Coal mine tunnel pipeline outer wall cleaning device capable of automatically crossing obstacles

Abstract

The application discloses a coal mine roadway pipeline outer wall cleaning device capable of automatically crossing obstacles, which comprises a roadway walking trolley and a mechanical arm, the mechanical arm is installed on the top of the roadway walking trolley and moves synchronously with the roadway walking trolley, and the cleaning device further comprises a cleaning assembly, a supporting plate, a rotating mechanism and a transmission mechanism. The roadway walking trolley moves along the supporting tile axis parallel to the pipeline axis, the cleaning brush fully contacts the pipeline outer wall, the gradual cleaning of the pipeline outer wall is realized, when the flange of the baffle hits the pipeline, the rotating mechanism moves, the elastic deformation of the abutting push plate is matched, and the gap between the concave arc surface of the semicircular thin plate and the pipeline outer wall to be cleaned is reserved, so that the flange passes through the space between the two cleaning assemblies when the cleaning device rotates, the next cleaning assembly continues to rotate, and the normal cleaning of the other pipeline is started, the automatic obstacle-crossing cleaning function is realized, continuous cleaning is carried out, and the cleaning efficiency of the pipeline outer wall is improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of coal mine roadway pipeline cleaning, and particularly relates to a coal mine roadway pipeline outer wall cleaning device capable of automatically crossing obstacles. BACKGROUND

[0002] In the production process of coal mines, dust is generated in each link, and is mainly generated in mining, shotcreting, transportation and loading operation sites, among which the most dust is generated in the mining working face. In the mining process, mechanical equipment will crush coal mines and rock layers when excavating, and the coal and rock will be crushed into fine particles and suspended in the air in the form of fine particle solid, and the dust generated in the mining process will itself have static electricity and thus be difficult to remove by being adsorbed on objects in the roadway. Research has found that carbon, hydrogen, oxygen, nitrogen and sulfur elements exist in coal mine dust, and the sulfur element will act as a strong oxidizing agent to acidify the passivation film on the surface of the metal, destroy the passivation film and eventually cause corrosion of the pipeline. In addition to causing corrosion, the coal mine dust attached to the surface of the pipeline will also form accumulations to increase the weight of the pipeline and the load bearing of the pipeline support device, and the dust attached to the surface of the pipeline is also not aesthetically pleasing. Since the diameter of the coal mine pipeline is large and the length is very long, manual cleaning will consume a large amount of time and labor.

[0003] At present, the cleaning technology of the inner wall of the pipeline is relatively mature, and there are few cleaning devices for the outer wall of the mine pipeline. In addition, there is a flange structure at the interface between the pipelines, and it is difficult for general cleaning devices to automatically cross the flange. The existing cleaning technology basically adopts a control mode, which is mainly divided into manual control and automatic control. For manual control, when the flange structure is encountered, the cleaning device is lifted to cross over and then lowered to continue cleaning, which is time-consuming and labor-intensive and requires high attention from the workers. For automatic control, the flange obstacle needs to be recognized or sensed, and a control system is needed to control the lifting and lowering of the cleaning device, and the speed of the corresponding walking trolley also needs to be matched, which makes the cleaning system complex, high in cost and low in efficiency.

[0004] Therefore, it is necessary to design a pipeline outer wall cleaning device capable of automatically crossing the flange structure of the coal mine pipeline. SUMMARY

[0005] The present application provides a coal mine roadway pipeline outer wall cleaning device capable of automatically crossing obstacles, which can clean the outer wall of the coal mine roadway pipeline and automatically cross obstacles on the outer wall, solve the problem of manual assistance in crossing the flange during cleaning, and has high cleaning efficiency.

[0006] In order to achieve the above purpose, the present application adopts the following technical scheme:

[0007] The application discloses an automatic-obstacle-crossing coal mine roadway pipeline outer wall cleaning device.

