Maintenance robot suitable for belt conveyor

Abstract

The utility model discloses an overhaul robot suitable for a belt conveyor, which comprises a case main body, a suspension device and an overhaul assembly, and is directly suspended above the belt conveyor by utilizing the suspension device, so that the overhaul work is convenient to carry out. The camera shooting element is arranged on the case body, image information of the belt conveyor and the working environment is obtained through the camera shooting element, the fault occurrence position of the belt conveyor is accurately positioned in combination with the positioning system, and after the controller determines the fault and the fault position, maintenance is conducted through the gap assembly. Specifically, the lifting device can lift a belt at the fault position of the belt conveyor, maintenance work is facilitated, the first clamping arm and the second clamping arm can maintain the belt conveyor, the cleaning mechanical arm can clean waste and garbage on the belt conveyor, and the camera element can monitor and shoot maintenance pictures in real time. Therefore, faults can be eliminated, and the maintenance work efficiency of the belt conveyor is greatly improved.

Description

Technical Field

[0001] The utility model relates to the technical field of mining equipment and peripheral supporting facilities thereof, in particular to a maintenance robot suitable for a belt conveyor. Background Art

[0002] In this era, coal resources are still an important main energy source for our country, and belt conveyors account for a large proportion of coal transportation. Belt conveyors can save manpower and material resources to a great extent, improve transportation efficiency, and promote the development of mine production.

[0003] The environment in the mine is harsh, especially in the coal-producing working face. As the main means of transportation, the belt conveyor is prone to various failures, which can affect the production of the mine and reduce production efficiency, or cause accidents and endanger the lives of workers. Therefore, the belt conveyor needs to be inspected and maintained frequently to ensure normal operation.

[0004] The visibility underground is low, the coal dust on the working face is large, and the manual maintenance of the belt conveyor is inefficient. Under limited visibility conditions, the manual maintenance of the belt conveyor takes a long time and costs a lot of material and labor, which seriously affects the production efficiency of the mine. Secondly, the maintenance workers will inhale a lot of coal dust when working near the coal mining face for a long time, which seriously affects the workers' health.

[0005] With the development of science and technology, social progress, and intelligent mining, it has become the main trend of mining development today. Utility Model Content

[0006] The utility model aims to provide a maintenance robot suitable for a belt conveyor to solve the problems existing in the above-mentioned prior art and improve the maintenance efficiency of the belt conveyor.

[0007] To achieve the above purpose, the utility model provides the following solutions:

[0008] The utility model provides a maintenance robot suitable for a belt conveyor, comprising:

[0009] A chassis body, wherein a camera element is disposed on the chassis body, and the camera element can obtain image information of the belt conveyor and its surrounding working environment. The chassis body has a built-in controller and a positioning system, and the camera element and the positioning system are both connected to the controller in communication, and the positioning system can locate the fault location of the belt conveyor according to the received image information;

[0010] A suspension device, the suspension device is located on the top of the chassis body and the two are connected, and the suspension device can cooperate with the track mechanism above the belt conveyor to drive the chassis body to reciprocate along the length direction of the belt conveyor;

[0011] An inspection component is arranged on the chassis body, and the inspection component includes a lifting and raising device, a first clamping arm, a second clamping arm and a cleaning mechanical arm. The lifting and raising device is arranged at the bottom of the chassis body, and the lifting and raising device can drive part of the belt of the belt conveyor to rise so that a gap for inspection is formed between the belt and the roller of the belt conveyor; the first clamping arm and the second clamping arm are both arranged on the side of the chassis body for repairing the belt conveyor; the cleaning mechanical arm is arranged in front of the chassis body for cleaning waste on the belt conveyor.

[0012] Preferably, the camera element includes a front camera, a side camera and a monitoring camera. Along the moving direction of the chassis body, the front camera is arranged in front of the chassis body; the side camera is arranged on one side of the chassis body; the monitoring camera is arranged at the bottom of the chassis body and is directly opposite to the belt conveyor.

