[0041] Figure 6 is a structure diagram of a parallel mechanism composed of branch mechanisms in RRR form;

[0042] Figure 7 is a flow chart of combination design of a PRR type three-degree-of-freedom parallel mechanism;

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

[0044] Figure 9 is a motion time and motion displacement curve of a slide;

[0045] Figure 10 is a motion speed and motion time curve of a slide.

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

[0047] To clearly illustrate the technical features of the present scheme, the present application is described in detail below through specific implementation manners and in combination with the drawings.

[0048] In addition, in the description of the present application, it should be understood that the terms "center", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0049] As shown in Figures 1-10 A parallel crusher and its driving method, including a frame 1, a fixed cone 2, a moving cone 3 and three branch mechanisms 4, the frame 1 provides mounting positions for other components, the frame 1 can refer to several scattered parts or an integral frame 1, in this 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, the moving cone 3 is arranged on another part of the frame 1, the fixed cone 2 has a trumpet-shaped inner cavity with a narrow upper part and a wide lower part, 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 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 a crushing gap, large pieces of material, especially stone, enter the inner cavity of the fixed cone 2 from the upper end, and are crushed after passing through the crushing gap and then discharged. The crushing of the moving cone 3 is achieved by changing the crushing gap between the moving cone 3 and the fixed cone 2, in this application, the position change of the moving cone 3 in the horizontal plane is achieved by arranging three rotating connecting parts at the bottom end face of the moving cone 3, the three rotating connecting parts are uniformly spaced along the circumference of the moving cone 3.

[0051] The above-mentioned three branch mechanisms 4 are arranged on the frame 1 and uniformly spaced along the circumference of the moving cone 3, the three branch mechanisms 4 are rotatably connected to the three rotating connecting parts to form a parallel mechanism, the moving direction of each branch mechanism 4 is along the tangent direction of the moving cone 3, and the moving track of each branch mechanism 4 has a torsion interval with the rotating connecting part, because of the existence of the torsion interval, the moving cone 3 rotates while translating, thereby achieving the purpose of crushing.

[0052] Further, the structure of each branch mechanism 4 includes a sliding rail 401, a sliding seat 402, a driving member and a connecting arm 403, and the above-mentioned components are connected to form a parallel mechanism in the form of 3-PRR. Each sliding rail 401 is arranged along the tangent direction of the moving cone 3, and the three sliding rails 401 are uniformly spaced along the circumference of the moving cone 3, the three branch mechanisms 4 move in the X direction and the Y direction while rotating by themselves, achieving a whirling motion, thereby continuously and repeatedly changing the circumferential space between the moving cone 3 and the inner wall of the fixed cone 2, achieving the purpose of crushing.

[0053] The slide 402 is slidably arranged on the slide rail 401, a driving member is arranged on the frame 1 and located at one end of the slide rail 401, the driving member is connected with the slide 402 and drives the slide 402 to move along the slide rail 401. In order to realize the swing movement of the moving cone 3 along the X direction and the Y direction, it is necessary to ensure that the slide rail 401 and the rotating connection part have a torsion distance, the torsion distance is a vertical distance, the connecting arm 403 is rotatably connected between the slide 402 and the rotating connection part, the driving member drives the slide 402 to move while pulling the connecting arm 403 to move and rotate, thereby pulling the moving cone 3 to swing along the X direction and the Y direction, that is, the moving cone 3 swings along the X direction and the Y direction while rotating, and the movement state is similar to the eccentric movement formed by the eccentric sleeve at present.

[0054] Of course, the parallel structure formed by the branched chain mechanism 4 can also be in the form of RPR, RRP or RRR.

[0055] When it is in the form of RRR, as shown in the figure, Figure 6 the motor, the pulley, the conveyor belt, the slide rail 401 and the slide 402 of the application can be replaced by a motor speed reducer rotating form, and the connecting arm 403 is composed of two articulated links, one of which is connected with the output shaft of the motor, and the other end of the other link is rotatably connected with the rotating connection part of the moving cone 3.

