Toggle assembly replacement system and replacement method

Abstract

This invention discloses a lever assembly replacement system and replacement method, comprising: a lever device, the lever device including a crossbeam, a lever assembly, and a stop block, the stop block being movably disposed within the crossbeam and capable of translation within the crossbeam, the crossbeam having an assembly hole for the lever assembly to pass through, the lever assembly including a lever and a lever spring, the lever spring abutting against the stop block, the stop block having a through hole; in the working state, the through hole is located inside the assembly hole and allows the lever to pass through; in the replacement state, the stop block is offset from the assembly hole, and the lever assembly can be moved out or inserted into the crossbeam along the assembly hole. The replacement method includes the following steps: S1. Detecting the lever assembly: Real-time monitoring of the motor current value of the sorting robot. If abnormal current values ​​are detected multiple times, the damaged lever assembly is identified through a detection mechanism; S2. Retrieving the damaged lever assembly: A robotic arm drives a disassembly mechanism to move to the damaged lever assembly. The disassembly mechanism moves a sliding block to displace the assembly hole, causing the damaged lever assembly to fall into the disassembly mechanism, which is then removed; S3. Installing a new lever assembly: A robotic arm drives a feeding mechanism to move to the claw device. The feeding mechanism, in conjunction with the claw device, installs the new lever assembly into the claw device. This invention's lever assembly replacement system and method can promptly detect whether a lever is damaged and achieve rapid disassembly and assembly of the lever assembly.

Description

Technical Field

[0001] This invention relates to the field of slag sorting robot technology, specifically to a claw device, and more particularly to a lever assembly replacement system and replacement method. Background Technology

[0002] Coal mines are a major energy source in human production processes, and the sorting of coal gangue generated during mining is typically handled by sorting robots. For the entire sorting system, the executing mechanism for the sorting action is the key component for achieving the desired effect. It mainly takes the form of various types of mechanical grippers, and its working methods can be broadly categorized as grasping and tossing.

[0003] The current two-finger lever uses two cylindrical parts made of manganese steel, which have high strength and wear resistance. However, due to the excessive weight of the gangue and the high-speed impact between the lever and the gangue during the picking action, prolonged use can cause the lever to suddenly break at its base. However, on-site personnel cannot promptly inspect the robot's tool condition, which could lead to the lever breakage going undetected for a long time, resulting in wasted production. Even if the lever damage is discovered, it is difficult to quickly replace the lever assembly. Summary of the Invention

[0004] The technical problem to be solved by the present invention is: in order to solve the technical problem of difficulty in detecting the damage of the lever and quickly replacing the lever assembly in the prior art, the present invention provides a lever assembly replacement system and replacement method, which can detect whether the lever is damaged in a timely manner and realize the quick disassembly and assembly of the lever assembly.

[0005] The technical solution adopted by this invention to solve its technical problem is: a lever assembly replacement system, comprising: a lever device, the lever device including a crossbeam, a lever assembly and a stop block, the stop block being movably disposed within the crossbeam and capable of translation within the crossbeam, the crossbeam having an assembly hole for the lever assembly to pass through, the lever assembly including a lever and a lever spring, the lever spring abutting against the stop block, the stop block having a through hole; in the working state, the through hole is located inside the assembly hole and allows the lever to pass through; in the replacement state, the stop block is offset from the assembly hole, and the lever assembly can be moved out or inserted into the crossbeam along the assembly hole.

[0006] The present invention relates to a lever assembly replacement system. When the lever is not damaged, it can work normally through the stop block. When the lever is damaged, the stop block can be moved out of the assembly hole to realize the replacement and disassembly of the lever assembly, thereby achieving rapid replacement of the entire lever assembly.

[0007] Furthermore, in order to facilitate the movement of the stop block and guide the stop block, the stop block has a lug, and the transverse beam has a groove that mates with the lug.

