A conveyor bottom coal fall cleaning robot system and method of use thereof

Abstract

The application discloses a conveyor bottom coal falling cleaning robot system and a use method thereof. The system comprises a straddle type track walking frame which moves along a belt conveyor; a coal collecting device which is installed on the straddle type track walking frame through rotary drive one and rotary drive two; the coal collecting device is used for collecting coal falling at the bottom of the belt conveyor; a material conveying device one which is arranged on the straddle type track walking frame and is used for receiving and moving the falling coal from the coal collecting device; and a material conveying device two which comprises a material conveying machine arranged on the straddle type track walking frame and a plurality of material receiving hoppers which are arranged at intervals on the material conveying machine and move along the material conveying machine in a circulating mode; the material receiving hoppers receive the falling coal from the material conveying device one and move the falling coal to a conveying belt of the belt conveyor. The application can improve the coal falling cleaning efficiency of the belt conveyor.

Description

Technical Field

[0001] This invention relates to the field of coal mining machinery technology, and in particular to a robot system for cleaning coal falling from the bottom of a conveyor and its usage method. Background Technology

[0002] Belt conveyors, as a commonly used transportation equipment in coal mining, play an irreplaceable role in the coal production process. However, during the transport of coal using steeply inclined belt conveyors, high coal moisture content, large transport volumes, or belt misalignment often result in a large amount of coal falling onto the sides and bottom of the conveyor, leading to a waste of coal resources. While existing tracked coal cleaners can be used to clean coal from the sides of the conveyor, there is currently no equipment available for cleaning coal falling from the bottom. Currently, the conveyor is typically stopped first, and then the coal falling from the bottom is manually shoveled to the sides before being loaded back onto the conveyor. If not cleaned promptly, the accumulated coal will come into contact with the conveyor belt or idlers, causing damage and potentially leading to a fire. Small coal chunks and slag are often manually washed away with water hoses. In summary, the current methods for cleaning coal falling from the bottom are labor-intensive, inefficient, and pose safety hazards. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the prior art and provide a conveyor bottom coal cleaning robot system and its usage method.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: A conveyor bottom coal cleaning robot system includes: A straddle-type tracked traveling frame is used to straddle both sides of a belt conveyor and move along the belt conveyor; The coal collecting device is mounted on the straddle-type tracked walking frame via a rotary drive one and a rotary drive two. The rotary drive one drives the coal collecting device to swing, and the rotary drive two drives the coal collecting device to pitch. The coal collecting device is used to collect coal falling from the bottom of the belt conveyor. Material conveying device 1 is installed on the straddle-type tracked walking frame and is used to receive and move the falling coal from the coal collection device. Material conveying device two includes: A material conveyor is provided on the straddle-type tracked walking frame and includes a horizontal section and a vertical section. One end of the vertical section is located at the bottom of the belt conveyor, and the other end is higher than the belt conveyor. One end of the horizontal section is connected to the higher end of the vertical section, and the other end extends to the middle of the belt conveyor. Multiple receiving hoppers are spaced apart on the material conveyor. The multiple receiving hoppers move cyclically along the material conveyor. The receiving hoppers receive the falling coal at one point of the material conveying device and transfer it to the conveyor belt of the belt conveyor.

[0005] Furthermore, the conveyor bottom coal cleaning robot system also includes: A robotic arm, mounted on the tracked walking frame, is used to install a cover on the receiving hopper to enclose the falling coal in the receiving hopper or to remove the cover of the receiving hopper so that the falling coal in the receiving hopper falls onto the belt conveyor.

[0006] Furthermore, the robotic arm includes: A robotic arm is mounted on the tracked walking frame; Multifunctional rack, including: The main frame is located on the robotic arm; A suction cup, located on the main frame, is used to adhere the cap. A connector is movably inserted into the main frame. The connector is driven to move by a drive component. The connector is connected to an air source for inflation. The cap includes: A sealing plate is used to cover the receiving hopper; An air nozzle, located on the sealing plate, is used to mate with the connector; Airbag, connected to the air nozzle; The receiving hopper is provided with a fixing hole, the diameter of the inside of the fixing hole being larger than the diameter of its opening; after the cover is installed on the receiving hopper, the airbag is inserted into the fixing hole, and after the connector inflates the airbag, the airbag is secured in the fixing hole.

