Residual coal cleaning device for coal unloading

Abstract

The utility model relates to a residual coal cleaning device for coal unloading. At present, the residual coal residue treatment mode of open wagon coal unloading is manual cleaning or vibrator cleaning, the manual cleaning environment is severe, time and labor are consumed, the efficiency is low, the cost is high, the noise is large when a vibrator is used, and a coal conveyor carriage is prone to being damaged. The turnover coal unloading machine comprises a turnover coal unloading machine body and further comprises a residual coal sweeping mechanism arranged in the turnover coal unloading machine body. The residual coal sweeping mechanism comprises two x beams, a y beam, a z beam and a sweeping robot, the two x beams are symmetrically arranged on the multiple fixed stand columns, the two ends of the y beam are slidably arranged on the x beams through sliding assemblies respectively, the z beam is slidably arranged on the y beam through a sliding assembly, the sweeping robot is arranged at the lower end of the z beam, and a lifting assembly is arranged on the z beam; the cleaning robot can move in the x-beam direction, the y-beam direction and the z-beam direction. The device is equipped with a console. The coal unloading and residual coal cleaning device can improve the coal unloading and residual coal cleaning efficiency, and can avoid damage to the coal conveyor compartment.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of residual coal cleaning, and particularly relates to a residual coal cleaning device for coal unloading. BACKGROUND

[0002] Coal is an important basic energy and industrial raw material, and is widely used in metallurgy, chemical industry and thermal power generation. Railway transportation is the main mode of coal transportation, and about 64.3% of coal is transported by railway at present. The dumper coal unloading system is widely used in ports and coal-using enterprises due to its high unloading capacity. However, in long-distance coal transportation, sticky coal and frozen coal phenomena are difficult to avoid, which often causes the dumper to have residual coal during unloading. The amount of residual coal depends on the viscosity of the coal, which is a few dozen kilograms or even several tons, which seriously affects the transportation efficiency and increases the transportation and coal cost. Therefore, secondary cleaning of residual coal in the gondola car is needed to improve the transportation capacity and reduce losses.

[0003] At present, the main treatment methods for the residual coal problem in the gondola car unloading are manual cleaning or using a vibrator for cleaning. After the dumper unloads two gondola cars, manual cleaning needs to pause the unloading, wait for the workers to enter the car to clean the residual coal, and then continue unloading after cleaning. Obviously, the manual cleaning method has a poor working environment, consumes time and effort, has low efficiency, and is high in cost, which easily causes vehicle backlog, seriously affects the unloading efficiency and railway transportation capacity, and limits the further improvement of coal throughput.

[0004] Therefore, there is an urgent need for a residual coal cleaning device for coal unloading that can improve the cleaning efficiency and avoid damage to the coal transportation car. SUMMARY

[0005] The utility model aims to provide a residual coal cleaning device for coal unloading to at least solve the problems of low cleaning efficiency and easy damage to the coal transportation car.

[0006] To achieve the above-mentioned purpose, the utility model adopts the following technical scheme:

[0007] A residual coal cleaning device for coal unloading, comprising a turnover unloading machine, further comprising a residual coal cleaning mechanism arranged in the turnover unloading machine;

[0008] The residual coal cleaning mechanism comprises two x beams, a y beam, a z beam and a cleaning robot, the two x beams are symmetrically arranged on a plurality of fixed columns, the y beam is slidably arranged on the x beam through a sliding assembly at both ends, the z beam is slidably arranged on the y beam through the sliding assembly, the cleaning robot is arranged at the lower end of the z beam, the z beam is provided with a lifting assembly, and the cleaning robot can move in the x beam direction, the y beam direction and the z beam direction.

[0009] The device is equipped with a control console.

[0010] Further, the cleaning robot comprises a fixed frame, a vehicle perimeter cleaning assembly and a vehicle bottom cleaning assembly, the vehicle perimeter cleaning assembly is arranged on the side of the fixed frame, the vehicle bottom cleaning assembly is arranged on the bottom of the fixed frame and closely adheres to the inner wall of the vehicle compartment bottom.