[0008] Furthermore, in order to enable the stop block to automatically reset, a stop block spring is provided between the stop block and the crossbeam to reset the stop block.

[0009] Furthermore, in order to quickly assemble new stops, the lever assembly replacement system also includes a feeding mechanism that cooperates with the lever assembly. The feeding mechanism includes a housing, in which the lever assembly for replacement is provided. The lower part of the housing has a feeding hole for feeding the lever assembly. A feeding switch is movably mounted on the housing. The feeding switch is located between the lever assembly and the feeding hole. The feeding switch is shifted to be offset from the lever assembly and the feeding hole, so that the lever assembly falls from the feeding hole into the crossbeam.

[0010] Furthermore, in order to enable the lever assembly to be quickly assembled into place, the housing is attached to the end face of the crossbeam and the housing is moved so that the housing pushes the stop block and the crossbeam pushes the feed switch to move synchronously until the feed hole is aligned with the assembly hole.

[0011] Furthermore, in order to align the feed hole and the assembly hole with the feed lever assembly, the housing has a protrusion extending outward in the horizontal direction, the feed switch has a lever block arranged in the vertical direction, the housing has a groove for the lever block to slide, and the crossbeam has a groove corresponding to the lever block. The protrusion abuts against the lever ear to push the stop block to move, and the groove abuts against the lever block to push the feed switch to move.

[0012] Furthermore, in order to enable the feeding mechanism to replace the lever assembly multiple times, multiple lever assemblies are arranged in sequence in the horizontal direction inside the housing. The innermost lever assembly abuts against the pushing assembly. The pushing assembly includes a push plate, which contacts the lever assembly. The other side of the push plate is connected to the housing through a push plate spring.

[0013] Furthermore, to prevent the rear lever assembly from falling directly following the front lever assembly, the housing is also provided with a limiting component located inside the feed hole. The limiting component includes a lever arranged vertically and rotatably connected to the housing. The upper end of the lever is connected to a limiting member for limiting the lever assembly. The lever rotates inward to make the limiting member abut against the lever assembly located inside the feed hole, thereby preventing the lever assembly from being pushed above the feed hole.

[0014] Furthermore, in order to limit the rear lever assembly when replacing the lever assembly, the feed switch retracts away from the feed hole and pushes the bottom of the lever to rotate the lever inward.

[0015] Furthermore, in order to prevent the limiting component from detaching from the housing, a limiting pin is also provided inside the housing, and the limiting pin is located abutting against the front of the feeding switch.

[0016] Furthermore, the lever assembly replacement system also includes a disassembly mechanism comprising a housing with a push block. The housing moves along the end face of the crossbeam and causes the push block to push the lever lug, thereby catching the damaged lever assembly falling from the mounting hole.

[0017] Furthermore, in order to quickly recover damaged lever assemblies, the lever assembly replacement system also includes a detection mechanism, which includes a detection host with an arc-shaped groove corresponding to the lever, and a proximity switch that contacts the lever within the arc-shaped groove.

[0018] Another technical solution adopted by the present invention to solve its technical problem is: a method for replacing a lever assembly, using the above-mentioned lever assembly replacement system, specifically including the following steps:

[0019] S1. Detection of lever assembly: Real-time monitoring of the current value of the motor of the sorting robot. If abnormal current values ​​are detected multiple times, the damaged lever assembly will be identified through detection by the detection mechanism.

[0020] S2. Recovering the damaged lever assembly: The disassembly mechanism driven by the robotic arm moves to the damaged lever assembly. The disassembly mechanism moves horizontally to push the stop block away from the assembly hole, and the damaged lever assembly falls into the disassembly mechanism and is then removed from the disassembly mechanism.

[0021] S3. Install the new lever assembly: The feeding mechanism driven by the robotic arm moves to the claw device, and the new lever assembly is installed into the claw device through the cooperation of the feeding mechanism and the claw device.