[0008] The cleaning assembly comprises a support tile, the inner side of the support tile is provided with a first cleaning brush shaft, a second cleaning brush shaft and a third cleaning brush shaft, the outer side of each of the first cleaning brush shaft, the second cleaning brush shaft and the third cleaning brush shaft is sleeved with a cleaning brush, the outer side of the cleaning brush is provided with hard bristles, and the hard bristles are used for brushing the outer wall of the pipeline to be cleaned.

[0009] The support plate is provided as a Y-shaped thin plate and is used for combined installation of the three cleaning assemblies; the three cleaning assemblies are arranged in a ring array on the outer side of the Y-shaped thin plate.

[0010] The rotating mechanism comprises a support sleeve and a rotating sleeve, the support sleeve is installed at the end of the mechanical arm, the inner side of the support sleeve is provided with a containing groove, the rotating sleeve is fixedly connected with the support plate, and the support sleeve is rotationally matched with the outer wall of the rotating sleeve through the containing groove.

[0011] The transmission mechanism comprises an explosion-proof motor and a transmission shaft, the transmission shaft is installed on the support plate and extends to the inner side of the support tile, the transmission shaft is in transmission cooperation with the output end of the explosion-proof motor and the first cleaning brush shaft through two steering gear assemblies at two ends respectively, and the first cleaning brush shaft, the second cleaning brush shaft and the third cleaning brush shaft are synchronously driven through the gear transmission assembly.

[0012] The flange connected to the outer side of the pipeline to be cleaned pushes the cleaning assembly to make it twist 120 degrees at a time, so that the flange passes through the space between the two cleaning assemblies, and then the hard bristles of the next cleaning assembly are in contact with the outer wall of the pipeline to be cleaned.

[0013] Preferably, the support tile is provided as a half-tile-shaped thin plate structure, half-circular ring-shaped thin plates are arranged at both ends of the concave arc surface in the support tile and at the middle position, three shaft holes are respectively and equally spaced in the plate surfaces of the plurality of half-circular ring-shaped thin plates along the arc direction, the three shaft holes on the plurality of half-circular ring-shaped thin plates are one-to-one corresponding, bearings are in interference fit in the plurality of shaft holes, and the first cleaning brush shaft, the second cleaning brush shaft and the third cleaning brush shaft are rotationally connected with the half-circular ring-shaped thin plates through the plurality of bearings.

[0014] Preferably, the gear transmission assembly comprises a first flat gear, a second flat gear, a third flat gear, a fourth flat gear and a fifth flat gear, the first flat gear, the third flat gear and the fifth flat gear are connected to the first cleaning brush shaft, the second cleaning brush shaft and the third cleaning brush shaft at one end by a key, a first short shaft and a second short shaft are rotatably connected to the semicircular ring-shaped sheet in the forward direction of the roadway walking trolley, the first short shaft and the second short shaft are rotatably connected to the second flat gear and the fourth flat gear at one end by a key, and the first flat gear and the third flat gear and the third flat gear and the fifth flat gear are meshed and transmitted by the second flat gear and the fourth flat gear respectively.

[0015] Preferably, the two groups of steering gear assemblies are respectively composed of a first bevel gear and a fourth bevel gear and a second bevel gear and a third bevel gear, the transmission shaft is rotatably connected to the second bevel gear and the third bevel gear at both ends by a key, the first bevel gear is fixed to the middle part of the outer side of the first cleaning brush shaft, the fourth bevel gear is fixed to the output shaft of the explosion-proof motor, and the third bevel gear and the second bevel gear are meshed and transmitted, and the first bevel gear and the fourth bevel gear are meshed and transmitted.

[0016] Preferably, the number of transmission shafts mounted on the support plate is three, and the three transmission shafts are arranged in a ring array, and the three third bevel gears connected to the ends of the three transmission shafts are synchronously transmitted.

[0017] The semicircular ring-shaped sheet is rotatably connected to the semicircular ring-shaped sheet in the forward direction of the roadway walking trolley by a bolt, and the transmission shaft passes through the square through hole.

