A robot for disassembling the body of a telescopic belt conveyor without shutting down the machine.

Abstract

This invention relates to a robot for disassembling the body of a telescopic belt conveyor without shutting down the machine, belonging to the field of belt conveyor technology. It includes a main body, positioned between the self-moving tail section and the main body of the belt conveyor, with the conveyor belt passing through it. The main body moves synchronously with the self-moving tail section via a traveling mechanism. A transverse E-pin pulling mechanism removes the transverse E-pins between the longitudinal beams and the idler frames, and a longitudinal E-pin pulling mechanism removes the longitudinal E-pins between the longitudinal beams and the H-frames. A longitudinal beam storage mechanism stores the disassembled longitudinal beams inside the main body, as do a idler frame storage mechanism and an H-frame storage mechanism. This invention solves the problem of low efficiency in disassembling telescopic belt conveyors.

Description

Technical Field

[0001] This invention belongs to the field of belt conveyor technology, specifically relating to a robot for disassembling the body of a telescopic belt conveyor without shutting down the machine. Background Technology

[0002] As a supporting equipment for intelligent fully mechanized mining faces, the telescopic belt conveyor is suitable for connecting the scraper transfer machine and the face conveyor in the transport roadway of the coal mine face through a self-moving tail section. It has a self-moving tail section that moves independently, with the transfer machine serving as a fulcrum. The self-moving tail section has forward movement and attitude adjustment functions to ensure that the center line of the tail section is aligned with the center line of the belt after moving forward, ensuring smooth transport and transfer in the roadway and meeting the supporting requirements of high-yield and high-efficiency mining faces with high advance and fast advancement.

[0003] During the production process, the retractable belt conveyor must shorten its length as the working face advances, and the machine body also needs to be disassembled accordingly. The disassembly of the middle part of the machine body must be completed while the machine is stopped, and cannot be completed in one shift. This makes it impossible to ensure continuous production, which seriously restricts the smooth implementation of intelligent fully mechanized mining operations and reduces overall efficiency. Summary of the Invention

[0004] This invention overcomes the shortcomings of the prior art and proposes a robot for disassembling the body of a telescopic belt conveyor without shutting down the machine; it solves the problem of low efficiency in disassembling the body of a telescopic belt conveyor.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solution.

[0006] A robot for disassembling a telescopic belt conveyor body without shutting down the machine includes a main body, which is positioned between the self-moving tail of the belt conveyor and the main body, with the conveyor belt passing through the main body. A traveling mechanism is provided at the lower end of the main body, enabling the main body to move synchronously with the self-moving tail. The main body is equipped with a transverse E-pin pull-out mechanism and a longitudinal E-pin pull-out mechanism. The transverse E-pin pull-out mechanism pulls out the transverse E-pin between the longitudinal beam and the idler frame, and the longitudinal E-pin pull-out mechanism pulls out the longitudinal E-pin between the longitudinal beam and the H-frame. The main body is also equipped with a longitudinal beam storage mechanism, an idler frame storage mechanism, and an H-frame storage mechanism. The longitudinal beam storage mechanism stores the disassembled longitudinal beam inside the main body, the idler frame storage mechanism stores the disassembled idler frame inside the main body, and the H-frame storage mechanism stores the disassembled H-frame inside the main body.

[0007] Furthermore, the main body of the fuselage includes a top frame, six support legs, and two internal support adjustment frames at the front and rear. The top frame is a horizontally arranged square frame structure, with three vertical support legs (front, middle, and rear) respectively located on the left and right edges of the lower end face of the top frame. The internal support adjustment frames are U-shaped structures with openings facing upwards. The front internal support adjustment frame is fixedly located between the two middle support legs, and the rear internal support adjustment frame is fixedly located between the two rear support legs.

[0008] Furthermore, the walking mechanism includes two symmetrical walking tracks, six walking supports, six lifting cylinders, and two pushing cylinders. The six walking supports and six lifting cylinders correspond to the six support legs. The two walking tracks are respectively located below the left and right rows of support legs. Three walking supports are slidably mounted on the upper surface of each walking track, and the three walking supports are respectively located at the lower ends of the three support legs on the same side. A lifting link is hinged to the lower end of each support leg. The first corner of the lifting link is hinged to the lower end of the support leg, and the second corner of the lifting link is hinged to the upper end of the walking support at the lower end of the support leg. A lifting cylinder is hinged to each support leg. One end of the bottom of the lifting cylinder is hinged to the support leg, and one end of the piston rod of the lifting cylinder is hinged to the third corner of the lifting link at the lower end of the support leg. A pushing cylinder is respectively installed between the two middle support legs and the walking tracks on the same side.

[0009] Furthermore, a first transverse sliding assembly is respectively provided on the left and right sides of the main body of the fuselage. The first transverse sliding assembly includes a first transverse fixing plate, a first transverse sliding plate, and a first transverse sliding cylinder. A first transverse fixing plate is fixedly provided between the two support legs at the front end and the middle on the same side. The first transverse sliding plate is slidably connected to the inner side of the first transverse fixing plate in the front-back direction. A first transverse sliding cylinder is provided between the first transverse fixing plate and the first transverse sliding plate. A transverse E-pin pull-out mechanism and a longitudinal E-pin pull-out mechanism are respectively provided on each first transverse sliding plate, wherein the transverse E-pin pull-out mechanism is located in front of the longitudinal E-pin pull-out mechanism.

[0010] Furthermore, the transverse E-type pin extraction mechanism includes a first guide plate, a first swing cylinder, a first swing rod, a first actuating rod, a first extraction claw, a first sliding plate, and a first fixing plate. Two symmetrical first guide plates are fixedly arranged on the inner side of the first transverse sliding plate. Each first guide plate has a through first guide groove, which is a U-shaped structure with its opening facing the first transverse sliding plate. The first guide groove includes a horizontal upper section, a vertical middle section, and a horizontal lower section. A first swing cylinder is fixedly arranged on one of the first guide plates. The piston rod of the first swing cylinder is rotatably inserted into the two first guide plates. Two first swing rods are fixedly arranged on the piston rod of the first swing cylinder. Each of the moving rods has a waist-shaped hole; the same first action rod is rotatably inserted into the waist-shaped holes of the two first swing rods, and the two ends of the first action rod are respectively inserted into the first guide grooves of the two first guide plates. Two first pull-out claws are fixedly installed on the first action rod, and the end of the first pull-out claw away from the first transverse sliding plate extends vertically downward; a first anti-rotation block is also fixedly installed at the end of the first action rod away from the first swing cylinder. A vertical first fixed plate is fixedly installed on the outside of another first guide plate, and a first sliding plate is slidably installed on the first fixed plate along the vertical direction. A first anti-rotation groove is provided on the end face of the first sliding plate near the first action rod, and the first anti-rotation block is slidably installed inside the first anti-rotation groove of the first sliding plate.