[0011] Further, the fixed frame is hollow, comprising a plurality of horizontal rods and a plurality of vertical rods, the plurality of horizontal rods are arranged in a square or rectangular shape, the vertical rods are arranged at the connection of adjacent horizontal rods and vertically arranged below the horizontal rods, the bottom side of the vertical rod is fixed with a cross beam, and the upper part of the fixed frame is provided with a roller frame.

[0012] Further, the vehicle perimeter cleaning assembly comprises a plurality of upper brushes, a plurality of roller brushes and a plurality of roller brush motors, the roller brushes are fixed to the vertical rods of the fixed frame through a fixed plate, the roller brush motors are arranged one by one corresponding to the roller brushes, the roller brush motors are fixed to the vertical rods of the fixed frame and connected with the roller brushes through a transmission belt, and the upper brushes are arranged on the roller frame.

[0013] Further, the vehicle bottom cleaning assembly comprises a plurality of bottom roller brushes, a plurality of steel wire brushes and a plurality of bottom roller brush motors, the steel wire brushes are connected to the lower end of the roller brushes and coaxially connected with the roller brushes, the bottom roller brushes are connected to the bottom of adjacent vertical rods at both ends, the bottom roller brush motors are arranged on the cross beam and correspond to the bottom roller brushes one by one, and the bottom roller brush motors are connected with the bottom roller brushes through the transmission belt.

[0014] Further, the x beam, the y beam and the z beam are all provided with a sawtooth groove.

[0015] Further, the sliding assembly comprises a motor, an L-shaped corner servo motor reducer, a fixed base and a plurality of buckles, the motor and the L-shaped corner servo motor reducer are arranged on the same side of the fixed base, the buckles are arranged on the side of the fixed base away from the motor, and the buckles are slidably arranged on the upper and lower sides of the x beam and the y beam.

[0016] Further, the lifting assembly comprises a lifting motor and a plurality of sliders, the lifting motor is arranged on one side of the fixed base of the sliding assembly of the z-beam and is located on the same side of the buckle, the gear of the lifting motor penetrates the fixed base and is engaged with the zigzag slot of the z-beam, and the sliders are arranged on one side of the fixed base of the sliding assembly of the z-beam and are located on the side away from the lifting motor.

[0017] Further, the upper end of the z-beam is provided with a limiting baffle.

[0018] Further, the transmission belt is provided with a protective shell.

[0019] Compared with the prior art, the utility model has the beneficial effects as follows:

[0020] 1. The coal unloading residual coal cleaning device can automatically clean the residual coal on the inner side wall and the bottom of the carriage during the coal unloading process of the turnover coal unloading machine, thereby improving the efficiency of residual coal cleaning and simultaneously improving the coal unloading efficiency.

[0021] 2. The device has high safety and reliability, the rollers can buffer when the fixed frame collides with the carriage during movement, the rollers can also protect the carriage from being scratched or damaged by the side of the cleaning robot, the sliding wheels at the bottom of the fixed frame can reduce the friction between the fixed frame and the bottom of the carriage, and the automatic cleaning and collection of residual coal can reduce the waste of coal and the environmental pollution caused by coal scattering. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and those skilled in the art can obtain other drawings of other embodiments according to these drawings without creative labor.