[0018] Preferably, a baffle is detachably mounted on the semicircular ring-shaped sheet in the forward direction of the roadway walking trolley by a bolt, for protecting the gear transmission assembly;

[0019] The baffle comprises an extension ring plate and a matching push plate, the extension ring plate and the matching push plate are integrally combined into a semicircular ring structure with a straight "Z" shape in cross section, the extension ring plate is matched with and connected to the side wall of the support tile, the outer end of the hard bristle extends out of the arc cross section of the concave arc surface of the matching push plate, and the matching push plate is made of elastic rubber.

[0020] During cleaning, the concave arc surface of the matching push plate and the end of the hard bristle are in contact with the outer wall of the pipeline to be cleaned, and a gap is reserved between the concave arc surface of the semicircular ring-shaped sheet and the outer wall of the pipeline to be cleaned, and the gap distance can meet the switching of multiple cleaning assemblies rotating around the output shaft of the explosion-proof motor.

[0021] Preferably, the cleaning brush is in a multi-section distribution, and the multi-section cleaning brush is located in the interval between the multiple semicircular ring-shaped sheets.

[0022] Preferably, the support plate includes three extended plates, each of which is vertically fixedly connected with a rectangular thin plate. The support plate is also integrally provided with three support frame plates, which correspond one-to-one with the three rectangular thin plates and are distributed in parallel. The drive shaft passes through the support frame plates and the rectangular thin plates and is rotatably engaged with the through hole.

[0023] Preferably, the rotating sleeve includes an upper ring, and the bottom of the ring structure is fixedly connected with multiple "L"-shaped support feet. The "L"-shaped support feet are detachably installed to the support plate by bolts. The inner circular surface of the upper ring is provided with a protruding square block, and the explosion-proof motor is fixed to the square block by bolts.

[0024] The rotating sleeve has a semi-circular groove on its outer ring surface near the "L"-shaped support foot, and the semi-circular groove is distributed around the outer side of the ring structure of the rotating sleeve. The support sleeve has a through threaded hole near the end face, and a positioning screw is threaded into the threaded hole. The bottom end of the positioning screw has a hemispherical head, and the hemispherical head is screwed into the semi-circular groove to form a circumferential sliding fit.

[0025] Preferably, the robotic arm has a hollow pipe along the axis in the middle for laying electrical wires, and a brush structure is installed at the wire connection point. The two parts of the brush structure are respectively installed on the explosion-proof motor and the support sleeve.

[0026] The bending angle of the robotic arm is greater than 90°, which makes the axis of the support sleeve horizontal.

[0027] Compared with the prior art, the present invention has the following advantages:

[0028] By setting up multiple ring-shaped array cleaning components, and using the hard bristles of one of the cleaning components to contact the circular surface of the pipe to be cleaned, the tunnel trolley moves parallel to the pipe axis with the axis of the support tile. The cleaning brush fully contacts the outer wall of the pipe, and the forward movement realizes the gradual cleaning of the outer wall of the pipe. When the baffle touches the flange at the pipe, the fitting push plate is subjected to force and further pushes the rotating mechanism to move. With the elastic deformation of the fitting push plate and the gap reserved between the concave arc surface of the semi-circular thin plate and the outer wall of the pipe to be cleaned, when the cleaning device rotates, it is similar to the meshing transmission of gears and racks. The flange passes through the space between two cleaning components. As the cleaning device continues to rotate, the next cleaning component starts normal cleaning at another pipe, realizing the automatic obstacle-crossing cleaning function, achieving continuous cleaning, and improving the cleaning efficiency of the outer wall of the pipe.

[0029] Through the internal structural layout of the sweeping device, using mechanical transmission and hard contact of the flange, it can automatically overcome obstacles without the need for additional power or sensors, and without manual or automatic control. The continuous sweeping process is convenient to operate, simple and compact in structure, which greatly reduces production costs. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0031] Figure 1 This is an assembly diagram of the cleaning device provided by the present invention;

[0032] Figure 2 This is the present invention. Figure 1 Side view of the structure shown;

[0033] Figure 3 This is the present invention. Figure 2 Schematic diagram of the cross-sectional structure of the middle AA section;

[0034] Figure 4 This is a schematic diagram of the cleaning component of the present invention;

[0035] Figure 5 This is a schematic diagram of the transmission mechanism of the present invention;

[0036] Figure 6 This is a schematic diagram of the transmission mechanism of multiple cleaning components of the present invention;

[0037] Figure 7 This is a schematic diagram of the support plate structure of the present invention;

[0038] Figure 8 This is a schematic diagram of the rotating mechanism structure of the present invention;

[0039] Figure 9 This is a schematic diagram of the rotating sleeve structure of the present invention;

[0040] Figure 10 This is a schematic diagram of the baffle structure of the present invention.

