Hammerhead replacing device of intelligent impact crusher

Abstract

The invention discloses a hammerhead replacing device of an intelligent impact crusher, relates to the technical field of hammerhead hoisting of crushers, and aims to solve the technical problems that when hammerheads are replaced, the hammerheads need to be manually mounted on roll shafts one by one through insertion rods, and the hammerheads are heavy, so that time and labor are wasted in the hammerhead mounting process. Comprising two supporting frames, the two ends of the two supporting frames are jointly and fixedly connected with supporting legs, and a notch is formed in one side of each supporting frame. When the hammerheads are replaced, the adjusting frame is inclined through the adjusting handle, the sides, with holes, of the hammerheads are inclined towards the roller shaft of the crusher through the one-way rotating structure, and during replacement, only the inserting rods on the roller shaft need to be inserted into the multiple hammerheads, so that the function of efficiently, conveniently and semi-automatically replacing the hammerheads is achieved; and in the moving process of the lead screw, the lead screw can be prevented from inclining and affecting the lifting function of the device through limiting of the correcting barrel, and the efficiency of replacing the hammer head of the crusher can be improved.

Description

Technical Field

[0001] The invention relates to the technical field of crusher hammer hoisting, and more specifically to a hammer replacement device for an intelligent impact crusher. Background Art

[0002] The invention discloses a hammer head replacement device for an intelligent impact crusher, which is a tool specially used for quickly replacing the hammer head of an impact hammer crusher; the device can improve maintenance efficiency, reduce downtime, and ensure the safety of hammer head replacement work.

[0003] At present, when replacing the hammer head of an impact hammer crusher, a lifting device is required. During use, the hammer head is manually moved to the lifting device, and the hammer head is moved to the upper roller of the impact hammer crusher through a control system. The hammer head is then manually installed on the roller one by one through an insertion rod. Since the hammer head is heavy, the installation of the hammer head is time-consuming and laborious, and the installation efficiency is reduced. In view of this, we propose a hammer head replacement device for an intelligent impact crusher. Summary of the invention

[0004] The purpose of the present invention is to provide a hammer head replacement device for an intelligent impact crusher to solve the technical problem that when replacing the hammer head, manual operation is required to install the hammer head one by one on the roller shaft through an insertion rod. Since the hammer head is heavy, the installation process of the hammer head is time-consuming and laborious.

[0005] To solve the above technical problems, the present invention provides the following technical solutions: a hammer replacement device for an intelligent impact crusher, comprising two support frames, two ends of the two support frames are commonly fixedly connected with support legs, one side of each of the support frames is respectively provided with a notch, a lifting mechanism is arranged at the bottom of the two support frames, and the lifting mechanism is slidably connected to the support frames; the lifting mechanism comprises two first motors, a lifting unit and an adjustment unit, the lifting mechanism is fixedly connected to the lifting unit, and the adjustment unit is fixedly connected to the lifting unit; the two first motors are respectively fixedly connected to both sides of the top of each support frame, an auxiliary plate is fixedly connected to the top of each support frame away from the first motor, the output ends of the two first motors are respectively fixedly connected to the first rollers, the bottom of each auxiliary plate is movably connected to the second roller via a first plug rod, and each of the first rollers is movably connected to the second roller The outer walls of the rollers are movably sleeved with a first transmission belt, and two transmission plates are provided at the bottom of the two support frames and are fixedly connected by a first bolt, and the top of one of the transmission plates is symmetrically structured and is movably connected to a plurality of pulleys by a second plug rod, and the plurality of pulleys are slidably connected to an inner wall on one side of the slot, and a third roller is fixedly sleeved on the tops of a plurality of the second plug rods, and the third roller is movably in contact with the first transmission belt. When replacing the hammer head, the adjusting frame is tilted by adjusting the handle, and the side of the hammer head with the hole is tilted toward the crusher roller shaft through the unidirectional rotating structure. When replacing, it is only necessary to insert the plug rod on the roller shaft into a plurality of hammer heads, so as to realize the function of efficient, light and semi-automatic replacement of hammer heads. In the process of moving the screw rod, the cylinder limit is corrected to prevent the screw rod from tilting, which affects the lifting function of the device, and is conducive to improving the efficiency of replacing the crusher hammer head.