[0013] Preferably, a monitoring arm is also provided on the chassis body, and the side camera is arranged on the monitoring arm. The number of the monitoring arms is two groups, and the two monitoring arms are symmetrically arranged on both sides of the chassis body. The side camera corresponds to the monitoring arm one by one; the side camera is a spherical camera.

[0014] Preferably, the suspension device includes a suspension cylinder, a slide rope is arranged above the belt conveyor, the slide rope is arranged along the length direction of the belt conveyor, and the suspension cylinder can be sleeved on the outside of the slide rope to enable the suspension device to move along the slide rope.

[0015] Preferably, the lifting and raising device includes two symmetrically arranged lifting plates, the lifting plates are L-shaped, and the lifting plates include a vertical plate and a transverse plate. The vertical plate is connected to the chassis body and can reciprocate in the vertical direction, and the transverse plate can extend under the belt of the belt conveyor and support the belt, so that the lifting plate can drive part of the belt of the belt conveyor to rise.

[0016] Preferably, the first clamping arm has the functions of rotation and movement, and the first clamping arm can adjust the positions of the rollers and roller groups of the belt conveyor, and adjust the screw of the screw tensioning device to increase the pre-tightening force to prevent the belt from slipping.

[0017] Preferably, the first clamp arm is also connected to a nut removal cylinder, which is used to remove the nut, so that the first clamp arm can adjust the position of the rollers and roller groups of the belt conveyor, and adjust the screw of the screw tensioning device to increase the pre-tightening force; the number of the first clamp arms is two groups, and the two first clamp arms are symmetrically arranged on both sides of the chassis body.

[0018] Preferably, the second clamping arm has telescopic and lifting functions, and the second clamping arm can move the position of the driving roller and the driving roller bearing seat of the belt conveyor, grab the materials needed for use, and adjust the mass of the weight on the weight tensioning device to increase the pre-tightening force to prevent the belt from slipping; the number of the second clamping arms is two groups, and the two first clamping arms are symmetrically arranged on both sides of the chassis body.

[0019] Preferably, the cleaning robot arm is connected to a cleaning rod, the cleaning rod is T-shaped, the bottom of the cleaning rod is connected to the cleaning robot arm, and the top of the cleaning rod is arranged toward a side away from the chassis body.

[0020] Preferably, the maintenance component also includes a scanning system, which is arranged at the bottom of the chassis body and facing the belt conveyor. The scanning system is communicatively connected to the controller, and the scanning system can scan the belt conveyor to construct a three-dimensional model and transmit it back to the controller.

[0021] Compared with the prior art, the utility model has achieved the following technical effects: the utility model is suitable for the maintenance robot of the belt conveyor, including a chassis main body, a suspension device and a maintenance component, the chassis main body is provided with a camera element, the camera element can obtain image information of the belt conveyor and its surrounding working environment, the chassis main body has a built-in controller and a positioning system, the camera element and the positioning system are both connected to the controller in communication, and the positioning system can locate the fault position of the belt conveyor according to the received image information; the suspension device is located at the top of the chassis main body and the two are connected, and the suspension device can be connected to the top of the belt conveyor The maintenance assembly is arranged on the chassis body, and the maintenance assembly includes a lifting and raising device, a first clamping arm, a second clamping arm and a cleaning mechanical arm. The lifting and raising device is arranged at the bottom of the chassis body, and the lifting and raising device can drive part of the belt of the belt conveyor to rise, so that a gap for maintenance is formed between the belt of the belt conveyor and the roller; the first clamping arm and the second clamping arm are both arranged on the side of the chassis body for repairing the belt conveyor; the cleaning mechanical arm is arranged in front of the chassis body for cleaning waste on the belt conveyor.