[0041] The image contains:

[0042] Support tile-1; First spur gear-2; Second spur gear-3; Third spur gear-4; Fourth spur gear-5; Fifth spur gear-6; First sweeping brush shaft-7; Second sweeping brush shaft-8; Third sweeping brush shaft-9; Sweeping brush-10; Bearing-11; First bevel gear-12; Baffle-13; Drive shaft-14; Support plate-15; Third bevel gear-16; Support sleeve-17; Mechanical arm-18; Rotating sleeve-19; Explosion-proof motor-20; Fourth bevel gear-21; Second bevel gear-22; Positioning screw-23; First short shaft-24; Second short shaft-25;

[0043] Semi-circular annular thin plate-101; square through hole-102;

[0044] Extension ring plate-131; bonding push plate-132;

[0045] Outer plate - 151; Rectangular thin plate - 152; Support frame plate - 153;

[0046] Threaded hole -171;

[0047] Upper circular ring - 191; "L" shaped support foot - 192; square block - 193; semi-circular groove - 194. Detailed Implementation

[0048] The technical solutions of the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0049] like Figures 1-10 As shown, an automatic obstacle-crossing coal mine roadway pipe outer wall cleaning device includes a roadway traveling trolley and a robotic arm 18. The robotic arm 18 is mounted on the top of the roadway traveling trolley and moves synchronously with the roadway traveling trolley. The cleaning device also includes:

[0050] The cleaning assembly includes a support tile 1. The inner side of the support tile 1 is provided with a first cleaning brush shaft 7, a second cleaning brush shaft 8 and a third cleaning brush shaft 9. A cleaning brush 10 is sleeved on the outer side of the first cleaning brush shaft 7, the second cleaning brush shaft 8 and the third cleaning brush shaft 9. The outer side of the cleaning brush 10 is provided with hard bristles for sweeping the outer wall of the pipe to be cleaned.

[0051] Specifically, the support tile 1 is configured as a semi-tile-shaped thin plate structure. Semi-circular annular thin plates 101 are provided at both ends and the middle position of the concave arc surface of the support tile 1. Three shaft holes are equally spaced on the surface of the multiple semi-circular annular thin plates 101 along the arc direction, and the three shaft holes on the multiple semi-circular annular thin plates 101 correspond one to one. Each shaft hole is fitted with a bearing 11. The first cleaning brush shaft 7, the second cleaning brush shaft 8 and the third cleaning brush shaft 9 are rotatably connected to the semi-circular annular thin plates 101 through multiple bearings 11.

[0052] The support plate 15 is configured as a Y-shaped thin plate for assembling three sets of cleaning components. The three sets of cleaning components are arranged in a ring array on the outside of the Y-shaped thin plate. The number of drive shafts 14 installed on the support plate 15 is set to three, and the three drive shafts 14 are arranged in a ring array. The three third bevel gears 16 connected to the ends of the three drive shafts 14 are all synchronously driven.

[0053] The rotating mechanism includes a support sleeve 17 and a rotating sleeve 19. The support sleeve 17 is installed at the end of the robotic arm 18. The inner side of the support sleeve 17 is provided with a receiving groove. The rotating sleeve 19 is fixedly connected to the support plate 15, and the support sleeve 17 rotates with the outer wall of the rotating sleeve 19 through the receiving groove.

[0054] The transmission mechanism includes an explosion-proof motor 20 and a transmission shaft 14. The transmission shaft 14 is mounted on the support plate 15 and its end extends to the inner side of the support tile 1. The two ends of the transmission shaft 14 are respectively connected to the output end of the explosion-proof motor 20 and the first cleaning brush shaft 7 through two steering gear assemblies. The first cleaning brush shaft 7, the second cleaning brush shaft 8 and the third cleaning brush shaft 9 are driven synchronously through the gear transmission assembly.