[0056] When it is in the form of RRP, as shown in the figure, Figure 5 the motor, the pulley, the conveyor belt, the slide rail 401 and the slide 402 of the application can be replaced by a motor speed reducer rotating form, and the connecting arm 403 is composed of two articulated links, one of which is connected with the output shaft of the motor, and the other end of the other link is rotatably connected with the rotating connection part of the moving cone 3.

[0057] When it is in the form of RPR, as shown in the figure, Figure 4 the motor, the pulley, the conveyor belt, the slide rail 401 and the slide 402 of the application can be replaced by a motor speed reducer rotating form, and the connecting arm 403 is composed of a slide block mechanism or an extension cylinder, one of the links of the slide block mechanism or the extension rod of the extension cylinder is rotatably connected with the rotating connection part, and the sliding groove of the slide block mechanism or the cylinder body of the extension cylinder is connected with the output shaft of the motor speed reducer.

[0058] The parallel structure driving the moving cone to realize the movement along the X direction and the Y direction and the rotation of the moving cone needs to meet the requirements of the degrees of freedom in the following formula, that is,

[0059]

[0060] The above formula is Kutzbach-Grubler formula of spatial mechanism freedom degree, wherein M represents freedom degree of the mechanism; n represents component number including the rack; g represents number of movement pairs; f i represents freedom degree of the i th movement pair, and d represents common constraint molecule of the mechanism.

[0061] In the present application, the requirement of freedom degree M=3 needs to be met, which is specifically embodied in that each branch mechanism needs to meet that it must contain a moving pair and two rotating pairs of rod groups, as shown in Figure 7 .

[0062] It should be noted that, in actual application, in order to avoid that the broken materials fall on the branch mechanism 4, a guide plate can be arranged below the crushing gap between the movable cone 3 and the fixed cone 2 according to needs, the guide plate is arranged along the crushing gap, and when the guide plate is arranged, it only needs to not interfere with the movable cone 3.

[0063] Further, the rotating connection part is a first rotating bearing, the first rotating bearing is installed in the mounting hole in the bottom end face of the movable cone 3, the bearing connection herein has higher connection strength compared with the traditional hinged form, and the rotating function can also be realized, the working condition of the present application is mainly crushing materials by the crusher, especially crushing stone blocks, so that the stress between the movable cone 3 and the fixed cone 2 is large, therefore, the bearing connection can improve the connection strength and meet the use requirement.

[0064] Further, 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 sliding seat 402, the other end is hinged to one end of the second connecting rod 403b, the other end of the second connecting rod 403b is installed with a second rotating bearing, and a rotating shaft is connected between the first rotating bearing and the second rotating bearing. Compared with the connecting arm 403 directly hinged to the sliding seat 402, the former can rotate a larger angle under a smaller distance of the sliding seat 402, so that the length requirement of the slide rail 401 is reduced to a certain extent, and the occupied space and volume of the sliding seat 402 are reduced as a whole.

[0065] Further, the structure of the driving member includes two pulleys, a motor and a conveying belt, the conveying belt preferably adopts a toothed belt, so that the possibility of force slipping can be reduced, the conveying belt transmission is arranged between the two pulleys, the sliding seat 402 is connected with the upper conveying belt, the two pulleys are correspondingly arranged at the two ends of the slide rail 401, the motor is arranged on the rack 1, an output shaft of the motor is connected with one of the pulleys, the motor drives the pulley to rotate, so that the conveying belt rotates, thereby driving the sliding seat 402 to reciprocatingly move on the slide rail 401.

[0066] In alternative embodiments, the aforementioned drive component can also be an existing chain drive, screw and nut drive, or can be directly replaced by a cylinder, electric cylinder, or hydraulic cylinder.