[0011] Furthermore, the longitudinal E-type pin extraction mechanism includes a second guide plate, a second swing cylinder, a second swing rod, a second actuating rod, a second extraction claw, a second sliding plate, and a second fixed plate. Two symmetrical second guide plates are fixedly installed on the inner side of the first transverse sliding plate. Each second guide plate has a through-type second guide groove. The second guide groove is a U-shaped structure with its opening facing the first transverse sliding plate. The second guide groove includes a horizontal upper section, a vertical middle section, and a horizontal lower section. A second swing cylinder is fixedly installed on one of the second guide plates. The piston rod of the second swing cylinder is rotatably inserted into the two second guide plates. Two second swing rods are fixedly installed on the piston rod of the second swing cylinder. Each swing rod has a waist-shaped hole. The same second action rod is rotatably inserted into the waist-shaped holes of the two second swing rods. The two ends of the second action rod are respectively inserted into the second guide grooves of the two second guide plates. Two second pull-out claws are fixedly installed on the second action rod. The end of the second pull-out claw away from the second transverse sliding plate extends horizontally. A second anti-rotation block is also fixedly installed at the end of the second action rod away from the second swing cylinder. A vertical second fixing plate is fixedly installed on the outside of another second guide plate. A second sliding plate is slidably installed on the second fixing plate along the vertical direction. A second anti-rotation groove is provided on the end face of the second sliding plate near the second action rod. The second anti-rotation block is slidably installed inside the second anti-rotation groove of the second sliding plate.

[0012] Furthermore, a roller frame storage mechanism is provided on the left and right sides of the main body of the machine. The roller frame storage mechanism includes a telescopic component, a second lateral sliding component, a lifting component, and a storage component. The second lateral sliding assembly includes a second lateral sliding housing, a second lateral sliding cylinder, a second lateral sliding plate, and a lateral sliding seat. The second lateral sliding housing is fixedly installed at the left or right edge of the top frame. The second lateral sliding housing extends horizontally along the front-back direction. A sliding groove is provided on the bottom surface inside the second lateral sliding housing. A vertical second lateral sliding plate is slidably inserted into the sliding groove. A lateral sliding seat is slidably installed horizontally along the front-back direction inside the second lateral sliding housing. The upper end of the second lateral sliding plate extends into the interior of the second lateral sliding housing and is fixedly connected to the lateral sliding seat. A second lateral sliding cylinder is fixedly installed on the second lateral sliding housing. The piston rod of the second lateral sliding cylinder is connected to the lateral sliding seat. The lifting assembly includes a lifting cylinder and a lifting seat; the lifting seat is slidably arranged on the inner side of the second transverse sliding plate along the vertical direction, and a vertical lifting cylinder is arranged between the upper end of the inner side of the second transverse sliding plate and the lifting seat. The telescopic assembly includes a telescopic rod and a telescopic cylinder. A telescopic hole is provided on the side wall of the lifting seat away from the second transverse sliding plate. A telescopic rod is slidably inserted into the telescopic hole. A telescopic cylinder is fixedly installed inside the lifting seat. The piston rod of the telescopic cylinder is fixedly connected to the telescopic rod. A plug-in cylinder is provided at both ends of the idler frame of the belt conveyor.

[0013] Furthermore, the storage assembly includes a hanger, a storage chain assembly, and preset racks; the hanger is fixedly installed on the rear side of the telescopic assembly, and the storage chain assembly is installed on the hanger; the storage chain assembly includes a storage chain, a drive sprocket, a driven sprocket, and a hydraulic motor, the hydraulic motor is fixedly installed at the rear end of the hanger, the drive sprocket is fixedly installed on the output shaft of the hydraulic motor, the driven sprocket is rotatably installed at the front end of the hanger, and the storage chain is sleeved between the drive sprocket and the driven sprocket; a ring of levers is provided on the outer surface of the storage chain; a horizontal sliding groove is provided on the end face of the hanger near the other side, and multiple preset racks are slidably installed between the sliding grooves of the two hangers.

[0014] Furthermore, the H-shaped frame storage mechanism includes two symmetrical storage rods and two sets of symmetrical support rods; the two storage rods are respectively fixedly installed at the left and right ends of the front end face of the internal support and adjustment frame. The storage rod includes a front horizontal section, a rear horizontal section, and a middle inclined section. The front horizontal section is located below the front side of the rear horizontal section, and the rear end of the front horizontal section is connected to the front end of the rear horizontal section through the middle inclined section; a set of support rods is respectively installed at the middle height of the two end faces of the H-shaped frame of the belt conveyor.

[0015] Furthermore, the longitudinal beam storage mechanism includes two symmetrical storage slots and two symmetrical display racks; both storage slots and display racks extend horizontally along the front-back direction, and are respectively fixedly installed on the inner left and right ends of the two internal support adjustment racks, with the storage slots located above the display racks; the storage slots have a U-shaped structure, with the U-shaped opening of the storage slot facing away from the other storage slot.

[0016] The beneficial effects of this invention compared to the prior art are as follows: This invention relates to a robot for disassembling the body of a telescopic belt conveyor without shutting down the machine. The robot is installed at the junction of the telescopic belt conveyor and the self-moving tail section in the roadway of a fully mechanized mining face in an underground coal mine. The main function of the robot is to dismantle the mechanical structural components of the belt conveyor during the longwall mining process, enabling the self-moving tail section to move without shutting down the longwall mining face, thereby improving the working efficiency of the longwall mining face and reducing the labor intensity of the operators. Attached Figure Description

[0017] The present invention will now be described in further detail with reference to the accompanying drawings: Figure 1 This is a three-dimensional schematic diagram of the entire invention. Figure 1 ; Figure 2 This is a three-dimensional schematic diagram of the entire invention. Figure 2 ; Figure 3 yes Figure 2 A magnified view of a portion of point A in the middle; Figure 4 This is a side view of the entire invention; Figure 5 This is a top view of the entire invention; Figure 6 This is a schematic diagram showing the connection between the main fuselage and the running gear; Figure 7 This is a schematic diagram showing the connection between the main body of the machine and the first transverse sliding assembly, the transverse E-pin pull-out mechanism, the longitudinal E-pin pull-out mechanism, and the roller frame storage mechanism. Figure 8 This is a schematic diagram showing the connection between the first lateral sliding assembly, the lateral E-pin pull-out mechanism, the longitudinal E-pin pull-out mechanism, the second lateral sliding assembly, the lifting assembly, and the telescopic assembly; Figure 9 This is a three-dimensional schematic diagram of the first lateral sliding component; Figure 10 This is a three-dimensional diagram of the transverse E-type pin pull-out mechanism. Figure 1 ; Figure 11 This is a three-dimensional diagram of the transverse E-type pin pull-out mechanism. Figure 2 ; Figure 12 This is a three-dimensional diagram of the longitudinal E-type pin pull-out mechanism. Figure 1 ; Figure 13 This is a three-dimensional diagram of the longitudinal E-type pin pull-out mechanism. Figure 2 ; Figure 14 This is a schematic diagram showing the connection between the second lateral sliding component, the lifting component, and the telescopic component; Figure 15 This is a schematic diagram showing the connection between the main body of the fuselage and the storage components; Figure 16 yes Figure 15 A lateral schematic diagram; Figure 17 This is a schematic diagram showing the connection between the main body of the fuselage, the storage components, and the preset rack; Figure 18 This is a 3D schematic diagram of the pre-set frame; Among them, 1 is the main body of the machine body, 2 is the walking mechanism, 3 is the first transverse sliding assembly, 4 is the transverse E-pin pull-out mechanism, 5 is the longitudinal E-pin pull-out mechanism, 6 is the idler frame storage mechanism, 7 is the H-frame storage mechanism, 8 is the longitudinal beam storage mechanism, 9 is the idler frame, 10 is the H-frame, and 11 is the longitudinal beam. 101 is the top frame, 102 is the support leg, 103 is the internal support and adjustment frame, and 104 is the reinforcing rod; 201 is the travel track, 202 is the travel support, 203 is the lifting cylinder, 204 is the pushing cylinder, and 205 is the lifting linkage. 301 is the first transverse fixed plate, 302 is the first transverse sliding plate, and 303 is the first transverse sliding cylinder; 401 is the first guide plate, 402 is the first guide groove, 403 is the first swing cylinder, 404 is the first swing rod, 405 is the first actuating rod, 406 is the first pull-out claw, 407 is the first anti-rotation block, 408 is the first sliding plate, 409 is the first fixing plate, and 410 is the first anti-rotation groove. 501 is the second guide plate, 502 is the second guide groove, 503 is the second swing cylinder, 504 is the second swing rod, 505 is the second actuating rod, 506 is the second pull-out claw, 507 is the second anti-rotation block, 508 is the second sliding plate, 509 is the second fixing plate, and 510 is the second anti-rotation groove. 610 is the second lateral sliding component, 620 is the lifting component, 630 is the telescopic component, and 640 is the storage component; 6101 is the second transverse sliding housing, 6102 is the second transverse sliding plate, 6103 is the transverse sliding seat, 6104 is the second transverse sliding cylinder, 6201 is the lifting seat, and 6202 is the lifting cylinder; 6301 is a telescopic rod, and 6302 is a telescopic hydraulic cylinder; 6401 is the hanger, 6402 is the storage chain, 6403 is the lever, 6404 is the sliding groove, 6405 is the preset frame, 6406 is the preset idler roller frame, 6407 is the upper idler roller group, 6408 is the sliding wheel, 6409 is the fixing rod, and 6410 is the lower idler roller. 701 is the storage rod, 702 is the front horizontal section, 703 is the rear horizontal section, 704 is the middle inclined section, and 705 is the support rod. 801 is a storage compartment, and 802 is a display shelf. Detailed Implementation

