Single-operation-arm coal mine tunnel closed wall building operation robot system

Abstract

The invention belongs to the technical field of coal mine airtight wall building, and particularly relates to a single-operation-arm coal mine tunnel airtight wall building operation robot system. Comprising a movable wall building operation platform arranged in a to-be-closed linked roadway, and a motor vehicle and a brick transporting vehicle which are arranged in a crossheading roadway intersected with the to-be-closed linked roadway; the motor vehicle and the brick transporting vehicle are located on the two sides of a roadway opening of a to-be-closed combined roadway respectively. The motor vehicle is used for providing power and mortar for the movable wall building operation platform; the brick transporting vehicle is used for supplying bricks to the movable wall building operation platform; the movable wall building operation platform is used for stacking the bricks into a wall body and smearing mortar; the single-operation-arm coal mine tunnel closed wall building operation robot system is used for integrated operation of wall building, plastering and face scraping of a goaf closed wall. The problems that the quality of a wall is limited by the technical level of workers, brick joints on site are not uniform, mortar in the brick joints is not full, and the wall is uneven are solved to a great extent.

Description

Technical Field

[0001] This invention belongs to the field of coal mine sealed wall construction technology, specifically relating to a single-arm coal mine roadway sealed wall construction robot system. Background Technology

[0002] The construction of sealed walls in coal mine roadways is an important part of coal mine production, involving multiple aspects such as production safety.

[0003] In the process of coal mining, in order to isolate the leakage of toxic and harmful gases from the goaf and prevent fresh air from entering the goaf and causing spontaneous combustion, it is necessary to effectively control harmful factors such as gas, water seepage, and open flames in the goaf. At present, the method of sealing the goaf is to construct a sealed wall. The typical structural form is to construct a brick wall + concrete wall + loess wall + brick wall of a certain thickness in sequence in the connecting roadway. Before the wall is built, it is necessary to pre-cut trenches around the roadway. During the construction process, measure pipes, observation pipes, backflow pipes, and rocker body input pipes are pre-embedded. After the construction is completed, rocker body polymer material is injected into the loess through the rocker body input pipe to fill the loess wall and seal it at the top.

[0004] Bricklaying is the most labor-intensive step in the enclosed operation, accounting for about one-third of the total enclosed time. Workers climb scaffolding to lay bricks, posing significant safety hazards. The bricklaying site involves processes such as brick passing, stacking, and mortar mixing. Transporting bricks, cement, and other materials from the ground to the underground requires a transport driver. Manual bricklaying is inefficient, requires high strength but suffers from uneven brick joints, insufficient mortar in the joints, uneven wall surfaces, and a high risk of formwork bursting during concrete pouring. Summary of the Invention

[0005] This invention aims to solve the problems of low efficiency, uneven brick joints, and uneven wall surface in manually constructed sealed brick walls of coal mine roadways.

[0006] This invention provides the following technical solution: a single-arm coal mine roadway sealing wall masonry robot system, comprising a mobile masonry platform arranged in the roadway to be sealed, a power vehicle and a brick transport vehicle arranged in the roadway intersecting with the roadway to be sealed; the power vehicle and the brick transport vehicle are respectively located on both sides of the roadway entrance of the roadway to be sealed; the power vehicle is used to provide power and mortar to the mobile masonry platform; the brick transport vehicle is used to supply bricks to the mobile masonry platform; the mobile masonry platform is used to stack the bricks into a wall and apply mortar.

[0007] Furthermore, the mobile bricklaying platform includes a first tracked walking mechanism, on which a brick stacking platform and a stacking robotic arm are mounted. The brick stacking platform is divided into a brick feeding area, a robotic arm area, and a brick arranging area. The robotic arm area is in the center, the brick feeding area is close to the entrance of the tunnel to be closed, and the brick arranging area is close to the stacking robotic arm. A pre-arranging robotic arm is installed in the robotic arm area. The pre-arranging robotic arm is used to move loose bricks in the brick feeding area to the brick arranging area and arrange them into brick units according to the width of the wall. The stacking robotic arm is used to grab brick units and stack them into a wall.

