A double-operation-arm coal mine roadway sealing wall building operation system

Abstract

The present application belongs to the field of coal mine sealing wall masonry technology, and particularly relates to a double-operation-arm coal mine roadway sealing wall masonry operation system; the system comprises a movable wall masonry operation platform arranged in a to-be-sealed connecting roadway, a power vehicle and a brick conveying vehicle arranged in a crossheading roadway intersecting with the to-be-sealed connecting roadway; the power vehicle and the brick conveying vehicle are respectively located at two sides of a roadway opening of the to-be-sealed connecting roadway; the power vehicle is used for providing power and mortar to the movable wall masonry operation platform; the brick conveying vehicle is used for supplying bricks to the movable wall masonry operation platform; the movable wall masonry operation platform is used for stacking the bricks into a wall body and smearing mortar; the present application replaces manual operation with mechanization, realizes a continuous automatic process of brick feeding, brick arranging, brick stacking, mortar supplying and smearing, greatly reduces wall masonry time, reduces dependence on manpower, and improves overall operation efficiency. Meanwhile, the coordinated supply of the power vehicle and the brick conveying vehicle ensures timely delivery of materials (bricks and mortar), and reduces operation interruption.

Description

Technical Field

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

[0002] In coal mine production, the construction of sealing walls in roadways is a core process for ensuring safety. These walls are used to seal off goaf areas, prevent the leakage of harmful gases such as methane, prevent spontaneous combustion of coal seams caused by fresh airflow, and control risks such as water seepage and open flames. The current mainstream approach involves constructing a composite structure of brick wall-concrete wall-loess wall-brick wall within connecting roadways. Before construction, trenches need to be dug around the roadway to pre-embed various functional pipes. After construction, auger material is injected into the loess layer to achieve compaction and roof connection. The brickwork accounts for one-third of the total construction time, requiring workers to work at heights, resulting in high safety risks. Material transportation and bricklaying are entirely manual, leading to low efficiency and high intensity. Furthermore, problems such as uneven brick joints, insufficient mortar, uneven wall surfaces, and concrete bursting are prone to occur, affecting the sealing effect and structural stability.

[0003] The invention patent with announcement number CN119704217A discloses an intelligent bricklaying robot for underground tunnels. This technical solution lacks a brick supply function, which limits continuous bricklaying operations; it also lacks a mortar application function, which prevents brick stacking and mortar application from being quickly connected; furthermore, the mortar spraying component is separate from the bricklaying robotic arm, resulting in a small mortar spraying range and low efficiency. Summary of the Invention

[0004] This invention aims to address the problems of limited continuous operation and obstacles in the connection between various processes in existing tunnel sealing wall construction robots.

[0005] This invention provides the following technical solution: a double-arm coal mine roadway sealing wall masonry system, comprising a mobile masonry platform arranged in the connecting roadway to be sealed, a power vehicle and a brick transport vehicle arranged in the roadway intersecting with the connecting roadway to be sealed; the power vehicle and the brick transport vehicle are respectively located on both sides of the roadway entrance of the connecting 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. The mobile bricklaying platform is arranged from front to back with a double-arm stacking unit, a brick laying area, a pre-laying robotic arm, and a brick feeding area. The pre-laying robotic arm moves loose bricks from the brick feeding area to the brick laying area and arranges them into brick units according to the width of the wall. The brick units in the brick laying area are divided into two columns, left and right. The double-arm stacking unit includes two independently operating stacking robotic arms, one on the left and one on the right. The two stacking robotic arms grab brick units from the left and right columns of brick units respectively for wall construction. The two stacking robotic arms work together to build the wall within a set length range.

[0006] Furthermore, the palletizing robotic arm includes a primary horizontal rotation mechanism, a two-stage lifting arm, a horizontal folding arm, a final-stage horizontal rotation mechanism, and a dual-function work unit, all connected in stages; the primary horizontal rotation mechanism is connected to a mobile bricklaying platform. 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.

[0007] 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.