[0055] Specifically, the two sets of steering gear assemblies are respectively composed of a first bevel gear 12 and a fourth bevel gear 21, a second bevel gear 22 and a third bevel gear 16. The two ends of the drive shaft 14 are respectively connected to the second bevel gear 22 and the third bevel gear 16 by keys. The first bevel gear 12 is fixed to the middle part of the outer side of the first cleaning brush shaft 7, and the fourth bevel gear 21 is fixed on the output shaft of the explosion-proof motor 20. The third bevel gear 16 meshes with the second bevel gear 22 for transmission, and the first bevel gear 12 meshes with the fourth bevel gear 21 for transmission.

[0056] The gear transmission assembly includes a first spur gear 2, a second spur gear 3, a third spur gear 4, a fourth spur gear 5, and a fifth spur gear 6. The first spur gear 2, the third spur gear 4, and the fifth spur gear 6 are respectively connected to one end of the first cleaning brush shaft 7, the second cleaning brush shaft 8, and the third cleaning brush shaft 9 by keys. A first short shaft 24 and a second short shaft 25 are rotatably connected on a semi-circular annular thin plate 101 located in the forward direction of the tunnel traveling trolley. One end of the first short shaft 24 and the second short shaft 25 are respectively connected to the second spur gear 3 and the fourth spur gear 5 by keys. The first spur gear 2 and the third spur gear 4, as well as the third spur gear 4 and the fifth spur gear 6, are respectively driven by the meshing of the second spur gear 3 and the fourth spur gear 5.

[0057] The flange connected to the outside of the pipe to be cleaned pushes the cleaning assembly to twist 120° in one go, so that the flange passes through the space between the two cleaning assemblies. Then the hard bristles of the next cleaning assembly come into contact with the outer wall of the pipe to be cleaned. The above structure and its engagement are similar to the meshing transmission of gears and racks.

[0058] Specifically, a square through hole 102 is provided in the middle of the back of the support tile 1. A rectangular block is provided on the outer wall of the square through hole 102, which is integrally formed with the support tile 1. The rectangular thin plate 152 and the rectangular block are detachably installed by bolts. The drive shaft 14 passes through the square through hole 102. The whole device is easy to install and assemble, and has high stability during use.

[0059] Specifically, a baffle 13 is detachably installed on the semi-circular thin plate 101 located in the forward direction of the tunnel traveling trolley by bolts, which is used to protect the gear transmission components, extend the service life of the device and improve its working stability.

[0060] The baffle 13 includes an extension ring plate 131 and a bonding push plate 132. The extension ring plate 131 and the bonding push plate 132 are integrally combined into a semi-circular ring structure with a straight "Z" shape in cross-section. The extension ring plate 131 is bonded to the side wall of the support tile 1 and connected. The outer end of the hard bristles extends out of the arc-shaped cross-section where the concave arc surface of the bonding push plate 132 is located. The bonding push plate 132 is made of elastic rubber.

[0061] During cleaning, the concave arc surface of the push plate 132 and the end of the hard bristles are in contact with the outer wall of the pipe to be cleaned. A gap is reserved between the concave arc surface of the semi-circular thin plate 101 and the outer wall of the pipe to be cleaned. The gap distance is sufficient to allow multiple cleaning components to rotate and switch around the output shaft of the explosion-proof motor 20. The size of this gap and the length of the support tile 1 are planned in actual production. The reserved gap distance value is set so that multiple cleaning components can rotate and switch while cleaning the outer wall of the pipe to be cleaned.

[0062] Specifically, the cleaning brush 10 is distributed in multiple segments, and the multiple cleaning brushes 10 are located in the partitioned sections of multiple semi-circular thin plates 101. The cleaning brush 10 has a replaceable structure so that it can be replaced after wear, ensuring effective contact between the hard bristles and the outer wall of the pipe to be cleaned.