[0008] Furthermore, the palletizing robotic arm includes a lateral movement mechanism, a horizontal rotation mechanism, a vertical movement mechanism, and a dual-function work unit connected in stages; the lateral movement mechanism is connected to the first tracked walking mechanism; the dual-function work unit integrates two functions: gripping bricks and applying mortar. The dual-function operating unit includes an "I"-shaped intermediate frame. A suction cup device is installed in the groove at the bottom of the intermediate frame. Vertical mortar channels are installed in the upright plates on both sides of the intermediate frame. Each of the mortar channels on both sides is connected to a lateral mortar pipe. A flip-over baffle is hinged to the bottom of the upright plate. A pressure rod is connected to the flip-over baffle. When there is no mortar discharge at the outlet of the mortar channel, the pressure rod can pry the flip-over baffle to close the outlet by its own weight.

[0009] Furthermore, a horizontal shotcrete pipe is installed at the end of the intermediate frame facing the wall, and a scraper is installed above the shotcrete pipe. The shotcrete pipe is connected to the intermediate mortar pipe. The lateral mortar pipe and the intermediate mortar pipe are located on the horizontal plate of the intermediate frame. The lateral mortar pipe and the intermediate mortar pipe are connected to the power vehicle through a mortar hose.

[0010] Furthermore, the lateral movement mechanism is a two-stage loading structure, including a lateral fixed track, a lateral sliding track, and a slider; the front of the lateral sliding track slides in engagement with the lateral fixed track, and the rear of the lateral sliding track slides in engagement with the slider; the lateral fixed track is mounted on the first track-mounted traveling mechanism; a first rotary drive is mounted on the lateral fixed track, and a first rack is mounted on the front of the lateral sliding track, with the gear on the first rotary drive meshing with the first rack; a second rotary drive is mounted on the slider, and a second rack is mounted on the rear of the lateral sliding track, with the gear on the second rotary drive meshing with the second rack; the slider is connected to a horizontal rotation mechanism.

[0011] Furthermore, the vertical moving mechanism is a two-stage loading structure, including a vertical fixed track, a vertical sliding track, and a support; the vertical fixed track is connected to the horizontal rotating mechanism; the front of the vertical sliding track slides in engagement with the vertical fixed track, and the rear slides in engagement with the support; a third rotary drive is installed on the vertical fixed track, and a third rack is installed on the front of the vertical sliding track, with the gear on the third rotary drive meshing with the third rack; a fourth rotary drive is installed on the support, and a fourth rack is installed on the rear of the vertical sliding track, with the gear on the fourth rotary drive meshing with the fourth rack; the dual-function operating unit is installed on the support.

[0012] Furthermore, the brick feeding area of ​​the mobile bricklaying platform is equipped with a brick guide trough, the bottom of which is a roller conveyor line. The brick guide trough includes a right-angled trapezoidal section and a rectangular section. The right-angled side of the right-angled trapezoidal section is aligned with the long side of the rectangular section, and the upper base of the right-angled trapezoidal section is the same length as the short side of the rectangular section.

[0013] Furthermore, the power vehicle includes a second tracked traveling mechanism, a load-bearing platform, a power system integration, a cable support system, a mortar pumping system, and a quick-connect pipe system. The load-bearing platform is fixedly connected to the second tracked traveling mechanism. The power system integration and cable support system are distributed above the load-bearing platform. The mortar pumping system is located at the rear of the load-bearing platform, and the quick-connect pipe system is located at the bottom of the frontmost part of the load-bearing platform.

[0014] Furthermore, the brick transport vehicle includes a diesel-powered locomotive, a brick transport platform, a wheeled walking mechanism, and a quick-connect mechanism; the diesel-powered locomotive and the brick transport platform are connected by the quick-connect mechanism, and the brick transport platform is equipped with a wheeled walking mechanism at its bottom.

