Roadway blocking and wall building robot

Abstract

The invention relates to the field of coal industry, in particular to a roadway blocking and wall building robot. The underground conditions in the coal industry are complex, and safety accidents are always the key point of the whole industry. Emergency rescue relates to personal safety and public property and is the important work in the industry. Underground roadway blocking construction in the coal industry is difficult, construction conditions are harder than ground operation, and construction cost is high. The intelligent robot is used for replacing'complicated, dangerous, dirty and heavy 'manual operation, underground roadway plugging is completed within half an hour, and social benefits and economic benefits are remarkable.

Description

Technical Field

[0001] The invention relates to the technical field of coal engineering, and in particular to a tunnel blocking and wall-building robot. Background Art

[0002] Using robots in engineering construction to replace "complicated, dangerous, dirty and heavy" manual operations is a major trend in scientific and technological development.

[0003] The underground conditions in the coal industry are complex and safety accidents have always been the focus of the entire industry. Emergency rescue involves personal safety and public property and is the top priority of the industry.

[0004] The construction of underground tunnel sealing in the coal industry is difficult, the construction conditions are more difficult than surface operations, and the construction cost is high.

[0005] It is necessary to invent a wall-building robot that can quickly block underground tunnels. Summary of the invention

[0006] The technical problem to be solved by the present invention is to provide a tunnel blocking and wall-building robot for the coal industry.

[0007] In order to solve the above problems, the technical solution of the present invention is: the tunnel blocking and wall-building robot is composed of a central control system, a robot body, a brick supply system, a slurry supply system and a power supply system.

[0008] Central control system: It consists of central control cabinet, PLC, HMI operation panel, motion control system, etc.

[0009] The central control system instructs the six-axis robot to start, stop and run through the six-axis robot's own control system, and monitors the operation of the six-axis robot online.

[0010] The central control system receives online information from other systems of the wall-building robot (including motors, pumps, electric valves and their actuators, instrumentation and control equipment of the brick supply system, mortar supply system and power supply system), instructs them to start and stop, and monitors their operating status online.

[0011] The motion control system includes a vision system and a computing center.

[0012] The visual system includes a lighting device and an industrial computer.

[0013] The motion control system computing center stores the data model of the tunnel wall. The wall data model is established by summarizing, analyzing and screening the wall big data.

[0014] The wall design received by the motion control system is a three-dimensional digital design, which is a working language that the robot can recognize.

[0015] The motion control system computing center automatically matches the most appropriate wall data model based on the wall design, including confirming whether the gap between the top wall bricks and the top of the alley, as well as the gap between the wall and the side wall of the alley, meet the design conditions for dry spray sealing.

[0016] The motion control system computing center selects the construction plan and operation process.

[0017] The central control system and the robot body and the visual system are connected by wired communication; the central control system and the brick supply system, the slurry supply system and the power supply system are connected by wireless communication.

[0018] The power supply of the central control system comes from the power supply system.

[0019] Electrical control and protection enter the central control system.

[0020] Robot body: It consists of a six-axis robot, a walking system, a masonry system and an air source system.

[0021] The six-axis robot control system is designed and produced by the robot manufacturer. The six-axis robot's built-in monitoring system is responsible for monitoring the operating status of the robot and its equipment.

[0022] The walking system is AGV, which has lifting function.

[0023] In view of the particularity of underground operations, the six-axis robot is an explosion-proof robot and the motor is an explosion-proof motor.

[0024] Since the use of batteries is prohibited in underground operations, the robot body uses an explosion-proof rubber-wheeled trackless vehicle to travel from the surface to the underground working surface.

[0025] The masonry system includes mechanical claws, cylinders, etc.

[0026] The robot body has two sets of mechanical claws (ordinary mechanical claws and top wall brick mechanical claws) for grabbing and laying bricks for different purposes to adapt to different construction environments. The mechanical claws can grab and lay one or more wall bricks at a time.

