A cleaning robot for coal washing plants

Abstract

The present invention discloses a cleaning robot for a coal washing plant, comprising a cleaning robot body and a patrol assembly, wherein the patrol assembly comprises a driving wheel, the driving wheel is arranged on the right side of the bottom of the front and back of the cleaning robot body, a cleaning brush is arranged on the left side of the bottom of the cleaning robot body, and an omnidirectional pan-tilt is fixedly connected to the right side of the top of the cleaning robot body. The present invention controls the driving motor to work when it is necessary to adjust the atomization dust reduction range, and controls the rotating shell to flip out of the working slot 1 on the protective box when the driving motor works. At this time, the atomizing nozzle on the rotating shell changes with the rotation angle of the rotating shell. At the same time, because the nozzle direction of the atomizing nozzle faces the sky, under the action of gravity, the water mist sprayed by the atomizing nozzle is mixed with the dust in the air and falls to the ground together, which can ensure the dust reduction effect and adaptively adjust the dust reduction area.

Description

Technical Field

[0001] The invention relates to the technical field of cleaning robots, and in particular to a cleaning robot used in a coal washing plant. Background Art

[0002] A coal washing plant, also known as a coal preparation plant, is an important link in the deep processing of coal. A coal washing plant is a coal processing plant whose main function is to sort raw coal, remove mineral impurities, and separate the coal into products of different specifications. In this process, the coal washing plant can reduce the content of impurities such as ash and sulfur in the coal, and improve the utilization rate and quality of the coal.

[0003] A Chinese patent application with patent application number CN202411136079.0 discloses an intelligent robot for a coal washing plant with a cleaning structure. Although the application realizes the function of cleaning the track surface below the device and increasing the range of spray diffusion of the atomizing nozzle, when the device is put into use, the atomizing nozzle is generally arranged on the lower side of the cleaning robot, which makes it difficult to adjust the angle of the atomizing nozzle. At the same time, when the atomizing nozzle atomizes the lower side, the dust reduction range is reduced because the atomizing nozzle is directed to the ground, resulting in the atomizing range being unable to be adjusted according to the needs. Improvements are needed to address this problem. Summary of the invention

[0004] The object of the present invention is to provide a cleaning robot for a coal washing plant to solve the problems raised in the above background technology.

[0005] In order to solve the above technical problems, the present invention provides the following technical solutions: a cleaning robot for a coal washing plant, comprising a cleaning robot body and a patrol component.

[0006] Wherein, the patrol component comprises:

[0007] Driving wheels are arranged on the right side of the bottom of the front and back of the cleaning robot body, a cleaning brush is arranged on the left side of the bottom of the cleaning robot body, an omnidirectional pan-tilt is fixedly connected to the right side of the top of the cleaning robot body, a high-precision infrared imager is fixedly connected to the left side of the top of the omnidirectional pan-tilt, an omnidirectional microphone array is arranged on the left side of the omnidirectional pan-tilt on the top of the cleaning robot body, an ultrasonic radar is arranged on the outside of the cleaning robot body near the top, a laser radar is arranged on the middle left side of the cleaning robot body, a collision sensor and an anti-fall sensor are arranged in sequence on the left side of the laser radar on the left side of the cleaning robot body, a clean water tank is arranged on the top right side of the cleaning robot body, and a sewage tank is arranged on the bottom right side of the cleaning robot body.

[0008] According to the above technical solution, it also includes a driving assembly, which is composed of a protective box, a driving motor, a threaded column, a ball nut pair, a lifting plate and an adjusting roller.

[0009] The protective box is fixedly connected to the front side of the cleaning robot body, the driving motor is fixedly connected to the middle of the top of the protective box, the driving motor has an output shaft, the threaded column is fixedly connected to the output shaft of the driving motor, the ball nut pair is threadedly connected to the outside of the threaded column, the lifting plate is fixedly connected to the outer wall of the ball nut pair, and the adjusting roller is rotatably connected to the front side of the lifting plate.

[0010] According to the above technical scheme, it also includes a spray dust reduction component, which consists of a working tank, a positioning frame, a rotating plate, a fixed plate, a spring, a rotating shell, a water inlet pipe, a spring pipe, a water spray pipe and an atomizing nozzle.