[0015] Compared with the prior art, the advantages of the present invention are: This invention provides a single-arm robotic system for constructing sealed walls in coal mine roadways, integrating bricklaying, plastering, and finishing operations. It largely solves problems such as uneven brick joints, insufficient mortar filling, uneven wall surfaces, and frequent wall collapses during later concrete and loess filling, which are often caused by limitations in worker skill levels in wall quality. This reduces the labor intensity and safety hazards for workers and improves the quality of sealed wall construction.

[0016] By replacing manual operations with mechanization, a continuous automated process of brick feeding, brick arrangement, stacking, mortar supply, and application has been achieved, significantly reducing bricklaying time, decreasing reliance on manpower, and improving overall operational efficiency. Simultaneously, the coordinated supply of materials (bricks and mortar) by the powered vehicles and brick transport vehicles ensures timely delivery, minimizing operational interruptions.

[0017] The pre-layout robotic arm first arranges bricks into brick units according to the width of the wall, and then the stacking robotic arm picks up the entire unit for wall construction. This "pre-layout-stacking" work mode greatly improves wall construction efficiency. The stacking robotic arm does not need to frequently travel between the brick pile and the wall to pick up bricks one by one. Picking up one brick unit at a time to complete one construction cycle significantly increases the workload and significantly reduces the number of robotic arm movements and cycle time. While the stacking robotic arm is performing the construction and plastering work, the pre-layout robotic arm can prepare for the next brick unit in the background. The two work in parallel, forming a continuous "assembly line" operation, eliminating waiting time and making the wall construction process smoother and more efficient. Attached Figure Description

[0018] Figure 1 A schematic diagram showing the layout of the mobile bricklaying platform, brick transport vehicle, and power vehicle; Figure 2 This is a schematic diagram of a motor vehicle; Figure 3 This is a diagram of a brick-carrying vehicle. Figure 4 This is a schematic diagram of a mobile bricklaying platform. Figure 5 A schematic diagram of a palletizing robotic arm (first-person perspective); Figure 6 A schematic diagram of a palletizing robotic arm (second perspective); Figure 7 A schematic diagram of a palletizing robotic arm (third-person perspective); Figure 8 A three-dimensional view (first-person perspective) of the dual-function work unit; Figure 9 This is a front view of the dual-function work unit; Figure 10 This is a 3D view (second perspective) of the dual-function work unit.

[0019] In the diagram: 1-Mobile bricklaying platform; 1.1-First tracked walking mechanism; 1.2-Pre-laying brick robotic arm; 1.3-Brick stacking platform; 1.4-Brick guide trough; 1.5 Palletizing Robotic Arm; 1.5.1 Horizontal Fixed Track; 1.5.2 Horizontal Sliding Track; 1.5.3 First Rotary Drive; 1.5.4 Second Rack; 1.5.5 First Rack; 1.5.6 Slider; 1.5.7 Second Rotary Drive; 1.5.8 Horizontal Rotation Mechanism; 1.5.9 Vertical Fixed Track; 1.5.10 Third Rotary Drive; 1.5.11 Third Rack; 1.5.12 Vertical Sliding Track; 1.5.13 Support; 1.5.14 - Dual-function operating unit; 1.5.14.1 - Intermediate frame; 1.5.14.2 - Intermediate mortar pipe; 1.5.14.3 - Lateral mortar pipe; 1.5.14.4 - Scraper; 1.5.14.5 - Shotcrete pipe; 1.5.14.6 - Suction cup device; 1.5.14.7 - Mortar channel; 1.5.14.8 - Tilting baffle; 1.5.15 - Fourth rotary drive; 1.5.16 - Fourth rack; 2-Brick transport vehicle; 2.1-Wheeled walking mechanism; 2.2-Diesel-powered vehicle head; 2.3-Brick transport platform; 2.4-Quick-connection mechanism; 3-Power vehicle; 3.1-Second tracked walking mechanism; 3.2-Quick-connect pipeline integration system; 3.3-Power system integration; 3.4-Mortar pumping system; 3.5-Bearing platform. Detailed Implementation

