A blank cleaning robot for a conveyor

Abstract

The embodiment of the application discloses a material-falling cleaning robot for a conveyor, relates to the technical field of material conveying, and solves the problems of great difficulty in material-falling cleaning work, great labor intensity, and the cleaning mechanism being difficult to clean the material falling below the conveyor belt and the cleaning range being limited due to a complex working environment. The robot comprises a shell, an inlet assembly, an outlet assembly and a lifting module arranged on the shell. The inlet assembly is used for collecting the material falling. The outlet assembly is arranged above the inlet assembly and is used for feeding the material falling collected by the inlet assembly to the conveyor. The lifting module comprises a flexible transmission mechanism and at least one material-carrying piece. The two ends of the flexible transmission mechanism are respectively located at the positions of the inlet assembly and the outlet assembly. The flexible transmission mechanism can drive the material-carrying piece to move between the inlet assembly and the outlet assembly, so as to carry the material falling from the inlet assembly to the outlet assembly. The material-falling cleaning robot for the conveyor is used to replace manual cleaning of the material falling of the conveyor.

Description

Technical Field

[0001] This application relates to, but is not limited to, the field of material conveying technology, and in particular to a material discharge cleaning robot for conveyors. Background Technology

[0002] Conveyors are widely used equipment that can transport various granular, powdery, and other bulk materials. Some of these materials contain moisture. Conveyors include belt conveyors and screw conveyors. In humid environments, the viscosity of materials is particularly high. If the material adhering to the working surface such as the conveyor belt is not completely unloaded during unloading, it will scatter below the lower idler rollers.

[0003] In related technologies, a material cleaning mechanism is fixed on the conveyor, which can use a brush roller to clean the loose material adhering to the outside and inside of the belt, and use a scraper and brush to make the scraped loose material fall into the recycling chamber.

[0004] In the above scheme, the cleaning mechanism can only clean the loose material adhering to the belt, and it is difficult to clean and recycle the material scattered under the belt. In addition, the cleaning mechanism is fixed relative to the conveyor, and the cleaning range is limited. Summary of the Invention

[0005] The conveyor material cleaning robot provided in this application embodiment has a large operating range and can clean up fallen materials on the ground.

[0006] This application provides a material handling robot for a conveyor, including a body, an lifting module, and a drive module. The body is movable relative to the conveyor and includes a housing and an infeed component and an outlet component disposed on the housing. The infeed component is used to collect the falling material, and the outlet component is disposed above the infeed component and is used to deliver the falling material collected by the infeed component to the conveyor. The lifting module is disposed inside the housing and includes a flexible transmission mechanism and at least one material carrier. The two ends of the flexible transmission mechanism are respectively located at the infeed component and the outlet component. The flexible transmission mechanism can drive the material carrier to move between the infeed component and the outlet component to transport the falling material from the infeed component to the outlet component. The drive module is used to drive the body and the flexible transmission mechanism to move.

[0007] The conveyor material handling robot provided in this application embodiment can move relative to the conveyor to the location where materials are falling, allowing the robot to handle materials over a wider area, thus increasing its working range. One robot can handle materials falling from multiple different locations, which is more economical than having a separate handling mechanism for each material falling location, and also reduces the space occupied by the handling mechanism around the conveyor. Specifically, the robot body includes a casing and an infeed assembly and an outfeed assembly disposed on the casing. The infeed assembly collects the falling materials, and the outfeed assembly is disposed above the infeed assembly to deliver the collected materials to the conveyor. Meanwhile, the robot of this application also has an lifting module inside its casing to transport the falling material collected by the feeding component to the discharging component. Specifically, the lifting module includes a flexible transmission mechanism and at least one carrying component. The carrying component is used to carry the falling material. The two ends of the flexible transmission mechanism are located at the feeding component and the discharging component, respectively. The flexible transmission mechanism can drive the carrying component to move between the feeding component and the discharging component to transport the falling material from the feeding component to the discharging component. Because of the lifting module, the falling material can be transported from a lower position to a higher position, allowing the feeding component to be set at any height below the conveyor belt for material collection. For example, the feeding component can be set on the ground, and after collecting the falling material on the ground, it can be transported to the discharging component by the lifting module. Compared with related technologies, where the cleaning mechanism is fixed relative to the conveyor and can only clean up loose material adhering to the conveyor belt, the robot of this application can move, thus having a larger operating range. Furthermore, due to the addition of an lifting module, it can transport loose material from a low position to a high position, allowing the robot to clean and recycle loose material below the conveyor belt, such as at ground level.

[0008] In one possible implementation of this application, the flexible transmission mechanism includes a first sprocket, a second sprocket, and a ring chain. Both the first sprocket and the second sprocket are rotatably connected to the housing. One of the first sprocket and the second sprocket is connected to the drive module. The first sprocket is located at the feeding assembly position, and the second sprocket is located at the discharging assembly position. The two ends of the ring chain are respectively sleeved on the first sprocket and the second sprocket, and the material carrier is fixed to the outside of the ring chain.

[0009] In one possible implementation of this application, the flexible transmission mechanism further includes an auxiliary wheel and a first grooved wheel. The auxiliary wheel and the first grooved wheel abut against the inner and outer sides of the ring chain in the same direction, so that the ring chain forms a first transmission segment and a second transmission segment. The first transmission segment is horizontally arranged and includes a first sprocket. The second transmission segment is arranged at a preset angle to the first transmission segment, and the second transmission segment includes a second sprocket.

[0010] In one possible implementation of this application, the flexible transmission mechanism further includes a second grooved wheel, which abuts against the outer side of the second transmission section to form a clearance recess below the second sprocket, and the discharge assembly is disposed at the clearance recess position.

[0011] In one possible implementation of this application, at least one first clearance notch is provided on the circumference of the first grooved wheel, and at least one second clearance notch is provided on the circumference of the second grooved wheel. Both the first clearance notch and the second clearance notch are used to avoid the material-carrying component.

[0012] In one possible implementation of this application, an isolation plate fixed to the housing is also included. The isolation plate is disposed inside the second transmission section and extends along the contour of the ring chain.

[0013] In one possible implementation of this application, the machine body further includes a driving module, which includes an axle, driving wheels, and an adjustment mechanism. The axle is rotatably connected to the machine housing; the driving wheels are rotatably connected to the axle and can move along the axial direction of the axle to a first position and a second position; the adjustment mechanism includes a first driven wheel and a second driven wheel sleeved on the axle, both of which are drively connected to the drive module, and the first driven wheel and the second driven wheel rotate in opposite directions; when the driving wheel moves to the first position, the driving wheel rotates synchronously with the first driven wheel; when the driving wheel moves to the second position, the driving wheel rotates synchronously with the second driven wheel.