[0023] Figure 1 is a longitudinal section schematic view of the present application;

[0024] Figure 2 is a schematic view of the residual coal cleaning mechanism cleaning the carriage;

[0025] Figure 3 is a rear view of the residual coal cleaning mechanism;

[0026] Figure 4 is a front view of the residual coal cleaning mechanism;

[0027] Figure 5 is a schematic diagram of the connection of the x-beam and the y-beam;

[0028] Figure 6 is a schematic diagram of the structure of the sliding assembly;

[0029] Figure 7 is a schematic diagram of the connection plane of the motor and the L-shaped corner servo motor reducer;

[0030] Figure 8 is a schematic diagram of the structure of the limiting baffle and the sliding block;

[0031] Figure 9 is a schematic diagram of the structure of the cleaning robot;

[0032] Figure 10 is a schematic diagram of the connection of the bottom drum brush motor and the bottom drum brush;

[0033] Figure 11 is a schematic diagram of the connection of the drum brush and the steel wire brush;

[0034] Figure 12 is a schematic diagram of the structure of the protective shell;

[0035] Figure 13 is a side view of the residual coal cleaning mechanism;

[0036] Figure 14 is a work flow chart of the residual coal cleaning mechanism;

[0037] In the figure, the following are identified:

[0038] 1 - residual coal cleaning mechanism, 2 - turnover coal unloading machine, 3 - cleaning robot, 4 - x-beam, 5 - carriage, 6 - y-beam, 7 - z-beam, 8 - control console, 9 - fixed stand, 10 - lifting assembly, 11 - sliding block, 12 - sawtooth groove, 13 - motor, 14 - fixed frame, 15 - fixed plate, 16 - lifting motor, 17 - buckle, 18 - fixed base, 19 - sliding assembly, 20 - L-shaped corner servo motor reducer, 21 - limiting baffle, 22 - ultrasonic sensor, 23 - upper brush, 24 - roller, 25 - drum brush, 26 - sliding wheel, 27 - bottom drum brush, 28 - bottom drum brush motor, 29 - steel wire brush, 30 - transmission belt, 31 - drum brush motor, 32 - protective shell, 33 - camera, 34 - emergency stop button, 35 - pause / stop and start button, 36 - move up / down / left / right button, 37 - move forward / backward button, 38 - start button. DETAILED DESCRIPTION

[0039] To facilitate understanding of this utility model, a more complete description will be given below with reference to the accompanying drawings. The drawings illustrate preferred embodiments of this utility model. However, this utility model can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the disclosure of this utility model.

[0040] In the description of this utility model, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0041] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "setting" should be interpreted broadly. For example, they can refer to a fixed connection or setting, a detachable connection or setting, or an integral connection or setting. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0042] Example:

[0043] like Figure 1 As shown, this embodiment provides a coal unloading residual coal cleaning device, including a tilting coal unloader 2 and a residual coal cleaning mechanism 1 fixedly installed inside the tilting coal unloader 2. The residual coal cleaning mechanism 1 is structurally matched with the tilting coal unloader 2. Multiple fixed columns 9 are provided at both ends inside the tilting coal unloader 2. The residual coal cleaning mechanism 1 is fixed by the fixed columns 9, which provide stable support points for the residual coal cleaning mechanism 1. The bottom of the fixed columns 9 is connected to the bottom plate of the tilting coal unloader 2 by bolts. The residual coal cleaning mechanism 1 rotates together with the tilting coal unloader 2. After the tilting coal unloader 2 has completely tilted and completed the coal unloading action, the residual coal cleaning mechanism 1 starts to work. The cleaning robot 3 moves along the direction of the car body, driving the car perimeter cleaning component and the car bottom cleaning component to clean the residual coal on the inner wall of the car body 5, thereby improving the residual coal cleaning and unloading efficiency.

[0044] Specifically, such as Figure 2 and Figure 3As shown, the residual coal cleaning mechanism 1 includes two x-beams 4, a y-beam 6, a z-beam 7 and a cleaning robot 3. The two x-beams 4 are symmetrically arranged and are bolted to a plurality of fixed columns 9, respectively. The y-beam 6 is slidably arranged on the x-beams 4 through sliding assemblies 19 at both ends, respectively. The z-beam 7 is slidably arranged on the y-beam 6 through a sliding assembly 19. The cleaning robot 3 is fixed to the lower end of the z-beam 7. The z-beam 7 is provided with a lifting assembly 10. The cleaning robot 3 can move in the directions of the x-beams 4, the y-beam 6 and the z-beam 7, respectively.