[0020] 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 some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] like Figure 1 The diagram illustrates a single-arm coal mine roadway sealing wall construction robot system, comprising a mobile wall construction platform 1 positioned within the roadway to be sealed, a power vehicle 3 positioned within the roadway intersecting the roadway to be sealed, and a brick transport vehicle 2 positioned on either side of the roadway entrance. The power vehicle 3 provides power and mortar to the mobile wall construction platform 1; the brick transport vehicle 2 supplies bricks to the mobile wall construction platform 1; and the mobile wall construction platform 1 stacks the bricks into a wall and applies mortar. Based on the roadway layout, the mobile wall construction platform 1, power vehicle 3, and brick transport vehicle 2 are arranged in a triangular configuration, ensuring that their operations do not interfere with each other.

[0022] like Figure 4As shown: The mobile bricklaying platform 1 has its own walking function, which can meet the requirements of bricklaying within 5 meters of the entrance of the connecting roadway; the mobile bricklaying platform 1 includes a first tracked walking mechanism 1.1, on which a brick stacking platform 1.3 and a stacking robotic arm 1.5 are mounted; the brick stacking platform 1.3 is divided into a brick feeding area, a robotic arm area and a brick arranging area; the robotic arm area is in the center, the brick feeding area is close to the entrance of the connecting roadway to be closed, and the brick arranging area is close to the stacking robotic arm 1.5; a pre-arranging robotic arm 1.2 is installed in the robotic arm area; the bricks delivered by the brick transport vehicle 2 are first placed manually into the brick stacking area. The material loading area includes a pre-layout robotic arm 1.2, which moves loose bricks from the brick loading area to the brick laying area and arranges them into brick units according to the wall width. The pre-layout robotic arm 1.2 lays bricks in an alternating pattern according to a set program to ensure that the brick joints interlock. The stacking robotic arm 1.5 is used to grab brick units and stack them into a wall. The bricks are first arranged into brick units with the same width as the wall by the pre-layout robotic arm 1.2, and then the stacking robotic arm 1.5 grabs the entire brick unit and stacks it into a wall, reducing the number of round trips of the stacking robotic arm 1.5. The stacking robotic arm 1.5 and the pre-layout robotic arm 1.2 can operate in parallel, improving the efficiency of bricklaying.

[0023] The mobile bricklaying platform 1 has a brick guide trough 1.4 in its brick loading area. The bottom of the guide trough 1.4 is a roller conveyor. The guide trough 1.4 includes a right-angled trapezoidal section and a rectangular section. The right-angled leg of the trapezoidal section aligns with the long side of the rectangular section, and the upper base of the trapezoidal section is the same length as the short side of the rectangular section. Workers place bricks sequentially at the end of the guide trough 1.4, with the bricks entering from the lower base of the trapezoidal section. Precise alignment is not required; the bricks slide to the bottom via the roller conveyor at the bottom of the guide trough 1.4. The bricks then move from the trapezoidal section to the rectangular section, guided by the trapezoidal section. When the bricks reach the end of the rectangular section, they are arranged in a predetermined posture for easy grabbing by the pre-arranged brick robotic arm 1.2.

[0024] like Figure 5 , Figure 6 , Figure 7 As shown: The palletizing robot arm 1.5 includes a horizontal moving mechanism, a horizontal rotating mechanism 1.5.8, a vertical moving mechanism, and a dual-function working unit 1.5.14, which are connected in stages. The horizontal moving mechanism is connected to the first tracked walking mechanism 1.1. The dual-function working unit 1.5.14 integrates two functions: grabbing bricks and applying mortar. The horizontal moving mechanism drives the dual-function working unit 1.5.14 to move along the length of the wall, the vertical moving mechanism drives the dual-function working unit 1.5.14 to move along the height of the wall, and the horizontal rotating mechanism 1.5.8 drives the dual-function working unit 1.5.14 to move back and forth between the wall and the brick stacking platform 1.3.