[0067] Furthermore, the specific structure of the aforementioned moving cone 3 includes a cone body, a crushing liner, and a support plate. The crushing liner is laid on the conical surface of the cone body, and the support plate is a frustum-shaped structure that is wider at the top and narrower at the bottom. The support plate is located below the cone body and connected to the cone body by screws, and the first rotating bearing is located on the lower surface of the support plate. By configuring the moving cone 3 with the above-mentioned structure, especially by configuring the support plate with a shape that is wider at the top and narrower at the bottom, the diameter of the lower end face of the support plate can be reduced, and the overall volume of each branch mechanism 4 in the lateral direction can be reduced, thereby improving the compactness of the structure.

[0068] Furthermore, a support platform 5 is provided on the frame 1, and a branch chain mechanism 4 is provided on the support platform 5. Multiple elastic elements 6 are provided between the support platform 5 and the frame 1. A spring 7 is provided around the elastic element 6. The spring improves the stability of the elastic element when it is compressed. The elastic element 6 can be used to reduce the shock when the moving cone 3 swings. On the other hand, when the moving cone 3 gets stuck, the branch chain mechanism 4 and the support platform 5 connected to the moving cone 3 can compress the spring 7, so that the moving cone 3 moves down to expel the stuck object.

[0069] Furthermore, the structure of the aforementioned elastic member 6 includes an upper fixing member 602 and a lower fixing member 603. The upper fixing member 602 is disposed on the lower surface of the support platform 5, and the lower fixing member 603 is disposed on the frame 1. The upper fixing member 602 and the lower fixing member 603 have the same structure and each has a mounting 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. Here, the flexible connecting column 601 can be a rubber column, which has compressibility.

[0070] This application also protects a driving method for a parallel crusher, used to drive the moving cone in the parallel crusher, so that the moving cone moves according to the trajectory achieved by the above driving method and thus crushes the material. The driving method includes:

[0071] s2, such as Figure 8 As shown, let the center coordinate axis of the moving cone be oxy, and the center coordinate axes of the three branch mechanisms be OXY. Each branch mechanism has 3 degrees of freedom (M = 3), including one prismatic joint and two revolute joints. The fixed platform formed by the three branch mechanisms is denoted by (a1, a2, a3), and the moving platform containing the moving cone is denoted by (b1, b2, b3). The position of the moving platform at a certain moment can be represented by x = (x, y, α0), and the distance traveled by the prismatic joint in each branch mechanism is l. i, the vertical distance between each rotational connection and the moving track of the corresponding branch chain mechanism is h2, the distance between the moving platform endpoint and the center of the moving platform is h3, the angle of the moving platform at a certain time is a0, and the rotation angle between the rotational pair and the moving track of the moving pair in each branch chain mechanism is a i .

[0072] s2, each branch chain mechanism satisfies the spatial mechanism constraint equation

[0073] In the formula

[0074]

[0075] Simplify to get

[0076]

[0077] The variable T x and T y are expressed as

[0078]

[0079] The above formula can be obtained according to the cosine theorem: Al i 2 +Bl i +C=0

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

[0081] From the root formula, we can get:

[0082]

[0083] In the motion constraint equation, the time is derived once, and the velocity Jacobian matrix is represented by J.

[0084]

[0085] Therefore

[0086]

[0087] Where,

[0088] s3, the movement displacement of each branch chain mechanism movement pair is obtained by analyzing the constraint equation according to the analysis method, the movement trajectory of the moving cone is reversely solved according to the movement positions of the three branch chain mechanism movement pairs, the mechanism size is determined in combination with the actual situation, the movement of each branch chain is simulated for verification, the movement displacement curve of each branch chain mechanism movement pair at different times is drawn, and the movement trajectory equation of the moving cone is obtained

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

[0090] Figure 10 is the curve between the movement speed and the movement time of the corresponding slide.

[0091] The movement trajectory of the moving cone is reversely obtained according to the movement displacement of the slide at different times, the different movement speeds and different movement displacements of the three slides can be realized by controlling the different rotating speeds of the motors, so that the movement speed and the movement displacement of the three slides correspond to the movement trajectory of the moving cone, when it is needed to crush different materials and change the movement trajectory, the movement displacement of the moving cone can be changed by changing the movement speed and the maximum movement displacement of the slide, so that the crushing space is changed.