[0045] In this embodiment, the x-beams 4, the y-beam 6 and the z-beam 7 are all provided with sawtooth grooves 12. The sawtooth groove 12 on the x-beam 4 is located on the side close to the y-beam 6. The sawtooth groove 12 on the y-beam 6 is located on the side close to the z-beam 7. The sawtooth groove 12 on the z-beam 7 is located on the side close to the y-beam 6.

[0046] As shown in Figure 5 , Figure 6 and Figure 7 , the sliding assembly 19 includes a motor 13, an L-shaped corner servo motor reducer 20, a fixed base 18 and four buckles 17. The fixed base 18 is a cuboid. The y-beam 6 is directly welded and fixed to the fixed base 18 at both ends. The motor 13 and the L-shaped corner servo motor reducer 20 are both bolted to the same side of the fixed base 18. The motor 13 is located on the top of the L-shaped corner servo motor reducer 20. The buckles 17 are welded and fixed to the side of the fixed base 18 away from the motor 13. The buckles 17 are in groups of four. They are slidably arranged on the upper and lower sides of the x-beams 4 and the y-beam 6, respectively, so as to clamp the x-beams 4 and the y-beam 6. The sliding assembly 19 is guided and limited. The gears of the motor 13 are meshingly arranged with the sawtooth grooves 12 of the x-beams 4 and the y-beam 6, respectively. Thus, the sliding assembly 19 is driven by the motor 13 and the buckles 17 to slide on the sawtooth grooves 12, so as to realize the movement in the x direction and the y direction.

[0047] The motor 13 and the L-shaped corner servo motor reducer 20 are driven by multiple motors, so as to convert the rotation of the motor 13 into the rotation in the vertical direction. The sawtooth grooves 12 provide guidance for the gears of the motor 13, so as to ensure that the correct path and direction are maintained during the movement, thereby improving the stability and reliability of the device.

[0048] As shown in Figure 4 and Figure 5As shown, the lifting assembly 10 includes four sliders 11 and a lifting motor 16, the lifting motor 16 is welded and fixed on one side of the fixed base 18 of the sliding assembly 19 of the z-beam 7 and is located on the same side of the buckle 17, the gear of the lifting motor 16 penetrates the fixed base 18 and is engaged with the sawtooth-shaped slot 12 of the z-beam 7, the slider 11 is welded and fixed on one side of the fixed base 18 of the sliding assembly 19 of the z-beam 7 and is located on the side away from the lifting motor 16, the slider 11 is respectively slidingly clamped on both sides of the z-beam 7, so as to clamp the z-beam 7 and guide and limit the lifting assembly 10, so as to drive the cleaning robot 3 to move in the z direction through the lifting motor 16 and the slider 11.

[0049] As shown in Figure 8 , a limiting baffle 21 is welded on the upper end of the z-beam 7 close to one side of the y-beam 6 to prevent the z-beam 7 from descending too much and causing damage to the cleaning robot 3.

[0050] Among them, the cleaning robot 3 includes a fixed frame 14, a car perimeter cleaning assembly and a car bottom cleaning assembly, the car perimeter cleaning assembly is arranged on the side of the fixed frame 14, and the car bottom cleaning assembly is arranged on the bottom of the fixed frame 14 and closely adheres to the inner wall of the bottom of the car compartment 5.

[0051] The fixed frame 14 is hollow, including four horizontal rods and four vertical rods, the four horizontal rods are arranged in a square or rectangular shape, in this embodiment, the four horizontal rods are integrally rectangular, the four vertical rods are respectively integrally fixed at the connection of adjacent horizontal rods and vertically arranged below the horizontal rods, and the vertical rods are fixed with horizontal beams on one side of the bottom.