[0025] The lateral movement mechanism is a two-stage loading structure, enabling a wide range of lateral movement for the dual-function workpiece 1.5.14. The lateral movement mechanism includes a lateral fixed track 1.5.1, a lateral sliding track 1.5.2, and a slider 1.5.6. The front of the lateral sliding track 1.5.2 is slidably engaged with the lateral fixed track 1.5.1, and the rear is slidably engaged with the slider 1.5.6. The lateral fixed track 1.5.1 is mounted on the first tracked walking mechanism 1.1. A first rotary drive 1.5.3 is mounted on the lateral fixed track 1.5.1, and a first rack 1.5.5 is mounted on the front of the lateral sliding track 1.5.2. The gear on the first rotary drive 1.5.3 engages with the first gear... The first rotary drive 1.5.3 drives the first rack 1.5.5 through a gear, causing the transverse sliding track 1.5.2 to slide on the transverse fixed track 1.5.1. The second rotary drive 1.5.7 is mounted on the slider 1.5.6, and the second rack 1.5.4 is mounted behind the transverse sliding track 1.5.2. The gear on the second rotary drive 1.5.7 meshes with the second rack 1.5.4. The second rotary drive 1.5.7 rolls on the second rack 1.5.4 through the gear, thereby causing the slider 1.5.6 to slide on the transverse sliding track 1.5.2. The slider 1.5.6 is connected to the horizontal rotation mechanism 1.5.8.

[0026] The vertical moving mechanism is a two-stage loading structure, enabling large-range vertical movement of the dual-function workpiece 1.5.14. The vertical moving mechanism includes a vertical fixed track 1.5.9, a vertical sliding track 1.5.12, and a support 1.5.13. The vertical fixed track 1.5.9 is connected to the horizontal rotating mechanism 1.5.8. The front of the vertical sliding track 1.5.12 is in sliding engagement with the vertical fixed track 1.5.9, and the rear is in sliding engagement with the support 1.5.13. A third rotary drive 1.5.10 is mounted on the vertical fixed track 1.5.9, and a third rack 1.5.11 is mounted on the front of the vertical sliding track 1.5.12. The gear on the third rotary drive 1.5.10 engages with the third rack 1.5.11. 11. Engagement; the third rotary drive 1.5.10 drives the third rack 1.5.11 via gears, causing the vertical sliding track 1.5.12 to slide on the vertical fixed track 1.5.9; the fourth rotary drive 1.5.15 is mounted on the bracket 1.5.13, and the fourth rack 1.5.16 is mounted behind the vertical sliding track 1.5.12. The gear on the fourth rotary drive 1.5.15 meshes with the fourth rack 1.5.16; the fourth rotary drive 1.5.15 rolls on the fourth rack 1.5.16 via gears, thereby causing the bracket 1.5.13 to slide on the vertical sliding track 1.5.12; the dual-function operating unit 1.5.14 is mounted on the bracket 1.5.13.

[0027] The first rotary drive 1.5.3, the second rotary drive 1.5.7, the third rotary drive 1.5.10, and the fourth rotary drive 1.5.15 are all motors equipped with worm gear reducers.

[0028] like Figure 8 , Figure 9 , Figure 10 As shown: The dual-function work unit 1.5.14 includes an "I"-shaped intermediate frame 1.5.14.1, which is fixedly connected to the support frame 1.5.13. A suction cup device 1.5.14.6 is installed in the lower groove of the intermediate frame 1.5.14.1. The suction cup device 1.5.14.6 picks up the entire brick unit from the brick stacking platform 1.3 and then places it on the wall. The intermediate frame 1.5.14.1... Vertical mortar channels 1.5.14.7 are installed inside the two side panels. Each mortar channel 1.5.14.7 is connected to a lateral mortar pipe 1.5.14.3. A flip-over baffle 1.5.14.8 is hinged to the bottom of the side panels. A pressure rod is connected to the flip-over baffle 1.5.14.8. When no mortar is discharged from the outlet of the mortar channel 1.5.14.7, the pressure rod can pry the flip-over baffle 1.5.14.8 closed by its own weight. The flip-over baffle 1.5.14.8 opens towards the suction cup device 1.5.14.6. After opening, the flip-over baffle 1.5.14.8 acts as a partition between the outlet of the mortar channel 1.5.14.7 and the suction cup device 1.5.14.6, preventing mortar flowing out of the mortar channel 1.5.14.7 from splashing onto the suction cup device 1.5.14.6.