[0008] Furthermore, the two-stage lifting arm includes a vertical fixed rail, a vertical sliding rail, and a support; the vertical fixed rail is connected to the primary horizontal rotation mechanism; the front of the vertical sliding rail is in sliding engagement with the vertical fixed rail, and the rear is in sliding engagement with the support; a first rotary drive is installed on the vertical fixed rail, and a first rack is installed on the front of the vertical sliding rail, with the gear on the first rotary drive meshing with the first rack; a second rotary drive is installed on the support, and a second rack is installed on the rear of the vertical sliding rail, with the gear on the second rotary drive meshing with the second rack. The first section of the horizontal folding arm is mounted on the bracket, and the second section of the horizontal folding arm is connected to the final stage horizontal rotation mechanism.

[0009] 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.

[0010] Furthermore, the mobile bricklaying platform includes a first tracked walking mechanism, a double-arm stacking unit, a brick laying area, a pre-laying mechanical arm, and a brick feeding area distributed on the first tracked walking mechanism.

[0011] 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.

[0012] 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.

[0013] Compared with the prior art, the advantages of the present invention are: This invention provides a dual-arm coal mine roadway sealing wall construction system for integrated bricklaying, plastering, and finishing of sealing walls in goaf areas. It largely solves the problems of uneven brick joints, insufficient mortar in brick joints, uneven wall surfaces, and frequent wall collapses during later filling with concrete and loess, which are limited by the skill level of workers. It reduces the labor intensity and safety hazards of workers and improves the quality of sealing wall construction.

[0014] 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.

[0015] 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.

[0016] Two independently operating palletizing robotic arms, one on the left and one on the right, form a dual-arm palletizing unit. At the same time, the brick units in the brick laying area are also divided into two columns, left and right. The two palletizing robotic arms pick up brick units from the two columns of brick units respectively without interfering with each other. The two palletizing robotic arms work in opposite directions to carry out the wall construction operation, which doubles the wall construction efficiency compared to the traditional single robotic arm mode. Attached Figure Description

[0017] 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 This is a schematic diagram of a dual-arm palletizing unit; Figure 6 A three-dimensional view (first-person perspective) of the dual-function work unit; Figure 7 This is a front view of the dual-function work unit; Figure 8 This is a 3D view (second perspective) of the dual-function work unit.

[0018] In the diagram: 1-Mobile bricklaying platform; 1.1-Stacking robotic arm; 1.1.1-Primary horizontal rotation mechanism; 1.1.2-Horizontal folding arm; 1.1.3-Final-stage horizontal rotation mechanism; 1.1.4-Dual-function work unit; 1.1.4.1-Intermediate frame; 1.1.4.2-Suction cup device; 1.1.4.3-Mortar channel; 1.1.4.4-Lateral mortar pipe; 1.1.4.5-Tilting baffle; 1.1.4.6-Pressure bar; 1.1.4.7-Spraying pipe; 1.1.4.8-Scraper; 1.1.4.9-Intermediate mortar pipe; 1.1.5-Vertical fixed track; 1.1.6-Vertical slide 1.1.7-Moving track; 1.1.8-First rotary drive; 1.1.9-First rack; 1.1.10-Second rotary drive; 1.1.11-Second rack; 1.2-Brick laying area; 1.3-Pre-laying brick robotic arm; 1.4-Brick guide trough; 1.5-First tracked walking mechanism; 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-Pipeline quick-connection integrated system; 3.3-Power system integration; 3.4-Mortar pumping system; 3.5-Bearing platform. Detailed Implementation

[0019] 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.

[0020] like Figure 1The diagram illustrates a double-arm coal mine roadway sealing wall masonry system, comprising a mobile masonry platform 1 positioned within the connecting roadway to be sealed, a power vehicle 3 positioned within the roadway intersecting the connecting roadway, 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 masonry platform 1; the brick transport vehicle 2 supplies bricks to the mobile masonry platform 1; and the mobile masonry platform 1 stacks the bricks into a wall and applies mortar. Based on the roadway layout, the mobile masonry 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.

