Abstract: The application discloses an adsorption parallel machining robot, including a machining module and an adsorption module. The machining module includes a fixed platform, a movable platform, multiple branch chains and end effector; multi-degree-of-freedom motion is achieved through linear motion of the multiple branch chains. The adsorption module includes multiple fixed adsorption branch chains, each of which includes a connecting bracket, an adsorption device, an adsorption locking device, an omnidirectional wheel and a driving device, and is used for achieving adsorption and movement of the robot on the surface of a workpiece. Besides the locking function, the locking device additionally has a cleaning function, and residual cutting chips on the robot can be removed.

Abstract: An experimental method for coal desulfurization and deashing using permeation and solvating power of a supercritical fluid includes the following steps. The coal sample is ground and loaded into an extraction kettle with a cover. An inlet valve and an outlet valve of the extraction kettle are opened to circulate the supercritical CO2 fluid in the extraction kettle. The extraction kettle is sealed. By adjusting a temperature and a pressure in the extraction kettle, the supercritical CO2 fluid is kept at its critical point and permeates the coal sample to dissolve organic sulfur, inorganic sulfur and ash in the coal sample. The extraction kettle is depressurized, and the temperature in the extraction kettle is adjusted to gasify the supercritical CO2 fluid. The organic sulfur, the inorganic sulfur and part of the ash are separated from the supercritical CO2 fluid and precipitated at a bottom of the extraction kettle.

Abstract: An experimental method for coal desulfurization and deashing using permeation and solvating power of a supercritical fluid includes the following steps. The coal sample is ground and loaded into an extraction kettle with a cover. An inlet valve and an outlet valve of the extraction kettle are opened to circulate the supercritical CO2 fluid in the extraction kettle. The extraction kettle is sealed. By adjusting a temperature and a pressure in the extraction kettle, the supercritical CO2 fluid is kept at its critical point and permeates the coal sample to dissolve organic sulfur, inorganic sulfur and ash in the coal sample. The extraction kettle is depressurized, and the temperature in the extraction kettle is adjusted to gasify the supercritical CO2 fluid. The organic sulfur, the inorganic sulfur and part of the ash are separated from the supercritical CO2 fluid and precipitated at a bottom of the extraction kettle.