[0018] To make the technical problems to be solved, the technical solutions, and the beneficial effects of this invention clearer, the invention will be further described in detail with reference to the embodiments and accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. The technical solutions of this invention are described in detail below with reference to the embodiments and accompanying drawings, but the scope of protection is not limited thereto.

[0019] like Figure 1 As shown in Figure 18, this invention provides a robot for disassembling the body of a retractable belt conveyor without shutting down the machine. The robot includes a main body 1, which is positioned between the self-moving tail section and the main body of the belt conveyor. The conveyor belt passes through the main body 1. A traveling mechanism 2 is provided at the lower end of the main body 1, enabling the main body 1 to move synchronously with the self-moving tail section. A transverse E-pin pull-out mechanism 4 and a longitudinal E-pin pull-out mechanism 5 are provided on the main body 1. The transverse E-pin pull-out mechanism 4 is used to connect the longitudinal beam 11 to... The transverse E-pins between the idler roller frames 9 are pulled out, and the longitudinal E-pins between the longitudinal beam 11 and the H-frame 10 are pulled out through the longitudinal E-pin pulling mechanism 5. The main body 1 is provided with a longitudinal beam storage mechanism 8, an idler roller frame storage mechanism 6 and an H-frame storage mechanism 7. The longitudinal beam storage mechanism 8 stores the removed longitudinal beam 11 inside the main body 1, the idler roller frame storage mechanism 6 stores the removed idler roller frame 9 inside the main body 1, and the H-frame storage mechanism 7 stores the removed H-frame 10 inside the main body 1.

[0020] The belt conveyor body consists of a longitudinal beam 11, an idler frame 9, and an H-frame 10. The idler frame 9 is fixed to the longitudinal beam 11 by transverse E-pins, and the H-frame 10 is fixed to the longitudinal beam 11 by longitudinal E-pins. Both the transverse and longitudinal E-pins are U-shaped rod structures. The U-shaped openings of the transverse E-pins on both sides face each other horizontally, and the U-shaped openings of the longitudinal E-pins on both sides face downward vertically. The transverse E-pins pass through the idler frame 9 and the longitudinal beam 11, and the longitudinal E-pins pass vertically downward through the H-frame 10 and the longitudinal beam 11.

[0021] The main body 1 includes a top frame 101, six support legs 102, and two internal support adjustment frames 103 at the front and rear.

[0022] The top frame 101 is a horizontally arranged square frame structure. A row of vertical support legs 102 is provided on the left and right edges of the lower end face of the top frame 101, with each row including three support legs 102. The three support legs 102 are respectively located at the front, middle, and rear ends of the top frame 101. An internal support adjustment frame 103 is located between the two middle support legs 102 on the front side, and an internal support adjustment frame 103 is located between the two rear support legs 102 on the rear side. The internal support adjustment frame 103 is a U-shaped structure with an upward opening. The upper ends of the internal support adjustment frame 103 are fixedly connected to the middle of the side end faces of the two support legs 102 that are close to each other. A support block is fixedly installed at the middle of the lower end of the internal support adjustment frame 103. The height of the support block is lower than the height of the lowest point of the support leg 102, and the support block supports the main body 1 of the fuselage.

[0023] A reinforcing rod 104 is fixedly installed between the support leg 102 and the top frame 101 or between adjacent support legs 102, thereby strengthening the overall strength of the main body 1.

[0024] The walking mechanism 2 includes two left-right symmetrical walking tracks 201, six walking supports 202, six lifting cylinders 203, and two pushing cylinders 204. The six walking supports 202 and the six lifting cylinders 203 correspond to the six supporting legs 102 respectively.

[0025] Two travel rails 201 are horizontally arranged along the front-to-back direction, and are respectively located below the left and right rows of support legs 102. Three travel supports 202 are slidably arranged on the upper surface of each travel rail 201, and the three travel supports 202 are respectively located at the lower end of the three support legs 102 on the same side.

[0026] A lifting link 205 is hinged to the lower end of each support leg 102. The lifting link 205 is a triangular block structure. The first corner of the lifting link 205 is hinged to the lower end of the support leg 102, and the second corner is hinged to the upper end of the traveling support 202 at the lower end of the support leg 102. A lifting cylinder 203 is hinged to each support leg 102. One end of the bottom of the lifting cylinder 203 is hinged to the support leg 102, and one end of the piston rod of the lifting cylinder 203 is hinged to the third corner of the lifting link 205 at the lower end of the support leg 102. The hinge axes at the three corners of the triangular connecting hole are all horizontally arranged in the left-right direction.

[0027] A push cylinder 204 is installed between each of the two middle support legs 102 and the travel track 201 on the same side. One end of the cylinder bottom of the push cylinder 204 is hinged to the support leg 102, and one end of the piston rod of the push cylinder 204 is hinged to the travel track 201. The piston rod of the push cylinder 204 is inclined downwards and to the rear.

[0028] The bottom ends of the two front-end and two middle-end lifting cylinders 203 are hinged to the middle height of the front face of the corresponding support leg 102. The bottom ends of the two rear-end lifting cylinders 203 are hinged to the middle height of the rear face of the corresponding support leg 102. The bottom ends of the two pushing cylinders 204 are hinged to the middle height of the rear face of the corresponding support leg 102.