[0006] Preferably, a slot is formed on the top of one of the transmission plates.

[0007] Preferably, the lifting unit includes two first telescopic rods, the two first telescopic rods are symmetrically structured and fixedly connected to the bottom of another transmission plate, the output ends of the two first telescopic rods are fixedly connected to a base plate, the top of the base plate is fixedly connected to a screw rod and the screw rod is fixedly sleeved on the inner walls of the two transmission plates, and the opposite sides of the two transmission plates are fixedly connected to a limiting cylinder by a second bolt.

[0008] Preferably, a threaded cylinder is movably sleeved on the inner wall of the limiting cylinder and the screw rod is movably connected to the inner wall of the threaded cylinder through a first thread, an outer gear ring is fixedly connected to one end of the threaded cylinder close to the base plate, and a second motor is fixedly connected to the top of the other transmission plate and the second motor is fixedly sleeved on the inner wall of the slot.

[0009] Preferably, the output end of the second motor is fixedly connected with the first gear and the first gear is meshingly connected with the outer gear ring, the top of one of the transmission plates is fixedly connected with a correction cylinder and the screw rod is movably sleeved on the inner wall of the correction cylinder, the bottom of the base plate is fixedly connected with a connecting block, the bottom of the connecting block is movably connected with a plurality of iron chains, and one end of the plurality of iron chains is movably sleeved with a support plate. The present invention arranges the iron chain, and when loading, the adjusting frame is placed in a specified position through the iron chain, so that loading is easier and the stability of the adjusting frame is improved.

[0010] Preferably, the adjustment unit includes a feeding frame, which is fixedly connected to the bottom of the support plate, and adjustment cylinders are fixedly sleeved on both sides of the feeding frame. The inner wall of each adjustment cylinder is movably connected to a plurality of ratchets through a first pin, and the ratchets are distributed in a ring array.

[0011] Preferably, an adjustment frame is movably connected between the two adjustment cylinders via a third plug rod, a plurality of ratchets are fixedly connected to the outer walls of the two third plug rods and the ratchets are meshingly connected to the pawls, an adjustment handle is fixedly connected to one end of one of the third plug rods, and a plurality of partitions are fixedly connected to the inner walls on both sides of the adjustment frame and the partitions are distributed in a linear array.

[0012] Preferably, two second telescopic rods are fixedly connected on both sides of each partition, and a push plate is commonly fixedly connected to the output ends of each two second telescopic rods. Two first springs are commonly fixedly connected between each push plate and the partition, and each first spring is movably sleeved on the outer wall of the second telescopic rod. The present invention provides a one-way rotating structure and can tilt the adjustment frame to a certain angle by adjusting the handle, so that the hammer head can be replaced more conveniently, which is beneficial to improving the efficiency of replacing the hammer head.

[0013] Preferably, a path planning algorithm is used during the replacement process to automatically calculate the optimal movement path of the lifting mechanism according to the position of the hammer head and the relative position of the roller shaft to avoid collision or deviation of the lifting mechanism during movement. The steps are as follows:

[0014] The current position of the hammer head and the target position of the roller are acquired through sensors. Then, the positions of the surrounding environment and obstacles are acquired through sensors in real time to build a virtual model of the workspace.

[0015] Select Dijkstra algorithm, set the initial position, target position and obstacle information, and calculate a short and safe path based on the environment information and target position to avoid collision or deviation;

[0016] According to the actual position and movement status of the lifting mechanism, the path is adjusted in real time to ensure that the path is valid. Then, the planned path is executed to accurately connect the hammer head to the roller shaft to complete the installation. After the replacement is completed, the lifting mechanism returns to its position or prepares for the next round of operations.