[0022] Compared with the prior art, the beneficial effects of the present invention are:

[0023] 1. The present invention relates to a lever assembly replacement system and replacement method, wherein a stop block limits the lever spring, ensuring that the lever can pass through the stop block and work normally when the lever is not damaged. When the lever is damaged, the moved stop block can allow the lever assembly to quickly disengage from or enter the crossbeam, thereby improving the replacement efficiency of the lever assembly.

[0024] 2. The lever assembly replacement system and method of the present invention can quickly identify the damaged lever assembly by using a detection mechanism and quickly remove the damaged lever assembly by using a disassembly mechanism, thereby improving detection efficiency and disassembly efficiency.

[0025] 3. The lever assembly replacement system and method of the present invention can quickly replace the lever assembly by using a feeding mechanism. The feeding mechanism and the claw device work together to accurately position the assembly position of the lever assembly, so that the lever assembly can fall directly into the corresponding assembly position, thereby improving the assembly and replacement efficiency.

[0026] 4. The lever assembly replacement system and method of the present invention determines whether the lever assembly is abnormal based on the current value of the sorting robot. The detection mechanism detects the lever assembly to identify the damaged lever assembly, and then quickly replaces the lever assembly to ensure that the damaged lever assembly can be detected in a timely manner. Attached Figure Description

[0027] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0028] Figure 1 A three-dimensional structural diagram of the claw device;

[0029] Figure 2 This is a partial sectional view of the claw device;

[0030] Figure 3 This is a schematic diagram of the three-dimensional structure of the stop block;

[0031] Figure 4 This is a schematic diagram of the three-dimensional structure of the testing organization;

[0032] Figure 5 A schematic diagram showing the structure of the claw device in conjunction with the detection mechanism;

[0033] Figure 6 This is a three-dimensional structural diagram of the disassembly mechanism;

[0034] Figure 7 A schematic diagram illustrating the coordination between the disassembly structure and the testing mechanism;

[0035] Figure 8 A three-dimensional structural diagram of the feeding mechanism.

[0036] Figure 9 for Figure 8 sectional view

[0037] Figure 10 A schematic diagram illustrating the coordination between the material supply mechanism and the testing mechanism;

[0038] Figure 11 A three-dimensional structural diagram of the feed switch;

[0039] Figure 12 This is a schematic diagram showing the limiting state of the limit component on the lever component.

[0040] In the picture:

[0041] 1. Paw device; 11. Crossbeam; 111. Assembly hole; 112. Groove; 12. Paddle assembly; 121. Paddle; 122. Paddle spring; 13. Stop block; 131. Through hole; 132. Paddle ear; 14. Bearing; 15. Stop block spring; 16. Block bolt.

[0042] 2. Testing mechanism; 21. Testing host; 22. Arc groove; 23. Proximity switch;

[0043] 3. Disassembly mechanism; 31. Box body; 32. Push block;

[0044] 4. Feeding mechanism; 41. Housing; 411. Protrusion; 42. Feeding hole; 43. Feeding switch; 431. Toggle block; 44. Push plate; 45. Push plate spring; 46. Lever; 47. Limiting component; 48. Limiting pin. Detailed Implementation

[0045] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of the invention, and therefore only show the components relevant to the invention.

[0046] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, features defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0047] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0048] like Figures 1 to 3 As shown, a lever assembly replacement system includes: a lever device 1, which includes a crossbeam 11, a lever assembly 12, and a stop block 13. A bearing 14 is provided within the crossbeam 11. The lever assembly 12 includes a lever 121 and a lever spring 122, with the lever spring 122 abutting against the stop block 13. The lever 121 cooperates with the bearing 14, and a stepped structure limits the movement between the lever 121 and the bearing 14 to prevent the lever 121 from falling off the bearing 14.