[0029] A horizontal shotcrete pipe 1.5.14.5 is installed at the end of the intermediate frame 1.5.14.1 facing the wall. A scraper 1.5.14.4 is installed above the shotcrete pipe 1.5.14.5. The shotcrete pipe 1.5.14.5 is connected to the intermediate mortar pipe 1.5.14.2. The lateral mortar pipe 1.5.14.3 and the intermediate mortar pipe 1.5.14.2 are located on the horizontal plate of the intermediate frame 1.5.14.1. The lateral mortar pipe 1.5.14.3 and the intermediate mortar pipe 1.5.14.2 are connected to the power vehicle 3 through mortar hoses. The lateral mortar pipe 1.5.14.3 and the intermediate mortar pipe 1.5.14.2 are connected to the power vehicle 3 using independent mortar hoses to meet the requirement that the shotcrete pipe 1.5.14.5 and the mortar channel 1.5.14.7 can operate independently.

[0030] During bricklaying, the dual-function work unit 1.5.14 first applies a layer of mortar through the mortar channel 1.5.14.7. The pressure of the mortar during application pushes open the flip-over baffle 1.5.14.8, allowing the mortar to flow out smoothly. When applying mortar, a gap is left between the outlet of the mortar channel 1.5.14.7 and the mortar application surface, i.e., a gap is left between the suction device 1.5.14.6 and the mortar application surface. The mortar flowing out of the mortar channel 1.5.14.7 falls onto the wall, preventing the mortar from sticking to the suction device 1.5.14.6. After one layer of mortar is applied, the power vehicle 3 stops supplying mortar to the dual-function work unit 1.5.14. After there is no mortar pressure at the outlet of the mortar channel 1.5.14.7, the pressure rod uses its own weight to pry open the flip-over baffle 1.5.14.8 to close the outlet. The dual-function work unit 1.5.14 uses a suction cup device 1.5.14.6 to pick up a brick unit from the brick stacking platform 1.3, and then places the brick unit flat on the mortar. After one layer of brick units is placed, mortar is sprayed again, and this process is repeated to complete the construction of the entire wall. After the wall is completed, mortar is sprayed onto the wall surface outside the connecting alley. The dual-function work unit 1.5.14 sprays mortar onto the wall surface through the spray pipe 1.5.14.5, and then smooths it with a scraper 1.5.14.4.

[0031] like Figure 2 As shown: The power vehicle 3 includes a second tracked walking mechanism 3.1, a carrying platform 3.5, a power system integration 3.3, a cable support system, a mortar pumping system 3.4, and a quick-connect pipeline integration system 3.2. The carrying platform 3.5 is fixedly connected to the second tracked walking mechanism 3.1. The power system integration 3.3 and the cable support system are distributed above the carrying platform 3.5. The power system integration 3.3 provides the necessary electricity, oil, and gas for the bricklaying operation. The power system integration 3.3 includes a hydraulic system, a pneumatic system, an electric motor power system, an engine power system, and an electronic control system. The mortar pumping system 3.4 is installed at the rear of the carrying platform 3.5. Mortar transported by the underground mortar transport vehicle is fed into the mortar pumping system 3.4, and then supplied by the mortar pumping system 3.4 to the dual-function operation unit 1.5.14. The quick-connect pipeline integration system 3.2 is installed at the bottom of the frontmost part of the carrying platform 3.5.