[0014] In one possible implementation of this application, the adjusting mechanism further includes a mating component. The mating component and the first driven wheel are both fixedly connected to the axle, and the mating component and the second driven wheel are respectively disposed on both sides of the driven wheel. Both sides of the driven wheel have a first limiting surface extending along the axial direction of the axle. The second driven wheel and the mating component each have a second limiting surface and a third limiting surface, respectively. When the driven wheel moves to the first position, the first limiting surface and the second limiting surface separate, and the first limiting surface and the third limiting surface abut against each other. When the driven wheel moves to the second position, the first limiting surface and the second limiting surface abut against each other, and the first limiting surface and the third limiting surface separate.

[0015] In one possible implementation of this application, the traveling wheel can also move along the axial direction of the wheel axle to a third position, which is located between the first position and the second position; when the traveling wheel moves to the third position, both the second limiting surface and the third limiting surface are separated from the first limiting surface.

[0016] In one possible implementation of this application, the adjustment mechanism further includes a toggle member, which is rotatably connected to the housing, and the rotation axis of the toggle member and the housing is perpendicular to the central axis of the wheel axle. The first end of the toggle member near the driving wheel is provided with a first engaging portion, and the driving wheel has a second engaging portion corresponding to the first engaging portion. The first engaging portion and the second engaging portion abut against each other. When the second end of the toggle member away from the driving wheel is subjected to an external force, the first end of the toggle member can drive the driving wheel to move to a first position, a second position, or a third position.

[0017] In one possible implementation of this application, the adjustment mechanism further includes a transition member, which is slidably connected to the housing along the axial direction of the wheel axle. The transition member is disposed between the first locking part and the second locking part, and the transition member has a third locking part disposed opposite to it. The first locking part and the second locking part abut against the corresponding third locking part.

[0018] In one possible implementation of this application, a handrail, a rope, and a handle are also included. The handrail is fixedly connected to the housing, the handle is rotatably connected to the handrail, the first end of the rope is connected to the handle, and the second end of the rope is connected to the second end of the actuating element.

[0019] In one possible implementation of this application, the cooperating driving wheel, the second driven driving wheel, the actuating element, the transition element, the rope, and the handle constitute a driving assembly. The driving module includes two driving assemblies, and the driving wheels in the two driving assemblies are respectively located on both sides of the housing.

[0020] In one possible implementation of this application, the feeding assembly includes a fixedly connected connecting shaft and blades, the connecting shaft being rotatably connected to the housing, and the blades extending helically along the axial direction of the connecting shaft.

[0021] In one possible implementation of this application, the connecting shaft and the first sprocket are coaxially arranged, and there are two blades, which are respectively arranged on both sides of the first sprocket and the two blades are arranged in opposite directions. Attached Figure Description

[0022] Figure 1 This is one of the structural schematic diagrams of the conveyor unloading and cleaning robot provided in the embodiments of this application;

[0023] Figure 2 This is the second structural schematic diagram of the conveyor unloading and cleaning robot provided in the embodiments of this application;

[0024] Figure 3 This is a schematic diagram of the internal structure of the conveyor unloading and cleaning robot provided in an embodiment of this application;

[0025] Figure 4 This is a schematic diagram of the lifting module in the conveyor unloading and cleaning robot provided in the embodiments of this application;

[0026] Figure 5 This is a schematic diagram of the structure of the first grooved wheel in the conveyor unloading and cleaning robot provided in the embodiments of this application;

[0027] Figure 6 This is a schematic diagram of the structure of the isolation plate in the conveyor unloading and cleaning robot provided in the embodiments of this application;

[0028] Figure 7 This is a schematic diagram of the driving module in the conveyor unloading and cleaning robot provided in the embodiments of this application;

[0029] Figure 8 An exploded view of the travel module in the conveyor unloading and cleaning robot provided in this application embodiment;

[0030] Figure 9 An exploded view of the adjustment mechanism in the conveyor unloading and cleaning robot provided in this application embodiment;

[0031] Figure 10 This is a schematic diagram of the structure of the traveling wheels in the conveyor unloading and cleaning robot provided in the embodiments of this application;

[0032] Figure 11 This is a schematic diagram of the adjustment mechanism in the conveyor unloading and cleaning robot provided in the embodiments of this application;

[0033] Figure 12 This is a schematic diagram of the connection of the transition component in the conveyor unloading and cleaning robot provided in the embodiments of this application;

[0034] Figure 13 This is a schematic diagram of the structure of the transition component in the conveyor unloading and cleaning robot provided in the embodiments of this application;

[0035] Figure 14 This is a schematic diagram showing the connection between the handrail and the handle in the conveyor unloading and cleaning robot provided in this application embodiment.

[0036] Figure label:

[0037] 0-Conveyor belt; 1-Machine body; 11-Casing; 111-First casing; 112-Second casing; 113-Bucket; 114-Protective cover; 115-Isolation plate; 116-Gap; 117-Support frame; 118-Limiting groove; 12-Feeding assembly; 121-Connecting shaft; 122-Blade; 13-Discharge assembly; 131-Function funnel; 132-Conveying pipe; 14-Travel module; 141-Wheel Shaft; 142-Traveling wheel; 1421-First limiting shaft; 1422-Second limiting shaft; 1423-Matching element; 1424-Wheel hub; 1425-Wheel body; 1426-Anti-slip protrusion; 1427-Second locking part; 143-Adjusting mechanism; 1431-First driven wheel; 1432-Second driven wheel; 1432a-Second limiting hole; 1433-Matching part; 1433a-First Limiting hole; 1434-Actuating element; 1434a-First locking part; 1435-Transition element; 1435a-Third locking part; 1436-Handle; 1437-First sleeve; 1438-Second sleeve; 1439-Rope; 144-Road wheel; 15-Handrail; 2-Lifting module; 21-Flexible transmission mechanism; 21a-First transmission section; 21b-Second transmission section; 211-First sprocket ; 212-Second sprocket; 213-Ring chain; 214-Auxiliary wheel; 215-First grooved wheel; 216-Second grooved wheel; 217-Avoidance notch; 22-Carrying component; 3-Drive module; 31-Drive component; 32-Transmission assembly; 321-Lifting drive wheel; 322-Lifting driven wheel; 323-Forward drive wheel; 324-Reverse drive wheel; 325-Ring forward flexible component; 33-Gearbox. Detailed Implementation

[0038] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the specific technical solutions of this application will be further described in detail below with reference to the accompanying drawings of the embodiments of this application. The following embodiments are used to illustrate this application, but are not intended to limit the scope of this application.