[0007] Furthermore, the conveyor bottom coal cleaning robot system also includes: A transfer device, located on the straddle-type tracked walking frame, is used to load and move multiple covers; The robotic arm grabs the cap at the front end of the transfer device and places the disassembled cap at the rear end of the transfer device.

[0008] Furthermore, the coal collecting device includes: case; A spiral cutter is disposed inside the housing and is driven to rotate by a drive device for conveying coal. The nozzle, located on the housing, is used to flush the spiral cutter and the coal slime adhering to the housing; A baffle, located at the bottom of the housing, is used to prevent coal from leaking out of the bottom of the coal collecting device and to guide the coal.

[0009] Furthermore, the material conveying device includes: The collecting shovel is used to collect coal blocks collected by the coal collecting device for secondary collection. A scraper conveyor, one end of which is connected to the collecting shovel, is used to move the coal blocks from the collecting shovel to the receiving hopper; A sliding assembly is used to move the material collection shovel and scraper conveyor to the working position.

[0010] Furthermore, the horizontal segment is parallel to the ground, and the vertical segment is inclined such that the angle between the horizontal segment and the vertical segment is an obtuse angle.

[0011] Furthermore, the conveyor bottom coal cleaning robot system also includes: The water spraying device is hinged to the straddle-type tracked walking frame and can swing. The water spraying device sprays water in an arc shape and can converge the water jet in the middle to gather and wash away small coal lumps and slag.

[0012] Furthermore, the conveyor bottom coal cleaning robot system also includes: Visual sensors are used to detect the position of coal blocks and the coal-cleaning robot system at the bottom of the conveyor.

[0013] The present invention also provides a method for using a conveyor bottom coal cleaning robot system, characterized by comprising the following steps: Step 1: Travel to the conveyor that needs to be cleaned using the straddle-tracked walking frame; Step 2: Control rotary drive one and rotary drive two to adjust the coal collecting device to the working position; Step 3: Start the coal collecting device and adjust the position of the conveying device so that the collecting shovel is below the coal collecting device. The bottom coal cleaning robot system moves along the conveyor to collect the bottom coal. Step 4: After the bottom coal cleaning robot system of the conveyor moves forward a certain distance, it controls the water spraying device to adjust to the working state, detects coal blocks and slag through the vision sensors arranged on the water spraying device, and cleans them by spraying water. Step 5: Start the scraper conveyor of material conveying device one to convey coal blocks to the receiving hopper of material conveying device two; Step Six: When it is detected that the receiving hopper near the scraper conveyor is full of coal, the conveying device stops conveying and starts the conveyor to move the next receiving hopper to the position of the previous receiving hopper. Then the conveying device resumes conveying. When the receiving hopper full of coal moves to near the horizontal section, the control robot uses a suction cup to pick up the cover and place it on the receiving hopper full of coal. The control connector extends and connects with the air nozzle to inflate the air bag. The air bag is locked in the fixing hole of the receiving hopper to fix the cover. When the receiving hopper full of coal moves to the end of the horizontal section, the control robot deflates the air bag and removes the cover from the receiving hopper. The receiving hopper continues to move forward until it flips, and the coal falls onto the conveyor belt of the conveyor. Step 7: Repeat steps 3 to 6 until the bottom coal cleaning robot system of the conveyor approaches the support legs of the conveyor. Control rotary drive 1 and rotary drive 2 to adjust the coal collection device to the initial state. The bottom coal cleaning robot system of the conveyor continues to move. When it passes the support legs, control rotary drive 1 and rotary drive 2 to adjust the coal collection device to the working state.