[0021] like Figure 4 As shown: The mobile bricklaying platform 1 has a self-propelled walking function, which meets the needs of bricklaying movement within 5 meters of the entrance of the connecting alley. The mobile bricklaying platform 1 includes a first tracked walking mechanism 1.5, on which a double working arm stacking unit, a brick laying area 1.2, a pre-laying brick robotic arm 1.3 and a brick feeding area are arranged.

[0022] The dual-arm stacking unit, brick laying area 1.2, pre-laying brick robotic arm 1.3, and brick loading area are arranged sequentially from front to back on the first tracked walking mechanism 1.5. The brick loading area is located near the entrance of the tunnel to be closed. The bricks delivered by the brick transport vehicle 2 are first manually placed into the brick loading area. The pre-laying brick robotic arm 1.3 is used to move the loose bricks in the brick loading area to the brick laying area 1.2 and arrange them into brick units according to the width of the wall. The pre-laying brick robotic arm 1.3 lays bricks in an alternating manner according to the set program to achieve interlocking of brick joints. The brick units in the brick laying area 1.2 are divided into left and right columns. The dual-arm stacking unit includes two independently operating stacking robotic arms 1.1, one on the left and one on the right. The two stacking robotic arms 1.1 respectively grab brick units from the left and right columns of brick units for wall construction. The two stacking robotic arms 1.1 work together to construct the wall within a set length range. The bricks are first arranged into brick units of the same width as the wall by the pre-layout robotic arm 1.3, and then the stacking robotic arm 1.1 picks up the entire brick unit and stacks them to form the wall, reducing the number of round trips of the stacking robotic arm 1.1. The stacking robotic arm 1.1 and the pre-layout robotic arm 1.3 can work in parallel, improving the efficiency of wall construction. Furthermore, the two stacking robotic arms 1.1 pick up brick units from two columns of brick units respectively, without interfering with each other; the two stacking robotic arms 1.1 work in both directions to carry out the wall construction, doubling the efficiency compared to the traditional single robotic arm mode.

[0023] The mobile bricklaying platform 1 has a brick guide trough 1.4 in its brick loading area. The bottom of the brick guide trough 1.4 is a roller conveyor line. The brick guide trough 1.4 includes a right-angled trapezoidal section and a rectangular section. The right-angled leg 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. The operator places the bricks sequentially at the end of the brick guide trough 1.4. The bricks are put in from the lower base side of the right-angled trapezoidal section. The operator does not need to precisely align the bricks. The bricks slide to the bottom of the brick guide trough 1.4 via the roller conveyor line. Guided by the right-angled trapezoidal section, the bricks enter the rectangular section. When the bricks reach the end of the rectangular section, they are arranged in a prescribed posture for easy grabbing by the pre-arranged brick robotic arm 1.3.

[0024] like Figure 5 As shown: The palletizing robotic arm 1.1 includes a primary horizontal rotation mechanism 1.1.1, two-stage lifting arms, a horizontal folding arm 1.1.2, a final horizontal rotation mechanism 1.1.3, and a dual-function operating unit 1.1.4, all connected in stages. The primary horizontal rotation mechanism 1.1.1 is connected to the mobile bricklaying platform 1. The dual-function operating unit 1.1.4 integrates two functions: grabbing bricks and applying mortar. The primary horizontal rotation mechanism 1.1.1 drives the palletizing robotic arm 1.1 to rotate and change direction. The two-stage lifting arms drive the dual-function operating unit 1.1.4 to move along the length of the wall. The horizontal folding arm 1.1.2 drives the dual-function operating unit 1.1.4 to move along the width and forward / backward directions of the wall. The final horizontal rotation mechanism 1.1.3 adjusts the direction of the dual-function operating unit 1.1.4 at the end, making it parallel to the wall.