[0032] like Figure 3 As shown: The brick transport vehicle 2 includes a diesel-powered engine 2.2, a brick transport platform 2.3, a wheeled walking mechanism 2.1, and a quick-connect mechanism 2.4. The diesel-powered engine 2.2 and the brick transport platform 2.3 are connected via the quick-connect mechanism 2.4, and the wheeled walking mechanism 2.1 is installed at the bottom of the brick transport platform 2.3. The wheeled flatbed vehicle, consisting of the brick transport platform 2.3 and the wheeled walking mechanism 2.1, carries the bricks required for the bricklaying operation and is moved together by the diesel-powered engine 2.2.

[0033] 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 single-joint arm coal mine roadway sealing wall building operation robot system, characterized in that: It includes a mobile bricklaying platform (1) arranged in the connecting roadway to be closed, a power vehicle (3) and a brick transport vehicle (2) arranged in the roadway intersecting with the connecting roadway to be closed; the power vehicle (3) and the brick transport vehicle (2) are located on both sides of the entrance of the connecting roadway to be closed; the power vehicle (3) is used to provide power to the mobile bricklaying platform (1) and supply mortar; the brick transport vehicle (2) is used to supply bricks to the mobile bricklaying platform (1); the mobile bricklaying platform (1) is used to stack the bricks into a wall and apply mortar.

2. A single-jib coal mine roadway sealing wall building robot system according to claim 1, characterized in that: The mobile bricklaying platform (1) includes a first tracked walking mechanism (1.1), on which a brick stacking platform (1.3) and a stacking robotic arm (1.5) are mounted. The brick stacking platform (1.3) is divided into a brick feeding area, a robotic arm area, and a brick arranging area. The robotic arm area is in the center, the brick feeding area is close to the entrance of the tunnel to be closed, and the brick arranging area is close to the stacking robotic arm (1.5). A pre-arranging robotic arm (1.2) is installed in the robotic arm area. The pre-arranging robotic arm (1.2) is used to move loose bricks in the brick feeding area to the brick arranging area and arrange them into brick units according to the width of the wall. The stacking robotic arm (1.5) is used to grab brick units and stack them into a wall.

3. A single-jib coal mine roadway sealing wall building robot system according to claim 2, characterized in that: The palletizing robot arm (1.5) includes a horizontal moving mechanism, a horizontal rotating mechanism (1.5.8), a vertical moving mechanism, and a dual-function operating unit (1.5.14) connected in stages; the horizontal moving mechanism is connected to the first tracked walking mechanism (1.1); the dual-function operating unit (1.5.14) integrates two functions: grabbing bricks and applying mortar. The dual-function work unit (1.5.14) includes an "I"-shaped intermediate frame ( 1.5.14.1) A suction cup device (1.5.14.6) is installed in the lower groove of the intermediate frame (1.5.14.1). Vertical mortar channels (1.5.14.7) are installed in the upright plates on both sides of the intermediate frame (1.5.14.1). The mortar channels (1.5.14.7) on both sides are connected to lateral mortar pipes (1.5.14.3). A flip baffle (1.5.14.8) is hinged to the bottom of the upright plate. A pressure rod is connected to the flip baffle (1.5.14.8). When there is no mortar discharge at the outlet of the mortar channel (1.5.14.7), the pressure rod can pry the flip baffle (1.5.14.8) to close the outlet by its own weight.

4. A single-jib coal mine roadway sealing wall building robot system according to claim 3, characterized in that: The intermediate frame (1.5.14.1) is provided with a horizontal shotcrete pipe (1.5.14.5) facing the wall. A scraper (1.5.14.4) is provided above the shotcrete pipe (1.5.14.5). The shotcrete pipe (1.5.14.5) is connected to the intermediate mortar pipe (1.5.14.2). The lateral mortar pipe (1.5.14.3) and the intermediate mortar pipe (1.5.14.2) are located on the horizontal plate of the intermediate frame (1.5.14.1). The lateral mortar pipe (1.5.14.3) and the intermediate mortar pipe (1.5.14.2) are connected to the power vehicle (3) through a mortar hose.