[0011] The working groove is opened at the bottom of the front side of the protection box, the positioning frame is fixedly connected to the top of the working groove, the rotating plate is rotatably connected to the middle part of the positioning frame, the fixed plate is fixedly connected to the inner wall of the protection box and is located above the working groove, the spring is fixedly connected to the bottom of the fixed plate, the rotating shell is fixedly connected to the bottom of the rotating plate, the water inlet pipe is fixedly connected to the bottom of the protection box, the spring tube is fixedly connected to the top of the water inlet pipe, the water spray pipe is fixedly connected to the inner wall of the front side of the rotating shell, and the atomizing nozzle is fixedly connected to the front side of the water spray pipe.

[0012] According to the above technical solution, it also includes a protection component, which is composed of two working grooves, two positioning frames, two rotating plates, a bottom plate, two springs, a protection plate, an extrusion frame, a connecting support plate and an extrusion pulley.

[0013] The second working groove is opened on the upper side of the front of the protection box, the second positioning frame is fixedly connected to the top of the second working groove, the second rotating plate is rotatably connected to the middle part of the second positioning frame, the bottom plate is fixedly connected to the bottom of the second rotating plate, the second spring is fixedly connected to the front of the bottom plate, the protection plate is fixedly connected to the end of the second spring away from the bottom plate, the extrusion frame is fixedly connected to the back of the bottom plate, the connecting support plate is fixedly connected to the middle part of the extrusion frame, and the extrusion pulley is rotatably connected to the outer side of the connecting support plate.

[0014] According to the above technical solution, the output shaft of the driving motor passes through the top of the protection box and extends into the protection box and is fixedly connected to the top of the threaded column. The bottom of the threaded column is fixedly connected to a supporting cross plate. The back of the supporting cross plate is fixedly connected to the back inner wall of the protection box. Guide rods are fixedly connected to the left and right sides of the protection box. A guide sliding hole corresponding to the guide rod is provided in the lifting plate. The lifting plate is slidably connected to the guide rod through the guide sliding hole. The top of the guide rod is fixedly connected to the top inner wall of the protection box. The bottom of the guide rod is fixedly connected to the top of the supporting cross plate. By setting the guide rod, the lifting and lowering of the lifting plate can be guided and limited.

[0015] According to the above technical solution, one end of the spring away from the fixed plate is fixedly connected to a rotating plate, the size of the rotating shell is smaller than the size of the working groove, a slope is provided on the back of the rotating shell, one end of the spring tube away from the water inlet pipe is fixedly connected to the bottom of the water spray pipe, and the spring tube is connected to the inside of the water spray pipe, and the water in the spring tube can be transported to the water spray pipe, the front end of the atomizing nozzle passes through the front inner wall of the rotating shell and extends to the front of the rotating shell, the water in the water inlet pipe is connected to the clean water tank, and the water in the clean water tank can be introduced into the spring tube and the water spray pipe through the water inlet pipe.

[0016] According to the above technical solution, the size of the bottom plate is smaller than that of the working groove 2, the front end of the spring 2 passes through the working groove 2 and extends to the front of the protective box and is fixedly connected to the protective plate. By arranging the protective plate outside the protective box, the size of the protective plate can be adaptively adjusted.

[0017] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: when the atomization dust reduction range needs to be adjusted, the atomization nozzle is controlled to change with the rotation angle of the rotating shell, and the water mist sprayed by the atomization nozzle is mixed with the dust in the air and falls to the ground, which can ensure the dust reduction effect while adaptively adjusting the dust reduction area;

[0018] Since the rotating shell can be stored in the protective box, the overall volume of the device is reduced when in use. At the same time, the rotating shell can be stored back in the protective box to protect the atomizing nozzle on the rotating shell, thereby preventing the atomizing nozzle from being exposed to the outside and being easily damaged.

[0019] By controlling the operation of the drive motor, spring 2 and the protective plate are made to expand obliquely outside the protective box. When coal blocks and coal powder fall on the top of the protective plate, the protective plate can rebound the fallen coal blocks and coal powder to the outside of the device to avoid damage to the device. At the same time, since spring 2 and the protective plate are flipped to the outside of the protective box, coal powder can be prevented from falling into the inside of the protective box, so that the device has a protective function. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0021] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0022] Figure 2 It is a schematic diagram of a water purification tank of the present invention;

[0023] Figure 3 is a schematic diagram of the interior of the protective box of the present invention;

[0024] Figure 4It is a schematic diagram of explosion at the lifting plate of the present invention;

[0025] Figure 5 yes Figure 4 The enlarged schematic diagram at A in the middle;

[0026] Figure 6 It is a schematic diagram of the rotating shell of the present invention;

[0027] Figure 7 yes Figure 6 The enlarged schematic diagram of point B in the middle;

[0028] Figure 8 is a schematic diagram of the interior of the rotating shell of the present invention;

[0029] Fig. 9 This is a schematic diagram of an explosion at a protective plate of the present invention;

[0030] Fig.10 yes Fig. 9 Enlarged schematic diagram at point C in the middle.