[0039] In the embodiments of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the embodiments of this application, unless otherwise stated, "multiple" means two or more.

[0040] Furthermore, in the embodiments of this application, directional terms such as "upper," "lower," "left," and "right" are defined relative to the positions in which the components are schematically placed in the accompanying drawings. It should be understood that these directional terms are relative concepts, used for relative description and clarification, and can change accordingly depending on the position of the components in the accompanying drawings.

[0041] In the embodiments of this application, unless otherwise explicitly specified and limited, the term "connection" should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral part; it can be a direct connection or an indirect connection through an intermediate medium.

[0042] In embodiments of this application, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0043] In the embodiments of this application, the terms "exemplary" or "for example" are used to indicate that something is an example, illustration, or description. Any embodiment or design that is described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design. Specifically, the use of the terms "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0044] This application provides a material spillage cleaning robot for conveyors, which can recover materials spilled during conveyor transportation. The conveyor can be a belt conveyor, a screw conveyor, etc.; any conveyor that spills materials during transportation is suitable for this material spillage cleaning robot. For ease of explanation, a belt conveyor is used as an example. (Refer to...) Figure 1 The belt conveyor includes a conveyor belt 0, and the material is placed on the upper side of the conveyor belt 0. During the transportation process of the conveyor belt 0, the material may spill out, thus forming a material drop.

[0045] Reference Figure 1 and Figure 2The conveyor unloading cleaning robot provided in this application embodiment includes a body 1, a lifting module 2, and a drive module 3. The body 1 can move relative to the conveyor. The body 1 includes a housing 11 and a feeding component 12 and an unloading component 13 disposed on the housing 11. The feeding component 12 is used to collect unloaded materials, and the unloading component 13 is disposed above the feeding component 12 and is used to deliver the unloaded materials collected by the feeding component 12 to the conveyor. The lifting module 2 is disposed inside the housing 11. The lifting module 2 includes a flexible transmission mechanism 21 and at least one material carrier 22. The two ends of the flexible transmission mechanism 21 are respectively located at the feeding component 12 and the unloading component 13. The flexible transmission mechanism 21 can drive the material carrier 22 to move between the feeding component 12 and the unloading component 13 to transport the unloaded materials from the feeding component 12 to the unloading component 13. The drive module 3 is used to drive the body 1 and the flexible transmission mechanism 21 to move.

[0046] The conveyor material handling robot provided in this application embodiment has a body 1 driven by a drive module 3 to move relative to the conveyor, thereby moving to the position where materials are falling. This allows the robot to handle materials falling over a larger area, increasing its working range. One robot can handle materials falling at multiple different locations. Compared to setting up a cleaning mechanism at each material falling location, this is more economical and reduces the space occupied by the cleaning mechanism around the conveyor.

[0047] Specifically, the machine body 1 includes a housing 11 and a feeding assembly 12 and a discharging assembly 13 disposed on the housing 11. The feeding assembly 12 is used to collect falling materials, and the discharging assembly 13 is disposed above the feeding assembly 12. The discharging assembly 13 is used to deliver the falling materials collected by the feeding assembly 12 to the conveyor.

[0048] Meanwhile, the robot of this application is also provided with a lifting module 2 inside the housing 11 to transport the dropped material collected by the feeding component 12 to the discharging component 13. Specifically, the lifting module 2 includes a flexible transmission mechanism and at least one material carrier 22. The material carrier 22 is used to carry the dropped material. The two ends of the flexible transmission mechanism are located at the feeding component 12 and the discharging component 13, respectively. The drive module 3 drives the flexible transmission mechanism. The flexible transmission mechanism 21 can drive the material carrier 22 to move between the feeding component 12 and the discharging component 13 to transport the dropped material from the feeding component 12 to the discharging component 13.

[0049] Because of the lifting module 2, the falling material can be transported from a lower position to a higher position, so that the feeding component 12 can be set at any height below the conveyor belt 0 to collect the falling material. For example, the feeding component 12 can be set on the ground, and after collecting the falling material on the ground, the feeding component 12 can be transported by the lifting module 2 to the discharging component 13.

[0050] It should be noted that the terms "below" and "above" in this application are used only to describe the height relationship of objects relative to the ground, and unless otherwise specified, do not specifically refer to the vertical alignment of two objects.

[0051] Compared with related technologies, where the cleaning mechanism is fixed relative to the conveyor and can only clean the loose material adhering to the conveyor belt 0, the robot of this application can move, thus having a larger operating range. Furthermore, due to the installation of the lifting module 2, the loose material can be transported from a low place to a high place, allowing the robot to clean and recycle the loose material below the conveyor belt 0, such as at the ground level.

[0052] The housing 11 provides a mounting base for other components. The housing 11 can take many forms, including closed or open structures. The shape of the housing 11 can be block-shaped, cylindrical, frustum-shaped, etc. This application does not limit these aspects.

[0053] Reference Figure 1 , Figure 2 and Figure 3 In one possible implementation of this application, the housing 11 includes a first housing 111 and a second housing 112 that are fixedly connected and communicate with each other. The first housing 111 is horizontally arranged relative to the ground, and the second housing 112 is vertically arranged relative to the ground. The cross-sections of the first housing 111 and the second housing 112 are approximately rectangular. A feed inlet is provided at the end of the first housing 111 away from the second housing 112. The feed inlet is vertically arranged relative to the ground. The feeding assembly 12 is located at the feed inlet. The first housing 111 can extend into the space below the conveyor belt 0 without colliding with the conveyor, so as to clear the material falling into the narrow space.

[0054] The second housing 112 has a discharge port at the end away from the first housing 111. The second housing 112 mainly corresponds to the material falling and rising movement. The vertical setting can reduce the space occupied by the housing 11 in the horizontal direction, making the robot more compact. The discharge port is set horizontally relative to the ground, and the discharge component 13 is set at the discharge port.