[0014] The beneficial effects of this invention are as follows: A conveyor bottom coal cleaning robot system, compared with existing manual coal cleaning methods, achieves mechanized and automated coal cleaning operations through a straddle-type tracked walking frame, an adjustable coal collecting device, and a material conveying device. It eliminates the need to stop the belt conveyor, reducing worker labor intensity, minimizing safety hazards, and improving operational efficiency. This invention also utilizes an arc-shaped high-pressure water spray device arranged on the bottom coal cleaning robot system of a steep-angle conveyor to achieve a water jet that converges towards the center, gathering small coal chunks and slag towards the center and flushing them downwards, replacing manual water pipe handling and further reducing manual labor intensity. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the layout of a bottom coal-collecting robot system for a large-angle conveyor in the roadway according to the present invention.

[0016] Figure 2 This is a schematic diagram of the overall system of a bottom coal-cleaning robot for a large-angle conveyor according to the present invention.

[0017] Figure 3 This is a schematic diagram of the coal collection device of a bottom coal cleaning robot system for a large-angle conveyor according to the present invention.

[0018] Figure 4 This is a schematic diagram of the material handling device 2 of the bottom coal cleaning robot system of a large-angle conveyor according to the present invention.

[0019] Figure 5 This is a schematic diagram of a multi-functional robotic arm for a bottom coal-cleaning robot system of a large-angle conveyor according to the present invention.

[0020] Figure 6This is a schematic diagram of a multi-functional frame for a bottom coal-cleaning robot system for a large-angle conveyor according to the present invention.

[0021] Figure 7 This is a schematic diagram of the sealing of a bottom coal-cleaning robot system for a large-angle conveyor according to the present invention.

[0022] Figure 8 This is a schematic diagram showing the initial and working states of a bottom coal-cleaning robot system for a large-angle conveyor according to the present invention.

[0023] Explanation of reference numerals in the attached drawings: 1-Coal collecting device, 2-Rotary drive one, 3-Mounting frame one, 4-Rotary drive two, 5-Mounting frame two, 6-Straddle-type tracked walking frame, 7-Sliding component, 8-Hydraulic cylinder one, 9-Material conveying device one, 10-Material conveying device two, 11-Multi-functional robotic arm, 12-Sealing cover, 13-Transfer device, 14-High-pressure water spraying device, 15-Water storage tank, 16-Power battery pack, 17-Hydraulic pump station 18-Air pump, 19-Housing, 20-Spiral reamer, 21-Water nozzle, 22-Drive device, 23-Mounting plate, 24-Baffle, 25-Material conveyor, 26-Collection hopper, 27-Multi-functional frame, 28-Rotary drive three, 29-Multi-degree-of-freedom arm, 30-Rotary drive four, 31-Main frame, 32-Suction cup, 33-Connector, 34-Cylinder two, 35-Sealing plate, 36-Air nozzle, 37-Airbag. Detailed Implementation

[0024] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments: This invention provides a conveyor bottom coal cleaning robot system, comprising: A straddle-type tracked traveling frame is used to straddle both sides of a belt conveyor and move along the belt conveyor; The coal collecting device is mounted on the straddle-type tracked walking frame via a rotary drive one and a rotary drive two. The rotary drive one drives the coal collecting device to swing, and the rotary drive two drives the coal collecting device to pitch. The coal collecting device is used to collect coal falling from the bottom of the belt conveyor. Material conveying device 1 is installed on the straddle-type tracked walking frame and is used to receive and move the falling coal from the coal collection device. Material conveying device two includes: A material conveyor is provided on the straddle-type tracked walking frame and includes a horizontal section and a vertical section. One end of the vertical section is located at the bottom of the belt conveyor, and the other end is higher than the belt conveyor. One end of the horizontal section is connected to the higher end of the vertical section, and the other end extends to the middle of the belt conveyor. Multiple receiving hoppers are spaced apart on the material conveyor. The multiple receiving hoppers move cyclically along the material conveyor. The receiving hoppers receive the falling coal at one point of the material conveying device and transfer it to the conveyor belt of the belt conveyor.

[0025] like Figure 1 As shown, the straddle-type tracked traveling frame straddles both sides of the belt conveyor and moves via tracks. The end of the coal collection device extends into the area below the conveyor to clear fallen coal. Rotary drive one drives the coal collection device to swing (rotate about a shaft parallel to the conveyor), and rotary drive two drives the coal collection device to pitch (rotate about a shaft perpendicular to the conveyor and located in the horizontal plane).