[0092] The above specific embodiments cannot be regarded as the limitation of the protection scope of the application, and any alternative improvement or change made by the person skilled in the art to the embodiments of the application falls within the protection scope of the application.

[0093] The details not described in the application are the known technology of the person skilled in the art.

Claims

1. A parallel crusher, characterized in that, The device includes a frame; a fixed cone, which is disposed on the frame and has an inner cavity that is narrower at the top and wider at the bottom; a movable 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, with three rotating connecting parts evenly spaced along its circumference on the bottom end face of the movable cone; and three branch mechanisms, which are disposed on the frame and evenly spaced along the circumference of the movable cone, and are rotatably connected to the three rotating connecting parts. The moving direction of each branch mechanism is along the tangent direction of the movable cone, and the moving trajectory of each branch mechanism has a torsional gap with the rotating connecting part. Each of the aforementioned branch mechanisms includes a slide rail, which is arranged along the tangential direction of the moving cone, and has the torsional gap between the slide rail and the rotating connection portion; a slide block, which is slidably disposed on the slide rail; a driving member, which is disposed on the frame and connected to the slide block, driving the slide block to move along the slide rail; and a connecting arm, which is rotatably connected between the slide block and the rotating connection portion. The connecting arm includes a first link and a second link. One end of the first link is fixed to the slide block, and the other end is hinged to one end of the second link. A second rotary bearing is installed on the other end of the second link, and a rotating shaft is connected between the second rotary bearing and the rotary connection part. The driving component includes two pulleys, which are respectively disposed at both ends of the slide rail; a motor, the output shaft of which is connected to one of the pulleys; and a conveyor belt, which is driven and wound between the two pulleys, and the slide block is connected to the conveyor belt. The frame is also provided with a support platform, the branch chain mechanism is disposed on the support platform, and a plurality of elastic elements are provided between the support platform and the frame, and springs are provided around the elastic elements; The elastic element includes an upper fixing element and a lower fixing element. The upper fixing element is disposed on the lower surface of the support platform, and the lower fixing element is disposed on the frame. The upper fixing element and the lower fixing element have the same structure and each has a mounting cavity. A flexible connecting column connects the inner cavity of the upper fixing element and the inner cavity of the lower fixing element.

2. A parallel crusher according to claim 1, characterized in that, The rotating connection part is a first rotating bearing, which is fixed in the mounting hole at the bottom end face of the moving cone.

3. A parallel crusher according to claim 1, characterized in that, The moving cone includes a cone body; a crushing liner plate laid on the conical surface of the cone body; and a support plate, which is a frustum-shaped plate that is wider at the top and narrower at the bottom, and is located below the cone body. The rotating connection part is located on the lower surface of the support plate.

4. A driving method for a parallel crusher, used to drive the moving cone in the parallel crusher according to any one of claims 1-3, so that the moving cone moves according to the trajectory achieved by the above driving method and thus crushes the material, characterized in that, Includes the following steps: s1. Let the center coordinate axis of the moving cone be oxy, and the center coordinate axes of the three branch mechanisms be OXY. The degree of freedom of each branch mechanism is M=3, including one prismatic joint and two revolute joints. The fixed platform formed by the three branch mechanisms is represented by (a1, a2, a3), and 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). The moving distance of the prismatic joint in each branch mechanism is li, the distance from the end point of the moving platform to the end point of the fixed platform is h1, the vertical distance between each revolute connection and the moving trajectory of the corresponding prismatic joint of the branch mechanism is h2, the distance from the end point of the moving platform to 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 revolute joint and the moving trajectory of the prismatic joint in each branch mechanism is αi. s2. Each branch mechanism satisfies the spatial mechanism constraint equations: ； s3. Analyze the above constraint equations to obtain the displacement of each sliding joint of the branch mechanism. Based on the displacement positions of the sliding joints of the three branch mechanisms, solve the motion trajectory of the moving cone in reverse. Simulate the motion of each branch, plot the displacement curves of the sliding joints of each branch mechanism at different times, and derive the motion trajectory equation of the moving cone: 。

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