[0022] The maintenance robot suitable for belt conveyors of the utility model is different from the working mode of moving to the maintenance place in the prior art. It is directly suspended above the belt conveyor by a suspension device, which facilitates the maintenance work. A camera element is arranged on the chassis body, and the image information of the belt conveyor and the working environment is obtained by the camera element, and the fault position of the belt conveyor is accurately located in combination with the positioning system. After determining the fault and the fault position, the controller uses the gap component to perform maintenance. Specifically, the lifting and raising device can raise the belt at the fault position of the belt conveyor, which is convenient for the maintenance work. The first clamping arm and the second clamping arm can both repair the belt conveyor, and the cleaning mechanical arm can clean the waste and garbage on the belt conveyor. The camera element can monitor and shoot the maintenance picture in real time to ensure that the fault is eliminated. The maintenance robot suitable for belt conveyors of the utility model is always located above the belt conveyor, and greatly improves the maintenance efficiency of the belt conveyor without affecting the normal operation of the belt conveyor. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0024] Figure 1 This is an axonometric schematic diagram of a maintenance robot suitable for a belt conveyor disclosed in an embodiment of the utility model;

[0025] Figure 2 It is a front view schematic diagram of a maintenance robot suitable for a belt conveyor disclosed in an embodiment of the utility model;

[0026] Figure 3 It is a left side schematic diagram of a maintenance robot applicable to a belt conveyor disclosed in an embodiment of the utility model;

[0027] Figure 4 A schematic top view of a maintenance robot suitable for a belt conveyor disclosed in an embodiment of the utility model;

[0028] Figure 5 This is a schematic structural diagram of a second clamping arm of a maintenance robot suitable for a belt conveyor disclosed in an embodiment of the utility model;

[0029] Figure 6 This is a schematic structural diagram of a cleaning mechanical arm of a maintenance robot applicable to a belt conveyor disclosed in an embodiment of the utility model;

[0030] Figure 7This is a schematic structural diagram of a monitoring arm of a maintenance robot applicable to a belt conveyor disclosed in an embodiment of the utility model;

[0031] Figure 8 This is a schematic structural diagram of a first clamping arm of a maintenance robot suitable for a belt conveyor disclosed in an embodiment of the utility model.

[0032] In the figure: 100, a maintenance robot suitable for a belt conveyor;

[0033] 1. Suspension device; 2. Chassis body; 3. Front camera; 4. Lifting device; 5. First clamping arm; 6. Side camera; 7. Second clamping arm; 8. Cleaning robot arm; 9. Scanning system; 10. Monitoring camera; 11. Nut removal cylinder; 12. Cleaning rod; 13. Monitoring arm. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0035] The utility model aims to provide a maintenance robot suitable for a belt conveyor to solve the problems existing in the above-mentioned prior art and improve the maintenance efficiency of the belt conveyor.

[0036] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0037] Embodiment 1

[0038] Please refer to Figure 1-Figure 8The present embodiment provides a maintenance robot 100 suitable for a belt conveyor, comprising a chassis body 2, a suspension device 1 and a maintenance component. The chassis body 2 is provided with a camera element, which can obtain image information of the belt conveyor and its surrounding working environment. The chassis body 2 has a built-in controller and a positioning system. The camera element and the positioning system are both connected to the controller in communication. The positioning system can locate the fault location of the belt conveyor according to the received image information. The suspension device 1 is located on the top of the chassis body 2 and the two are connected. The suspension device 1 can cooperate with the track mechanism above the belt conveyor to convey the belt. The chassis body 2 reciprocates along the length direction of the belt conveyor; the maintenance component is arranged on the chassis body 2, and the maintenance component includes a lifting and raising device 4, a first clamping arm 5, a second clamping arm 7 and a cleaning robot arm 8. The lifting and raising device 4 is arranged at the bottom of the chassis body 2. The lifting and raising device 4 can drive part of the belt of the belt conveyor to rise, so that a gap for maintenance is formed between the belt of the belt conveyor and the roller; the first clamping arm 5 and the second clamping arm 7 are both arranged on the side of the chassis body 2 for repairing the belt conveyor; the cleaning robot arm 8 is arranged in front of the chassis body 2 for cleaning waste on the belt conveyor.