[0055] In order to facilitate feeding, refer to Figure 2 and Figure 3 A bucket 113 is provided at the end of the first housing 111 away from the second housing 112. When the base moves in the forward direction, the material can be scooped into the bucket 113. The inside of the bucket 113 and the first housing 111 are connected through the feed port. Optionally, the dimension of the bucket 113 along the width direction of the machine body 1 is larger than the dimension of the first housing 111 along the width direction to improve the efficiency of scooping the material.

[0056] In addition, the feeding assembly 12 can take many forms. For example, the feeding assembly 12 includes a scraper that can swing to scrape the material into the feed port; or the feeding assembly 12 includes a brush that brushes the material into the feed port by rotating or swinging.

[0057] Reference Figure 2 and Figure 3 In one possible implementation of this application, the feeding assembly 12 includes a fixedly connected connecting shaft 121 and blades 122. The connecting shaft 121 is rotatably connected to the housing 11. Specifically, the connecting shaft 121 and blades 122 are located inside the bucket 113. The connecting shaft 121 is arranged along the width direction of the machine body 1 and is rotatably connected to the bucket 113. At the same time, the connecting shaft 121 is driven to the drive module 3. The blades 122 extend spirally along the axial direction of the connecting shaft 121. The drive module 3 drives the connecting shaft 121 to rotate, and the connecting shaft 121 drives the blades 122 to rotate. The blades 122 gradually gather the falling material through the spiral motion.

[0058] Correspondingly, the discharge component 13 can also take many forms. For example, the discharge component 13 is an air blowing component that blows the material into the conveyor belt 0 of the conveyor through airflow; or the discharge component 13 includes a scraper that can scrape the material from the loading component 22 onto the conveyor belt 0.

[0059] Reference Figure 1 , Figure 2 and Figure 3 In one possible implementation of this application, the discharge component 13 includes a funnel 131 with a discharge port position. The funnel 131 and the housing 11 are fixed. The outlet of the funnel 131 is fixedly connected to a conveying pipe 132. The conveying pipe 132 extends above the feeding component 12. That is, the outlet of the conveying pipe 132 and the feeding component 12 are roughly aligned in the vertical direction, and the conveying pipe 132 is located above the conveyor belt 0. The material falls into the conveyor belt 0 by gravity.

[0060] It should be noted that the drive module 3 can take many forms. For example, the drive module 3 includes a drive component 31 and a transmission component 32. The drive component 31 can be a hydraulic cylinder, a motor, a rotary cylinder, etc., and the transmission component 32 can be a gear and rack assembly, a gear assembly, a worm gear assembly, a pulley assembly, a sprocket assembly, etc. This application does not limit this. Optionally, the drive module 3 may also include a gearbox 33, etc.

[0061] Reference Figure 1 and Figure 2In one possible implementation of this application, the drive module 3 includes a gearbox 33, a drive component 31, and a transmission assembly 32. The gearbox 33 is fixed to the vertical side of the second housing 112 and is located on the side of the second housing 112 away from the first housing 111. The drive component 31 is fixed to the upper side of the gearbox 33. The drive component 31 is a motor. The output shaft of the drive component 31 is vertically arranged. The drive component 31 and the gearbox 33 are connected by transmission. The output shaft of the gearbox 33 is horizontally arranged and perpendicular to the forward or backward direction of the machine body 1. The output shaft of the gearbox 33 is connected to the machine body 1 and the flexible transmission mechanism 21 by transmission.

[0062] To improve the stability of the robot, optionally, the gearbox 33 and the motor are positioned below the center of gravity of the second housing 112, thereby lowering the center of gravity of the robot and improving its stability.

[0063] It should be noted that the flexible transmission mechanism 21 can be a belt transmission mechanism, chain transmission mechanism, rope transmission mechanism, etc., and this application does not limit it.

[0064] Reference Figure 3 and Figure 4 In one possible implementation of this application, the flexible transmission mechanism 21 is a chain transmission mechanism. Specifically, the flexible transmission mechanism 21 includes a first sprocket 211, a second sprocket 212, and a ring chain 213. For ease of understanding, part of the ring chain 213 and the housing 11 are hidden in the figure. Both the first sprocket 211 and the second sprocket 212 are rotatably connected to the housing 11. One of the first sprocket 211 and the second sprocket 212 is driven by the drive module 3 as the driving wheel, and the other is driven as the driven wheel. The first sprocket 211 is located at the feeding assembly 12, and the second sprocket 212 is located at the discharging assembly 13. The two ends of the ring chain 213 are respectively sleeved on the first sprocket 211 and the second sprocket 212. The material carrier 22 is fixed to the outside of the ring chain 213.

[0065] Optionally, in the flexible transmission mechanism 21, the first sprocket 211 is the driving sprocket, and the second sprocket 212 is the driven sprocket. The first sprocket 211 is connected to the drive module 3 via a transmission connection. Figure 2 The transmission assembly 32 includes a lifting drive wheel 321, a lifting driven wheel 322, and an annular lifting flexible member (not shown in the figure). The lifting drive wheel 321 and the first sprocket 211 are coaxially fixed, and the lifting drive wheel 321 is located on the outside of the housing 11. The lifting driven wheel 322 is fixed to the output shaft of the gearbox 33. The two ends of the annular lifting flexible member are respectively sleeved on the lifting drive wheel 321 and the lifting driven wheel 322.

[0066] The radial dimension of the driven lifting wheel 322 can be larger than that of the driving lifting wheel 321 to further reduce speed and improve the smoothness of the flexible transmission mechanism 21. In addition, the housing 11 also includes a protective cover 114 fixed to the second housing 112, and the driving lifting wheel 321, the driven lifting wheel 322 and the annular flexible lifting component are all disposed inside the protective cover 114.

[0067] In addition, to simplify the structure, refer to Figure 2 and Figure 3 The connecting shaft 121 of the feeding assembly 12 and the first sprocket 211 are coaxially arranged. That is, the drive module 3 drives the feeding assembly 12 to move through the flexible transmission mechanism 21. There are two blades 122, which are respectively arranged on both sides of the first sprocket 211. The first sprocket 211 is located in the middle of the bucket 113. The two blades 122 are arranged in opposite directions of rotation, and when the two blades 122 rotate with the first sprocket 211, they can gather the falling material towards the middle position of the two blades 122.

[0068] It should be noted that the material carrier 22 can be implemented in various ways, such as being plate-shaped, bucket-shaped, etc., as shown in the reference. Figure 3 and Figure 4 In one possible implementation of this application, the material carrier 22 is a square plate, the material carrier 22 is disposed perpendicular to the outer surface of the ring chain 213, and the side of the material carrier 22 away from the ring chain 213 is approximately attached to the inner wall of the housing 11, so as to reduce the possibility of material spilling from the material carrier 22 during transportation.