[0027] The compressed air of the air source system comes from the air compressor. The air source system includes the air compressor, air supply isolation valve, air pipe, air pressure sensor, etc.

[0028] The power of the robot body comes from the power system.

[0029] The six-axis robot, masonry system and air supply system are installed on the AGV.

[0030] Brick supply system: It consists of a brick supply platform, walking system, depalletizing robot, conveying system and monitoring system.

[0031] The walking system is AGV, which has lifting function.

[0032] In view of the particularity of underground operations, explosion-proof motors are selected.

[0033] As batteries are prohibited for underground operations, the brick supply system uses explosion-proof rubber-wheeled trackless vehicles to travel from the surface to the underground working surface.

[0034] The depalletizing robot is responsible for depalletizing, grabbing wall bricks from the brick stack and placing them on the conveyor belt of the conveyor system.

[0035] The conveying system is designed as a movable and liftable conveyor belt, which delivers the wall bricks to the mechanical claws of the masonry system.

[0036] The monitoring system is responsible for monitoring the operating status of the brick supply system and its equipment.

[0037] The power supply for the brick supply system comes from the power supply system.

[0038] The brick supply system is directly controlled by the central control system, or it can set up its own control system and communicate with the central control system.

[0039] The depalletizing robot and conveying system are arranged on the brick supply platform.

[0040] Slurry supply system: It consists of walking system, slurry supply platform, masonry mortar mixing system, water source system, grouting system, sealing mortar system and monitoring system.

[0041] The walking system is AGV, which has lifting function.

[0042] In view of the particularity of underground operations, explosion-proof motors are selected.

[0043] As batteries are prohibited for underground operations, the slurry supply system uses explosion-proof rubber-wheeled trackless vehicles to travel from the surface to the underground working surface.

[0044] The equipment of the slurry supply system is all set on the brick supply platform.

[0045] The mortar supply system is equipped with two sets of mortar mixing systems, which are used to mix masonry mortar and sealing mortar respectively.

[0046] Premixed dry mortar is used for masonry mortar. Premixed dry mortar is prepared according to the maximum wall area and enters the underground working surface with the mortar supply system (in the mortar tank).

[0047] The plugging mortar is dry-sprayed quick-setting mortar. The dry-sprayed quick-setting mortar is prepared according to the maximum plugging area and enters the underground working surface with the dry-spraying machine.

[0048] The masonry mortar mixing system includes a mortar tank, a mixer and a mortar supply isolation valve, etc.

[0049] The masonry mortar grouting system includes a mortar delivery pump, a mortar pipe, a mortar electric regulating valve, a hose reel, a grouting nozzle electric valve, a grouting nozzle and a grouting nozzle box, etc.

[0050] According to the material properties of masonry mortar, select a suitable masonry mortar delivery pump.

[0051] For masonry mortar flow control, an electric regulating valve can be selected, or the mortar delivery pump can be used for frequency conversion regulation to control the masonry mortar flow according to actual conditions.

[0052] The water source of the water source system comes from the water storage tank. The water source system includes the water storage tank, water source electric valve, water pipes, etc.

[0053] The monitoring system of masonry mortar supply system includes mortar tank level sensor, mortar flow sensor, mortar pressure sensor, etc. The monitoring system is responsible for monitoring the operating status of the mortar supply system and its equipment.

[0054] The sealing mortar grouting system selects a complete set of dry spraying machine, which includes a hose reel, mortar pipe, spraying nozzle and spraying nozzle box, etc.

[0055] The sealing mortar grouting system does not need a separate monitoring system.

[0056] The power supply of the pulp supply system comes from the power supply system.

[0057] The slurry supply system is directly controlled by the central control system and realizes integrated control functions with the robot; or you can set up your own control system and communicate with the central control system.

[0058] Power supply system: vehicle-mounted diesel generator set.

[0059] The power system can choose a trailer-type diesel generator set.