[0026] The horizontal section of the material conveyor extends to the middle of the belt conveyor, above the conveyor belt. The receiving hopper rotates around the material conveyor, and when it moves to the end of the horizontal section, it overturns, causing the coal chunks inside to fall onto the conveyor belt.

[0027] like Figures 1-8 As shown in the figure, this embodiment of the invention specifically provides a conveyor bottom coal cleaning robot system, including a coal collection device 1, a rotary drive 2, a mounting frame 3, a rotary drive 4, a mounting frame 5, a straddle-type tracked walking frame 6, a material conveying device 9, a material conveying device 2 10, a multi-functional robotic arm, a cover 12, a transfer device 13, a high-pressure water spraying device 14, a water storage tank 15, a power battery pack 16, a hydraulic pump station 17, and an air pump 18.

[0028] The straddle-type tracked walking frame 6 is the walking mechanism, straddling the bottom plates on both sides of the belt conveyor. The straddle-type tracked walking frame 6 is equipped with an angle sensor to monitor the angle change of the whole machine, and distance sensors are installed on the inner and outer sides to monitor the distance between the whole machine and the belt conveyor and the side wall of the roadway.

[0029] Mounting frame 2 5 is located at the front end of one side of the straddle-type tracked walking frame 6; rotary drive 2 4 is mounted on mounting frame 2 5 and is used to achieve the pitch function; mounting frame 3 is mounted on rotary drive 2 4; rotary drive 2 2 is mounted on mounting frame 3 and is used to achieve the left and right swing function; coal collecting device 1 is mounted on rotary drive 2 2 and is used to collect coal falling from the bottom of the belt conveyor. Coal collecting device 1 is equipped with an angle sensor to monitor the left and right swing angle and pitch angle.

[0030] The sliding assembly 7 is located on the outer left side of the straddle-type tracked walking frame and is used to adjust the height of the material conveying device 9. The material conveying device 9 is mounted on the sliding assembly 7 and is used for the transfer of coal blocks. The material conveying device 9 mainly consists of a collecting shovel and a scraper conveyor. The front end of the collecting shovel is used to collect the coal blocks collected by the coal collecting device 1 for secondary collection and send the coal blocks to the front end of the scraper conveyor. The tail end of the scraper conveyor is flush with the height of the middle receiving hopper 26 on the side of the material conveying device 10. The hydraulic cylinder 8 is located between the sliding assembly 7 and the material conveying device. In the working state, the sliding assembly 7 moves the material conveying device 9 downward so that the collecting shovel is located below the end of the coal collecting device 1 to receive the coal blocks. In the initial state, the sliding assembly 7 moves the material conveying device 9 upward and retracts it. When encountering an obstacle (such as the outriggers of the conveyor), the sliding assembly 7 moves the material conveying device 9 back to the initial state to pass through.

[0031] The material conveying device 2 10 is installed on one side of the straddle-type tracked walking frame 6. The upper part of the material conveying device 2 10 is parallel to the ground, and the lower part is inclined at a certain angle to the straddle-type tracked walking frame 6, which can prevent coal blocks from falling into the roadway when the material conveying device 1 9 is loading coal.

[0032] Multiple covers 12 are installed on the material conveying device 2 10 to prevent coal blocks from falling during horizontal transport by the material conveying device 2 10.

[0033] The robotic arm is mounted on the front and rear straddle-type tracked walking frame 6 of the horizontal section of the material conveying device 2 10, and is used for the installation and removal of the cover 12.

[0034] The transfer device 13 is installed on the straddle-type tracked walking frame 6 above the horizontal section of the material conveying device 2 10, and is used for the transfer of the cover 12.

[0035] Two high-pressure water spray devices 14 are installed on the lower rear side of the straddle-type tracked walking frame 6. They are used to flush out small coal chunks and slag that cannot be collected by the coal collecting device 1. They are hinged to the straddle-type tracked walking frame 6 and can swing left and right. They are arc-shaped and can converge water jets in the middle, which helps to gather small coal chunks and slag in the middle and flush them downwards, preventing the small coal chunks and slag from being scattered.