[0069] The increase in the number of material carriers 22 can improve the transportation efficiency of the lifting mechanism. Optionally, there are a total of twenty material carriers 22 and one hundred and sixty links in the ring chain 213. One material carrier 22 is installed every eight links of the ring chain 213, so that the lifting mechanism can transport the dropped material efficiently.

[0070] In order to adapt the flexible transmission mechanism 21 to the shape of the housing 11, refer to Figure 3 and Figure 4 In one possible implementation of this application, the flexible transmission mechanism 21 further includes an auxiliary wheel 214 and a first grooved wheel 215. The auxiliary wheel 214 and the first grooved wheel 215 abut against the inner and outer sides of the ring chain 213 in the same direction, so that the flexible transmission mechanism 21 forms a first transmission segment 21a and a second transmission segment 21b.

[0071] The first transmission segment 21a is horizontally arranged and includes a first sprocket 211, that is, the first transmission segment 21a is arranged inside the first housing 111. The second transmission segment 21b is arranged at a preset angle to the first transmission segment 21a. Specifically, the preset angle is 85°~95°. For example, the first transmission segment 21a and the second transmission segment 21b are arranged perpendicularly, and the second transmission segment 21b includes a second sprocket 212, that is, the second transmission segment 21b is arranged inside the second housing 112.

[0072] It should be noted that in this application, the first housing 111 and the first transmission section 21a are set horizontally in an approximately horizontal manner. The first housing 111 and the ground can have an angle range of 0 to 5°. The same applies to the first transmission section 21a. It is only necessary to ensure that the bucket 113 can scoop up the dropped material.

[0073] To make it easier for the material to fall into the funnel 131 through the discharge port, refer to Figure 3 and Figure 4 In one possible implementation of this application, the flexible transmission mechanism 21 further includes a second grooved wheel 216, which abuts against the outer side of the second transmission section 21b so that the ring chain 213 forms a recess below the second sprocket 212. The discharge assembly 13 is disposed in the recessed position so that the funnel 131 can be closer to the material carrier 22 and interference between the material carrier 22 and the discharge assembly 13 is avoided during the movement of the material carrier 22. Optionally, the projection of the second sprocket 212 in the vertical direction at least partially overlaps with the projection of the discharge assembly 13 in the vertical direction.

[0074] Since the first grooved wheel 215, the second grooved wheel 216 and the material carrier 22 are all located on the outside of the ring chain 213, in order to avoid interference between the first grooved wheel 215, the second grooved wheel 216 and the material carrier 22, a clearance notch 217 can be provided on the first grooved wheel 215 and the second grooved wheel 216, or a clearance notch 217 can be provided on the material carrier 22.

[0075] To improve the overall integrity of the load-bearing component 22 and enhance its carrying capacity, refer to Figure 4 and Figure 5 In one possible implementation of this application, the first grooved wheel 215 is provided with at least one first clearance notch on its periphery, and the second grooved wheel 216 is provided with at least one second clearance notch on its periphery. Both the first clearance notch and the second clearance notch are used to avoid the material carrier 22.

[0076] Optionally, the second grooved wheel 216 has a similar structure to the first grooved wheel 215. The first grooved wheel 215 has two first clearance notches on its circumference, which are arranged opposite to each other. The distance between the two first clearance notches along the circumference of the first grooved wheel 215 is the same as the distance between two adjacent material carriers 22 on the ring chain 213. The second grooved wheel 216 has two second clearance notches on its circumference, which are arranged opposite to each other. The distance between the two second clearance notches along the circumference of the second grooved wheel 216 is the same as the distance between two adjacent material carriers 22 on the ring chain 213.

[0077] In addition, the second housing 112 has openings corresponding to the positions of the first grooved wheel 215 and the second grooved wheel 216 to facilitate maintenance of the flexible transmission mechanism 21.

[0078] It should be noted that the first sprocket 211, the second sprocket 212, the auxiliary sprocket 214, the first grooved sprocket 215, and the second grooved sprocket 216 can be single-row sprockets, double-row sprockets, or multi-row sprockets, as shown in the reference. Figure 3 and Figure 5 In one possible implementation of this application, the first sprocket 211, the second sprocket 212, the auxiliary wheel 214, the first grooved wheel 215, and the second grooved wheel 216 are all double-row wheels, i.e. coaxial double wheels, and correspondingly, two ring chains 213 are provided.

[0079] For example, the first sprocket 211 and the second sprocket 212 both have 24 teeth, the first grooved wheel 215 and the second grooved wheel 216 both have 16 teeth, and the auxiliary wheel 214 has 7 teeth.

[0080] Furthermore, to avoid mutual interference between the flexible transmission mechanism 21 and the upward and downward sides, refer to Figure 3 and Figure 6 The robot of this application also includes an isolation plate 115 fixed to the housing 11. The isolation plate 115 is disposed on the inner side of the second transmission section 21b and extends along the outline of the ring chain 213.

[0081] Specifically, the lower part of the isolation plate 115 is vertically arranged corresponding to the second housing 112, and the upper end of the isolation plate 115 is bent into a semi-circular structure. The central axis of the semi-circular structure is coaxial with the second sprocket 212. The semi-circular structure is also provided with a clearance groove 116 corresponding to the second sprocket 212. The clearance groove 116 is used to avoid the second sprocket 212.

[0082] To facilitate the movement of the robot in this application, refer to Figure 1 , Figure 7 and Figure 8The body 1 also includes a travel module 14, which includes an axle 141, a travel wheel 142, and an adjustment mechanism 143. The axle 141 is rotatably connected to the housing 11, and optionally, the axle 141 is connected to the lower part of the second housing 112. The travel wheel 142 is rotatably connected to the axle 141, and the travel wheel 142 can move along the axial direction of the axle 141 to a first position and a second position. The adjustment mechanism 143 includes a first driven travel wheel 143 sleeved on the axle 141. 1. The first driven wheel 1431 and the second driven wheel 1432 are both connected to the drive module 3, and the first driven wheel 1431 and the second driven wheel 1432 rotate in opposite directions. When the driving wheel 142 moves to the first position, the driving wheel 142 rotates synchronously with the first driven wheel 1431. When the driving wheel 142 moves to the second position, the driving wheel 142 rotates synchronously with the second driven wheel 1432.