[0049] The stop block 13 is movably disposed within the crossbeam 11 and can translate within the crossbeam 11. The crossbeam 11 has a mounting hole 111 through which the lever assembly 12 passes. The stop block 13 has a through hole 131. In the working state, the position of the stop block 13 is fixed. At this time, the through hole 131 is located inside the mounting hole 111. When the lever 121 is subjected to force, it can retract vertically and pass through the through hole 131.

[0050] Preferably, the diameter of the mounting hole 111 is larger than the diameter of the through hole 131, and the diameter of the through hole 131 is larger than the maximum outer diameter of the lever 121. The diameter of the through hole 131 is smaller than the outer diameter of the lever spring 122, while the diameter of the mounting hole 111 needs to be larger than the outer diameter of the lever spring 122. In this case, the lever 121 can move vertically and pass through the through hole 131.

[0051] Specifically, the stop block 13 has a lug 132, and the crossbeam 11 has a groove on its transverse side that mates with the lug 132. By pushing the lug 132, the slider can be moved quickly, and the groove guides the lug 132 to ensure smooth movement.

[0052] Specifically, a stop spring 15 is provided between the stop block 13 and the crossbeam 11 to reset the stop block 13. The stop spring 15 can realize the automatic reset of the stop block 13 and abut against the lever spring 122 to prevent the lever assembly 12 from slipping.

[0053] Preferably, the crossbeam 11 is also provided with a blocking bolt 16, which is located at the end away from the lug 132 and abuts against the front end of the stop block 13 to limit the position of the stop block 13.

[0054] If the lever 121 is damaged, the lever assembly 12 needs to be replaced. In this case, the stop 13 is moved inwards horizontally, misaligning it with the mounting hole 111. Since the outer diameter of the lever spring 122 is smaller than the diameter of the mounting hole 111, the lever 121 and lever spring 122 can now detach from the crossbeam 11 through the mounting hole 111, completing the removal of the lever assembly 12. Replacement is similar; simply insert the lever assembly 12 along the mounting hole 111. The movable stop 13 allows for quick replacement of the lever assembly 12, improving assembly accuracy.

[0055] The replacement method of lever assembly 12 specifically includes the following steps: S1. Detect lever assembly: Real-time retrieval of the current value of the motor of the sorting robot. If abnormal current value is detected multiple times, the damaged lever assembly 12 is determined by the detection mechanism 2.

[0056] Specifically, after a lever 121 breaks, the coal sorting robot first receives multiple abnormal current values ​​from the target. After confirming the existence of the abnormality, the detection mechanism 2 determines which lever 121 is damaged.

[0057] Preferred, such as Figure 4 and Figure 5 As shown, the detection mechanism 2 includes a detection host (containing a detection motherboard). The detection host 21 has an arc-shaped groove 22 corresponding to the lever 121, and a proximity switch 23 that contacts the lever 121 is located within the arc-shaped groove 22. As shown, the robot inserts the claw device 1 into the detection mechanism 2, causing the lever 121 to touch the proximity switch 23. The detection module normally detects the information of the lever 121. If a lever 121 is damaged, its existence information cannot be checked, and it is determined that the lever 121 is damaged. The module can then identify which lever 121 is damaged and replace it.

[0058] This method can detect damage to lever 121 in a timely manner and is less expensive than other methods such as visual inspection. It only requires an external proximity switch 23 to be connected to the controller, and the replacement program can be executed when it is not triggered.

[0059] S2. Recovering the damaged lever assembly: The disassembly mechanism 3, driven by the robotic arm, moves to the damaged lever assembly 12. The disassembly mechanism 3 translates and pushes the stop 13 to be misaligned with the assembly hole 111. The damaged lever assembly 12 falls into the disassembly mechanism 3 and is then removed from the disassembly mechanism 3.

[0060] like Figure 6 and Figure 7 As shown, specifically, the disassembly mechanism 3 includes a housing 31 with a push block 32. The housing 31 moves along the end face of the crossbeam 11 and pushes the push block 32 to push the lug 132, thereby catching the damaged lever assembly 12 that falls from the mounting hole 111.