[0060] The diesel generator set is selected as a complete set of equipment to meet the regulatory requirements for safe operation underground.

[0061] The diesel generator set is moved using an explosion-proof rubber-tyred trackless vehicle.

[0062] The power supply system must have a reliable electrical control and protection system and be able to meet the requirements of underground operations (including noise and emission control requirements).

[0063] Furthermore, the communication method between the central control system and each subsystem is implemented by wired or wireless connection; the central control system instructs each subsystem to start and stop, and is responsible for monitoring the operating status of each subsystem.

[0064] The motion control system determines the position of the robot body, brick supply system and mortar supply system according to the work tasks and the construction site data information obtained by the visual system, plans the path of the 6-axis robot and other systems, is responsible for executing the movement and control of the 6-axis robot and other systems, completes the wall masonry and grouting, and verifies the cumulative error of the wall.

[0065] The central control system is responsible for the overall control of the six-axis robot and the selection of the operation mode and masonry scheme. The six-axis robot's own control system performs the motion control of the six-axis robot, and the six-axis robot's own control system is responsible for the motion control of the mechanical claw.

[0066] The motion control system includes multiple tunnel wall data models.

[0067] Furthermore,

[0068] The 6-axis robot control system builds brick walls by grabbing wall bricks using a common mechanical claw.

[0069] The 6-axis robot control system uses a common mechanical claw to grab the top layer of wall bricks and lay the top layer of wall bricks.

[0070] The 6-axis robot control system uses a common mechanical claw to grab the grouting nozzle box and grout the wall.

[0071] The 6-axis robot control system uses a common mechanical claw to grab the dry spraying machine nozzle box, spray the gap between the top wall tiles and the top of the tunnel to complete the plugging.

[0072] The 6-axis robot control system uses a common mechanical claw to grab the spray nozzle box and spray the gap between the wall and the side wall of the tunnel to complete the plugging.

[0073] The central control system adjusts the flow and pressure of the masonry mortar through the electric regulating valve based on the data sent back by the flow sensor and pressure sensor of the slurry supply system.

[0074] If the flow rate or pressure of the masonry mortar exceeds the design value, the opening of the mortar electric regulating valve will be automatically adjusted.

[0075] If the mortar delivery flow or pressure exceeds the design value, the PLC will adjust the mortar flow or pressure through the mortar electric regulating valve; if the mortar flow or pressure still exceeds the design value within the set time, the central control system will alarm and instruct the robot to stop working.

[0076] The accumulated error of the wall exceeds the design requirements, and the central control system instructs the robot to stop working.

[0077] The operator can use the emergency stop button to stop the entire system.

[0078] Emergency stop buttons include: teach pendant emergency stop button, PLC control cabinet emergency stop button, robot emergency stop button, HMI operation panel emergency stop button and diesel generator emergency stop button.

[0079] Furthermore, the HMI design meets the requirements of construction operations.

[0080] Furthermore, the system status includes:

[0081] Shutdown state: The entire system is in a stopped state and the system is not receiving power.

[0082] Standby state: The entire system and its subsystems are ready for working and are in standby state.

[0083] Manual state: The entire system has been powered on; each subsystem, each device and other actuators can be manually operated on the HMI operation panel, and relevant operation / operation parameters can be set on the HMI operation panel.

[0084] Automatic state: The entire system and its subsystems are in automatic operation state.

[0085] Furthermore, the fault alarm includes:

[0086] Sound and light alarm: Alarm settings include sound and light alarm.

[0087] Central control cabinet masonry robot status display: green indicator light indicates normal or running status; red indicator light indicates abnormal or warning status.

[0088] Furthermore, the HMI operation panel wall-building robot status display includes:

[0089] Green indicator light: indicates normal or operating status;

[0090] Red indicator light: indicates abnormal or warning status.

[0091] Further, the fault design principle:

[0092] Level 1 fault: The HMI operation panel displays a minor fault message; the red indicator light flashes; the bricklaying robot can continue to work.