[0031] In the figure: 1. Cleaning robot body; 2. Patrol component; 201. Drive wheel; 202. Cleaning brush; 203. Omnidirectional pan-tilt head; 204. High-precision infrared imager; 205. Ultrasonic radar; 206. LiDAR; 207. Collision sensor; 208. Anti-fall sensor; 209. Omnidirectional microphone array; 210. Clean water tank; 211. Sewage tank; 3. Drive component; 301. Protective box; 302. Drive motor; 303. Threaded column; 304. Ball nut pair; 305. Lifting plate; 306. Adjusting roller; 4. Spray dust suppression component; 401. Working trough 1; 402. Positioning frame 1; 403. Rotating plate 1; 404. Fixed plate; 405. Spring 1; 406. Rotating shell; 407. Water inlet pipe; 408. Spring pipe; 409. Water spray pipe; 410. Atomizing nozzle; 5. Protection component; 501. Working trough 2; 502. Positioning frame 2; 503. Rotating plate 2; 504. Bottom plate; 505. Spring 2; 506. Protection plate; 507. Extrusion frame; 508. Connecting support plate; 509. Extrusion pulley. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0033] For example, see Figure 1-2The present invention provides a technical solution: a cleaning robot for a coal washing plant, comprising a cleaning robot body 1 and a patrol component 2.

[0034] Among them, the patrol component 2 includes:

[0035] Driving wheel 201, driving wheel 201 is arranged on the right side of the bottom of the front and back of the cleaning robot body 1, a cleaning brush 202 is arranged on the left side of the bottom of the cleaning robot body 1, an omnidirectional pan-tilt head 203 is fixedly connected to the right side of the top of the cleaning robot body 1, and a high-precision infrared imager 204 is fixedly connected to the left side of the top of the omnidirectional pan-tilt head 203, an omnidirectional microphone array 209 is arranged on the top of the cleaning robot body 1 on the left side of the omnidirectional pan-tilt head 203, an ultrasonic radar 205 is arranged on the outside of the cleaning robot body 1 near the top, a laser radar 206 is arranged in the middle of the left side of the cleaning robot body 1, a collision sensor 207 and an anti-fall sensor 208 are arranged in sequence on the left side of the laser radar 206 on the left side of the cleaning robot body 1, a clean water tank 210 is arranged on the top right side of the cleaning robot body 1, and a sewage tank 211 is arranged on the bottom right side of the cleaning robot body 1.

[0036] By arranging an ultrasonic radar 205, a laser radar 206, a collision sensor 207 and an anti-fall sensor 208 on the cleaning robot body 1, the device can have anti-collision, anti-slip and anti-fall functions when in use. At the same time, by arranging an omnidirectional pan-tilt head 203, a high-precision infrared imager 204 and an omnidirectional microphone array 209, the device can perform inspection tasks while cleaning, identify instruments, measure equipment temperature, and identify smoke, dust, noise, etc.

[0037] For example 2, please refer to Figure 1-10 On the basis of the first embodiment, the present invention provides a technical solution: it also includes a driving component 3, the driving component 3 is composed of a protective box 301, a driving motor 302, a threaded column 303, a ball nut pair 304, a lifting plate 305 and an adjusting roller 306.

[0038] The protective box 301 is fixedly connected to the front side of the cleaning robot body 1, the driving motor 302 is fixedly connected to the middle of the top of the protective box 301, the driving motor 302 has an output shaft, the threaded column 303 is fixedly connected to the output shaft of the driving motor 302, the ball nut pair 304 is threadedly connected to the outside of the threaded column 303, the lifting plate 305 is fixedly connected to the outer wall of the ball nut pair 304, and the adjusting roller 306 is rotatably connected to the front side of the lifting plate 305.