[0061] As shown in the figure, when disassembling the damaged lever assembly 12, the housing 31 needs to be moved to the end face of the crossbeam 11. The moving lug 132 is pushed by the push block 32 on the housing 31, thereby realizing the translation of the stop block. At this time, the lever assembly 12 automatically disengages from the assembly hole 111 under the action of gravity, and the damaged lever assembly 12 is successfully removed.

[0062] S3. Install the new lever assembly: The feeding mechanism 4 is driven by the robotic arm to move to the claw device 1. The new lever assembly 12 is installed into the claw device 1 through the cooperation of the feeding mechanism 4 and the claw device 1.

[0063] Specifically, such as Figures 8 to 11As shown, the feeding mechanism 4 includes a housing 41, within which a replaceable lever assembly 12 is provided. A feeding hole 42 for feeding the lever assembly 12 is located at the bottom of the housing 41. A feeding switch 43 is movably mounted on the housing 41, positioned between the lever assembly 12 and the feeding hole 42. The feeding switch 43 moves horizontally, displacing itself from the lever assembly 12 and the feeding hole 42, allowing the lever assembly 12 to fall from the feeding hole 42 into the crossbeam 11. Moving the feeding switch 43 disengages it from the lever assembly 12 and the feeding hole 42, causing the lever assembly 12 to fall along the feeding hole 42 under gravity and enter the lower claw device 1, thus completing the rapid replacement of the lever assembly 12.

[0064] Specifically, the end faces of the housing 41 and the crossbeam 11 are attached and the housing 41 is moved, causing the housing 41 to push the stop block 13 and the crossbeam 11 to push the feed switch 43 to move synchronously until the feed hole 42 is aligned with the assembly hole 111. During the assembly process, after the feed switch 43 and the stop block 13 are pushed to their extreme positions, the feed hole 42 and the assembly hole 111 are automatically aligned, at which point the lever assembly 12 will automatically fall into the crossbeam 11. The feeding mechanism 4 and the pawl device 1 can cooperate automatically to ensure the accurate assembly position of the lever assembly 12 without manual intervention, further improving assembly efficiency.

[0065] Specifically, the housing 41 has a protrusion 411 extending outward in the horizontal direction, the feed switch 43 has a lever 431 arranged in the vertical direction, the housing 41 has a groove for the lever 431 to slide, the crossbeam 11 has a groove 112 corresponding to the lever 431, the protrusion 411 abuts against the lever ear 132 to push the stop block 13 to move, and the groove 112 abuts against the lever 431 to push the feed switch 43 to move. Since the lever 431 abuts against the groove 112 and the protrusion 411 abuts against the lever ear 132, as long as the housing 41 moves towards the crossbeam 11, the feed switch 43 and the stop block 13 will move synchronously, and the feed switch 43 and the stop block 13 will move in opposite directions (the feed switch 43 moves to the left and the stop block 13 moves to the right) until the feed hole 42 and the assembly hole 111 are opened. At this time, the feed hole 42 and the assembly hole 111 are exactly coaxial in the vertical direction, and the lever assembly 12 is automatically assembled into the crossbeam 11 under the action of gravity, completing the replacement of the lever assembly 12. After the assembly is completed, only the housing 41 needs to be removed, the stop block 13 will automatically reset, and the lever device 1 can continue to work.

[0066] In Embodiment Two, based on Embodiment One, multiple lever assemblies 12 are arranged horizontally within the housing 41. The innermost lever assembly 12 abuts against the feeding assembly, which includes a push plate 44 that contacts the lever assembly 12. The other side of the push plate 44 is connected to the housing 41 via a push plate spring 45. Multiple lever assemblies 12 allow the feeding mechanism 4 to be replaced multiple times, avoiding frequent changes to the feeding structure. After the outermost lever assembly 12 is replaced, the push plate spring 45 and the push plate 44 will push the remaining lever assemblies 12 forward, facilitating further replacement of the lever assemblies 12.