[0029] A first transverse sliding assembly 3 is provided on each of the left and right sides of the main body 1. Each first transverse sliding assembly 3 is provided with a transverse E-pin pull-out mechanism 4 and a longitudinal E-pin pull-out mechanism 5. The transverse E-pin pull-out mechanisms 4 on both sides are used to pull out the transverse E-pins between the two longitudinal beams 11 and the two ends of the roller frame 9. The longitudinal E-pin pull-out mechanisms 5 on both sides are used to pull out the longitudinal E-pins between the two longitudinal beams 11 and the two ends of the H-frame 10. The first lateral sliding assembly 3 includes a first lateral fixing plate 301, a first lateral sliding plate 302, and a first lateral sliding cylinder 303. A first lateral fixing plate 301 is fixedly disposed between the two support legs 102 at the front and middle positions on the same side. The first lateral fixing plate 301 is located in a vertical plane in the front-back direction, and its front and rear ends are fixedly connected to the front support leg 102 and the middle support leg 102, respectively. First sliding blocks are fixedly disposed at the upper and lower edges of the inner side of the first lateral fixing plate 301. The first lateral sliding plate 302 is located in a vertical plane in the front-back direction, and its upper and lower ends are respectively provided with first sliding grooves, which are horizontally arranged along the front-back direction. The first sliding blocks at the upper and lower ends of the first lateral fixing plate 301 are slidably engaged with the first sliding grooves at the upper and lower ends of the first lateral sliding plate 302, thereby allowing the first lateral sliding plate 302 to slide along the front-back direction and connect to the inner side of the first lateral fixing plate 301. A first transverse sliding cylinder 303 is provided between the first transverse fixed plate 301 and the first transverse sliding plate 302. One end of the bottom of the first transverse sliding cylinder 303 is connected to the front edge of the inner side of the first transverse fixed plate 301, and one end of the piston rod of the first transverse sliding cylinder 303 is connected to the front end face of the first transverse sliding plate 302. The first transverse sliding plate 302 slides back and forth on the first transverse fixed plate 301 by extending and retracting the first transverse sliding cylinder 303.

[0030] Each first transverse sliding plate 302 is provided with a transverse E-type pin pull-out mechanism 4 and a longitudinal E-type pin pull-out mechanism 5, wherein the transverse E-type pin pull-out mechanism 4 is located in front of the longitudinal E-type pin pull-out mechanism 5.

[0031] The transverse E-type pin pull-out mechanism 4 includes a first guide groove plate 401, a first swing cylinder 403, a first swing rod 404, a first actuating rod 405, a first pull-out claw 406, a first sliding plate 408, and a first fixing plate 409.

[0032] Two symmetrical first guide plates 401 are fixedly installed on the inner side of the first transverse sliding plate 302. The first guide plates 401 are located in the vertical plane in the left and right direction. Each first guide plate 401 is provided with a first guide groove 402 that runs through the front and back. The first guide groove 402 is a U-shaped structure with its opening facing the first transverse sliding plate 302. The first guide groove 402 includes a horizontal upper section, a vertical middle section, and a horizontal lower section. The upper section and the lower section of the first guide groove 402 are smoothly connected to the upper and lower ends of the middle section of the first guide groove 402 at the ends away from the first transverse sliding plate 302.

[0033] A first swing cylinder 403 is fixedly installed on the rear end face of the first guide plate 401 on the rear side. The cylinder body of the first swing cylinder 403 is fixed on the first guide plate 401 on the rear side. The piston rod of the first swing cylinder 403 is horizontally forward and rotatably inserted into the two first guide plates 401. The swing axis of the piston rod of the first swing cylinder 403 is in the front-back horizontal direction.

[0034] Two first swing rods 404 are fixedly installed on the piston rod of the first swing cylinder 403. The two first swing rods 404 are located between the front and rear first guide plates 401. One end of the two first swing rods 404 is fixedly connected to the piston rod of the first swing cylinder 403, and the other end of the two first swing rods 404 is respectively provided with a waist-shaped hole that runs through the front and rear.

[0035] A first actuating rod 405 is rotatably inserted into the oblong holes of the two first swing rods 404. The first actuating rod 405 is horizontally arranged along the front-back direction. A rolling bearing is fixedly sleeved at each end of the first actuating rod 405. The two rolling bearings are respectively inserted into the first guide grooves 402 of the two first guide groove plates 401, and the outer surfaces of the rolling bearings maintain rolling contact with the inner walls of the two sides of the first guide grooves 402. Two first pull-out claws 406 are fixedly provided on the first actuating rod 405. The end of the first pull-out claw 406 away from the first transverse sliding plate 302 extends vertically downward, and a pull-out tip is provided at the lower end of the first pull-out claw 406.

[0036] A first anti-rotation block 407 is fixedly installed at the front end of the first actuating rod 405. A vertical first fixing plate 409 is fixedly installed on the outer side of the first guide plate 401 at the front. A first sliding plate 408 is slidably installed on the first fixing plate 409 along the vertical direction. A first anti-rotation groove 410 is provided on the end face of the first sliding plate 408 near the first actuating rod 405. The first anti-rotation groove 410 is horizontally arranged in the left-right direction. The first anti-rotation block 407 at the front end of the first actuating rod 405 is slidably installed inside the first anti-rotation groove 410 of the first sliding plate 408. The upper and lower end faces of the first anti-rotation block 407 are in sliding contact with the inner top and bottom surfaces of the first anti-rotation groove 410. Through the cooperation of the first anti-rotation block 407 and the first anti-rotation groove 410, it is ensured that the first actuating rod 405 will not rotate around its own axis during movement.

[0037] A limiting ring is fixedly installed at each end of the first action rod 405. The two limiting rings are in contact with the side end faces of the two first guide plates 401 that are close to each other. The two limiting rings limit the first action rod 405 and the two first guide plates 401.

[0038] The longitudinal E-type pin pull-out mechanism 5 includes a second guide plate 501, a second swing cylinder 503, a second swing rod 504, a second actuating rod 505, a second pull-out claw 506, a second sliding plate 508, and a second fixing plate 509.

[0039] Two symmetrical second guide plates 501 are fixedly installed on the inner side of the first transverse sliding plate 302. The second guide plates 501 are located in the vertical plane in the left-right direction. Each second guide plate 501 is provided with a second guide groove 502 that runs through the front and back. The second guide groove 502 is a U-shaped structure with its opening facing the first transverse sliding plate 302. The second guide groove 502 includes a horizontal upper section, a vertical middle section, and a horizontal lower section. The upper section and the lower section of the second guide groove 502 are smoothly connected to the upper and lower ends of the middle section of the second guide groove 502 at the ends away from the first transverse sliding plate 302.

[0040] A second swing cylinder 503 is fixedly installed on the front end face of the second guide plate 501 on the front side. The cylinder body of the second swing cylinder 503 is fixed on the second guide plate 501 on the front side. The piston rod of the second swing cylinder 503 is horizontally backward and is rotatably inserted into the two second guide plates 501. The swing axis of the piston rod of the second swing cylinder 503 is in the front-back horizontal direction.

[0041] Two second swing rods 504 are fixedly installed on the piston rod of the second swing cylinder 503. The two second swing rods 504 are located between the front and rear second guide plates 501. One end of the two second swing rods 504 is fixedly connected to the piston rod of the second swing cylinder 503, and the other end of the two second swing rods 504 is respectively provided with a waist-shaped hole that runs through the front and rear.

[0042] A second actuating rod 505 is rotatably inserted into the oblong holes of the two second swing rods 504. The second actuating rod 505 is horizontally arranged along the front-back direction. A rolling bearing is fixedly sleeved at each end of the second actuating rod 505. The two rolling bearings are respectively inserted into the second guide grooves 502 of the two second guide groove plates 501, and the outer surfaces of the rolling bearings maintain rolling contact with the inner walls of the two sides of the second guide grooves 502. Two second pull-out claws 506 are fixedly arranged on the second actuating rod 505. The end of the second pull-out claw 506 away from the first transverse sliding plate 302 is kept horizontal and is provided with a pull-out tip.