[0036] The water tank 15, power battery pack 16, hydraulic pump station 17, and air pump 18 are all located on the upper part of the straddle-type tracked travel frame 6. The system is equipped with multiple vision sensors, which are respectively installed on the coal collection device 1, the transfer device 13-1, the multi-functional robotic arm, the transfer device 13-2, the straddle-type tracked walking frame 6, and the high-pressure water spray device 14.

[0037] Specifically, the coal collecting device 1 includes a shell 19, a spiral cutter 20, a water nozzle 21, a drive device 22, a mounting plate 23, and a baffle 24. The spiral cutter 20 is disposed inside the shell 19 and is used for transporting coal blocks. The water nozzle 21 is disposed on the upper part of the shell 19 and is used to wash away the coal sludge adhering to the spiral cutter 20 and the shell 19. The drive device 22 is used to drive the spiral cutter 20 to rotate. The mounting plate 23 is disposed on the drive device 22. The baffle 24 is disposed at the bottom of the shell 19. The baffle 24 is triangular and is used to prevent coal blocks from leaking from the bottom of the coal collecting device 1, while also having a certain guiding effect on the coal blocks.

[0038] The material conveying device 210 includes a material conveyor 25 and a receiving hopper 26; the material conveyor 25 is an L-shaped belt conveyor, mainly consisting of a horizontal section and a vertical inclined section; the receiving hopper 26 is installed on the material conveyor 25, and there are multiple hoppers, which are used for coal block transfer. The receiving hopper 26 has four equal diameter through holes on its left and right sides, and a slightly larger diameter hole of a certain length is provided from the top of the through holes downwards.

[0039] The robotic arm includes a multi-functional frame 27, a rotary drive three 28, a multi-degree-of-freedom arm 29, and a rotary drive four 30; the rotary drive three 28 and the rotary drive four 30 are respectively located at the head and tail of the multi-degree-of-freedom arm 29. The specific number and rotation method of the multi-degree-of-freedom arm 29 can adopt industry-standard designs as needed.

[0040] The multi-functional frame 27 is mounted on the drive device 22. The multi-functional frame 27 includes a main frame 31, a suction cup 32, a connector 33, and a hydraulic cylinder 34. The suction cup 32 is installed in the lower middle part of the main frame 31 and is used to adsorb the cover 12. The connector 33 is mounted on the main frame 31, passes through the main frame 31, and is slidably connected to the main frame 31. One end of the hydraulic cylinder 34 is connected to the connector 33, and the other end is mounted on the main frame 31 for the connector 33 to slide.

[0041] The cover 12 includes a sealing plate 35, an air nozzle 36, and an air bag 37; the air nozzle 36 is disposed on the sealing plate 35 and penetrates the sealing plate 35; the air bag 37 is disposed at the end of the air nozzle 36.

[0042] A method for using a conveyor bottom coal cleaning robot system includes the following steps: Step 1: When it is necessary to clean the bottom coal, start the bottom coal cleaning robot system of the inclined conveyor and drive it to the vicinity of the initial support leg of the conveyor frame that needs to be cleaned; Step 2: Control rotary drive 1 (2) and rotary drive 2 (4) to adjust the coal collecting device 1 to the working state; Step 3: Start the coal cleaning device, adjust the oil cylinder 8 to lower it, adjust the height of the material conveying device 9, and the bottom coal cleaning robot system of the large-angle conveyor will start to move forward to collect the bottom coal. Step 4: After the bottom coal cleaning robot system of the inclined conveyor moves forward a certain distance, the high-pressure water spray device 14 is adjusted to the working state. The vision sensor arranged on the high-pressure water spray device 14 detects small coal pieces and slag and cleans them with high-pressure water. Step 5: Start the material conveying device 19 to convey coal blocks into the receiving hopper 26 of the material conveying device 20; Step 6: When the tail vision sensor of the transfer device 13 detects that the coal hopper 26 is full, stop loading coal and start the material conveying device 2 10, wait for the next hopper 26 to move to the designated position, and repeat step 4. Step 7: Control the multi-functional robotic arm to use the suction cup 32 to pick up the cover 12 from the transfer device 13 and place it on the receiving hopper filled with coal. Control the hydraulic cylinder 2 34 to adjust the connector 33 to extend and connect with the air nozzle 36 to inflate the air bag 37. The cover 12 is then installed. When the receiving hopper 26 moves to the end of the transfer device 13, control the multi-functional robotic arm to deflate the air bag 37 and remove the cover 12 from the receiving hopper 26 and place it on the transfer device 13. Step Seven: Repeat Steps Six and Seven until approaching the other end of the support leg of the frame. Control Rotary Drive 1 (2) and Rotary Drive 2 (4) to adjust Coal Collection Device 1 to its initial state. The bottom coal-collecting robot system of the steep-angle conveyor continues to move. When it passes the support leg, adjust Rotary Drive 1 (2) and Rotary Drive 2 (4) to adjust Coal Collection Device 1 to its working state. When the high-pressure water spray device 14 approaches the conveyor support leg, control the high-pressure water spray device 14 to adjust to its initial state.