[0017] Preferably, the Dijkstra algorithm is selected, and the initial position, target position and obstacle information are set. The steps of calculating a short and safe path according to the environmental information and the target position are as follows:

[0018] Use sensors to obtain obstacle data of the current environment and discretize the workspace into a grid map;

[0019] For each node (x i ,y i ), through D new (P i )=D(P j )+Δd(P j , P i )+C obs (P i ) Calculate the total cost D between it and its neighboring nodes new , where Δd(P j , P i ) is the slave node P j To P i The physical distance, updated cost D new (P i ) will be used to adjust the path;

[0020] According to the Dijkstra algorithm, each time the node with the smallest cost is selected from the unvisited nodes, the cost of its neighboring nodes is continuously updated until all nodes are traversed or the target point P is found. T ;

[0021] Once the path calculation is completed, the lifting mechanism moves along the calculated path. As it moves, the path planning system monitors the actual position of the lifting mechanism in real time. If environmental changes are detected, the path planning system will automatically recalculate the path and make dynamic adjustments. Finally, the lifting mechanism monitors the docking status with the roller shaft through a force sensor to ensure the accurate installation of the hammer head.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] 1. When replacing the hammer head, the present invention tilts the adjustment frame by adjusting the handle, and through the one-way rotating structure, the side of the hammer head with the hole is tilted toward the crusher roller shaft. When replacing, it is only necessary to insert the insertion rod on the roller shaft into a number of hammer heads to achieve the function of efficient, light and semi-automatic replacement of the hammer head. In the process of the screw rod moving, by correcting the barrel limit, the screw rod can be prevented from tilting, which affects the lifting function of the device, and is conducive to improving the efficiency of replacing the crusher hammer head.

[0024] 2. The present invention arranges an iron chain, and during material loading, the adjusting frame is placed at a designated position through the iron chain, so that material loading is easier and the stability of the adjusting frame is improved.

[0025] 3. The present invention sets a one-way rotating structure and tilts the adjustment frame to a certain angle by adjusting the handle, so that the hammer head can be replaced more conveniently, which is beneficial to improving the efficiency of replacing the hammer head. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0027] Figure 2 It is a schematic diagram of the three-dimensional partial structure of the lifting mechanism of the present invention;

[0028] Figure 3 It is a three-dimensional partial enlarged structural schematic diagram of the present invention;

[0029] Figure 4 For the present invention Figure 3 A is an enlarged structural diagram;

[0030] Figure 5 It is a three-dimensional partial enlarged structural schematic diagram of the lifting mechanism of the present invention.

[0031] Explanation of the reference numerals in the figure: 1, support frame; 101, support leg; 102, notch; 2, lifting mechanism; 201, first motor; 202, auxiliary plate; 203, first roller; 204, second roller; 205, first transmission belt; 206, transmission plate; 206a, slot; 207, pulley; 208, third roller; 3, lifting unit; 301, first telescopic rod; 302, bottom plate; 303, screw rod; 304, limit cylinder; 3 05, threaded cylinder; 306, outer gear ring; 307, second motor; 308, first gear; 309, correction cylinder; 310, connecting block; 311, iron chain; 312, support plate; 4, adjustment unit; 401, feeding frame; 402, adjustment cylinder; 403, pawl; 404, adjustment frame; 405, ratchet; 406, adjustment handle; 407, partition; 408, second telescopic rod; 409, push plate; 410, first spring. DETAILED DESCRIPTION