[0083] Optionally, the first driven wheel 1431 drives the driving wheel 142 to rotate forward, thereby driving the machine body 1 to move in the forward direction, and the second driven wheel 1432 drives the driving wheel 142 to rotate backward, thereby driving the machine body 1 to move in the backward direction. Alternatively, the second driven wheel 1432 drives the driving wheel 142 to rotate forward, thereby driving the machine body 1 to move in the forward direction, and the first driven wheel 1431 drives the driving wheel 142 to rotate backward, thereby driving the machine body 1 to move in the backward direction. This application does not limit this, and the transmission method of the first driving wheel 142, the second driving wheel 142, and the drive module 3 can be realized by gear transmission, belt transmission, chain transmission, etc.

[0084] Reference Figure 2 and Figure 7 In one possible implementation of this application, the transmission assembly 32 includes a forward drive wheel 323, a reverse drive wheel 324, an annular forward flexible member 325, and an annular reverse flexible member (not shown in the figure). The forward drive wheel 323 is fixed to the output shaft of the gearbox 33. The two ends of the annular forward flexible member 325 are respectively sleeved on the forward drive wheel 323 and the second driven wheel 1432. The reverse drive wheel 324 and the first grooved wheel 215 are coaxially fixed. The two ends of the annular reverse flexible member are respectively sleeved on the reverse drive wheel 324 and the first driven wheel 1431.

[0085] It should be noted that the lifting drive wheel 321, lifting driven wheel 322, forward drive wheel 323, reverse drive wheel 324, first driving driven wheel 1431, and second driving driven wheel 1432 can be sprockets, pulleys, etc., and the corresponding annular lifting flexible component, annular forward flexible component 325, and annular reverse flexible component can be chains, transmission belts, etc., as long as power transmission is guaranteed, this application does not impose any restrictions on this.

[0086] In addition, to facilitate the fixing of the axle 141, refer to Figure 7 and Figure 8 The housing 11 is provided with support frames 117 on both sides along the width direction of the body 1. The support frames 117 are fixed to the second housing 112. The two ends of the wheel axle 141 are respectively passed through the two support frames 117, and the wheel axle 141 and the support frames 117 are rotatably connected.

[0087] To facilitate the synchronous rotation of the driving wheel 142, the first driven wheel 1431, and the second driven wheel 1432, refer to Figure 8 and Figure 9 In one possible implementation of this application, the adjustment mechanism 143 further includes a mating member 1433. The mating member 1433 and the first driven wheel 1431 are both fixedly connected to the axle 141. The mating member 1433 and the second driven wheel 1432 are respectively disposed on both sides of the driven wheel 142. Specifically, the mating member 1433 is located on the side of the driven wheel 142 away from the support frame 117, and the second driven wheel 1432 is located on the side of the driven wheel 142 close to the support frame 117.

[0088] The first limiting shaft 1421 extends from the side of the driving wheel 142 facing the mating part 1433, and the second limiting shaft 1422 extends from the side of the driving wheel 142 facing the second driven wheel 1432. Both the first limiting shaft 1421 and the second limiting shaft 1422 have a first limiting surface extending along the axial direction of the wheel axle 141. The mating part 1433 has a first limiting hole 1433a on the primary side facing the driving wheel 142. The first limiting hole 1433a has a third limiting surface extending along the axial direction of the wheel axle 141. The second driven wheel 1432 has a second limiting hole 1432a on the side facing the driving wheel 142. The second limiting hole 1432a has a second limiting surface extending along the axial direction of the wheel axle 141.

[0089] When the traveling wheel 142 moves to the first position, the second limiting shaft 1422 exits the second limiting hole 1432a, the first limiting surface and the second limiting surface separate, and the first limiting shaft 1421 extends into the first limiting hole 1433a. The first limiting surface and the third limiting surface abut against each other, and the traveling wheel 142, the mating part 1433, and the first traveling driven wheel 1431 rotate synchronously, driving the base to move in the backward direction.

[0090] When the traveling wheel 142 moves to the second position, the second limiting shaft 1422 extends into the second limiting hole 1432a, the first limiting surface and the second limiting surface abut against each other, and the first limiting shaft 1421 exits the first limiting hole 1433a, the first limiting surface and the third limiting surface separate, the traveling wheel 142 and the second traveling driven wheel 1432 rotate synchronously, driving the base to move in the forward direction.

[0091] It should be noted that the limiting holes (including the first limiting hole 1433a and the second limiting hole 1432a) can also be set on both sides of the traveling wheel 142, while the limiting shaft (including the first limiting shaft 1421 and the second limiting shaft 1422) can be set on the second traveling driven wheel 1432 and the mating part 1433; wherein the radial dimension of the limiting hole can be the same as the radial dimension of the limiting shaft, or the radial dimension of the limiting hole can be slightly larger than the radial dimension of the limiting shaft, so as to facilitate the insertion of the limiting shaft into the limiting hole.

[0092] Optional, refer to Figure 10 The traveling wheel 142 includes a coupling 1423, a hub 1424, and a wheel body 1425. The coupling 1423 is rotatably connected to the axle 141. A limiting shaft or limiting hole is provided in the coupling 1423. The hub 1424 is fixed to the outer periphery of the coupling 1423, and the wheel body 1425 is fixed to the outer periphery of the hub 1424. The wheel body 1425 can be made of steel, which has good impact resistance and wear resistance, and a long service life. The wheel body 1425 can also be made of rubber or other materials, which has good anti-slip properties and a cushioning and shock absorption function. Anti-slip protrusions 1426 can be provided on the outer periphery of the wheel body 1425 to increase the friction between the traveling wheel 142 and the ground.

[0093] In addition, the traveling wheel 142 can also move along the axial direction of the wheel axle 141 to a third position, which is located between the first position and the second position. When the traveling wheel 142 moves to the third position, the first limiting shaft 1421 and the first limiting hole 1433a separate, and the second limiting shaft 1422 and the second limiting hole 1432a separate. That is, the second limiting surface and the third limiting surface are both separated from the first limiting surface. At this time, the base stops relative to the ground and does not move in the forward direction or the backward direction.