[0043] A second anti-rotation block 507 is fixedly installed at the rear end of the second actuating rod 505. A vertical second fixing plate 509 is fixedly installed on the outer side of the second guide plate 501 on the front side. A second sliding plate 508 is slidably installed on the second fixing plate 509 along the vertical direction. A second anti-rotation groove 510 is provided on the end face of the second sliding plate 508 near the second actuating rod 505. The second anti-rotation groove 510 is horizontally arranged in the left-right direction. The second anti-rotation block 507 at the front end of the second actuating rod 505 is slidably installed inside the second anti-rotation groove 510 of the second sliding plate 508. The upper and lower end faces of the second anti-rotation block 507 are in sliding contact with the inner top and bottom surfaces of the second anti-rotation groove 510. Through the cooperation of the second anti-rotation block 507 and the second anti-rotation groove 510, it is ensured that the second actuating rod 505 will not rotate around its own axis during movement.

[0044] A limiting ring is fixedly installed at each end of the second action rod 505. The two limiting rings are in contact with the side end faces of the two second guide plates 501 that are close to each other. The two limiting rings limit the second action rod 505 and the two second guide plates 501.

[0045] A roller frame storage mechanism 6 is provided on the left and right sides of the main body 1. The roller frame storage mechanism 6 includes a telescopic component 630, a second lateral sliding component 610, a lifting component 620, and a storage component 640.

[0046] The second lateral sliding assembly 610 includes a second lateral sliding housing 6101, a second lateral sliding cylinder 6104, a second lateral sliding plate 6102, and a lateral sliding seat 6103. The second lateral sliding housing 6101 is fixedly disposed at the left or right edge of the top frame 101. The second lateral sliding housing 6101 extends horizontally along the front-back direction. A sliding groove is provided on the bottom surface inside the second lateral sliding housing 6101, extending horizontally along the front-back direction. A vertical second lateral sliding plate 6102 is slidably inserted into the sliding groove, and the second lateral sliding plate 6102 is located in a vertical plane in the front-back direction. A transverse sliding seat 6103 is slidably disposed inside the second transverse sliding housing 6101 along the front-to-back horizontal direction. The upper end of the second transverse sliding plate 6102 extends into the second transverse sliding housing 6101 and is fixedly connected to the transverse sliding seat 6103. Two rollers are slidably disposed on the transverse sliding seat 6103. The two rollers are symmetrically arranged with respect to the sliding groove. The two rollers are respectively rolled and connected to the bottom surface inside the second transverse sliding housing 6101, so that the transverse sliding seat 6103 can slide smoothly back and forth. A second transverse sliding cylinder 6104 is fixedly installed at the rear end of the second transverse sliding housing 6101. The piston rod of the second transverse sliding cylinder 6104 extends horizontally forward into the interior of the second transverse sliding housing 6101 and is connected to the transverse sliding seat 6103. The extension and retraction of the piston rod of the second transverse sliding cylinder 6104 drives the transverse sliding seat 6103 to slide inside the second transverse sliding housing 6101, thereby driving the second transverse sliding plate 6102 to slide back and forth.

[0047] The lifting assembly 620 includes a lifting cylinder 6202 and a lifting seat 6201. A second sliding groove is provided on the inner side of the second transverse sliding plate 6102. A second sliding block is fixedly provided on the lifting seat 6201. The second sliding block is slidably connected to the inside of the second sliding groove in the vertical direction, thereby allowing the lifting seat 6201 to rise and fall on the second transverse sliding plate 6102. A fixed seat is fixedly provided at the upper end of the inner side of the second transverse sliding plate 6102. A vertical lifting cylinder 6202 is provided between the fixed seat and the lifting seat 6201. The lifting seat 6201 rises and falls on the second transverse sliding plate 6102 by extending and retracting the lifting cylinder 6202.

[0048] The telescopic assembly 630 includes a telescopic rod 6301 and a telescopic cylinder 6302. A telescopic hole is provided on the side wall of the lifting seat 6201 away from the second transverse sliding plate 6102. A telescopic rod 6301 is slidably inserted into the telescopic hole, and the telescopic rod 6301 slides horizontally in the left-right direction. A telescopic cylinder 6302 is fixedly installed inside the lifting seat 6201. One end of the piston rod of the telescopic cylinder 6302 faces the side away from the second transverse sliding plate 6102 and is fixedly connected to the telescopic rod 6301. The telescopic rod 6301 slides by extending and retracting the piston rod of the telescopic cylinder 6302. A connector is provided at each end of the idler frame 9 of the belt conveyor, and a connector is provided at the end of the connector away from the idler frame 9.

[0049] A third sliding block is fixedly installed at the lower end of the second transverse sliding plate 6102, and a third sliding groove is fixedly installed at the upper end of the first transverse fixed plate 301. The third sliding groove is horizontally arranged along the front-back direction, and the third sliding block is slidably connected inside the third sliding groove. Through the cooperation of the third sliding block and the third sliding groove, the stable sliding of the upper and lower ends of the second transverse sliding plate 6102 is achieved.

[0050] The storage assembly 640 includes a hanger 6401, a storage chain assembly, and a preset frame 6405. The hanger 6401 is fixedly installed on the rear side of the telescopic assembly 630. The hanger 6401 is located inside the area between the middle support leg 102 and the rear support leg 102, and is located in a vertical plane in the front-to-back direction. The storage chain assembly is installed on the hanger 6401. The storage chain assembly includes a storage chain 6402, a drive sprocket, a driven sprocket, and a hydraulic motor. The hydraulic motor is fixedly installed at the rear end of the hanger 6401. A drive sprocket is fixedly installed on the output shaft of the hydraulic motor. A driven sprocket is rotatably installed at the front end of the hanger 6401. The storage chain 6402 is sleeved between the drive sprocket and the driven sprocket. A ring of levers 6403 is provided on the outer surface of the storage chain 6402. The levers 6403 are L-shaped rods. One section of the levers 6403 is perpendicular to the outer surface of the storage chain 6402, and the other section is parallel to the outer surface of the storage chain 6402. For the upper storage chain 6402, the L-shaped opening of the levers 6403 on its outer side faces away from the telescopic assembly 630.

[0051] A horizontal sliding groove 6404 is provided on the end face of the hanger 6401 near the other side. Multiple preset frames 6405 are slidably arranged between the sliding grooves 6404 of the two hangers 6401. Each preset frame 6405 includes a preset roller frame 6406, an upper roller group 6407, a fixing rod 6409, a lower roller 6410, and sliding wheels 6408. The preset roller frame 6406 is located in a vertical plane in the left-right direction, and the upper roller group 6407 is arranged inside the preset roller frame 6406. A set of sliding wheels 6408 is rotatably arranged at each of the left and right ends of the preset roller frame 6406, and the sliding wheels 6408 at both ends are tactilely connected to the sliding grooves 6404 on both sides. A vertical fixing rod 6409 is provided at each of the left and right ends of the lower end face of the preset idler frame 6406, and a lower idler 6410 is rotatably installed between the lower ends of the two fixing rods 6409. The conveyor belt on the upper side of the belt conveyor is in contact with the upper idler group 6407, and the conveyor belt on the lower side of the belt conveyor is in contact with the lower idler 6410.