[0043] Step 9: Repeat steps 6, 7, and 8 until the bottom coal cleaning is completed, and control the bottom coal cleaning robot system of the steep-angle conveyor to return to the initial position.

[0044] The accompanying drawings of this invention serve to supplement the textual description with graphics. They are intended to visually and vividly illustrate the technical features and overall technical solution of this invention, but should not be construed as limiting the scope of protection of this invention.

[0045] In the description of the invention, the orientation descriptions, such as "up", "down", "front", "back", "left", "right", "inner", and "outer", indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They 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. Therefore, they should not be construed as limiting the invention.

[0046] The accompanying drawings of this invention serve to supplement the textual description with graphics. They are intended to visually and vividly illustrate the technical features and overall technical solution of this invention, but should not be construed as limiting the scope of protection of this invention.

[0047] In the description of the invention, the orientation descriptions, such as "up", "down", "front", "back", "left", "right", "inner", and "outer", indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They 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. Therefore, they should not be construed as limiting the invention.

Claims

1. A robot system for cleaning coal falling from the bottom of a conveyor, characterized in that, include: A straddle-type tracked traveling frame is used to straddle both sides of a belt conveyor and move along the belt conveyor; The coal collecting device is mounted on the straddle-type tracked walking frame via a rotary drive one and a rotary drive two. The rotary drive one drives the coal collecting device to swing, and the rotary drive two drives the coal collecting device to pitch. The coal collecting device is used to collect coal falling from the bottom of the belt conveyor. Material conveying device 1 is installed on the straddle-type tracked walking frame and is used to receive and move the falling coal from the coal collection device. Material conveying device two includes: A material conveyor is provided on the straddle-type tracked walking frame and includes a horizontal section and a vertical section. One end of the vertical section is located at the bottom of the belt conveyor, and the other end is higher than the belt conveyor. One end of the horizontal section is connected to the higher end of the vertical section, and the other end extends to the middle of the belt conveyor. Multiple receiving hoppers are spaced apart on the material conveyor. The multiple receiving hoppers move cyclically along the material conveyor. The receiving hoppers receive the falling coal at one point of the material conveying device and transfer it to the conveyor belt of the belt conveyor. The conveyor bottom coal cleaning robot system also includes: A robotic arm, mounted on the tracked walking frame, is used to install a cover on the receiving hopper to enclose the falling coal in the receiving hopper or to remove the cover of the receiving hopper so that the falling coal in the receiving hopper falls onto the belt conveyor. The robotic arm includes: A robotic arm is mounted on the tracked walking frame; Multifunctional rack, including: The main frame is located on the robotic arm; A suction cup, located on the main frame, is used to adhere the cap. A connector is movably inserted into the main frame. The connector is driven to move by a drive component. The connector is connected to an air source for inflation. The cap includes: A sealing plate is used to cover the receiving hopper; An air nozzle, located on the sealing plate, is used to mate with the connector; Airbag, connected to the air nozzle; The receiving hopper is provided with a fixing hole, the diameter of the inside of the fixing hole being larger than the diameter of its opening; after the cover is installed on the receiving hopper, the airbag is inserted into the fixing hole, and after the connector inflates the airbag, the airbag is secured in the fixing hole.