[0093] Secondary fault: The HMI operation panel displays fault information; the red indicator light flashes; the sound alarm is activated; the masonry robot stops working.

[0094] Furthermore, the explosion-proof rubber-tyred trackless vehicle pulls the robot body, brick supply system, slurry supply system and diesel generator set into the underground working face. The central control system receives the wall design; the visual system scans the working face; the motion control system verifies whether the working face meets the wall design parameters, verifies whether the working face has the working conditions, selects the appropriate wall data model, and plans the construction plan and operation process.

[0095] The operator selects the automatic mode on the HMI operation panel, and the 6-axis robot starts working: the ordinary mechanical claw grabs the wall from the brick supply platform and lays it at the designed position of the wall; the first layer of wall is built; after the first layer of wall is built, the ordinary mechanical claw grabs the grouting box, and the grouting nozzle pours mortar on the surface of the wall bricks back and forth; after the grouting is completed, the next layer of wall is built and mortar is poured until the wall building and grouting are completed except for the top layer of wall.

[0096] The common mechanical claw grabs the top layer of wall bricks; the top layer of bricks mechanical claw clamps the top layer of wall bricks in the designed position through the holes.

[0097] The central control system instructs the dry spraying machine to start; the ordinary mechanical claw grabs the dry spraying machine spraying nozzle box; the dry spraying machine sprays dry spraying quick-setting mortar into the gap between the top wall tiles and the top of the lane according to the instructions of the central control system, and completes the sealing of the gap between the top wall tiles and the top of the lane.

[0098] The ordinary mechanical claw grabs the spraying nozzle box; the dry spraying machine sprays dry spraying quick-setting mortar into the gap between the wall and the side wall of the tunnel according to the instructions of the central control system, completing the sealing of the gap between the wall and the side wall of the tunnel.

[0099] In summary, the present invention has the following beneficial effects:

[0100] 1. Technical evaluation of the present invention

[0101] 1. The technical solution of the present invention is reliable and feasible.

[0102] 2. Economic Evaluation of the Invention

[0103] 1. The present invention has a wide range of application scenarios and obvious economic benefits.

[0104] III. Environmental Safety Assessment of the Invention

[0105] 1. The present invention has no environmental hazards.

[0106] 2. The present invention meets the standard requirements for underground safety operations.

[0107] IV. Social Benefit Assessment of the Invention

[0108] 1. The present invention can complete the blocking of underground tunnels (4 meters long x 5 meters high) within half an hour, which is beneficial to underground emergency rescue and ensures the safety of underground personnel, equipment and property.

[0109] 2. The present invention is used in underground wall engineering construction to replace the "complicated, dangerous, dirty and heavy" manual operations, which has significant social benefits. DETAILED DESCRIPTION

[0110] Example 1

[0111] Based on the technical features and process flow, Example 1 of the present invention is implemented in the following manner:

[0112] S1: The explosion-proof rubber-tyred trackless vehicle pulls the robot body, brick supply system, slurry supply system and diesel generator set into the underground operation area and puts them in place;

[0113] S2: The operator checks the status of each system and each device one by one;

[0114] S3: Number of wall bricks and mortar reserves of operators;

[0115] S4: The operator starts the diesel generator set;

[0116] S5: The operator connects the wall-building robot to the power system;

[0117] S6: Each system of the wall-building robot receives power;

[0118] S7: The operator starts the wall-building robot on the HMI operation panel and inputs the wall design parameters;

[0119] S8: The central control system starts equipment self-check;

[0120] S9: The status of each system of the wall-building robot is normal, and the central control system automatically switches to the standby state;

[0121] S10: Masonry preparation work:

[0122] 1) Motion control system receiving wall design;

[0123] 2) The visual system scans the work surface;

[0124] 3) The motion control system verifies whether the working surface meets the wall design parameters;