[0039] The maintenance robot 100 suitable for belt conveyors of the utility model is different from the working mode of moving to the maintenance place in the prior art. It is directly suspended above the belt conveyor by using the suspension device 1, which facilitates the maintenance work. A camera element is arranged on the chassis body 2, and the image information of the belt conveyor and the working environment is obtained by using the camera element, and the fault position of the belt conveyor is accurately located in combination with the positioning system. After determining the fault and the fault position, the controller uses the gap component to perform maintenance. Specifically, the lifting and raising device 4 can raise the belt at the fault position of the belt conveyor to facilitate the maintenance work. The first clamping arm 5 and the second clamping arm 7 can both perform maintenance on the belt conveyor, and the cleaning mechanical arm 8 can clean the waste and garbage on the belt conveyor. The camera element can monitor and shoot the maintenance picture in real time to ensure that the fault is eliminated. The maintenance robot 100 suitable for belt conveyors of the utility model is always located above the belt conveyor, and the maintenance efficiency of the belt conveyor is greatly improved without affecting the normal operation of the belt conveyor. In this specific implementation, the positioning system adopts the UBW positioning system to improve positioning accuracy, so as to further improve the working efficiency of the maintenance robot.

[0040] It should be explained here that, in actual application, the maintenance staff also uses the monitoring station to communicate with the above-mentioned maintenance robot 100 suitable for belt conveyors, and the robot is also equipped with a big data system, which facilitates the robot to store and transmit the maintenance information back to the monitoring station after each failure and problem is handled. It should also be explained that the controller and the working mode of the controller, and the information transmission between the various components are all common means of those skilled in the art, and will not be repeated here.

[0041] The camera element includes a front camera 3, a side camera 6 and a monitoring camera 10. The front camera 3 is arranged in front of the chassis body 2 along the moving direction of the chassis body 2 to monitor the status of the belt conveyor in front of the robot in real time, including the surface of the conveying belt of the belt conveyor, the transmission roller, whether the material distribution is balanced, etc. The side camera 6 can monitor the working environment of the belt conveyor in real time and transmit the high-definition picture back to the monitoring station in real time. The monitoring camera 10 is arranged at the bottom of the chassis body 2 and is arranged directly opposite the belt conveyor, so as to monitor the situation directly below the robot in real time.

[0042] In order to facilitate the installation and position adjustment of the side camera 6, a monitoring arm 13 is also provided on the chassis body 2, and the side camera 6 is arranged on the monitoring arm 13. There are two groups of monitoring arms 13, and the two monitoring arms 13 are symmetrically arranged on both sides of the chassis body 2. The side camera 6 corresponds to the monitoring arm 13 one by one. The monitoring arm 13 can drive the side camera 6 to adjust its position to achieve all-round observation; the side camera 6 is a spherical camera to increase the monitoring range and monitoring efficiency of the camera element.

[0043] In this specific embodiment, the suspension device 1 includes a suspension cylinder, a zip line is arranged above the belt conveyor, the zip line is arranged along the length direction of the belt conveyor, and the suspension cylinder can be sleeved on the outside of the zip line to realize the movement of the suspension device 1 along the zip line. In addition, the suspension device 1 is provided with a driver to drive the suspension device 1 to move, so as to ensure that the suspension device 1 drives the chassis body 2 to reciprocate. It should also be noted that the suspension device 1 is connected to the chassis body 2 by a suspension arm to realize the smooth transmission of power, and the length of the suspension arm can be adjusted to adapt to the maintenance of belt conveyors of different models, thereby improving the flexibility and adaptability of the maintenance robot.

[0044] Specifically, the lifting and raising device 4 includes two symmetrically arranged lifting plates, which are L-shaped and include a vertical plate and a horizontal plate. The vertical plate is connected to the chassis body 2 and can reciprocate in the vertical direction. The horizontal plate can extend under the belt of the belt conveyor and support the belt, so that the lifting plate can drive part of the belt of the belt conveyor to rise, thereby providing sufficient operating space for maintenance work and improving the working reliability of the maintenance robot.