[0052] The H-shaped frame storage mechanism 7 includes two symmetrical storage rods 701 and two sets of symmetrical support rods 705. The two storage rods 701 are fixedly installed at the left and right ends of the front end face of the internal support and adjustment frame 103, respectively. The storage rods 701 are located in a vertical plane in the front-back direction. Each storage rod 701 includes a front horizontal section 702, a rear horizontal section 703, and a central inclined section 704. Both the front horizontal section 702 and the rear horizontal section 703 are horizontally arranged in the front-back direction. The front horizontal section 702 is located below the front of the rear horizontal section 703, and the rear end of the front horizontal section 702 is connected to the front end of the rear horizontal section 703 via the central inclined section 704. A set of support rods 705 is installed at the midpoint of both end faces of the H-shaped frame 10 of the belt conveyor, and the support rods 705 are horizontally arranged in the left-right direction.

[0053] The longitudinal beam storage mechanism 8 includes two symmetrical storage slots 801 and two symmetrical display racks 802. Both storage slots 801 and display racks 802 extend horizontally along the front-to-back direction. The storage slots 801 and display racks 802 are fixedly installed on the inner left and right ends of the two internal support adjustment frames 103, respectively. The storage slots 801 and display racks 802 are located on the left and right sides of the preset frame 6405, with the storage slots 801 positioned above the display racks 802. The storage slots 801 have a U-shaped structure, with the U-shaped opening facing away from the other storage slot 801.

[0054] The present invention provides a method for using a robot to disassemble the body of a telescopic belt conveyor without shutting down the machine. Step 1: Position the robot between the body and tail section of the belt conveyor, ensuring the conveyor belt passes through the robot's body 1. This ensures the upper section of the conveyor belt is in contact with the upper idler rollers 6407 of the pre-set frame 6405, and the lower section is in contact with the lower idler rollers 6410 of the pre-set frame 6405. The pre-set frame 6405 supports this section of the conveyor belt passing through the robot, allowing the belt conveyor to operate normally.

[0055] Step 2: In the fully mechanized mining face underground, as the roadway face advances, the length of the belt conveyor needs to be adjusted to match the mining rhythm. When the self-propelled tail moves forward, the robot follows the self-propelled tail via the walking mechanism 2. When the robot needs to move forward, the piston rods of all the lifting cylinders 203 are extended synchronously. The lifting cylinders 203 drive the walking support 202 to rotate downward through the lifting linkage 205. Through the interaction force between the walking support 202 and the walking track 201, the main body 1 is lifted as a whole, causing the support block at the lower end of the internal support adjustment frame 103 of the main body 1 to gradually detach from the ground until the piston rod of the lifting cylinder 203 is fully extended, and the main body 1 rises to its highest position. During this process, the angle of the pushing cylinder 204 changes accordingly, and the main body 1 and the walking track 201 slide relative to each other to a certain extent in the front-back direction. After the main body 1 has risen, the walking track 201 is in close contact with the ground, and the main body 1 is supported on the upper end of the walking track 201 by the walking support 202. Then, the piston rods of the push cylinders 204 on both sides are extended, causing the main body 1 to slide forward on the upper end of the walking track 201. During this process, the rollers inside the walking support 202 slide on the upper end of the walking track 201, thereby realizing the forward movement of the robot as a whole.

[0056] Step 3: As the robot moves forward with its self-propelled tail, the transverse E-pin pull-out mechanism 4 first aligns with the E-pins on both sides. The first transverse sliding assembly 3 finely adjusts the front and rear positions of the transverse E-pin pull-out mechanism 4 to ensure that it is aligned with the transverse E-pins on the robot body. Then, the piston rod of the first swing cylinder 403 is controlled to swing. In the initial state, the two ends of the first action rod 405 are located inside the upper section of the first guide groove 402 of the two first guide groove plates 401. The first swing cylinder 403 drives the first swing rod 404 to swing. The first swing rod 404 drives the first action rod 405 to slide sequentially from the upper section of the first guide groove 402 to the vertical middle section and then to the horizontal lower section. When both ends of the first actuating rod 405 slide inside the upper section of the first guide groove 402, the first pull-out claw 406 slides horizontally towards the transverse E-pin. When both ends of the first actuating rod 405 begin to enter the middle section of the first guide groove 402, the first pull-out claw 406 is positioned above the transverse E-pin. When both ends of the first actuating rod 405 slide downward inside the middle section of the first guide groove 402, the first pull-out claw 406 gradually inserts into the transverse E-pin. When both ends of the first actuating rod 405 enter the lower section of the first guide groove 402, the first pull-out claw 406 slides horizontally away from the conveyor body, thereby pulling the transverse E-pin out of the conveyor body and disassembling the connection between the idler frame 9 and the longitudinal beam 11. Through the cooperation of the first anti-rotation block 407 and the first anti-rotation groove 410, the first pull-out claw 406 remains at the same angle during movement.

[0057] Step 4: As the robot moves forward with its self-propelled tail, the longitudinal E-pin pull-out mechanism 5 corresponds to the longitudinal E-pins on both sides. The first transverse sliding assembly 3 is used to fine-tune the front and rear positions of the longitudinal E-pin pull-out mechanism 5 to ensure that the longitudinal E-pin pull-out mechanism 5 is aligned with the longitudinal E-pins on the robot body. Then, the piston rod of the second swing cylinder 503 is controlled to start swinging. In the initial state, the second action rod 505 is located inside the lower section of the second guide groove 502 of the two second guide groove plates 501, near one end of the first transverse sliding plate 302. The second swing cylinder 503 drives the second swing rod to start swinging. The second swing rod 504 drives the second action rod 505 to slide sequentially from the lower section of the second guide groove 502 to the vertical middle section and then to the horizontal upper section. When both ends of the second actuating rod 505 slide inside the lower section of the second guide groove 502, the second pull-out claw 506 slides horizontally towards the longitudinal E-pin, gradually inserting into the longitudinal E-pin. When both ends of the second actuating rod 505 slide upward in the middle section of the second guide groove 502, the second pull-out claw 506 pulls the longitudinal E-pin out of the conveyor body, disassembling the connection between the H-frame 10 and the longitudinal beam 11. When both ends of the second actuating rod 505 slide inside the upper section of the second guide groove 502, the longitudinal E-pin is completely pulled out, and the second pull-out claw 506 does not interfere with other processes. Through the cooperation of the second anti-rotation block 507 and the second anti-rotation groove 510, the second pull-out claw 506 remains at the same angle during movement.

[0058] Step 5: The transverse E-pins and longitudinal E-pins on both sides of the belt conveyor body are continuously pulled out by the transverse E-pin pulling mechanism 4 and the longitudinal E-pin pulling mechanism 5.

[0059] Step 6: Completely disassemble the connection between the longitudinal beam 11, H-frame 10, and roller frame 9 using the transverse E-pin pull-out mechanism 4 and the longitudinal E-pin pull-out mechanism 5. Then, control the telescopic components 630 on both sides to align with the insertion cylinders at both ends of the roller frame 9 using the second transverse sliding assembly 610 and the lifting assembly 620. Then, control the piston rod of the telescopic cylinder 6302 to extend, so that the telescopic rods 6301 of the telescopic components 630 on both sides extend outward and insert into the insertion cylinders at both ends of the roller frame 9. Then, the lifting assembly 620 drives the lifting seat 6201 and the roller frame 9 between the lifting seat 6201 to rise. Then, the second sliding assembly drives the lifting seat 6201 and the roller frame 9 between the lifting seat 6201 to move backward until the insertion cylinders at both ends of the roller frame 9 move above the storage chains 6402 on both sides. Next, the lifting assembly lowers the roller frame 9 onto the storage chain 6402, bringing the insert cylinders on both sides into contact with the storage chains 6402. Then, the piston rod of the telescopic cylinder 6302 retracts, disengaging the telescopic rod 6301 from the insert cylinders of the roller frame 9. The storage chain 6402 then begins to move; the lever 6403 on the outer side of the storage chain 6402 moves the roller frame 9 backward a certain distance, at which point the storage chain 6402 stops. Finally, the second lateral sliding assembly 610 and the lifting assembly 620 return the telescopic assembly 630 to its initial position, allowing the next roller frame 9 to be stored.