[0125] 4) The motion control system verifies whether the working surface meets the operating conditions;

[0126] 5) The motion control system selects the appropriate wall data model;

[0127] 6) The motion control system plans the masonry construction plan and operation process;

[0128] S11: The operator selects the automatic mode on the HMI operation panel, and each system starts running:

[0129] 1) The ordinary mechanical claw grabs the wall from the brick supply platform and lays it at the designed position of the wall to complete the first layer of wall construction;

[0130] 2) After the first layer of wall is built, the common mechanical claw grabs the grouting box, and the grouting nozzle pours mortar on the surface of the wall bricks back and forth;

[0131] 3) After grouting is completed, the ordinary mechanical claw builds the second layer of wall;

[0132] 4) When the second layer of wall is completed, the common mechanical claw grabs the grouting box and pours mortar on the surface of the wall bricks;

[0133] 5) Repeat the above steps: grabbing with ordinary mechanical claws, laying wall bricks, and grouting;

[0134] 6) During the masonry process, the visual system verifies whether the masonry accuracy meets the design requirements;

[0135] 7) Ordinary mechanical claws complete the wall construction and grouting except the top wall.

[0136] S12: Top wall masonry

[0137] 1) Ordinary mechanical claw grabs the top layer of wall tiles;

[0138] 2) The top brick mechanical claw clamps the top wall bricks at the designed position through the holes.

[0139] S13: Top layer shotcrete sealing

[0140] 1) The central control system instructs the dry spray machine to start;

[0141] 2) Ordinary mechanical claw grabs the spray nozzle box of the dry spray machine;

[0142] 3) The dry spraying machine sprays dry spraying quick-setting mortar to the gap between the top wall tiles and the top of the tunnel according to the instructions of the central control system;

[0143] 4) Complete the gap between the top wall bricks and the top of the alley.

[0144] S14: Side wall spraying

[0145] 1) Ordinary mechanical claw grabs the spray nozzle box;

[0146] 2) The dry spraying machine sprays dry spraying quick-setting mortar into the gap between the wall and the side wall of the tunnel according to the instructions of the central control system;

[0147] 3) Complete the gap between the sealing wall and the side wall of the tunnel.

[0148] S15: The HMI operation panel prompts that the work has been completed; the system automatically switches to standby mode;

[0149] S16: The operator manually switches the wall-building robot to a stop state on the HMI operation panel;

[0150] S17: The operator shuts down the diesel generator set and disconnects the power supply;

[0151] S18: The explosion-proof rubber-tyred trackless vehicle evacuates the robot body, brick supply system, slurry supply system and diesel generator set from the construction site;

[0152] S19: The operator cleans the slurry supply system.

[0153] The above describes the basic principles and main features of the present invention. The description in the specification only illustrates the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed for protection.