[0045] Among them, the first clamp arm 5 has the function of rotating and moving, which ensures the movement flexibility of the first clamp arm 5. The first clamp arm 5 can adjust the position of the rollers and roller groups of the belt conveyor, adjust the screw of the screw tensioning device to increase the preload force to prevent the belt from slipping, and ensure the normal operation of the belt conveyor. At the same time, the first clamp arm 5 is also connected to a nut removal cylinder 11, which is used to remove the nut, so that the first clamp arm 5 can adjust the position of the rollers and roller groups of the belt conveyor, adjust the screw of the screw tensioning device to increase the preload force, and improve the maintenance work efficiency of the maintenance robot. In this specific embodiment, the number of the first clamp arms 5 is two groups, and the two first clamp arms 5 are symmetrically arranged on both sides of the chassis body 2, so that the maintenance robot can use the two symmetrical first clamp arms 5 to perform maintenance work on both sides of the belt conveyor at the same time, thereby improving the reliability of the maintenance work.

[0046] Accordingly, the second clamping arm 7 has telescopic and lifting functions, ensuring that the second clamping arm 7 can be flexibly adjusted according to specific maintenance conditions. The second clamping arm 7 can move the position of the driving roller and the driving roller bearing seat of the belt conveyor, grab the materials to be used, and adjust the weight of the weight on the weight tensioning device to increase the pre-tightening force to prevent the belt from slipping, providing a strong guarantee for the maintenance of the belt conveyor. Similarly, the number of the second clamping arm 7 is two groups, and the two first clamping arms 5 are symmetrically arranged on both sides of the chassis body 2.

[0047] More specifically, the cleaning arm 8 is connected to a cleaning rod 12, the cleaning rod 12 is T-shaped, the bottom of the cleaning rod 12 is connected to the cleaning arm 8, and the top of the cleaning rod 12 is arranged toward the side away from the chassis body 2, so as to push away the waste and garbage on the belt of the belt conveyor. In other specific embodiments of the utility model, the cleaning arm 8 is detachably connected to the cleaning rod 12, and cleaning rods of different shapes can be adjusted according to actual working conditions to improve the flexibility and adaptability of the cleaning arm 8.

[0048] It should be emphasized that the maintenance component also includes a scanning system 9, which is arranged at the bottom of the chassis body 2 and facing the belt conveyor. The scanning system 9 is connected to the controller for communication. The scanning system 9 can scan the belt conveyor to build a three-dimensional model and transmit it back to the controller. The scanning system 9 can use a slam scanning system 9 to improve the scanning accuracy and scanning efficiency, and further improve the automation of the maintenance robot.

[0049] Embodiment 2

[0050] The structure of the maintenance robot 100 applicable to the belt conveyor of this embodiment is the same as that of the first embodiment. This embodiment discloses the working process of the maintenance robot 100 applicable to the belt conveyor for different maintenance conditions.

[0051] 1. The uneven distribution of materials on the conveyor belt leads to different friction between the support roller, drive roller and conveyor belt, causing the conveyor belt to deviate.

[0052] First, the belt conveyor is scanned by the SLAM scanning system 9 and the 3D model is sent back to the inspection station for comparison with the initial 3D model. The position information of the transmission roller and the roller that need to be adjusted is fed back to the robot. The robot moves to the top of the transmission roller and scientifically adjusts the transmission roller to the correct position through the second clamping arm 7. At the same time, the belt at the position where the roller needs to be adjusted is raised by the lifting and raising device 4. After the roller is removed by the first clamping arm 5, it is moved to the correct installation position and reinstalled. After that, the belt is lowered to the normal level. Then it moves to the tensioning device of the belt conveyor and adjusts the tensioning device through the first clamping arm 5 to ensure that the direction of the force of the transmission roller is consistent with the running direction of the conveyor belt, ensuring that the force of the conveyor belt is balanced. At the same time, the cleaning robot arm 8 is used to adjust the unevenly distributed materials to the appropriate position. After processing, the information is stored and sent back to the monitoring station.