[0025] like Figure 6 , Figure 7 , Figure 8 As shown: The dual-function operating unit 1.1.4 includes an "I"-shaped intermediate frame 1.1.4.1. A suction cup device 1.1.4.2 is installed in the lower groove of the intermediate frame 1.1.4.1. The suction cup device 1.1.4.2 picks up the entire brick unit from the brick laying area 1.2 and then places it on the wall. Vertical mortar channels 1.1.4.3 are installed in the two side uprights of the intermediate frame 1.1.4.1. Vertical mortar channels 1.1.4.3 are installed in the two side uprights. Each side upright is connected to a lateral mortar pipe 1.1.4.4. A flip baffle 1.1.4.5 is hinged to the bottom of the upright. A pressure rod 1.1.4.6 is connected to the flip baffle 1.1.4.5. When there is no mortar discharge at the outlet of the mortar channel 1.1.4.3, the pressure rod 1.1.4.6 can pry the flip baffle 1.1.4.5 to close the outlet by its own weight. The flip-up baffle 1.1.4.5 opens towards the suction cup device 1.1.4.2. After opening, the flip-up baffle 1.1.4.5 acts as a partition between the outlet of the mortar channel 1.1.4.3 and the suction cup device 1.1.4.2, preventing mortar flowing out of the mortar channel 1.1.4.3 from splashing onto the suction cup device 1.1.4.2.

[0026] A horizontal shotcrete pipe 1.1.4.7 is installed at the end of the intermediate frame 1.1.4.1 facing the wall. A scraper 1.1.4.8 is installed above the shotcrete pipe 1.1.4.7. The shotcrete pipe 1.1.4.7 is connected to the intermediate mortar pipe 1.1.4.9. The lateral mortar pipe 1.1.4.4 and the intermediate mortar pipe 1.1.4.9 are located on the horizontal plate of the intermediate frame 1.1.4.1. The lateral mortar pipe 1.1.4.4 and the intermediate mortar pipe 1.1.4.9 are connected to the power vehicle 3 through mortar hoses. The lateral mortar pipe 1.1.4.4 and the intermediate mortar pipe 1.1.4.9 are connected to the power vehicle 3 using independent mortar hoses to meet the requirement that the shotcrete pipe 1.1.4.7 and the mortar channel 1.1.4.3 can operate independently.

[0027] During bricklaying, the dual-function work unit 1.1.4 first applies a layer of mortar through the mortar channel 1.1.4.3. The pressure of the mortar during application pushes open the flip-over baffle 1.1.4.5, allowing the mortar to flow out smoothly. When applying mortar, a gap is left between the outlet of the mortar channel 1.1.4.3 and the mortar application surface, i.e., a gap is left between the suction cup device 1.1.4.2 and the mortar application surface. The mortar flowing out of the mortar channel 1.1.4.3 falls onto the wall, preventing the mortar from sticking to the suction cup device 1.1.4.2. After one layer of mortar is applied, the power vehicle 3 stops supplying mortar to the dual-function work unit 1.1.4. After there is no mortar pressure at the outlet of the mortar channel 1.1.4.3, the pressure rod 1.1.4.6 uses its own weight to pry open the flip-over baffle 1.1.4.5 to close the outlet. The dual-function work unit 1.1.4 uses a suction cup device 1.1.4.2 to pick up a brick unit from the brick laying area 1.2, 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 1.1.4 sprays mortar onto the wall surface through the spray pipe 1.1.4.7, and then smooths it with a scraper 1.1.4.8.

[0028] like Figure 5As shown: The two-stage lifting arm can achieve a large range of vertical movement. The two-stage lifting arm includes a vertical fixed rail 1.1.5, a vertical sliding rail 1.1.6, and a support 1.1.7. The vertical fixed rail 1.1.5 is connected to the primary horizontal rotation mechanism 1.1.1. The front of the vertical sliding rail 1.1.6 is slidably engaged with the vertical fixed rail 1.1.5, and the rear is slidably engaged with the support 1.1.7. A first rotary drive 1.1.8 is installed on the vertical fixed rail 1.1.5, and a first rack 1.1.9 is installed on the front of the vertical sliding rail 1.1.6. The gear on the first rotary drive 1.1.8 meshes with the first rack 1.1.9. The first rotary drive 1.1.8 pushes the first rack through the gear. 1.1.9 This causes the vertical sliding track 1.1.6 to slide on the vertical fixed track 1.1.5; a second rotary drive 1.1.10 is installed on the bracket 1.1.7, and a second rack 1.1.11 is installed behind the vertical sliding track 1.1.6. The gear on the second rotary drive 1.1.10 meshes with the second rack 1.1.11; the second rotary drive 1.1.10 rolls on the second rack 1.1.11 through the gear, thereby causing the bracket 1.1.7 to slide on the vertical sliding track 1.1.6; the first section of the horizontal folding arm 1.1.2 is installed on the bracket 1.1.7, and the second section of the horizontal folding arm 1.1.2 is connected to the final stage horizontal rotation mechanism 1.1.3.