Claims

1. A tunnel blocking and wall-building robot, characterized in that: Including central control system, robot body, brick supply system, slurry supply system and power supply system; The central control system includes central control cabinet, PLC, HMI operation panel, and motion control system; The motion control system includes a vision system and a computing center; The visual system includes lighting devices and industrial computers; The computing center stores big data models of the tunnel walls; The wall design received by the motion control system is a three-dimensional digital design; The motion control system computing center matches the most appropriate wall data model according to the wall design; confirms whether the gap between the top wall bricks and the top of the tunnel, as well as the gap between the wall and the side wall of the tunnel, meets the design conditions for dry spraying plugging; The motion control system computing center selects the construction plan and operation process; The central control system and the robot body and the visual system are connected by wired communication; the central control system and the brick supply system, the slurry supply system and the power supply system are connected by wireless communication; The power supply of the central control system comes from the power supply system; The robot body includes a six-axis robot, a walking system, a masonry system and an air source system; The six-axis robot is an explosion-proof robot, and the motor is an explosion-proof motor; The six-axis robot control system comes from the robot manufacturer. The six-axis robot's built-in monitoring system is responsible for monitoring the operating status of the robot and its equipment. The walking system is AGV, and the AGV platform rises or falls according to the instructions of the central control system; The masonry system includes a mechanical gripper and a cylinder; the mechanical gripper is controlled by a six-axis robot control system; The robot body includes ordinary mechanical claws and top-layer wall brick mechanical claws, which can grab and lay bricks for different purposes; the mechanical claws can grab and lay one or more wall bricks at a time; The compressed air of the air source system comes from the air compressor. The air source system includes the air compressor, air supply isolation valve, air pipe, and air pressure sensor; The gas source system is controlled and monitored by the central control system; The power supply of the robot body comes from the power system; The six-axis robot, masonry system and air supply system are installed on the AGV platform; The brick supply system includes a brick supply platform, a walking system, a depalletizing robot, a conveying system and a monitoring system; The walking system is AGV, which drives the brick supply platform to rise or fall according to the instructions of the central control system; The destacking robot and conveying system are set on the brick supply platform; The destacking robot is an explosion-proof robot, and the motor of the brick supply system is an explosion-proof motor; The destacking robot removes the brick stack, grabs the wall bricks on the brick stack, and places them on the conveyor belt of the conveyor system; The conveying system is a mobile, lifting conveyor belt; the conveyor belt transfers the wall bricks to the mechanical claws of the masonry system; The monitoring system monitors the operating status of the brick supply system and its equipment; The power supply for the brick supply system comes from the power supply system; The brick supply system is directly controlled by the central control system, or it can set up its own control system and communicate with the central control system; The mortar supply system includes walking system, mortar supply platform, masonry mortar mixing system, water source system, grouting system, plugging mortar system and monitoring system; The walking system is AGV, which drives the slurry supply platform to rise or fall according to the instructions of the central control system;.

2. The equipment of the slurry supply system is set on the brick supply platform; The motor of the slurry supply system is an explosion-proof motor; The mortar supply system is equipped with two sets of mortar mixing systems, which mix masonry mortar and sealing mortar respectively; Premixed dry mortar is used for masonry mortar; the premixed dry mortar is prepared according to the maximum wall area and enters the underground working surface with the mortar supply system; The plugging mortar is a dry-sprayed quick-setting mortar; the dry-sprayed quick-setting mortar is prepared according to the maximum plugging area and enters the underground working surface with the dry-spraying machine; The masonry mortar mixing system includes a mortar tank, a mixer and a mortar supply isolation valve; The masonry mortar grouting system includes a mortar delivery pump, a mortar pipe, a mortar electric regulating valve, a mortar tank level sensor, a mortar flow sensor, a mortar pressure sensor, a hose reel, a grouting nozzle electric valve, a grouting nozzle and a grouting nozzle box; The central control system controls the flow of masonry mortar through an electric regulating valve or through frequency conversion regulation of the mortar delivery pump to control the flow of masonry mortar; The water source of the water source system comes from a water storage tank. The water source system includes a water storage tank, a water source electric valve, and a water pipe; The plugging mortar grouting system is a complete set of dry spraying machine, which includes a hose reel, mortar pipe, spraying nozzle and spraying nozzle box; The monitoring system is responsible for monitoring the operating status of the slurry supply system and its equipment; The power supply of the slurry supply system comes from the power supply system; The slurry supply system is directly controlled by the central control system, or has its own control system and is connected to the central control system for communication; The power supply system is a vehicle-mounted complete diesel generator set; Electrical control and protection enter the central control system.