[0052] As shown in Figure 9 and Figure 11 , the car perimeter cleaning assembly includes four upper brushes 23, four roller brushes 25 and four roller brush motors 31, the four roller brushes 25 are respectively fixed on the four vertical rods of the fixed frame 14 through the fixed plate 15, the four roller brush motors 31 are arranged one by one corresponding to the four roller brushes 25, the roller brush motor 31 is bolted to the vertical rod of the fixed frame 14 and connected with the upper end of the roller brush 25 through the transmission belt 30, the roller brush 25 is driven to rotate by the roller brush motor 31, so as to clean the inner wall of the car compartment 5, the upper brush 23 is welded on the roller frame and used for cleaning the residual ash on the upper end of the car compartment 5.

[0053] The fixed plate 15 includes a long plate and two short plates, the two short plates are vertically integrally fixed on both ends of the long plate, the long plate is vertically fixed on the vertical rod of the fixed frame 14 through a plurality of bolts, and the two short plates are respectively connected to the upper and lower ends of the roller brush 25.

[0054] Eight rollers 24 are installed on the fixed frame 14 through a roller frame, the roller frame is welded and fixed to the upper portion of the fixed frame 14, the rollers 24 can freely roll on the fixed frame 14, two rollers 24 are respectively arranged at each of the four corners of the upper end of the fixed frame 14, and the two rollers 24 at each corner are respectively distributed in the vertical direction and the horizontal direction. When the fixed frame 14 collides with the car body 5 during movement, the rollers 24 play a buffering role, at the same time, the rollers 24 also protect the car body 5 from being scratched or damaged by the side of the cleaning robot 3, and play a protection role.

[0055] The sliding wheel 26 is installed at the bottom of the fixed frame 14 through a shaft sleeve, which is used to reduce the friction between the fixed frame 14 and the bottom of the car body 5.

[0056] As shown in Figure 9 and Figure 10 , the bottom cleaning assembly includes two bottom drum brushes 27, four steel wire brushes 29 and two bottom drum brush motors 28. The four steel wire brushes 29 are respectively connected to the lower ends of the four drum brushes 25, and the steel wire brushes 29 and the drum brushes 25 are coaxially connected, and are all driven by the drum brush motor 31. Therefore, the rotating directions of the steel wire brushes 29 and the drum brushes 25 are the same, the two bottom drum brushes 27 are perpendicular to the direction of the car body, and the two ends of the bottom drum brushes 27 are respectively connected to the bottom of the adjacent vertical rod. The two bottom drum brush motors 28 are fixed on the cross beam at the bottom of the vertical rod by bolts, the bottom drum brush motor 28 is correspondingly arranged with the two bottom drum brushes 27, and is connected with the bottom drum brush 27 through the transmission belt 30. The bottom drum brush 27 is rotated by the bottom drum brush motor 28, and the steel wire brush 29 is rotated by the drum brush motor 31, so as to clean the inner wall of the bottom of the car body 5.

[0057] By cleaning the inner wall of the car body 5 and the bottom inner wall, the residual coal is cleaned, the residual coal is separated from the inner wall of the car body 5, and under the action of gravity, automatically falls into the collection bin below the turnover coal unloading machine 2.

[0058] As shown in Figure 12 , because the coal ash falling during cleaning of the car body 5 is easy to jam the transmission belt 30, a protective shell 32 is arranged outside each transmission belt 30, and the protective shell 32 completely covers the transmission belt 30.

[0059] The ultrasonic sensors 22 are respectively welded and fixed above the two sides of the fixed frame 14.

[0060] In this embodiment, as shown in Figure 13As shown, the control console 8 is placed adjacent to one of the fixed columns 9, and the control system is arranged in the control console 8, and the control console 8 is provided with an emergency stop button 34, a pause / after stopping start button 35, up / down / left / right moving buttons 36, front / back moving buttons 37 and an opening button 38, and during operation, the worker only needs to manually adjust the position of the cleaning robot 3 through the control console 8 beside the fixed column 9, and automatic control can also be realized on the control console 8.