[0032] like Figures 1 to 5As shown, the present invention relates to a hammer replacement device for an intelligent impact crusher, comprising two support frames 1, both ends of the two support frames 1 are fixedly connected with support legs 101, one side of each support frame 1 is respectively provided with a notch 102, a hoisting mechanism 2 is arranged at the bottom of the two support frames 1, and the hoisting mechanism 2 is slidably connected to the support frames 1; the hoisting mechanism 2 comprises two first motors 201, a lifting unit 3 and an adjustment unit 4, the hoisting mechanism 2 is fixedly connected to the lifting unit 3, and the adjustment unit 4 is fixedly connected to the lifting unit 3; the two first motors 201 are respectively fixedly connected to the two sides of the top of each support frame 1, and each support frame 1 is provided with a notch 102, and a hoisting mechanism 2 is arranged at the bottom of the two support frames 1, and the hoisting mechanism 2 is slidably connected to the support frames 1; the hoisting mechanism 2 comprises two first motors 201, a lifting unit 3 and an adjustment unit 4, the lifting mechanism 2 is fixedly connected to the lifting unit 3, and the adjustment unit 4 is fixedly connected to the lifting unit 3; the two first motors 201 are respectively fixedly connected to the two sides of the top of each support frame 1, and each support frame 1 is provided with a notch 102, and a ... notch 102 is provided at the one side An auxiliary plate 202 is fixedly connected to the side of the top of the support frame 1 away from the first motor 201, and the output ends of the two first motors 201 are respectively fixedly connected to the first rollers 203, and the bottom of each auxiliary plate 202 is movably connected to the second roller 204 through a first plug rod. The outer wall of each first roller 203 and the second roller 204 is movably sleeved with a first transmission belt 205. Two transmission plates 206 are arranged at the bottom of the two support frames 1, and the two transmission plates 206 are fixedly connected by a first bolt. The top of one of the transmission plates 206 is a symmetrical structure, and is movably connected to a plurality of pulleys 207 through a second plug rod, and the plurality of pulleys 207 are slidably connected. The third roller 208 is fixedly sleeved on the top of the plurality of second plug rods, and the third roller 208 is in active contact with the first transmission belt 205. When replacing the hammer head, the adjusting frame 404 is tilted by adjusting the handle 406, and the one-way rotating structure is used to tilt the side of the hammer head with the hole toward the crusher roller shaft. When replacing, it is only necessary to insert the plug rods on the roller shaft into the plurality of hammer heads, so as to realize the function of efficient, light and semi-automatic replacement of the hammer heads. When the screw rod 303 is moving, the limit of the correction cylinder 309 can be used to prevent the screw rod 303 from tilting, which affects the installation. The lifting function of the device is conducive to improving the efficiency of replacing the hammer head of the crusher. When installing the hammer head, first, the upper shell of the impact hammer crusher is moved through the external hydraulic system to expose the hammer head inside, and then the two first motors 201 are made to work synchronously through the external circuit mechanism. The first motor 201 drives the first roller 203 to rotate, driving the first transmission belt 205 to move. Since the first transmission belt 205 is in active contact with the pulley 207, the third roller 208 can be driven to rotate. The pulley 207 is rotated on the inner wall of one side of the slot 102 through the insertion rod, so that the transmission plate 206 is limited and moved through the support frame 1 to move to the specified position.

[0033] In the embodiment of the present invention, a slot hole 206 a is provided on the top of one of the transmission plates 206 . It is worth noting that by providing the slot hole 206 a , the second motor 307 can be inserted into the transmission plate 206 , thereby reducing the space occupied by the second motor 307 .