3. A tunnel blocking and wall-building robot as claimed in claim 1, characterized in that: The central control system instructs the six-axis robot to start, stop and run through its own control system, and monitors the running status of the six-axis robot online; The central control system receives online information from other systems of the wall-building robot, instructs it to start, stop and run, and monitors its operating status online; The central control system is responsible for the overall control of the six-axis robot and the selection of the operation mode and masonry scheme; the six-axis robot's own control system performs the motion control of the six-axis robot, and the six-axis robot's own control system is responsible for the motion control of the mechanical claw; The motion control system determines the position of the robot body, brick supply system and grout supply system according to the work tasks and the construction site data information obtained by the visual system, plans the path of the 6-axis robot and other systems, is responsible for executing the walking and control of the 6-axis robot and other systems, completes the wall masonry and grouting, and verifies the cumulative error of the wall; The central control system adjusts the masonry mortar delivery flow rate through the electric regulating valve based on the data sent back by the flow sensor and pressure sensor.

4. A tunnel blocking and wall-building robot as claimed in claim 1 or 2, characterized in that: The emergency stop buttons include the teach pendant emergency stop button, the six-axis robot control cabinet emergency stop button, the central control cabinet emergency stop button, the HMI operation panel emergency stop button and the diesel generator emergency stop button.

5. A tunnel blocking and wall-building robot as claimed in claim 1, 2 or 3, characterized in that: The tunnel blocking and wall-building robot can be set to 4 states, including: Shutdown state: The entire system is in a stopped state and the system is not powered; Standby state: The entire system and each subsystem are ready for working and are in standby state; Manual state: The whole system has been powered on; each subsystem, each device and other actuators can be manually operated on the HMI operation panel, and relevant operation / operation parameters can be set on the HMI operation panel; Automatic state: The entire system and its subsystems are in automatic operation state.

6. A tunnel blocking and wall-building robot as claimed in claim 1, 2, 3 or 4, characterized in that: Fault alarm includes sound and light alarm; Faults are divided into primary and secondary faults. A primary fault indicates a minor fault, with a red indicator flashing; the wall-building robot can continue to work. A secondary fault indicates a major fault, with a red indicator flashing, an audible alarm, and the tunnel-blocking wall-building robot stops working. The light warning indicator lights come in two colors: green and red. A green indicator light indicates a normal or operating state, and a red indicator light indicates an abnormal or warning state.

7. A tunnel blocking and wall-building robot as claimed in claim 1 or 2 or 3 or 4 or 5, characterized in that: The 6-axis robot control system builds brick walls by grabbing wall bricks using a common mechanical claw; The 6-axis robot control system uses a common type of mechanical claw to grab the top layer of wall bricks and lay the top layer of wall bricks; The 6-axis robot control system grouts the wall by using a common mechanical claw to grab the grouting nozzle box; The 6-axis robot control system uses a common mechanical claw to grab the dry spraying machine spray nozzle box, spraying the gap between the top wall tiles and the top of the tunnel to complete the plugging; The 6-axis robot control system uses a common mechanical claw to grab the spray nozzle box and spray the gap between the wall and the side wall of the tunnel to complete the plugging.

8. A tunnel blocking and wall-building robot as claimed in claim 1 or 2 or 3 or 4 or 5 or 6, characterized in that: The explosion-proof rubber-tyred trackless vehicle pulls the robot body, brick supply system, slurry supply system and diesel generator set into the underground working face; the central control system receives the wall design; the visual system scans the working face; the motion control system verifies whether the working face meets the wall design parameters, verifies whether the working face has the working conditions, selects the appropriate wall data model, and plans the construction plan and operation process; The operator selects the automatic mode on the HMI operation panel, and the 6-axis robot starts working: the ordinary mechanical claw grabs the wall from the brick supply platform and lays it at the designed position of the wall to complete the first layer of wall construction; after the first layer of wall construction is completed, the ordinary mechanical claw grabs the grouting box, and the grouting nozzle pours mortar on the surface of the wall bricks back and forth; after the grouting is completed, the next layer of wall is built and mortar is poured until the wall construction and grouting are completed except for the top layer of wall; The common type mechanical claw grabs the top layer of wall brick mechanical claw, and the top layer of brick mechanical claw clamps the top layer of wall bricks in the designed position through the hole position; The central control system instructs the dry spray machine to start; The common mechanical claw grabs the spraying nozzle box of the dry spraying machine; the dry spraying machine sprays the dry spraying quick-setting mortar to the gap between the top wall tiles and the top of the lane according to the instructions of the central control system, and completes the gap between the top wall tiles and the top of the lane; The ordinary mechanical claw grabs the spraying nozzle box; the dry spraying machine sprays dry spraying quick-setting mortar into the gap between the wall and the side wall of the tunnel according to the instructions of the central control system, completing the sealing of the gap between the wall and the side wall of the tunnel.