[0039] It also includes a spray dust reduction component 4, which consists of a working tank 401, a positioning frame 402, a rotating plate 403, a fixed plate 404, a spring 405, a rotating shell 406, a water inlet pipe 407, a spring tube 408, a water spray pipe 409 and an atomizing nozzle 410.

[0040] A working tank 401 is opened at the bottom of the front side of the protection box 301, a positioning frame 402 is fixedly connected to the top of the working tank 401, a rotating plate 403 is rotatably connected to the middle of the positioning frame 402, a fixed plate 404 is fixedly connected to the inner wall of the protection box 301 and is located above the working tank 401, a spring 405 is fixedly connected to the bottom of the fixed plate 404, a rotating shell 406 is fixedly connected to the bottom of the rotating plate 403, a water inlet pipe 407 is fixedly connected to the bottom of the protection box 301, a spring tube 408 is fixedly connected to the top of the water inlet pipe 407, a water spray pipe 409 is fixedly connected to the inner wall of the front side of the rotating shell 406, an atomizing nozzle 410 is fixedly connected to the front side of the water spray pipe 409, and the water in the clean water tank 210 is connected to the clean water tank 210. The water in the clean water tank 210 can be introduced into the spring tube 408 and the water spray pipe 409 through the water inlet pipe 407.

[0041] It also includes a protection component 5, which consists of a second working groove 501, a second positioning frame 502, a second rotating plate 503, a bottom plate 504, a second spring 505, a protection plate 506, an extrusion frame 507, a connecting support plate 508 and an extrusion pulley 509.

[0042] The second working groove 501 is opened on the upper front side of the protective box 301, the second positioning frame 502 is fixedly connected to the top of the second working groove 501, the second rotating plate 503 is rotatably connected to the middle part of the second positioning frame 502, the bottom plate 504 is fixedly connected to the bottom of the second rotating plate 503, the second spring 505 is fixedly connected to the front of the bottom plate 504, the protective plate 506 is fixedly connected to the end of the second spring 505 away from the bottom plate 504, the extrusion frame 507 is fixedly connected to the back of the bottom plate 504, the connecting support plate 508 is fixedly connected to the middle part of the extrusion frame 507, and the extrusion pulley 509 is rotatably connected to the outer side of the connecting support plate 508.

[0043] The output shaft of the driving motor 302 passes through the top of the protective box 301 and extends into the protective box 301 and is fixedly connected to the top of the threaded column 303. The bottom of the threaded column 303 is fixedly connected to a supporting cross plate. The back of the supporting cross plate is fixedly connected to the back inner wall of the protective box 301. Guide rods are fixedly connected to the left and right sides of the protective box 301. A guide slide hole corresponding to the guide rod is opened in the lifting plate 305. The lifting plate 305 is slidably connected to the guide rod through the guide slide hole. The top of the guide rod is fixedly connected to the top inner wall of the protective box 301, and the bottom of the guide rod is fixedly connected to the top of the supporting cross plate. By setting the guide rod, the lifting and lowering of the lifting plate 305 can be guided and limited.

[0044] One end of a spring 405 away from the fixed plate 404 is fixedly connected to a rotating plate 403, the size of a rotating shell 406 is smaller than the size of a working groove 401, a slope is provided on the back of the rotating shell 406, one end of a spring tube 408 away from the water inlet pipe 407 is fixedly connected to the bottom of a water spray pipe 409, and the spring tube 408 is connected to the inside of the water spray pipe 409, so that the water in the spring tube 408 can be transported to the water spray pipe 409, and the front end of the atomizing nozzle 410 passes through the front inner wall of the rotating shell 406 and extends to the front of the rotating shell 406.

[0045] The size of the bottom plate 504 is smaller than that of the working groove 2 501 , and the front end of the spring 2 505 passes through the working groove 2 501 and extends to the front of the protective box 301 and is fixedly connected to the protective plate 506 . By arranging the protective plate 506 outside the protective box 301 , the size of the protective plate 506 can be adaptively adjusted.