[0034] As another embodiment of the present invention, the lifting unit 3 includes two first telescopic rods 301, the two first telescopic rods 301 are symmetrically fixedly connected to the bottom of another transmission plate 206, the output ends of the two first telescopic rods 301 are fixedly connected to the bottom plate 302, the top of the bottom plate 302 is fixedly connected to the screw rod 303 and the screw rod 303 is fixedly sleeved on the inner walls of the two transmission plates 206, the opposite sides of the two transmission plates 206 are fixedly connected to the limiting cylinder 304 by the second bolt, the inner wall of the limiting cylinder 304 is movably sleeved with a threaded cylinder 305 and the screw rod 30 3 is movably connected to the inner wall of the threaded cylinder 305 through the first thread, and the threaded cylinder 305 is fixedly connected to an outer toothed ring 306 at one end close to the bottom plate 302. A second motor 307 is fixedly connected to the top of another transmission plate 206 and the second motor 307 is fixedly sleeved on the inner wall of the slot 206a. A first gear 308 is fixedly connected to the output end of the second motor 307 and the first gear 308 is meshed with the outer toothed ring 306. A correction cylinder 309 is fixedly connected to the top of one transmission plate 206 and the screw rod 303 is movably sleeved on the inner wall of the correction cylinder 309. The bottom plate The bottom of 302 is fixedly connected with a connecting block 310, and the bottom of the connecting block 310 is movably connected with a plurality of iron chains 311, and one end of the plurality of iron chains 311 is movably sleeved with a support plate 312. The present invention arranges the iron chains 311, and during feeding, the adjusting frame 404 is placed at a designated position through the iron chains 311, so that feeding is easier and the stability of the adjusting frame 404 is improved. The second motor 307 is operated through an external circuit mechanism, and the second motor 307 drives the first gear 308 to rotate. Since the first gear 308 is meshed with the outer gear ring 306 for transmission, The outer gear ring 306 is allowed to rotate within a limited position on the inner wall of the limiting cylinder 304, and the limiting cylinder 304 is used to rotate the screw rod 303 through the first thread, so that the screw rod 303 moves downward. During the movement of the screw rod 303, the correction cylinder 309 can limit the screw rod 303 during the downward movement, thereby preventing the screw rod 303 from tilting and improving the stability of the screw rod 303. When the screw rod 303 moves downward, the bottom plate 302 is pushed to move, and the bottom plate 302 is limited by the first telescopic rod 301, thereby preventing the bottom plate 302 from rotating with the screw rod 303.

[0035] As another embodiment of the present invention, the adjustment unit 4 includes a loading frame 401, which is fixedly connected to the bottom of the support plate 312, and adjustment cylinders 402 are fixedly sleeved on both sides of the loading frame 401, and the inner wall of each adjustment cylinder 402 is movably connected with a plurality of ratchets 403 through a first latch, and the ratchets 403 are distributed in a ring array, and an adjustment frame 404 is movably connected between the two adjustment cylinders 402 through a third plug rod, and a plurality of ratchets 405 are fixedly connected to the outer walls of the two third plug rods, and the ratchets 405 are meshingly connected with the ratchets 403, and one end of one of the third plug rods is fixedly connected to an adjustment handle 406, and a plurality of partitions 407 are fixedly connected to the inner walls on both sides of the adjustment frame 404, and the partitions 407 are distributed in a linear array, and two second telescopic rods 408 are fixedly connected to the two sides of each partition 407, and a push plate 409 is fixedly connected to the output end of each two second telescopic rods 408, and two first springs 410 are fixedly connected between each push plate 409 and the partition 407, and each The first springs 410 are movably sleeved on the outer walls of the second telescopic rods 408, respectively. The present invention provides a one-way rotating structure, and the adjusting frame 404 is tilted to a certain angle by adjusting the handle 406, so that the hammer head can be replaced more easily, which is beneficial to improving the efficiency of replacing the hammer head. When the adjusting frame 404 is moved to the specified position, the adjusting frame 404 is manually pulled to the specified position, and the hammer head is placed between the push plates 409, and a force is applied to the push plates 409 by the first spring 410, and the push plates 409 are limited by the second telescopic rod 408, so that the push plates 409 clamp the hammer head. After the hammer head is placed, the adjusting frame 404 is moved to the top of the impact hammer crusher by the lifting structure and the moving structure, and then the adjusting frame 404 is moved downward by the lifting structure to make it closer to the impact hammer crusher. At this time, the adjusting frame 404 can be rotated by shaking the adjusting handle 406, so that the adjusting frame 404 can be adjusted to an appropriate position, and the side with a hole on the hammer head is adjusted to the roller shaft inside the impact hammer crusher, so that it is easier to install the hammer head.