2. The conveyor bottom coal cleaning robot system according to claim 1, characterized in that, The conveyor bottom coal cleaning robot system also includes: A transfer device, located on the straddle-type tracked walking frame, is used to load and move multiple covers; The robotic arm grabs the cap at the front end of the transfer device and places the disassembled cap at the rear end of the transfer device.

3. The conveyor bottom coal cleaning robot system according to claim 1, characterized in that, The coal collection device includes: case; A spiral cutter is disposed inside the housing and is driven to rotate by a drive device for conveying coal. The nozzle, located on the housing, is used to flush the spiral cutter and the coal slime adhering to the housing; A baffle, located at the bottom of the housing, is used to prevent coal from leaking out of the bottom of the coal collecting device and to guide the coal.

4. The conveyor bottom coal cleaning robot system according to claim 1, characterized in that, The material conveying device includes: The collecting shovel is used to collect coal blocks collected by the coal collecting device for secondary collection. A scraper conveyor, one end of which is connected to the collecting shovel, is used to move the coal blocks from the collecting shovel to the receiving hopper; A sliding assembly is used to move the material collection shovel and scraper conveyor to the working position.

5. The conveyor bottom coal cleaning robot system according to claim 1, characterized in that, The horizontal segment is parallel to the ground, and the vertical segment is inclined so that the angle between the horizontal segment and the vertical segment is an obtuse angle.

6. The conveyor bottom coal cleaning robot system according to claim 1, characterized in that, The conveyor bottom coal cleaning robot system also includes: The water spraying device is hinged to the straddle-type tracked walking frame and can swing. The water spraying device sprays water in an arc shape and can converge the water jet in the middle to gather and wash away small coal lumps and slag.

7. The conveyor bottom coal cleaning robot system according to claim 1, characterized in that, The conveyor bottom coal cleaning robot system also includes: Visual sensors are used to detect the position of coal blocks and the coal-cleaning robot system at the bottom of the conveyor.

8. A method of using a conveyor bottom coal cleaning robot system as described in claim 1, characterized in that, Includes the following steps: Step 1: Travel to the conveyor that needs to be cleaned using the straddle-tracked walking frame; Step 2: Control rotary drive one and rotary drive two to adjust the coal collecting device to the working position; Step 3: Start the coal collecting device and adjust the position of the conveying device so that the collecting shovel is below the coal collecting device. The bottom coal cleaning robot system moves along the conveyor to collect the bottom coal. Step 4: After the bottom coal cleaning robot system of the conveyor moves forward a certain distance, it controls the water spraying device to adjust to the working state, detects coal blocks and slag through the vision sensors arranged on the water spraying device, and cleans them by spraying water. Step 5: Start the scraper conveyor of material conveying device one to convey coal blocks to the receiving hopper of material conveying device two; Step Six: When it is detected that the receiving hopper near the scraper conveyor is full of coal, the conveying device stops conveying and starts the conveyor to move the next receiving hopper to the position of the previous receiving hopper. Then the conveying device resumes conveying. When the receiving hopper full of coal moves to near the horizontal section, the control robot uses a suction cup to pick up the cover and place it on the receiving hopper full of coal. The control connector extends and connects with the air nozzle to inflate the air bag. The air bag is locked in the fixing hole of the receiving hopper to fix the cover. When the receiving hopper full of coal moves to the end of the horizontal section, the control robot deflates the air bag and removes the cover from the receiving hopper. The receiving hopper continues to move forward until it flips, and the coal falls onto the conveyor belt of the conveyor. Step 7: Repeat steps 3 to 6 until the bottom coal cleaning robot system of the conveyor approaches the support legs of the conveyor. Control rotary drive 1 and rotary drive 2 to adjust the coal collection device to the initial state. The bottom coal cleaning robot system of the conveyor continues to move. When it passes the support legs, control rotary drive 1 and rotary drive 2 to adjust the coal collection device to the working state.

Images