[0053] 2. Deviation of the conveyor belt caused by deviation of the position of the load-bearing roller group:

[0054] First, the belt is scanned by the SLAM scanning system 9 and the three-dimensional model is transmitted back to the monitoring station. The position information of the deviation roller group and the information on which side of the belt is deviated are accurately located by the UBW positioning system and fed back to the robot. After the robot moves to the corresponding position, the belt at the corresponding position is first raised by the lifting and raising device 4, and then the roller group on the side of the belt that is deviated is removed by the first clamping arm 5 and moved forward in the forward direction of the belt or the roller group on the other side that is deviated is moved backward and reinstalled, and then the belt is lowered to the normal height. Alternatively, the first clamping arm 5 is used to adjust the upper and lower branch rollers through the mounting processing long holes installed on both sides of the roller group during design and manufacturing. After processing, the information is stored and transmitted back to the monitoring station.

[0055] 3. Deviation of the conveyor belt caused by deviation of the position of the driving roller and the redirecting roller:

[0056] First, the belt is scanned by the SLAM scanning system 9 and the three-dimensional model is sent back to the monitoring station for comparison. The UBW positioning system accurately locates the correct position information of the driving roller and the redirecting roller that needs to be adjusted and the information on which side of the belt is deviating, and feeds back to the robot. The robot moves to the driving roller, and the second clamping arm 7 moves the roller bearing seat on the deviating side forward along the belt transportation direction or moves the bearing seat on the other side of the deviation backward. Or adjust the position of the redirecting roller. It should be noted that the adjustment method and direction of the tail roller (redirecting roller) is exactly opposite to that of the head roller (driving roller). After the fault is handled, the information is stored and sent back to the monitoring station.

[0057] 4. The conveyor belt deviates due to the uneven belt diameter caused by coal sticking to the outer surface of the drum:

[0058] First, the belt is scanned by the SLAM scanning system 9 and the three-dimensional model is transmitted back to the monitoring station. The monitoring station feeds back the information of the coal sticking on the outer surface of the drum and the position of the coal sticking to the robot. After the robot moves to the drum position, the cleaning robot arm 8 cleans the coal sticking on the outer surface of the drum to ensure that the belt diameter is uniform and the belt conveyor works normally. After the fault is handled, the information is stored and transmitted back to the monitoring station.

[0059] 5. Conveyor belt slippage caused by insufficient tension of the tensioning device:

[0060] 5.1 Heavy hammer tensioning device:

[0061] First, the belt is scanned by the slam scanning system 9 and the three-dimensional model is transmitted back to the monitoring station. The monitoring station feeds back the information of insufficient tension of the weight tensioning device to the robot. The robot moves to the weight tensioning device and continuously increases the weight mass through the second clamping arm 7 to increase the preload between the belt and the transmission roller. It should be noted that the weight mass should be appropriate and not too large, otherwise it will easily cause the belt to bear a large tension and reduce the service life of the belt. After the fault is handled, the information is stored and transmitted back to the monitoring station.

[0062] 5.2 Screw type tensioning device:

[0063] First, the belt is scanned by the SLAM scanning system 9 and the three-dimensional model is transmitted back to the monitoring station. The monitoring station feeds back the information of insufficient tension of the screw-type tensioning device to the robot. The robot moves to the screw-type tensioning device and controls the screw through the first clamping arm 5 to appropriately increase the tension of the screw to increase the preload between the belt and the transmission drum. After the fault is handled, the information is stored and transmitted back to the monitoring station.