[0063] Specifically, the support plate 15 includes three extended plates 151, each of which is vertically fixedly connected to a rectangular thin plate 152. The support plate 15 also has three support frame plates 153 integrally provided, and the three support frame plates 153 correspond one-to-one with the three rectangular thin plates 152 and are distributed in parallel. The drive shaft 14 passes through the support frame plates 153 and the rectangular thin plates 152 and is rotatably engaged with the through hole.

[0064] As a preferred embodiment of the rotating mechanism, the following solution is provided:

[0065] The rotating sleeve 19 is configured as a three-legged, bottomless, circular tripod-shaped axisymmetric structure, which includes an upper ring 191, and multiple "L"-shaped support legs 192 are fixedly connected to the bottom of the ring structure. The "L"-shaped support legs 192 extend outward and are detachably installed on the support plate 15 by bolts. A protruding square block 193 is provided on the inner circular surface of the upper ring 191, and the explosion-proof motor 20 is fixed to the square block 193 by bolts.

[0066] The rotating sleeve 19 has a semi-circular groove 194 on its outer annular surface near the "L"-shaped support foot 192. The semi-circular groove 194 is distributed around the outer side of the annular structure of the rotating sleeve 19. The support sleeve 17 has a through threaded hole 171 near its end face. A positioning screw 23 is threaded into the threaded hole 171. The bottom end of the positioning screw 23 has a hemispherical head. The hemispherical head is screwed into the semi-circular groove 194 to form a circumferential sliding fit. The number of threaded holes 171 and positioning screws 23 can be set to multiple to improve the stability of the connection between the rotating sleeve 19 and the support sleeve 17.

[0067] Specifically, a hollow pipe is provided in the middle of the robotic arm 18 along the axis for laying electrical wires, and a brush structure is installed at the wire connection. The two parts of the brush structure are respectively installed on the explosion-proof motor 20 and the support sleeve 17 to prevent the wires from getting tangled.

[0068] The bending angle of the robotic arm 18 is greater than 90°, which ensures that the axis of the support sleeve 17 is horizontal, thus ensuring that the cleaning component can be set horizontally. When the trolley carrying the cleaning component moves laterally in the alley, it automatically sweeps the horizontal outer wall of the pipe to be cleaned.

[0069] In use, before cleaning, the mechanical arm 18 of the tunnel trolley is raised in the coal mine tunnel to lift the support sleeve 17, thus raising the entire cleaning device. The mechanical arm 18 is adjusted so that the hard bristles of one of the cleaning components of the cleaning device contact the upper circular surface of the pipe to be cleaned. At this time, the axis of the support tile 1 is parallel to the axis of the pipe, so that the cleaning brush 10 fully contacts the outer wall of the pipe. An automatic axial length adjustment mechanism is installed at the connection between the mechanical arm 18 and the tunnel trolley to adapt to changes in the height between the tunnel surface and the pipe. After the cleaning device is adjusted, it is started, and then the tunnel trolley is driven to move the cleaning device. Moving forward allows for gradual cleaning of the pipe's outer wall. When the baffle 13 of the cleaning device encounters the flange at the pipe, the flange obstructs the baffle 13. The push plate 132 is subjected to force and further pushed, causing the rotating mechanism to move. With the elastic deformation of the push plate 132 and the gap reserved between the concave arc surface of the semi-circular thin plate 101 and the outer wall of the pipe to be cleaned, the flange passes through the space between the two cleaning components when the cleaning device rotates. As the cleaning device continues to rotate, the next cleaning component begins normal cleaning at another pipe, ultimately achieving the automatic obstacle-crossing cleaning function.