[0094] To facilitate the movement of the traveling wheel 142 along the axle 141, refer to Figure 9 and Figure 11 In one possible implementation of this application, the adjusting mechanism 143 further includes a toggle member 1434, which is rotatably connected to the housing 11. Specifically, the toggle member 1434 is rotatably connected to the support frame 117, and the rotation axis of the toggle member 1434 and the housing 11 is perpendicular to the central axis of the wheel axle 141. A first engaging portion 1434a is provided at the first end of the toggle member 1434 near the travel wheel 142, and the travel wheel 142 has a second engaging portion 1427 corresponding to the first engaging portion 1434a. Specifically, the second engaging portion 1427 is provided on the connector 1423. The first engaging portion 1434a and the second engaging portion 1427 abut against each other. When the second end of the toggle member 1434 away from the travel wheel 142 is subjected to an external force, the first end of the toggle member 1434 can drive the travel wheel 142 to move to a first position, a second position, or a third position.

[0095] The first latching part 1434a and the second latching part 1427 can directly abut against each other. For example, the first latching part 1434a is a slot and the second latching part 1427 is a block, with the second latching part 1427 extending into the first latching part 1434a to abut against each other. Alternatively, the first latching part 1434a is a protrusion and the second latching part 1427 is a slot, with the first latching part 1434a extending into the second latching part 1427 to abut against each other.

[0096] Optionally, the first latching part 1434a and the second latching part 1427 indirectly abut against each other, as shown in the reference. Figure 9 , Figure 11 and Figure 12 In one possible implementation of this application, the adjusting mechanism 143 further includes a transition member 1435, which is slidably connected to the housing 11 along the axial direction of the wheel axle 141. The transition member 1435 is disposed between the first locking portion 1434a and the second locking portion 1427, and refers to... Figure 13 The transition member 1435 has a third latching portion 1435a disposed opposite to it, and the first latching portion 1434a and the second latching portion 1427 respectively abut against the corresponding third latching portion 1435a.

[0097] Specifically, the support frame 117 of the housing 11 has a limiting groove 118 corresponding to the transition piece 1435. The transition piece 1435 is disposed in the limiting groove 118 and is slidably connected to the support frame 117. The third locking part 1435a is a locking groove, and the first locking part 1434a and the second locking part 1427 are both protrusions. The first locking part 1434a and the second locking part 1427 extend into the corresponding third locking part 1435a. Optionally, the third locking part 1435a can also be a protrusion. By setting the transition piece 1435, the actuating piece 1434 and the coupling piece 1423 can be kept in abutting state to prevent the second locking part 1427 from separating from the first locking part 1434a as the coupling piece 1423 rotates.

[0098] Furthermore, for ease of use in controlling the movement of body 1, refer to Figure 14 The body 1 also includes a handrail 15, a rope 1439 (not shown in the figure) and a handle 1436. The handrail 15 is fixedly connected to the housing 11. Specifically, the handrail 15 is fixedly connected to the side of the second housing 112 away from the first housing 111. The handle 1436 is rotatably connected to the handrail 15. Specifically, the rotation axes of the handle 1436 and the handrail 15 are arranged in the vertical direction. The rope 1439 can be a steel wire rope, etc. The first end of the rope 1439 is connected to the handle 1436, and the second end of the rope 1439 is connected to the second end of the actuating member 1434.

[0099] Specifically, the two ends of the rope 1439 are respectively fitted with a first sleeve 1437 and a second sleeve 1438. The first sleeve 1437 is fixed to the handrail 15, and the central axis of the first sleeve 1437 is perpendicular to the rotation axis of the handle 1436 and the handrail 15. The first end of the rope 1439 passes through the first sleeve 1437 and is hinged to the handle 1436. The second sleeve 1438 is fixed to the housing 11, and the central axis of the second sleeve 1438 is perpendicular to the rotation axis of the actuating member 1434 and the housing 11. The second end of the rope 1439 passes through the second sleeve 1438 and is hinged to the second end of the actuating member 1434. The second end of the rope 1439 has corresponding rigidity, for example, the second end of the rope 1439 is a rigid rod, so that the second end of the rope 1439 can both pull the actuating member 1434 to rotate and push the actuating member 1434 to rotate.

[0100] When the user moves the handle 1436 away from the second housing 112, the handle 1436 drives the rope 1439, which in turn drives the second end of the actuating member 1434. The actuating member 1434 rotates relative to the support frame 117. The first end of the actuating member 1434 abuts against the coupling member 1423 through the transition member 1435, causing the traveling wheel 142 to move toward the first position. When the traveling wheel 142 is in the first position, it is fixed with the mating member 1433, and the machine body 1 switches to a backward movement state. Conversely, when the user moves the handle 1436 toward the second housing 112, the machine body 1 switches to a forward movement state. When the handle 1436 is in the middle position, the machine body 1 stops moving.

[0101] To facilitate the reset of the rope 1439, an elastic element (not shown in the figure) can also be provided. The elastic element can be provided between the rope 1439 and the first sleeve 1437 and the second sleeve 1438. The elastic element can also be provided between the handle 1436 and the handrail 15, the actuating element 1434 and the support bracket, etc., so that when the user does not apply force to the handle 1436, the handle 1436 can return to the middle position, so that the machine body 1 stops moving and improves safety.

[0102] It should be noted that the cooperating driving wheel 142, the second driven driving wheel 1432, the actuating element 1434, the transition element 1435, the rope 1439, the handle 1436, the first sleeve 1437 and the second sleeve 1438 constitute a driving component. The driving module 14 includes two driving components, and the driving wheels 142 in the two driving components are respectively located on both sides of the housing 11.

[0103] Specifically, refer to Figure 1 and Figure 2The gearbox 33 has output shafts on both sides, and the two output shafts of the gearbox 33 are respectively connected to the second driven wheel 1432 for driving the two driving wheels 142 forward. The two ends of the wheel axle 141 are respectively fixed with mating parts 1433 for driving the two driving wheels 142 backward.

[0104] With this configuration, the two driving wheels 142 not only improve the stability of the support for the body 1, but also enable differential steering. For example, if one driving wheel 142 rotates forward and the other driving wheel 142 rotates backward at the same speed, it will cause the body 1 to turn in place.

[0105] In addition, to facilitate the movement of the body 1 and reduce the friction between the first shell 111 and the ground, refer to Figure 1 Two load-bearing wheels 144 are provided on both sides of the first housing 111. The two load-bearing wheels 144 and the two driving wheels 142 work together to support the housing 11 and related components.