[0036] Working principle: This embodiment provides a hammer replacement device for an intelligent impact crusher. When installing the hammer, firstly, the upper shell of the impact hammer crusher is moved through the external hydraulic system to expose the hammer inside. Then, the two first motors 201 are made to work synchronously through the external circuit mechanism. The first motor 201 drives the first roller 203 to rotate, driving the first transmission belt 205 to move. Since the first transmission belt 205 is in active contact with the pulley 207, the third roller 208 can be driven to rotate. The pulley 207 is moved in the notch 10 by inserting the rod. 2, the inner wall of one side rotates, so that the transmission plate 206 moves through the support frame 1 to the specified position. At the same time, the second motor 307 is operated through the external circuit mechanism, and the second motor 307 drives the first gear 308 to rotate. Since the first gear 308 is meshed with the outer gear ring 306, the outer gear ring 306 is limited and rotated on the inner wall of the limiting cylinder 304. The limiting cylinder 304 rotates through the first thread on the lead screw 303, so that the lead screw 303 moves downward. In the process of moving, the lead screw 303 is corrected. The cylinder 309 can limit the screw rod 303 during the downward movement, prevent the screw rod 303 from tilting, and improve the stability of the screw rod 303. When the screw rod 303 moves downward, it pushes the bottom plate 302 to move, and the bottom plate 302 is limited by the first telescopic rod 301 to prevent the bottom plate 302 from rotating with the screw rod 303. When the adjustment frame 404 moves to the specified position, the adjustment frame 404 is manually pulled to the specified position, and the hammer head is placed between the push plates 409, and a force is applied to the push plates 409 through the first spring 410. And through the limitation of the second telescopic rod 408, the push plate 409 clamps the hammer head. When the hammer head is placed, the adjusting frame 404 is moved to the top of the impact hammer crusher through the lifting structure and the moving structure, and then the adjusting frame 404 is moved downward through the lifting structure to make it closer to the impact hammer crusher. At this time, by shaking the adjusting handle 406 to rotate the adjusting frame 404, the adjusting frame 404 can be adjusted to an appropriate position, and the side with a hole on the hammer head can be adjusted to the roller shaft inside the impact hammer crusher, so that it is easier to install the hammer head.

[0037] As another embodiment of the present invention, a path planning algorithm is used during the replacement process to automatically calculate the optimal movement path of the lifting mechanism according to the position of the hammer head and the relative position of the roller shaft to avoid collision or deviation of the lifting mechanism during the movement. The steps are as follows:

[0038] The current position of the hammer head and the target position of the roller are acquired through sensors. Then, the positions of the surrounding environment and obstacles are acquired through sensors in real time to build a virtual model of the workspace.

[0039] Select Dijkstra algorithm, set the initial position, target position and obstacle information, and calculate a short and safe path based on the environment information and target position to avoid collision or deviation;

[0040] According to the actual position and movement status of the lifting mechanism, the path is adjusted in real time to ensure that the path is valid. Then, the planned path is executed to accurately connect the hammer head to the roller shaft to complete the installation. After the replacement is completed, the lifting mechanism returns to its position or prepares for the next round of operations.

[0041] As another embodiment of the present invention, the Dijkstra algorithm is selected, and the initial position, target position and obstacle information are set. The steps of calculating a short and safe path according to the environmental information and the target position are as follows:

[0042] Use sensors to obtain obstacle data of the current environment and discretize the workspace into a grid map;

[0043] For each node (x i ,y i ), through D new (P i )=D(P j )+Δd(P j , P i )+C obs (P i ) Calculate the total cost D between it and its neighboring nodes new , where Δd(P j , P i ) is the slave node P j To P i The physical distance, updated cost D new (P i ) will be used to adjust the path;

[0044] According to the Dijkstra algorithm, each time the node with the smallest cost is selected from the unvisited nodes, the cost of its neighboring nodes is continuously updated until all nodes are traversed or the target point P is found. T ;

[0045] Once the path calculation is completed, the lifting mechanism moves along the calculated path. As it moves, the path planning system monitors the actual position of the lifting mechanism in real time. If environmental changes are detected, the path planning system will automatically recalculate the path and make dynamic adjustments. Finally, the lifting mechanism monitors the docking status with the roller shaft through a force sensor to ensure the accurate installation of the hammer head.