[0070] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A coal mine roadway pipe outer wall cleaning device capable of automatically overcoming obstacles, comprising a roadway traveling trolley and a robotic arm (18), wherein the robotic arm (18) is mounted on the top of the roadway traveling trolley and moves synchronously with the roadway traveling trolley, characterized in that, The cleaning device also includes: The cleaning assembly includes a support tile (1), on the inner side of which a first cleaning brush shaft (7), a second cleaning brush shaft (8) and a third cleaning brush shaft (9) are provided. A cleaning brush (10) is sleeved on the outer side of the first cleaning brush shaft (7), the second cleaning brush shaft (8) and the third cleaning brush shaft (9). The outer side of the cleaning brush (10) is provided with hard bristles for sweeping the outer wall of the pipe to be cleaned. The support plate (15) is configured as a Y-shaped thin plate for the combined installation of three sets of cleaning components. The three sets of cleaning components are arranged in a ring array on the outside of the Y-shaped thin plate. The rotating mechanism includes a support sleeve (17) and a rotating sleeve (19). The support sleeve (17) is installed at the end of the robotic arm (18). The inner side of the support sleeve (17) is provided with a receiving groove. The rotating sleeve (19) is fixedly connected to the support plate (15), and the support sleeve (17) rotates with the outer wall of the rotating sleeve (19) through the receiving groove. The transmission mechanism includes an explosion-proof motor (20) and a transmission shaft (14). The transmission shaft (14) is mounted on a support plate (15) and its end extends to the inner side of the support tile (1). The two ends of the transmission shaft (14) are respectively connected to the output end of the explosion-proof motor (20) and the first cleaning brush shaft (7) through two steering gear assemblies. The first cleaning brush shaft (7), the second cleaning brush shaft (8) and the third cleaning brush shaft (9) are driven synchronously through the gear transmission assembly. The flange connected to the outside of the pipe to be cleaned pushes the cleaning assembly to twist it 120° in one go, so that the flange passes through the space between the two cleaning assemblies, and then the stiff bristles of the next cleaning assembly come into contact with the outer wall of the pipe to be cleaned.

2. The coal mine roadway pipeline external wall cleaning device capable of automatically overcoming obstacles according to claim 1, characterized in that, The support tile (1) is configured as a semi-tile-shaped thin plate structure. Semi-circular thin plates (101) are provided at both ends and the middle position of the concave arc surface of the support tile (1). Three shaft holes are equally spaced on the plate surface of the multiple semi-circular thin plates (101) along the arc direction. The three shaft holes on the multiple semi-circular thin plates (101) correspond one to one. Each shaft hole is fitted with a bearing (11). The first cleaning brush shaft (7), the second cleaning brush shaft (8) and the third cleaning brush shaft (9) are rotatably connected to the semi-circular thin plates (101) through multiple bearings (11).

3. The automatic obstacle-crossing coal mine roadway pipeline external wall cleaning device according to claim 1, characterized in that, The gear transmission assembly includes a first spur gear (2), a second spur gear (3), a third spur gear (4), a fourth spur gear (5), and a fifth spur gear (6). The first spur gear (2), the third spur gear (4), and the fifth spur gear (6) are connected to one end of the first cleaning brush shaft (7), the second cleaning brush shaft (8), and the third cleaning brush shaft (9) respectively by keys. A first short shaft (24) and a second short shaft (25) are rotatably connected on a semi-circular annular thin plate (101) located in the forward direction of the tunnel traveling trolley. One end of the first short shaft (24) and the second short shaft (25) are connected to the second spur gear (3) and the fourth spur gear (5) respectively by keys. The first spur gear (2) and the third spur gear (4) and the third spur gear (4) and the fifth spur gear (6) are respectively meshed and transmitted through the second spur gear (3) and the fourth spur gear (5).

4. The coal mine roadway pipeline external wall cleaning device capable of automatically overcoming obstacles according to claim 1, characterized in that, The two sets of steering gear assemblies are respectively composed of a first bevel gear (12) and a fourth bevel gear (21), a second bevel gear (22) and a third bevel gear (16). The two ends of the drive shaft (14) are connected to the second bevel gear (22) and the third bevel gear (16) respectively by keys. The first bevel gear (12) is fixed at the middle part of the outer side of the first cleaning brush shaft (7). The fourth bevel gear (21) is fixed on the output shaft of the explosion-proof motor (20). The third bevel gear (16) meshes with the second bevel gear (22) for transmission, and the first bevel gear (12) meshes with the fourth bevel gear (21) for transmission.