[0106] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments. The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made based on the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A material handling robot for a conveyor, characterized in that, include: The machine body is movable relative to the conveyor. The machine body includes a housing and a feeding component and a discharging component disposed on the housing. The feeding component is used to collect falling material, and the discharging component is disposed above the feeding component. The discharging component is used to dispose of the falling material collected by the feeding component to the conveyor. The lifting module is disposed inside the housing. The lifting module includes a flexible transmission mechanism and at least one material carrier. The two ends of the flexible transmission mechanism are respectively located at the feeding component and the discharging component. The flexible transmission mechanism can drive the material carrier to move between the feeding component and the discharging component to transport the dropped material from the feeding component to the discharging component. The drive module is used to drive the movement of the machine body and the flexible transmission mechanism; The discharge assembly includes a conveying pipe that extends above the feeding assembly. The feeding assembly is located vertically below the outlet of the conveying pipe, and the conveying pipe is located above the conveyor belt of the conveyor. The housing includes a first housing and a second housing that are fixedly connected and communicate with each other. The first housing is horizontally arranged relative to the ground, and the second housing is vertically arranged relative to the ground. A feed inlet is provided at the end of the first housing away from the second housing. The feed inlet is vertically arranged relative to the ground, and the feed assembly is located at the feed inlet position. The drive module and the first housing are located on opposite sides of the second housing along the conveying direction, and the first housing can extend under the conveyor belt; The flexible transmission mechanism includes a first sprocket, a second sprocket, and a ring chain. Both the first sprocket and the second sprocket are rotatably connected to the housing. One of the first sprocket and the second sprocket is connected to the drive module. The first sprocket is located at the feeding assembly position, and the second sprocket is located at the discharging assembly position. The two ends of the ring chain are respectively sleeved on the first sprocket and the second sprocket. The material carrier is fixed to the outside of the ring chain. The flexible transmission mechanism further includes an auxiliary wheel and a first grooved wheel. The auxiliary wheel and the first grooved wheel abut against the inner and outer sides of the ring chain in the same direction, so that the flexible transmission mechanism forms a first transmission segment and a second transmission segment. The first transmission segment is horizontally arranged and includes the first sprocket. The second transmission segment and the first transmission segment are arranged at a preset angle, and the second transmission segment includes the second sprocket. The flexible transmission mechanism further includes a second grooved wheel, which abuts against the outer side of the second transmission section so that the annular chain forms a clearance recess below the second sprocket, and the discharge assembly is disposed at the clearance recess position.

2. The conveyor unloading and cleaning robot according to claim 1, characterized in that, The first grooved wheel has at least one first clearance notch on its circumference, and the second grooved wheel has at least one second clearance notch on its circumference. Both the first clearance notch and the second clearance notch are used to avoid the material carrier.

3. The conveyor unloading and cleaning robot according to claim 1, characterized in that, It also includes an isolation plate fixed to the housing, the isolation plate being disposed inside the second transmission section and extending along the contour of the ring chain.

4. The conveyor unloading and cleaning robot according to any one of claims 1 to 3, characterized in that, The machine body also includes a driving module, which includes: A wheel axle is rotatably connected to the housing; A traveling wheel is rotatably connected to the axle, and the traveling wheel can move along the axial direction of the axle to a first position and a second position; The adjustment mechanism includes a first driven wheel and a second driven wheel sleeved on the axle. Both the first driven wheel and the second driven wheel are tractively connected to the drive module, and the first driven wheel and the second driven wheel rotate in opposite directions. When the driving wheel moves to the first position, the driving wheel rotates synchronously with the first driven driving wheel; When the driving wheel moves to the second position, the driving wheel and the second driven driving wheel rotate synchronously.

5. The conveyor unloading and cleaning robot according to claim 4, characterized in that, The adjustment mechanism further includes a mating component, which and the first driven wheel are both fixedly connected to the axle. The mating component and the second driven wheel are respectively disposed on both sides of the driven wheel. Both sides of the driven wheel have a first limiting surface extending along the axial direction of the axle. The second driven wheel and the mating component have a second limiting surface and a third limiting surface, respectively. When the driving wheel moves to the first position, the first limiting surface and the second limiting surface separate, and the first limiting surface and the third limiting surface abut against each other; When the driving wheel moves to the second position, the first limiting surface and the second limiting surface abut against each other, and the first limiting surface and the third limiting surface separate.

6. The conveyor unloading and cleaning robot according to claim 5, characterized in that, The traveling wheel can also move along the axial direction of the wheel axle to a third position, which is located between the first position and the second position; When the driving wheel moves to the third position, both the second limiting surface and the third limiting surface separate from the first limiting surface.

7. The conveyor unloading and cleaning robot according to claim 6, characterized in that, The adjustment mechanism further includes a toggle member, which is rotatably connected to the housing. The rotation axes of the toggle member and the housing are perpendicular to the central axis of the wheel axle. A first engaging portion is provided at the first end of the toggle member near the driving wheel, and a second engaging portion is provided at the driving wheel corresponding to the first engaging portion. The first engaging portion and the second engaging portion abut against each other. When the second end of the toggle member away from the driving wheel is subjected to an external force, the first end of the toggle member can drive the driving wheel to move to the first position, the second position, or the third position.

8. The conveyor unloading and cleaning robot according to claim 7, characterized in that, The adjustment mechanism further includes a transition member, which is slidably connected to the housing along the axial direction of the wheel axle. The transition member is disposed between the first locking part and the second locking part, and the transition member has a third locking part disposed opposite to it. The first locking part and the second locking part abut against the corresponding third locking part.

9. The conveyor unloading and cleaning robot according to claim 8, characterized in that, It also includes a handrail, a rope, and a handle. The handrail is fixedly connected to the housing, the handle is rotatably connected to the handrail, the first end of the rope is connected to the handle, and the second end of the rope is connected to the second end of the actuating element.

10. The conveyor unloading and cleaning robot according to claim 9, characterized in that, The cooperating driving wheel, the second driven driving wheel, the actuating member, the transition member, the rope, and the handle constitute a driving assembly. The driving module includes two driving assemblies, and the driving wheels of the two driving assemblies are respectively disposed on both sides of the housing.

11. The conveyor unloading and cleaning robot according to claim 2 or 3, characterized in that, The feeding assembly includes a fixedly connected connecting shaft and blades. The connecting shaft is rotatably connected to the housing, and the blades extend helically along the axial direction of the connecting shaft.

12. The conveyor unloading and cleaning robot according to claim 11, characterized in that, The connecting shaft and the first sprocket are coaxially arranged. There are two blades, which are respectively arranged on both sides of the first sprocket and the two blades are arranged in opposite directions.

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