[0067] Specifically, such as Figure 12 As shown, the housing 41 is also provided with a limiting component located inside the feed hole 42. The limiting component includes a lever 46 arranged vertically and rotatably connected to the housing 41. The upper end of the lever 46 is connected to a limiting member 47 that limits the position of the lever assembly 12. The lever 46 rotates inward so that the limiting member 47 abuts against the lever assembly 12 located inside the feed hole 42, thereby limiting the pusher assembly of the lever assembly 12 from being pushed above the feed hole 42. The feed switch 43 retracts away from the feed hole 42 and pushes the bottom of the lever 46 so that the lever 46 rotates inward.

[0068] When the feed switch 43 is not moved, it does not contact the lever 46 because one end of the feed switch 43 has a wedge-shaped structure with a gap between the wedge structure and the lever 46. When the feed switch 43 begins to move to the left, it opens the feed hole 42 and moves closer to the lever 46. When the feed hole 42 is fully open, the feed switch 43 contacts the lever 46 and causes the lever 46 to rotate, abutting against the second lever assembly via the limiting member 47 (at this time, the first lever assembly has already fallen into the crossbeam 11).

[0069] Since the outermost lever assembly 12 has fallen into the crossbeam 11 below during the replacement of the lever assembly 12, the lever 46 and the limiting member 47 limit the subsequent lever assembly 12 to prevent it from moving above the feed hole 42 and falling with the previous lever assembly 12.

[0070] Preferably, a limiting pin 48 is also provided inside the housing 41, which abuts against the front of the feed switch 43. The limiting member 47 prevents the feed switch 43 from slipping off.

[0071] The components mentioned above, such as the coal sorting robot and robotic arm, are not directly related to the concept of this invention. Corresponding structures in the prior art can be reasonably selected, and will not be elaborated here.

[0072] In summary, the lever assembly replacement system and method of the present invention can detect whether the lever is damaged in a timely manner, and realize the rapid disassembly and assembly of the lever assembly.

[0073] The above description is based on the preferred embodiments of the present invention. Through the above description, those skilled in the art can make various changes and modifications without departing from the technical concept of the present invention. The technical scope of the present invention is not limited to the contents of the specification, but must be determined by the scope of the claims.

Claims

1. A lever assembly replacement system, characterized in that, include: A pawl device (1) includes a crossbeam (11), a lever assembly (12), and a stop (13). The stop (13) is movably disposed within the crossbeam (11) and can be translated within the crossbeam (11). The crossbeam (11) has an assembly hole (111) through which the lever assembly (12) passes. The lever assembly (12) includes a lever (121) and a lever spring (122). The lever spring (122) abuts against the stop (13). The stop (13) has a through hole (131). In the working state, the through hole (131) is located inside the assembly hole (111) and allows the lever (121) to pass through; In the replacement state, the stop (13) is offset from the mounting hole (111), and the lever assembly (12) can be moved out or inserted into the crossbeam (11) along the mounting hole (111).

2. The lever assembly replacement system according to claim 1, characterized in that, The stop block (13) has a lug (132), and the crossbeam has a groove on the transverse side that mates with the lug (132).

3. The lever assembly replacement system according to claim 2, characterized in that, A stop spring (15) is provided between the stop block (13) and the crossbeam (11) to reset the stop block (13).

4. The lever assembly replacement system according to claim 3, characterized in that, The lever assembly replacement system also includes a feeding mechanism (4) that cooperates with the lever assembly (12). The feeding mechanism (4) includes a housing (41). The housing (41) is provided with a lever assembly (12) for replacement. The housing (41) has a feeding hole (42) for feeding the lever assembly (12) at the bottom. A feeding switch (43) is movably provided on the housing (41). The feeding switch (43) is located between the lever assembly (12) and the feeding hole (42). The feeding switch (43) is translated to be offset from the lever assembly (12) and the feeding hole (42), so that the lever assembly (12) falls from the feeding hole (42) into the crossbeam (11).