[0029] The first and second sections of the horizontal folding arm 1.1.2 are hinged together. The swing of the second section of the arm, in coordination with the primary horizontal rotation mechanism 1.1.1, changes the left-right and front-back positions of the dual-function working unit 1.1.4.

[0030] The power vehicle 3 includes a second tracked traveling 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 pipe system 3.2. The carrying platform 3.5 is fixedly connected to the second tracked traveling mechanism 3.1. The power system integration 3.3 and the cable support system are distributed on the carrying platform 3.5. The mortar pumping system 3.4 is located at the rear of the carrying platform 3.5, and the quick-connect pipe system 3.2 is located at the bottom of the foremost end of the carrying platform 3.5.

[0031] The brick transport vehicle 2 includes a diesel-powered vehicle head 2.2, a brick transport platform 2.3, a wheeled walking mechanism 2.1, and a quick-connect mechanism 2.4; the diesel-powered vehicle head 2.2 and the brick transport platform 2.3 are connected by the quick-connect mechanism 2.4, and the wheeled walking mechanism 2.1 is provided at the bottom of the brick transport platform 2.3.

[0032] like Figure 2As 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. The mortar transported by the underground mortar transport vehicle is sent into the mortar pumping system 3.4, and then supplied by the mortar pumping system 3.4 to the dual-function operation unit 1.1.4. The quick-connect pipeline integration system 3.2 is installed at the bottom of the frontmost part of the carrying platform 3.5.

[0033] 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.

[0034] 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 double-arm coal mine roadway sealing wall masonry operation system, characterized in that: it includes a mobile masonry operation platform (1) arranged in the roadway to be sealed, a power vehicle (3) and a brick transport vehicle (2) arranged in the roadway intersecting with the roadway to be sealed; the power vehicle (3) and the brick transport vehicle (2) are respectively located on both sides of the roadway entrance of the roadway to be sealed; the power vehicle (3) is used to provide power to the mobile masonry operation platform (1) and supply mortar; the brick transport vehicle (2) is used to supply bricks to the mobile masonry operation platform (1); the mobile masonry operation platform (1) is used to stack the bricks into a wall and apply mortar; The mobile bricklaying platform (1) is arranged from front to back with a double-arm stacking unit, a brick laying area (1.2), a pre-laying brick robotic arm (1.3), and a brick feeding area. The pre-laying brick robotic arm (1.3) is used to move loose bricks in the brick feeding area to the brick laying area (1.2) and arrange them into brick units according to the width of the wall. The brick units in the brick laying area (1.2) are divided into two columns, left and right. The double-arm stacking unit includes two independently operating stacking robotic arms (1.1), one on the left and one on the right. The two stacking robotic arms (1.1) grab brick units from the left and right columns of brick units respectively for wall construction. The two stacking robotic arms (1.1) work together to build the wall within a set length range. The palletizing robot arm (1.1) includes a dual-function work unit (1.1.4); the dual-function work unit (1.1.4) includes an "I"-shaped intermediate frame ( 1.1.4.1) A suction cup device (1.1.4.2) is installed in the lower groove of the intermediate frame (1.1.4.1). Vertical mortar channels (1.1.4.3) are installed in the upright plates on both sides of the intermediate frame (1.1.4.1). The mortar channels on both sides (1.1.4.3) are connected to lateral mortar pipes (1.1.4.4). A flip baffle (1.1.4.5) is hinged to the bottom of the upright plate. A pressure rod (1.1.4.6) is connected to the flip baffle (1.1.4.5). When there is no mortar discharge at the outlet of the mortar channel (1.1.4.3), the pressure rod (1.1.4.6) can pry the flip baffle (1.1.4.5) to close the outlet by its own weight. A horizontal shotcrete pipe (1.1.4.7) is provided at the end of the intermediate frame (1.1.4.1) facing the wall. A scraper (1.1.4.8) is provided above the shotcrete pipe (1.1.4.7). The shotcrete pipe (1.1.4.7) is connected to the intermediate mortar pipe (1.1.4.9). The lateral mortar pipe (1.1.4.4) and the intermediate mortar pipe (1.1.4.9) are located on the horizontal plate of the intermediate frame (1.1.4.1). The lateral mortar pipe (1.1.4.4) and the intermediate mortar pipe (1.1.4.9) are connected to the power vehicle (3) through a mortar hose.