5. A single-jib coal mine roadway sealing wall building robot system according to claim 4, characterised in that: The transverse moving mechanism is a two-stage loading structure, comprising a transverse fixed track (1.5.1), a transverse sliding track (1.5.2) and a sliding block (1.5.6); the front of the transverse sliding track (1.5.2) is in sliding fit with the transverse fixed track (1.5.1), and the rear is in sliding fit with the sliding block (1.5.6); the transverse fixed track (1.5.1) is installed on the first crawler track walking mechanism (1.1); the transverse fixed track (1.5.1) is provided with a first rotary drive (1.5.3), the front of the transverse sliding track (1.5.2) is provided with a first rack (1.5.5), and the gear on the first rotary drive (1.5.3) is in mesh with the first rack (1.5.5); the sliding block (1.5.6) is provided with a second rotary drive (1.5.7), the rear of the transverse sliding track (1.5.2) is provided with a second rack (1.5.4), and the gear on the second rotary drive (1.5.7) is in mesh with the second rack (1.5.4); the sliding block (1.5.6) is connected with the horizontal rotating mechanism (1.5.8).

6. A single-jib coal mine roadway sealing wall building robot system according to claim 4, characterized in that: The vertical moving mechanism is a two-stage loading structure, comprising a vertical fixed track (1.5.9), a vertical sliding track (1.5.12) and a bracket (1.5.13); the vertical fixed track (1.5.9) is connected with the horizontal rotating mechanism (1.5.8); the front of the vertical sliding track (1.5.12) is in sliding fit with the vertical fixed track (1.5.9), and the rear is in sliding fit with the bracket (1.5.13); the vertical fixed track (1.5.9) is provided with a third rotary drive (1.5.10), the front of the vertical sliding track (1.5.12) is provided with a third rack (1.5.11), and the gear on the third rotary drive (1.5.10) is in mesh with the third rack (1.5.11); the bracket (1.5.13) is provided with a fourth rotary drive (1.5.15), the rear of the vertical sliding track (1.5.12) is provided with a fourth rack (1.5.16), and the gear on the fourth rotary drive (1.5.15) is in mesh with the fourth rack (1.5.16); the double-function operation part (1.5.14) is installed on the bracket (1.5.13).

7. A single-jib coal mine roadway sealing wall building robot system according to claim 2, characterized in that: The brick guide groove (1.4) is provided in the brick loading area of the mobile wall building operation platform (1), the bottom of the brick guide groove (1.4) is a roller conveying line, the brick guide groove (1.4) comprises a right-angled trapezoidal section and a rectangular section, the right-angle waist of the right-angled trapezoidal section is aligned with the long side of the rectangular section, and the upper base of the right-angled trapezoidal section is equal in length to the short side of the rectangular section.

8. A single-jib coal mine roadway sealing wall building robot system according to claim 1, characterized in that: The power vehicle (3) comprises a second crawler walking mechanism (3.1), a bearing platform (3.5), a power system integration (3.3), a cable supporting system, a mortar pumping system (3.4) and a pipeline quick plug integration system (3.2); the bearing platform (3.5) is fixedly connected with the second crawler walking mechanism (3.1), the power system integration (3.3) and the cable supporting system are distributed above the bearing platform (3.5), the mortar pumping system (3.4) is arranged at the tail of the bearing platform (3.5), and the pipeline quick plug integration system (3.2) is arranged at the bottom of the front end of the bearing platform (3.5).

9. A single-armed coal mine roadway sealing wall building robot system according to claim 1, characterized in that: The brick carrying vehicle (2) comprises a diesel power vehicle head (2.2), a brick carrying platform (2.3), a wheeled walking mechanism (2.1) and a quick plug connecting mechanism (2.4); the diesel power vehicle head (2.2) is connected with the brick carrying platform (2.3) through the quick plug connecting mechanism (2.4), and the wheeled walking mechanism (2.1) is arranged at the bottom of the brick carrying platform (2.3).

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