9. A tunnel blocking and wall-building robot as claimed in claim 1 or 2 or 3 or 4 or 5 or 6 or 7, characterized in that: The system process is as follows: S1: The explosion-proof rubber-tyred trackless vehicle pulls the robot body, brick supply system, slurry supply system and diesel generator set into the underground operation area and puts them in place; S2: The operator checks the status of each system and each device one by one; S3: Operator wall brick quantity and mortar reserve; S4: The operator starts the diesel generator set; S5: The operator connects the wall-building robot to the power system; S6: Each system of the wall-building robot receives power; S7: The operator starts the wall-building robot on the HMI operation panel and inputs the wall design parameters; S8: The central control system starts equipment self-check; S9: The status of each system of the wall-building robot is normal, and the central control system automatically switches to the standby state; S10: Masonry preparation Motion control system receiving wall design; The vision system scans the work surface; The motion control system verifies that the working surface meets the wall design parameters; The motion control system verifies whether the working surface meets the operating conditions; The motion control system selects the appropriate wall data model; The motion control system plans the masonry construction plan and operation process; S11: The operator selects the automatic mode on the HMI operation panel, and each system starts running: The ordinary mechanical claw grabs the wall from the brick supply platform and lays it at the designed position of the wall to complete the first layer of wall construction; After the first layer of wall is built, the common mechanical claw grabs the grouting box, and the grouting nozzle pours mortar on the surface of the wall bricks back and forth; After the grouting is completed, the ordinary mechanical claws build the second layer of the wall; When the second layer of wall is completed, the common mechanical claw grabs the grouting box and pours mortar on the surface of the wall bricks; Repeat the above steps: grabbing with a common mechanical claw, laying bricks, and grouting; During the masonry process, the visual system verifies whether the masonry accuracy meets the design requirements; Ordinary mechanical claws complete the wall construction and grouting except the top wall. 10.S12: Top floor wall construction Ordinary mechanical claw grabs the top layer of wall tiles; The mechanical claw of the top brick lays the top brick in the designed position through the hole clamping; S13: Top layer shotcrete sealing The central control system instructs the dry spray machine to start; Ordinary mechanical claw grabs the spray nozzle box of the dry spray machine; The dry spraying machine sprays dry spraying quick-setting mortar to the gap between the top wall tiles and the top of the tunnel according to the instructions of the central control system; Complete the gap between the top wall bricks and the top of the alley; S14: Side wall shotcrete sealing Ordinary mechanical claw grabs the spray nozzle box; The dry spraying machine sprays dry spraying quick-setting mortar into the gap between the wall and the side wall of the tunnel according to the instructions of the central control system; Complete the gap between the sealing wall and the side wall of the laneway; S15: The HMI operation panel prompts that the work has been completed; the system automatically switches to standby mode; S16: The operator manually switches the wall-building robot to a stop state on the HMI operation panel; S17: The operator shuts down the diesel generator set and disconnects the power supply; S18: The explosion-proof rubber-tyred trackless vehicle evacuates the robot body, brick supply system, slurry supply system and diesel generator set from the construction site; S18: The operator cleans the slurry supply system.

11. A tunnel blocking and wall-building robot as claimed in claim 1 or 2 or 3 or 4 or 5 or 6 or 7 or 8, characterized in that: The invention can be used as emergency rescue equipment for emergency rescue in the fields of industry and civil engineering.