[0061] The control system comprises an upper computer and a lower controller, the lower controller is connected to the upper computer, each driving motor is connected through a motor driver, and each driving motor is coaxially connected with an encoder, and the encoder is connected to the lower controller.

[0062] In this embodiment, the hardware design of the cleaning robot 3 comprises a detection module, a main control module and a control module.

[0063] The detection module is mainly a distance measuring sensor-HC-SR04 (ultrasonic distance measuring module), and a camera 33 is installed on each of the left and right fixed columns 9, which is used to collect equipment operation video data and monitor the equipment operation condition.

[0064] The main control module is selected: an STM32 microprocessor is selected, which is based on an ARM-M3 core, has a 12-bit analog-to-digital conversion circuit (ADC) and a digital-to-analog converter (DAC), and has low energy consumption, real-time performance and high cost performance.

[0065] The control module design: the control object is the cleaning robot driving module-motor (including the roller brush motor 31, the bottom roller brush motor 28, the motor 13 and the lifting motor 16), in order to control the stability and reduce the development cost and difficulty, the PC (upper computer) transmits information to the STM32 controller (lower controller) through serial communication, the STM32 collects data of various sensors through the I / O port, and the CAN bus control can conveniently realize the control of the motor, and the CAN bus communication mode of the driver supports synchronous control, meeting the system requirements.

[0066] As shown in the figure, Figure 14 The device is divided into manual and automatic, the worker can control the position of the cleaning robot 3 through the buttons on the control console 8 through visual observation, and when the automatic control is realized, the ultrasonic sensor 22 installed on the cleaning robot 3 is used to realize real-time monitoring of the position of the cleaning robot 3, and when the cleaning robot 3 is close to the inner wall of the carriage 5, the emergency stop is realized through manual adjustment of the position.

[0067] The working process of this embodiment is as follows:

[0068] The coal-loaded car 5 is transported into the turnover unloading machine 2, is positioned, and is clamped, the turnover unloading machine 2 drives the car 5 to rotate 180 ° to unload coal, at this time, the inner wall of the car 5 still has residual coal, the worker opens the cleaning robot 3 through the button on the console 8, the cleaning robot can move in X direction along the x beam, moves in Y direction along the y beam, moves in Z direction along the z beam, detects the distance between the cleaning robot 3 and the inner wall of the car 5 through the two ultrasonic sensors 22 above the fixing frame 14, when the distance is less than the safety value, emergency braking is carried out, after cleaning, the car 5 is turned over and reset.

[0069] When the cleaning robot 3 starts working, the drum brush 25, the steel wire brush 29 and the bottom drum brush 27 are started, and feed along the length direction of the car 5, the residual coal is separated from the inner wall of the car 5 through rotation, and the residual coal is collected into the collecting bin below the turnover unloading machine 2, when the residual coal collection is completed, the worker collects the residual coal from the collecting bin.

[0070] The above application of specific examples is used to describe the utility model, and is only used to help understanding the utility model, and does not limit the utility model. For the skilled person in the art to which the utility model belongs, according to the idea of the utility model, a number of simple deductions, deformations or substitutions can be made.

Claims

1. A coal unloading and residual cleaning device comprising a flipper unloader (2), characterized in that: The device further comprises a residual coal cleaning mechanism (1) arranged inside the turnover coal unloading machine (2); The residual coal cleaning mechanism (1) comprises two x-beams (4), a y-beam (6), a z-beam (7) and a cleaning robot (3), the two x-beams (4) are symmetrically arranged on a plurality of fixed columns (9), the y-beam (6) is slidably arranged on the x-beams (4) through sliding assemblies (19) at both ends, the z-beam (7) is slidably arranged on the y-beam (6) through the sliding assemblies (19), the cleaning robot (3) is arranged at the lower end of the z-beam (7), a lifting assembly (10) is arranged on the z-beam (7), and the cleaning robot (3) can move in the directions of the x-beams (4), the y-beam (6) and the z-beam (7) respectively. The device is equipped with a control console (8).