[0046] When it is necessary to adjust the atomization dust reduction range, the drive motor 302 is controlled to work, and the threaded column 303 is controlled to rotate when the drive motor 302 is working. At this time, the ball nut pair 304 on the outer side of the threaded column 303 performs lifting and lowering work. At the same time, when the ball nut pair 304 descends, the lifting plate 305 is driven to descend synchronously. As the ball nut pair 304 descends, the adjusting roller 306 on the lifting plate 305 contacts the slope on the rotating shell 406, and as the lifting plate 305 descends a distance more, the adjusting roller 306 squeezes the slope on the rotating shell 406. At this time, the rotating plate 403 on the rotating shell 406 is in operation. When the ball nut pair 304 moves to the lowermost side of the threaded column 303, the rotating shell 406 is subjected to the maximum force and flips the rotating shell 406 out of the working groove 401 on the protective box 301. At this time, the atomizing nozzle 410 on the rotating shell 406 changes with the rotation angle of the rotating shell 406. At the same time, since the nozzle direction of the atomizing nozzle 410 is facing the sky, the water mist sprayed by the atomizing nozzle 410 mixes with the dust in the air under the action of gravity and falls to the ground, which can ensure the dust reduction effect and adaptively adjust the dust reduction area.

[0047] Since the rotating shell 406 can be stored in the protective box 301, the overall volume of the device is reduced when in use. At the same time, by providing a spring 405, when the adjusting roller 306 on the lifting plate 305 is separated from the slope of the rotating shell 406, the spring 405 elastically recovers, so that the rotating shell 406 is re-stored into the protective box 301, and the atomizing nozzle 410 on the rotating shell 406 can be protected to prevent the atomizing nozzle 410 from being exposed to the outside and being easily damaged.

[0048] By controlling the driving motor 302 to work, the ball nut pair 304 rises on the outside of the threaded column 303. At this time, the top of the lifting plate 305 contacts the extrusion pulley 509 when it rises, so that the top of the lifting plate 305 squeezes the extrusion pulley 509, and as the lifting plate 305 rises, the extrusion pulley 509 slides on the top surface of the lifting plate 305. At the same time, the extrusion pulley 509 pushes the bottom plate 504 when it is subjected to force. At this time, the rotating plate 503 on the top of the bottom plate 504 rotates in the middle of the positioning frame 502 in the working groove 501, and the bottom plate 504 can be moved from the working groove 501 to the bottom plate 504. 01, when the lifting plate 305 moves to the uppermost side, the bottom plate 504 flips to the outside of the protective box 301, and at the same time, the spring 2 505 and the protective plate 506 are obliquely spread out on the outside of the protective box 301, and when coal blocks and coal powder fall on the top of the protective plate 506, under the action of the spring 2 505, the protective plate 506 can rebound the fallen coal blocks and coal powder to the outside of the device to avoid damage to the device. At the same time, since the spring 2 505 and the protective plate 506 flip to the outside of the protective box 301, the coal powder can be prevented from falling into the inside of the protective box 301, so that the device has a protective function.