2. The double-arm coal mine roadway sealing wall masonry system according to claim 1, characterized in that: The palletizing robot arm (1.1) includes a primary horizontal rotation mechanism (1.1.1), a two-stage lifting arm, a horizontal folding arm (1.1.2), a final horizontal rotation mechanism (1.1.3), and a dual-function work unit (1.1.4) connected in stages; the primary horizontal rotation mechanism (1.1.1) is connected to the mobile bricklaying work platform (1).

3. The double-arm coal mine roadway sealing wall masonry system according to claim 2, characterized in that: The two-stage lifting arm includes a vertical fixed rail (1.1.5), a vertical sliding rail (1.1.6), and a support (1.1.7); the vertical fixed rail (1.1.5) is connected to the primary horizontal rotating mechanism (1.1.1); the front of the vertical sliding rail (1.1.6) is slidably engaged with the vertical fixed rail (1.1.5), and the rear is slidably engaged with the support (1.1.7); a first rotary drive (1.1.8) is installed on the vertical fixed rail (1.1.5), and a first rack (1.1.9) is installed on the front of the vertical sliding rail (1.1.6), with the gear on the first rotary drive (1.1.8) meshing with the first rack (1.1.9); a second rotary drive (1.1.10) is installed on the support (1.1.7), and a second rack (1.1.10) is installed on the rear of the vertical sliding rail (1.1.6). 1.1.11), the gear on the second rotary drive (1.1.10) meshes with the second rack (1.1.11); The first section of the horizontal folding arm (1.1.2) is mounted on the bracket (1.1.7), and the second section of the horizontal folding arm (1.1.2) is connected to the final stage horizontal rotation mechanism (1.1.3).

4. The double-arm coal mine roadway sealing wall masonry system according to claim 1, characterized in that: The mobile bricklaying platform (1) is equipped with a brick guide trough (1.4) in the brick feeding area. The bottom of the brick guide trough (1.4) is a roller conveyor line. The brick guide trough (1.4) includes a right-angled trapezoidal section and a rectangular section. The right-angled 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 the same length as the short side of the rectangular section.

5. The double-arm coal mine roadway sealing wall masonry system according to claim 1, characterized in that: The mobile bricklaying platform (1) includes a first tracked walking mechanism (1.5), a double working arm stacking unit, a brick laying area (1.2), a pre-laying brick robotic arm (1.3), and a brick feeding area distributed on the first tracked walking mechanism (1.5).

6. The double-arm coal mine roadway sealing wall masonry system according to claim 1, characterized in that: 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 pipeline quick-connect 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 mortar pumping system (3.4) is provided at the rear of the carrying platform (3.5), and the pipeline quick-connect integration system (3.2) is provided at the bottom of the front end of the carrying platform (3.5).

7. The double-arm coal mine roadway sealing wall masonry system according to claim 1, characterized in that: The brick transport vehicle (2) includes a diesel-powered vehicle head (2.2), a brick transport platform (2.3), a wheeled walking mechanism (2.1), and a quick-connect mechanism (2.4); the diesel-powered vehicle head (2.2) and the brick transport platform (2.3) are connected by the quick-connect mechanism (2.4), and the wheeled walking mechanism (2.1) is provided at the bottom of the brick transport platform (2.3).

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