2. The residual coal cleaning device according to claim 1, characterized in that: The cleaning robot (3) comprises a fixed frame (14), a car circumference cleaning assembly and a car bottom cleaning assembly, the car circumference cleaning assembly is arranged on the side of the fixed frame (14), the car bottom cleaning assembly is arranged on the bottom of the fixed frame (14) and closely adheres to the inner wall of the bottom of the car (5).

3. The residual coal cleaning device according to claim 2, characterized in that: The fixed frame (14) is hollow, comprises a plurality of horizontal rods and a plurality of vertical rods, the plurality of horizontal rods are arranged in a square or rectangular shape, the vertical rods are arranged at the connection positions of adjacent horizontal rods and vertically arranged below the horizontal rods, a cross beam is fixed to one side of the bottom of the vertical rod, and a roller frame is arranged on the upper part of the fixed frame (14).

4. The residual coal cleaning device according to claim 3, characterized in that: The car circumference cleaning assembly comprises a plurality of upper brushes (23), a plurality of roller brushes (25) and a plurality of roller brush motors (31), the roller brushes (25) are fixed to the vertical rods of the fixed frame (14) through fixed plates (15), the roller brush motors (31) are arranged one by one corresponding to the roller brushes (25), the roller brush motors (31) are fixed to the vertical rods of the fixed frame (14) and connected to the roller brushes (25) through transmission belts (30), and the upper brushes (23) are arranged on the roller frame.

5. The residual coal cleaning device according to claim 4, characterized in that: The car bottom cleaning assembly comprises a plurality of bottom roller brushes (27), a plurality of steel wire brushes (29) and a plurality of bottom roller brush motors (28), the steel wire brushes (29) are connected to the lower ends of the roller brushes (25) and coaxially connected to the roller brushes (25), the bottom roller brushes (27) are connected to the bottoms of adjacent vertical rods at both ends, the bottom roller brush motors (28) are arranged on the cross beam and arranged one by one corresponding to the bottom roller brushes (27), and the bottom roller brush motors (28) are connected to the bottom roller brushes (27) through the transmission belts (30).

6. The residual coal cleaning device according to claim 1, characterized in that: The x beam (4), the y beam (6) and the z beam (7) are provided with sawtooth grooves (12).

7. The coal unloading residual coal cleaning device according to claim 6, characterized in that: The sliding assembly (19) comprises a motor (13), an L-shaped corner servo motor reducer (20), a fixed base (18) and a plurality of buckles (17), the motor (13) and the L-shaped corner servo motor reducer (20) are arranged on the same side of the fixed base (18), the buckles (17) are arranged on the side of the fixed base (18) away from the motor (13), and the buckles (17) are slidingly arranged on the upper and lower sides of the x beam (4) and the y beam (6).

8. The coal unloading residual coal cleaning device according to claim 7, characterized in that: The lifting assembly (10) comprises a lifting motor (16) and a plurality of sliding blocks (11), the lifting motor (16) is arranged on the side of the fixed base (18) of the sliding assembly (19) of the z beam (7) and located on the same side of the buckle (17), the gear of the lifting motor (16) penetrates the fixed base (18) and is engaged with the sawtooth groove (12) of the z beam (7), the sliding blocks (11) are arranged on the side of the fixed base (18) of the sliding assembly (19) of the z beam (7) and located on the side away from the lifting motor (16), and the sliding blocks (11) are slidingly arranged on the two sides of the z beam (7) respectively.

9. The coal unloading residual coal cleaning device according to claim 1, characterized in that: The upper end of the z beam (7) is provided with a limiting baffle (21).

10. The coal unloading residual coal cleaning device according to claim 4, characterized in that: The transmission belt (30) is provided with a protective shell (32).

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