5. The coal mine roadway pipeline external wall cleaning device capable of automatically overcoming obstacles according to claim 1, characterized in that, The support plate (15) includes three extended plates (151), each extended plate (151) is vertically fixedly connected with a rectangular thin plate (152), and the support plate (15) is also integrally provided with three support frame plates (153), and the three support frame plates (153) correspond one-to-one with the three rectangular thin plates (152) and are distributed in parallel. The transmission shaft (14) passes through the support frame plate (153) and the rectangular thin plate (152) and is rotatably engaged with the through hole.

6. The coal mine roadway pipeline external wall cleaning device capable of automatically overcoming obstacles according to claim 5, characterized in that, The number of drive shafts (14) installed on the support plate (15) is set to three, and the three drive shafts (14) are arranged in a ring array. The three third bevel gears (16) connected to the ends of the three drive shafts (14) are all synchronously driven. A square through hole (102) is provided in the middle of the back of the support tile (1). A rectangular block is provided on the outer wall of the square through hole (102) and is integrally formed with the support tile (1). The rectangular thin plate (152) and the rectangular block are detachably installed by bolts. The drive shaft (14) passes through the square through hole (102).

7. The coal mine roadway pipeline external wall cleaning device capable of automatically overcoming obstacles according to claim 1, characterized in that, A baffle (13) is detachably installed on a semi-circular thin plate (101) located in the direction of travel of the tunnel trolley by bolts to protect the gear transmission assembly; The baffle (13) includes an extension ring plate (131) and a bonding push plate (132). The extension ring plate (131) and the bonding push plate (132) are integrally combined into a semi-circular ring structure with a straight "Z" shape in cross-section. The extension ring plate (131) is bonded to the side wall of the support tile (1) and connected. The outer end of the hard bristles extends out of the arc-shaped cross-section of the concave arc surface of the bonding push plate (132). The bonding push plate (132) is made of elastic rubber. During cleaning, the concave arc surface of the push plate (132) and the end of the hard bristles are in contact with the outer wall of the pipe to be cleaned. A gap is reserved between the concave arc surface of the semi-circular thin plate (101) and the outer wall of the pipe to be cleaned. The gap distance is sufficient to allow multiple cleaning components to rotate around the output shaft of the explosion-proof motor (20) for switching.

8. The coal mine roadway pipeline external wall cleaning device capable of automatically overcoming obstacles according to claim 1, characterized in that, The cleaning brush (10) has a multi-segment structure, and the multi-segment cleaning brush (10) is located in the partitioned area of ​​multiple semi-circular thin plates (101).

9. The automatic obstacle-crossing coal mine roadway pipeline external wall cleaning device according to claim 1, characterized in that, The rotating sleeve (19) includes an upper ring (191), and a plurality of "L"-shaped support feet (192) are fixedly connected to the bottom of the ring structure. The "L"-shaped support feet (192) are detachably installed with the support plate (15) by bolts. The inner circular surface of the upper ring (191) is provided with a protruding square block (193), and the explosion-proof motor (20) is fixed on the square block (193) by bolts. The rotating sleeve (19) has a semi-circular groove (194) on its outer ring surface near the "L"-shaped support foot (192), and the semi-circular groove (194) is distributed around the outer side of the ring structure of the rotating sleeve (19). The support sleeve (17) has a through threaded hole (171) near the end face. A positioning screw (23) is threaded into the threaded hole (171). The bottom end of the positioning screw (23) has a hemispherical head. The hemispherical head is screwed into the semi-circular groove (194) to form a circumferential sliding fit.

10. The coal mine roadway pipeline external wall cleaning device capable of automatically overcoming obstacles according to claim 1, characterized in that, The robotic arm (18) has a hollow pipe in the middle along the axis for laying electrical wires, and a brush structure is installed at the connection of the wires. The two parts of the brush structure are respectively installed on the explosion-proof motor (20) and the support sleeve (17). The bending angle of the robotic arm (18) is greater than 90°, so that the axis of the support sleeve (17) is in a horizontal state.

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