[0046] The embodiments of the present invention disclose preferred embodiments, but are not limited thereto. A person skilled in the art can easily understand the spirit of the present invention based on the above embodiments and make different extensions and changes. However, as long as they do not deviate from the spirit of the present invention, they are all within the protection scope of the present invention.

Claims

1. A hammer replacement device for an intelligent impact crusher, characterized in that: The invention comprises two support frames (1), both ends of the two support frames (1) are commonly and fixedly connected with support legs (101), one side of each support frame (1) is respectively provided with a notch (102), a lifting mechanism (2) is arranged at the bottom of the two support frames (1), and the lifting mechanism (2) is slidably connected to the support frames (1); The hoisting mechanism (2) comprises two first motors (201), a lifting unit (3) and an adjustment unit (4); the hoisting mechanism (2) and the lifting unit (3) are fixedly connected, and the adjustment unit (4) and the lifting unit (3) are fixedly connected; The two first motors (201) are respectively fixedly connected to both sides of the top of each support frame (1); an auxiliary plate (202) is fixedly connected to the top of each support frame (1) on a side away from the first motor (201); the output ends of the two first motors (201) are respectively fixedly connected to first rollers (203); the bottom of each auxiliary plate (202) is movably connected to a second roller (204) via a first insertion rod; and the outer wall of each first roller (203) and the second roller (204) are movably sleeved with a first transmission The two support frames (1) are provided with two transmission plates (206) at the bottom and the two transmission plates (206) are fixedly connected by a first bolt, the top of one of the transmission plates (206) is symmetrically structured and is movably connected to a plurality of pulleys (207) through a second plug rod, and the plurality of pulleys (207) are slidably connected to the inner wall of one side of the slot (102), and the tops of the plurality of second plug rods are fixedly sleeved with third rollers (208), and the third rollers (208) are movably in contact with the first transmission belt (205).

2. The hammer head replacement device of an intelligent impact crusher according to claim 1 is characterized in that: A slot hole (206a) is formed on the top of one of the transmission plates (206).

3. The hammer head replacement device of an intelligent impact crusher according to claim 1, characterized in that: The lifting unit (3) comprises two first telescopic rods (301), the two first telescopic rods (301) are symmetrically fixedly connected to the bottom of another transmission plate (206), the output ends of the two first telescopic rods (301) are fixedly connected to a bottom plate (302), the top of the bottom plate (302) is fixedly connected to a screw rod (303), and the screw rod (303) is fixedly sleeved on the inner walls of the two transmission plates (206), and the opposite sides of the two transmission plates (206) are fixedly connected to a limiting cylinder (304) through a second bolt.

4. The hammer replacement device for an intelligent impact crusher according to claim 3, characterized in that: The inner wall of the limiting cylinder (304) is movably sleeved with a threaded cylinder (305), and the screw rod (303) is movably connected to the inner wall of the threaded cylinder (305) through a first thread; one end of the threaded cylinder (305) close to the bottom plate (302) is fixedly connected to an outer gear ring (306); the top of the other transmission plate (206) is fixedly connected to a second motor (307), and the second motor (307) is fixedly sleeved on the inner wall of the slot hole (206a).