[0060] Step 7: As the robot moves forward, the front horizontal sections 702 of the storage rods 701 on both sides first move to below the support rods 705 at both ends of the disassembled H-shaped frame 10. As the robot continues to move forward, the middle inclined sections 704 of the storage rods 701 on both sides contact the support rods 705 at both ends of the disassembled H-shaped frame 10. Guided by the middle inclined sections 704, the support rods 705 at both ends of the H-shaped frame 10 move to the rear horizontal sections 703 of the storage rods 701 on both sides, until finally reaching the rear end of the rear horizontal sections 703. As the robot continues to move forward, the disassembled H-shaped frames 10 are all stored on the storage rods 701 on both sides.

[0061] Step 8: As the robot moves forward, the roller frame 9 and the H-shaped frame 10 are removed from the longitudinal beam 11. As the robot continues to move forward, the rear ends of the longitudinal beams 11 on both sides gradually enter the front openings of the storage slots 801 on both sides, until the longitudinal beams 11 are completely inside the storage slots 801. Finally, the longitudinal beams 11 inside the storage slots 801 fall onto the placement rack 802, where they are stored.

[0062] Step 9: As the robot moves forward, it gradually dismantles the idler frame, H-frame, and longitudinal beams of the belt conveyor body, and stores the dismantled idler frame, H-frame, and longitudinal beams inside the main body 1.

[0063] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A robot for disassembling the body of a telescopic belt conveyor without shutting down the machine, characterized in that: The system includes a main body (1), which is located between the self-moving tail of the belt conveyor and the main body. The conveyor belt on the belt conveyor passes through the main body (1). A traveling mechanism (2) is provided at the lower end of the main body (1), and the main body (1) moves synchronously with the self-moving tail through the traveling mechanism (2). A transverse E-pin pull-out mechanism (4) and a longitudinal E-pin pull-out mechanism (5) are provided on the main body (1). The transverse E-pin pull-out mechanism (4) is used to pull out the transverse E-pin between the longitudinal beam (11) and the idler frame (9), and the longitudinal E-pin pull-out mechanism (5) is used to pull out the transverse E-pin between the longitudinal beam (11) and the idler frame (9). The pin pulling mechanism (5) pulls out the longitudinal E-pin between the longitudinal beam (11) and the H-frame (10); the main body (1) is provided with a longitudinal beam storage mechanism (8), a roller frame storage mechanism (6) and an H-frame storage mechanism (7). The longitudinal beam (11) is stored inside the main body (1) through the longitudinal beam storage mechanism (8), the roller frame (9) is stored inside the main body (1) through the roller frame storage mechanism (6), and the H-frame (10) is stored inside the main body (1) through the H-frame storage mechanism (7). The main body (1) includes a top frame (101) and six support legs (102). Three vertical support legs (102) are respectively provided on the left and right edges of the lower end face of the top frame (101). A first transverse sliding assembly (3) is provided on the left and right sides of the main body (1). The first transverse sliding assembly (3) includes a first transverse fixing plate (301), a first transverse sliding plate (302), and a first transverse sliding cylinder (303). A first transverse fixing plate (301) is fixedly provided between the two support legs (102) at the front end and the middle on the same side. The first transverse sliding plate (302) is slidably connected to the inner side of the first transverse fixing plate (301) along the front-back direction. A first transverse sliding cylinder (303) is provided between the first transverse fixing plate (301) and the first transverse sliding plate (302). A transverse E-type pin pull-out mechanism (4) and a longitudinal E-type pin pull-out mechanism (5) are provided on each first transverse sliding plate (302). The transverse E-type pin pull-out mechanism (4) is located in front of the longitudinal E-type pin pull-out mechanism (5). The transverse E-type pin pull-out mechanism (4) includes a first guide groove plate (401), a first swing cylinder (403), a first swing rod (404), a first actuating rod (405), a first pull-out claw (406), a first sliding plate (408), and a first fixed plate (409); two front-to-back symmetrical first guide groove plates (401) are fixedly arranged on the inner side of the first transverse sliding plate (302), and a front-to-back through first guide groove (402) is respectively provided on each first guide groove plate (401). 02) The first guide groove (402) is a U-shaped structure with its opening facing the first transverse sliding plate (302). The first guide groove (402) includes a horizontal upper section, a vertical middle section, and a horizontal lower section. A first swing cylinder (403) is fixedly installed on one of the first guide groove plates (401). The piston rod of the first swing cylinder (403) is rotatably inserted into the two first guide groove plates (401). Two first swing rods (404) are fixedly installed on the piston rod of the first swing cylinder (403). The two first swing rods (404) are divided into two sections. A waist-shaped hole is provided; the same first action rod (405) is rotatably inserted into the waist-shaped hole of the two first swing rods (404), and the two ends of the first action rod (405) are respectively inserted into the first guide groove (402) of the two first guide groove plates (401). Two first pull-out claws (406) are fixedly provided on the first action rod (405), and the end of the first pull-out claw (406) away from the first transverse sliding plate (302) extends vertically downward; the first action rod (405) away from the first swing cylinder (404) is provided with a waist-shaped hole; the same first action rod (405) is rotatably inserted into the waist-shaped hole of the two first swing rods (404), and the same first action rod (405) is rotatably inserted into the first guide groove (402) of the two first guide groove plates (401). Two first pull-out claws (406) are fixedly provided on the first action rod (405), and the end of the first pull-out claw (406) away from the first transverse sliding plate (302) extends vertically downward; the first action rod (405) away from the first swing cylinder (404) is provided with a waist-shaped hole; the same first action rod (405) is rotatably inserted into the first guide groove (402) of the two first guide groove plates (401). 3) One end is also fixedly provided with a first anti-rotation block (407), and a vertical first fixing plate (409) is fixedly provided on the outside of another first guide plate (401). A first sliding plate (408) is slidably provided on the first fixing plate (409) along the vertical direction. A first anti-rotation groove (410) is provided on the end face of the first sliding plate (408) near the first action rod (405). The first anti-rotation block (407) is slidably provided inside the first anti-rotation groove (410) of the first sliding plate (408).

2. The robot for disassembling the body of a telescopic belt conveyor without shutting down the machine, as described in claim 1, is characterized in that: The main body (1) of the fuselage also includes two internal support adjustment frames (103) at the front and rear. The top frame (101) is a horizontally set square frame structure, and the internal support adjustment frame (103) is a U-shaped structure with the opening facing upward. The internal support adjustment frame (103) on the front side is fixedly set between the two support legs (102) in the middle, and the internal support adjustment frame (103) on the rear side is fixedly set between the two support legs (102) at the rear end.