[0049] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0050] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A cleaning robot for a coal washing plant, comprising a cleaning robot body (1), characterized in that: Also included is a patrol component (2); Wherein, the patrol component (2) comprises: A driving wheel (201), the driving wheel (201) being arranged on the right side of the bottom of the front and back of the cleaning robot body (1); a cleaning brush (202) being arranged on the left side of the bottom of the cleaning robot body (1); an omnidirectional pan-tilt platform (203) being fixedly connected to the right side of the top of the cleaning robot body (1); a high-precision infrared imager (204) being fixedly connected to the left side of the top of the omnidirectional pan-tilt platform (203); an omnidirectional microphone array (209) being arranged on the top of the cleaning robot body (1) on the left side of the omnidirectional pan-tilt platform (203); an ultrasonic radar (205) being arranged on the outside of the cleaning robot body (1) near the top; a laser radar (206) being arranged in the middle of the left side of the cleaning robot body (1); a collision sensor (207) and an anti-fall sensor (208) being arranged in sequence on the left side of the cleaning robot body (1) below the laser radar (206); a clean water tank (210) being arranged on the top of the right side of the cleaning robot body (1); and a sewage tank (211) being arranged on the bottom of the right side of the cleaning robot body (1); It also includes a driving assembly (3), wherein the driving assembly (3) is composed of a protection box (301), a driving motor (302), a threaded column (303), a ball nut pair (304), a lifting plate (305) and an adjusting roller (306); The protection box (301) is fixedly connected to the front of the cleaning robot body (1); the drive motor (302) is fixedly connected to the middle of the top of the protection box (301); the drive motor (302) has an output shaft; the threaded column (303) is fixedly connected to the output shaft of the drive motor (302); the ball nut pair (304) is threadedly connected to the outside of the threaded column (303); the lifting plate (305) is fixedly connected to the outer wall of the ball nut pair (304); and the adjusting roller (306) is rotatably connected to the front of the lifting plate (305); It also includes a spray dust reduction assembly (4), the spray dust reduction assembly (4) consisting of a working tank (401), a positioning frame (402), a rotating plate (403), a fixed plate (404), a spring (405), a rotating shell (406), a water inlet pipe (407), a spring pipe (408), a water spray pipe (409) and an atomizing nozzle (410); The working groove 1 (401) is opened at the bottom of the front side of the protection box (301); the positioning frame 1 (402) is fixedly connected to the top of the working groove 1 (401); the rotating plate 1 (403) is rotatably connected to the middle part of the positioning frame 1 (402); the fixed plate (404) is fixedly connected to the inner wall of the protection box (301) and is located above the working groove 1 (401); the spring 1 (405) is fixedly connected to the bottom of the fixed plate (404); the rotating shell (406) is fixedly connected to the bottom of the rotating plate 1 (403); the water inlet pipe (407) is fixedly connected to the bottom of the protection box (301); the spring tube (408) is fixedly connected to the top of the water inlet pipe (407); the water spray pipe (409) is fixedly connected to the inner wall of the front side of the rotating shell (406); and the atomizing nozzle (410) is fixedly connected to the front side of the water spray pipe (409); The end of the spring 1 (405) away from the fixed plate (404) is fixedly connected to the rotating plate 1 (403); the size of the rotating shell (406) is smaller than the size of the working groove 1 (401); a slope is provided on the back of the rotating shell (406); the end of the spring tube (408) away from the water inlet pipe (407) is fixedly connected to the bottom of the water spray pipe (409); the spring tube (408) is connected to the inside of the water spray pipe (409) and can transport water in the spring tube (408) to the water spray pipe (409); the front end of the atomizing nozzle (410) passes through the front inner wall of the rotating shell (406) and extends to the front of the rotating shell (406); the water in the clean water tank (210) is connected to the inside of the clean water tank (210); and the water in the clean water tank (210) can be introduced into the spring tube (408) and the water spray pipe (409) through the water inlet pipe (407).

2. A cleaning robot for a coal washing plant according to claim 1, characterized in that: It also includes a protection component (5), which is composed of a second working groove (501), a second positioning frame (502), a second rotating plate (503), a bottom plate (504), a second spring (505), a protection plate (506), an extrusion frame (507), a connecting support plate (508) and an extrusion pulley (509); The second working groove (501) is opened on the upper side of the front face of the protection box (301); the second positioning frame (502) is fixedly connected to the top of the second working groove (501); the second rotating plate (503) is rotatably connected to the middle part of the second positioning frame (502); the bottom plate (504) is fixedly connected to the bottom of the second rotating plate (503); the second spring (505) is fixedly connected to the front face of the bottom plate (504); the protection plate (506) is fixedly connected to the end of the second spring (505) away from the bottom plate (504); the extrusion frame (507) is fixedly connected to the back face of the bottom plate (504); the connecting support plate (508) is fixedly connected to the middle part of the extrusion frame (507); and the extrusion pulley (509) is rotatably connected to the outer side of the connecting support plate (508).

3. A cleaning robot for a coal washing plant according to claim 2, characterized in that: The output shaft of the driving motor (302) passes through the top of the protection box (301) and extends into the protection box (301) to be fixedly connected to the top of the threaded column (303); the bottom of the threaded column (303) is fixedly connected to a supporting cross plate; the back of the supporting cross plate is fixedly connected to the back inner wall of the protection box (301); guide rods are fixedly connected to the left and right sides of the protection box (301); guide sliding holes corresponding to the guide rods are provided in the lifting plate (305); the lifting plate (305) is slidably connected to the guide rods through the guide sliding holes; the top of the guide rod is fixedly connected to the top inner wall of the protection box (301); the bottom of the guide rod is fixedly connected to the top of the supporting cross plate; by providing the guide rods, the lifting of the lifting plate (305) can be guided and limited.

4. A cleaning robot for a coal washing plant according to claim 3, characterized in that: The size of the bottom plate (504) is smaller than the size of the second working groove (501); the front end of the second spring (505) passes through the second working groove (501) and extends to the front of the protection box (301) to be fixedly connected to the protection plate (506); by arranging the protection plate (506) to be located outside the protection box (301), the size of the protection plate (506) can be adaptively adjusted.

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