5. The hammer replacement device for an intelligent impact crusher according to claim 4, characterized in that: The output end of the second motor (307) is fixedly connected to a first gear (308), and the first gear (308) is meshingly connected to the outer gear ring (306); the top of one of the transmission plates (206) is fixedly connected to a correction cylinder (309), and the screw rod (303) is movably sleeved on the inner wall of the correction cylinder (309); the bottom of the bottom plate (302) is fixedly connected to a connection block (310), and the bottom of the connection block (310) is movably connected to a plurality of iron chains (311), and one end of the plurality of iron chains (311) is movably sleeved on a support plate (312).

6. The hammer replacement device for an intelligent impact crusher according to claim 1, characterized in that: The adjustment unit (4) comprises a loading frame (401), the loading frame (401) is fixedly connected to the bottom of the support plate (312), and adjustment cylinders (402) are fixedly sleeved on both sides of the loading frame (401), and the inner wall of each adjustment cylinder (402) is movably connected to a plurality of ratchets (403) through a first latch, and the ratchets (403) are distributed in a ring array.

7. The hammer head replacement device of the intelligent impact crusher according to claim 6 is characterized in that: An adjustment frame (404) is movably connected between the two adjustment cylinders (402) via a third insertion rod, a plurality of ratchets (405) are fixedly connected to the outer walls of the two third insertion rods respectively, and the ratchets (405) are meshingly connected with the pawls (403), an adjustment handle (406) is fixedly connected to one end of one of the third insertion rods, and a plurality of partitions (407) are fixedly connected to the inner walls on both sides of the adjustment frame (404), and the partitions (407) are distributed in a linear array.

8. The hammer replacement device for an intelligent impact crusher according to claim 7, characterized in that: Two second telescopic rods (408) are fixedly connected to both sides of each of the partitions (407), and a push plate (409) is fixedly connected to the output ends of each of the two second telescopic rods (408). Two first springs (410) are fixedly connected between each of the push plates (409) and the partitions (407), and each of the first springs (410) is movably sleeved on the outer wall of the second telescopic rod (408).

9. The hammer replacement device for an intelligent impact crusher according to claim 7, characterized in that: During the replacement process, a path planning algorithm is used to automatically calculate the optimal movement path of the lifting mechanism based on the position of the hammer head and the relative position of the roller shaft to avoid collision or deviation of the lifting mechanism during movement. The steps are as follows: The current position of the hammer head and the target position of the roller are acquired through sensors. Then, the positions of the surrounding environment and obstacles are acquired through sensors in real time to build a virtual model of the workspace. Select Dijkstra algorithm, set the initial position, target position and obstacle information, and calculate a short and safe path based on the environment information and target position to avoid collision or deviation; According to the actual position and movement status of the lifting mechanism, the path is adjusted in real time to ensure that the path is valid. Then, the planned path is executed to accurately connect the hammer head to the roller shaft to complete the installation. After the replacement is completed, the lifting mechanism returns to its position or prepares for the next round of operations.

10. The hammer replacement device for an intelligent impact crusher according to claim 9, characterized in that: Select the Dijkstra algorithm, set the initial position, target position, and obstacle information, and calculate a short and safe path based on the environment information and target position: Use sensors to obtain obstacle data of the current environment and discretize the workspace into a grid map; For each node (x i ,y i ), through D new (P i )=D(P j )+Δd(P j , P i )+C obs (P i ) Calculate the total cost D between it and its neighboring nodes new , where Δd(P j , P i ) is the slave node P j To P i The physical distance, updated cost D new (P i ) will be used to adjust the path; According to the Dijkstra algorithm, each time the node with the smallest cost is selected from the unvisited nodes, the cost of its neighboring nodes is continuously updated until all nodes are traversed or the target point P is found. T ; Once the path calculation is completed, the lifting mechanism moves along the calculated path. As it moves, the path planning system monitors the actual position of the lifting mechanism in real time. If environmental changes are detected, the path planning system will automatically recalculate the path and make dynamic adjustments. Finally, the lifting mechanism monitors the docking status with the roller shaft through a force sensor to ensure the accurate installation of the hammer head.

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