[0064] The present invention uses specific examples to illustrate the principle and implementation of the present invention. The above examples are only used to help understand the method and core idea of ​​the present invention. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A maintenance robot suitable for a belt conveyor, characterized in that: include: A chassis body, wherein a camera element is disposed on the chassis body, and the camera element can obtain image information of the belt conveyor and its surrounding working environment. The chassis body has a built-in controller and a positioning system, and the camera element and the positioning system are both connected to the controller in communication, and the positioning system can locate the fault location of the belt conveyor according to the received image information; A suspension device, the suspension device is located on the top of the chassis body and the two are connected, and the suspension device can cooperate with the track mechanism above the belt conveyor to drive the chassis body to reciprocate along the length direction of the belt conveyor; An inspection component is arranged on the chassis body, and the inspection component includes a lifting and raising device, a first clamping arm, a second clamping arm and a cleaning mechanical arm. The lifting and raising device is arranged at the bottom of the chassis body, and the lifting and raising device can drive part of the belt of the belt conveyor to rise so that a gap for inspection is formed between the belt and the roller of the belt conveyor; the first clamping arm and the second clamping arm are both arranged on the side of the chassis body for repairing the belt conveyor; the cleaning mechanical arm is arranged in front of the chassis body for cleaning waste on the belt conveyor.

2. The maintenance robot suitable for a belt conveyor according to claim 1, characterized in that: The camera element includes a front camera, a side camera and a monitoring camera, and the front camera is arranged in front of the chassis body along the moving direction of the chassis body; The side camera is arranged at one side of the chassis body; the monitoring camera is arranged at the bottom of the chassis body and is directly facing the belt conveyor.

3. The maintenance robot suitable for a belt conveyor according to claim 2, characterized in that: A monitoring arm is also provided on the chassis body, and the side camera is provided on the monitoring arm. There are two groups of monitoring arms, and the two monitoring arms are symmetrically provided on both sides of the chassis body. The side camera corresponds one to one with the monitoring arm; the side camera is a spherical camera.

4. The maintenance robot suitable for a belt conveyor according to claim 1, characterized in that: The suspension device includes a suspension cylinder. A slide rope is arranged above the belt conveyor. The slide rope is arranged along the length direction of the belt conveyor. The suspension cylinder can be sleeved on the outside of the slide rope to realize the movement of the suspension device along the slide rope.

5. The maintenance robot suitable for a belt conveyor according to claim 1, characterized in that: The lifting and raising device includes two symmetrically arranged lifting plates, each of which is L-shaped and includes a vertical plate and a horizontal plate. The vertical plate is connected to the chassis body and can reciprocate in the vertical direction. The horizontal plate can extend under the belt of the belt conveyor and support the belt, so that the lifting plate can drive part of the belt of the belt conveyor to rise.

6. The maintenance robot suitable for a belt conveyor according to claim 1, characterized in that: The first clamping arm has the functions of rotation and movement. The first clamping arm can adjust the positions of the rollers and roller groups of the belt conveyor and adjust the screw of the screw tensioning device to increase the pre-tightening force to prevent the belt from slipping.

7. The maintenance robot suitable for a belt conveyor according to claim 6, characterized in that: The first clamp arm is also connected to a nut removal cylinder, which is used to remove the nut so that the first clamp arm can adjust the position of the rollers and roller groups of the belt conveyor and adjust the screw of the screw tensioning device to increase the pre-tightening force; the number of the first clamp arms is two groups, and the two first clamp arms are symmetrically arranged on both sides of the chassis body.

8. The maintenance robot suitable for a belt conveyor according to claim 1, characterized in that: The second clamping arm has telescopic and lifting functions. The second clamping arm can move the position of the driving roller and the driving roller bearing seat of the belt conveyor, grab the materials needed, and adjust the mass of the weight on the weight tensioning device to increase the pre-tightening force to prevent the belt from slipping. The number of the second clamping arms is two groups, and the two first clamping arms are symmetrically arranged on both sides of the chassis body.

9. The maintenance robot suitable for a belt conveyor according to claim 1, characterized in that: The cleaning mechanical arm is connected with a cleaning rod, the cleaning rod is T-shaped, the bottom of the cleaning rod is connected to the cleaning mechanical arm, and the top of the cleaning rod is arranged toward a side away from the chassis body.

10. The maintenance robot suitable for a belt conveyor according to any one of claims 1 to 9, characterized in that: The maintenance component also includes a scanning system, which is arranged at the bottom of the chassis body and facing the belt conveyor. The scanning system is communicatively connected to the controller. The scanning system can scan the belt conveyor to construct a three-dimensional model and transmit it back to the controller.

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