3. The robot for disassembling the body of a telescopic belt conveyor without shutting down, as described in claim 2, is characterized in that: The walking mechanism (2) includes two symmetrical walking tracks (201), six walking supports (202), six lifting cylinders (203), and two pushing cylinders (204). The six walking supports (202) and the six lifting cylinders (203) correspond to the six supporting legs (102). The two walking tracks (201) are respectively located below the left and right rows of supporting legs (102). Three walking supports (202) are slidably arranged on the upper surface of each walking track (201). The three walking supports (202) are respectively located at the lower end of the three supporting legs (102) on the same side. A hinge is connected to the lower end of each supporting leg (102). The lifting link (205) is hinged at the first corner to the lower end of the support leg (102), and at the second corner to the upper end of the travel support (202) at the lower end of the support leg (102). A lifting cylinder (203) is hinged to each support leg (102). One end of the bottom of the lifting cylinder (203) is hinged to the support leg (102), and one end of the piston rod of the lifting cylinder (203) is hinged to the third corner of the lifting link (205) at the lower end of the support leg (102). A pushing cylinder (204) is provided between the two support legs (102) in the middle and the travel track (201) on the same side.

4. The robot for disassembling the body of a telescopic belt conveyor without shutting down the machine, as described in claim 1, is characterized in that: The longitudinal E-type pin extraction mechanism (5) includes a second guide plate (501), a second swing cylinder (503), a second swing rod (504), a second actuating rod (505), a second extraction claw (506), a second sliding plate (508), and a second fixed plate (509); two symmetrical second guide plates (501) are fixedly arranged on the inner side of the first transverse sliding plate (302), and each second guide plate (501) is provided with a second guide groove (502) that runs through the front and back. 502) is a U-shaped structure with its opening facing the first transverse sliding plate (302). The second guide groove (502) includes a horizontal upper section, a vertical middle section, and a horizontal lower section. A second swing cylinder (503) is fixedly installed on one of the second guide groove plates (501). The piston rod of the second swing cylinder (503) is rotatably inserted into the two second guide groove plates (501). Two second swing rods (504) are fixedly installed on the piston rod of the second swing cylinder (503). Each is provided with a waist-shaped hole; the same second action rod (505) is rotatably inserted into the waist-shaped holes of the two second swing rods (504), and the two ends of the second action rod (505) are respectively inserted into the second guide grooves (502) of the two second guide groove plates (501). Two second pull-out claws (506) are fixedly provided on the second action rod (505), and the end of the second pull-out claw (506) away from the second transverse sliding plate (6102) extends horizontally; the second action rod (505) away from the second swing cylinder (504) is provided with a waist-shaped hole; the same second action rod (505) is rotatably inserted into the waist-shaped holes of the two second swing rods (504), and the same second action rod (505) is rotatably inserted into the second guide grooves (502) of the two second guide groove plates (501). 3) A second anti-rotation block (507) is fixedly installed at one end. A vertical second fixing plate (509) is fixedly installed on the outside of another second guide plate (501). A second sliding plate (508) is slidably installed on the second fixing plate (509) along the vertical direction. A second anti-rotation groove (510) is provided on the end face of the second sliding plate (508) near the second action rod (505). The second anti-rotation block (507) is slidably installed inside the second anti-rotation groove (510) of the second sliding plate (508).

5. A robot for disassembling the body of a telescopic belt conveyor without shutting down the machine, as described in claim 2, characterized in that: A roller rack storage mechanism (6) is provided on the left and right sides of the main body (1). The roller rack storage mechanism (6) includes a telescopic component (630), a second lateral sliding component (610), a lifting component (620), and a storage component (640). The second lateral sliding assembly (610) includes a second lateral sliding housing (6101), a second lateral sliding cylinder (6104), a second lateral sliding plate (6102), and a lateral sliding seat (6103). The second lateral sliding housing (6101) is fixedly disposed on the left or right edge of the top frame (101). The second lateral sliding housing (6101) extends horizontally along the front-back direction. A sliding groove is provided on the bottom surface inside the second lateral sliding housing (6101), and a vertical plate is slidably inserted into the sliding groove. A straight second transverse sliding plate (6102) is provided. A transverse sliding seat (6103) is slidably disposed inside the second transverse sliding housing (6101) along the front-back horizontal direction. The upper end of the second transverse sliding plate (6102) extends into the second transverse sliding housing (6101) and is fixedly connected to the transverse sliding seat (6103). A second transverse sliding cylinder (6104) is fixedly disposed on the second transverse sliding housing (6101). The piston rod of the second transverse sliding cylinder (6104) is connected to the transverse sliding seat (6103). The lifting assembly (620) includes a lifting cylinder (6202) and a lifting seat (6201); the lifting seat (6201) is slidably arranged on the inner side of the second transverse sliding plate (6102) along the vertical direction, and a vertical lifting cylinder (6202) is arranged between the upper end of the inner side of the second transverse sliding plate (6102) and the lifting seat (6201). The telescopic assembly (630) includes a telescopic rod (6301) and a telescopic cylinder (6302). A telescopic hole is provided on the side wall of the lifting seat (6201) away from the second transverse sliding plate (6102). A telescopic rod (6301) is slidably inserted into the telescopic hole. A telescopic cylinder (6302) is fixedly installed inside the lifting seat (6201). The piston rod of the telescopic cylinder (6302) is fixedly connected to the telescopic rod (6301). A plug-in cylinder is provided at both ends of the idler frame (9) of the belt conveyor.

6. A robot for disassembling the body of a telescopic belt conveyor without shutting down the machine, as described in claim 5, characterized in that: The storage assembly (640) includes a hanger (6401), a storage chain assembly, and a preset frame (6405). The hanger (6401) is fixedly installed on the rear side of the telescopic assembly (630), and the storage chain assembly is installed on the hanger (6401). The storage chain assembly includes a storage chain (6402), a drive sprocket, a driven sprocket, and a hydraulic motor. The hydraulic motor is fixedly installed at the rear end of the hanger (6401), and a drive sprocket is fixedly installed on the output shaft of the hydraulic motor. A driven sprocket is rotatably provided at the front end of the frame (6401), and a storage chain (6402) is sleeved between the driving sprocket and the driven sprocket; a ring of levers (6403) is provided on the outer surface of the storage chain (6402); a front-to-back horizontal sliding groove (6404) is provided on the end face of the hanger (6401) near the other side, and multiple preset frames (6405) are slidably arranged between the sliding grooves (6404) of the hangers (6401) on both sides.

7. A robot for disassembling the body of a telescopic belt conveyor without shutting down the machine, as described in claim 2, characterized in that: The H-shaped frame storage mechanism (7) includes two left-right symmetrical storage rods (701) and two sets of left-right symmetrical support rods (705); the two storage rods (701) are respectively fixedly installed at the left and right ends of the front end face of the internal support adjustment frame (103). The storage rod (701) includes a front horizontal section (702), a rear horizontal section (703), and a middle inclined section (704). The front horizontal section (702) is located below the front side of the rear horizontal section (703). The rear end of the front horizontal section (702) and the front end of the rear horizontal section (703) are connected through the middle inclined section (704); a set of support rods (705) are respectively installed at the middle height of the two end faces of the H-shaped frame (10) of the belt conveyor.

8. A robot for disassembling the body of a telescopic belt conveyor without shutting down the machine, as described in claim 2, characterized in that: The longitudinal beam storage mechanism (8) includes two left-right symmetrical storage slots (801) and two left-right symmetrical display racks (802); the two storage slots (801) and the two display racks (802) extend horizontally along the front-back direction. The two storage slots (801) and the two display racks (802) are respectively fixedly installed on the left and right ends of the inner side of the two internal support adjustment racks (103). The storage slots (801) are located above the display racks (802). The storage slots (801) have a U-shaped structure, and the U-shaped opening of the storage slots (801) faces the side away from the other storage slot (801).

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