5. The lever assembly replacement system according to claim 4, characterized in that, The housing (41) is attached to the end face of the crossbeam (11) and the housing (41) is moved so that the housing (41) pushes the stop block (13) and the crossbeam (11) pushes the feed switch (43) to move synchronously until the feed hole (42) is aligned with the assembly hole (111).

6. The lever assembly replacement system according to claim 5, characterized in that, The housing (41) has a protrusion (411) extending outward in the horizontal direction, the feed switch (43) has a lever (431) arranged in the vertical direction, the housing (41) has a groove for the lever (431) to slide, the crossbeam (11) has a groove (112) corresponding to the lever (431), the protrusion (411) abuts against the lever (132) to push the stop (13) to move, and the groove (112) abuts against the lever (431) to push the feed switch (43) to move.

7. The lever assembly replacement system according to claim 4, characterized in that, Multiple lever assemblies (12) are arranged in sequence along the horizontal direction inside the housing (41). The innermost lever assembly (12) abuts against the pusher assembly. The pusher assembly includes a push plate (44). The push plate (44) contacts the lever assembly (12). The other side of the push plate (44) is connected to the housing (41) through a push plate spring (45).

8. The lever assembly replacement system according to claim 7, characterized in that, The housing (41) is also provided with a limiting component located inside the feeding hole (42). The limiting component includes a lever (46) arranged vertically and rotatably connected to the housing (41). The upper end of the lever (46) is connected to a limiting member (47) that limits the position of the lever assembly (12). The lever (46) rotates inward so that the limiting member (47) abuts against the lever assembly (12) located inside the feeding hole (42) to limit the pusher assembly of the lever assembly (12) from being pushed above the feeding hole (42).

9. The lever assembly replacement system according to claim 8, characterized in that, The feed switch (43) retracts away from the feed hole (42) and pushes the bottom of the lever (46) to rotate the lever (46) inward.

10. The lever assembly replacement system according to claim 9, characterized in that, The housing (41) is also provided with a limiting pin (48), which is located in contact with the front of the feed switch (43).

11. The lever assembly replacement system according to claim 3, characterized in that, The lever assembly replacement system also includes a disassembly mechanism (3), which includes a housing (31) with a push block (32) on the housing (31). The housing (31) moves along the end face of the crossbeam (11) and causes the push block (32) to push the lever lug (132) to receive the damaged lever assembly (12) falling from the assembly hole (111).

12. The lever assembly replacement system according to claim 3, characterized in that, The lever assembly replacement system also includes a detection mechanism (2), which includes a detection host (21). The detection host (21) has an arc-shaped groove (22) corresponding to the lever (121), and the arc-shaped groove (22) has a proximity switch (23) that contacts the lever (121).

13. A method for replacing a lever assembly, characterized in that, The lever assembly replacement system according to any one of claims 1-12 specifically includes the following steps: S1. Detect lever assembly: Real-time retrieval of the current value of the motor of the coal sorting robot. If the current value is abnormally detected multiple times, the damaged lever assembly (12) is determined by the detection mechanism (2). S2. Recover the damaged lever assembly: The disassembly mechanism (3) driven by the robotic arm moves to the damaged lever assembly (12). The disassembly mechanism (3) moves to push the stop (13) to be misaligned with the assembly hole (111). The damaged lever assembly (12) falls into the disassembly mechanism (3) and then is removed from the disassembly mechanism (3). S3. Install the new lever assembly: The feeding mechanism (4) driven by the robotic arm moves to the claw device (1), and the new lever assembly (12) is installed into the claw device through the cooperation of the feeding mechanism (4) and the claw device.

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