Methods, systems, and apparatus, including computer programs encoded on computer storage media, for using a discharge wire. A system can include a wire cleaning apparatus adapted to clean a discharge wire that is i) positioned within a threshold distance from a comestible conveyor belt and ii) adapted to remove comestibles from the comestible conveyor belt; and an actuator adapted to move the wire cleaning apparatus horizontally across the discharge wire during a cleaning process.

A scattered material cleaning robot for a conveyor includes a housing, a feeding assembly, a discharging assembly and a lifting assembly disposed on the housing. The feeding assembly is configured to collect scattered materials, the discharging assembly is disposed above the feeding assembly, and the discharging assembly is configured to deliver the scattered materials collected by the feeding assembly to the conveyor. The lifting assembly includes a flexible transmission mechanism and at least one material carrying member. One of two ends of the flexible transmission mechanism is located at the feeding assembly, and another one of the two ends of the flexible transmission mechanism is located at the discharging assembly. The flexible transmission mechanism is configured to drive the material carrying member to move between the feeding assembly and the discharging assembly, to convey the scattered materials from the feeding assembly to the discharging assembly.

A scattered material cleaning robot for a conveyor includes a housing, a feeding assembly, a discharging assembly and a lifting assembly disposed on the housing. The feeding assembly is configured to collect scattered materials, the discharging assembly is disposed above the feeding assembly, and the discharging assembly is configured to deliver the scattered materials collected by the feeding assembly to the conveyor. The lifting assembly includes a flexible transmission mechanism and at least one material carrying member. One of two ends of the flexible transmission mechanism is located at the feeding assembly, and another one of the two ends of the flexible transmission mechanism is located at the discharging assembly. The flexible transmission mechanism is configured to drive the material carrying member to move between the feeding assembly and the discharging assembly, to convey the scattered materials from the feeding assembly to the discharging assembly.