Intelligent pipeline assembling robot and automatic assembling method

Abstract

The present application relates to the technical field of pipeline construction, and provides a pipeline intelligent assembly robot and an automatic assembly method, the robot comprising: a mobile carriage provided with a plurality of supporting legs at the bottom, and each supporting leg is provided with a mobile pulley at the bottom; a mobile sliding rail provided on the top surface of the mobile carriage along the length direction of the mobile carriage; two sliding plates, each provided with a driving assembly and a lifting assembly, the driving assembly being used for moving the sliding plate along the mobile sliding rail; an image acquisition sensor provided on the sliding plate; an intelligent remote controller in communication connection with the driving assembly, the lifting assembly and the image acquisition sensor; wherein the lifting assembly is used for hoisting the pipeline, and the image acquisition sensor is used for acquiring the position information of the pipeline interface; the assembly method comprising: S1, transportation preparation; S2, visual positioning; S3, intelligent centering; S4, fixed evacuation; having the characteristics of compact structure, high assembly precision and high construction safety and efficiency.

Description

Technical Field

[0001] This invention relates to the field of pipeline construction technology, specifically to a pipeline intelligent assembly robot and an automated assembly method. Background Technology

[0002] Transporting and assembling large-diameter pipelines in confined spaces such as tunnels and utility tunnels has always faced challenges, including limited construction space, inability to use traditional hoisting equipment, low precision of manual assembly, long construction periods, and high safety risks. Existing technologies often employ simple equipment such as gantry cranes and manual hoists for pipeline hoisting and connection, which suffers from inaccurate positioning, difficulty in adjustment, and low efficiency. Furthermore, these methods often fail to meet the needs of both temporary installation during the construction phase and long-term operation and maintenance in the later stages.

[0003] Furthermore, traditional methods also pose potential risks to subsequent pipeline maintenance, such as large installation deviations and incompatible interfaces, increasing the cost and difficulty of later maintenance. Therefore, there is an urgent need for a large-diameter pipeline transportation and installation equipment suitable for confined spaces, with intelligent control and high-precision assembly capabilities, to improve construction efficiency, ensure installation quality, and achieve seamless integration between the construction and operation and maintenance phases. Summary of the Invention

[0004] The purpose of this invention is to provide a smart pipeline assembly robot and an automated assembly method to solve the problems of low efficiency, poor accuracy, and high safety risks in pipeline installation within confined spaces.

[0005] A pipeline intelligent assembly robot and automated assembly method, employing the following technical solution:

[0006] In a first aspect, this application provides a pipeline intelligent assembly robot, comprising:

[0007] The movable carriage has multiple support legs at the bottom, and each support leg has a movable pulley at its bottom;

[0008] A movable slide rail is disposed on the top surface of the movable slide along the length direction of the movable slide;

[0009] Two slides, each slide being independently slidably connected to the movable slide rail, each slide being provided with a drive assembly and a lifting assembly, the drive assembly being used for the slide to move along the movable slide rail;

[0010] An image acquisition sensor is installed on the slide plate to collect the position information of the pipe interface in real time;

[0011] The intelligent remote control is communicatively connected to the drive assembly, the lifting assembly, and the image acquisition sensor.

[0012] The lifting assembly is used to hoist the pipe, the image acquisition sensor is used to acquire the position information of the pipe interface, and the smart remote control is configured to control the actions of the drive assembly and the lifting assembly based on receiving user commands or feedback from the image acquisition sensor.

[0013] As an optimization of a pipeline intelligent assembly robot, the side profile of the support leg has a multi-segment composite structure, which includes an outwardly expanding segment, a vertical upper segment, an inwardly contracting segment and a vertical lower segment connected sequentially from top to bottom, and the movable pulley is set at the bottom end of the vertical lower segment.

[0014] As an optimization of the intelligent pipeline assembly robot, the drive component includes a first drive motor, a gear and a rack. The first drive motor is fixedly connected to the slide, the gear is located at the output end of the first drive motor, the rack is located on the side wall of the moving slide rail and meshes with the gear, and the first drive motor is communicatively connected to the intelligent remote controller.

[0015] As an optimization of the intelligent pipeline assembly robot, the lifting assembly includes a winch, a drum, and a hook. The winch drives the drum to rotate, and the hook is connected to the drum via a wire rope.

[0016] As an optimization of the intelligent pipeline assembly robot, two fixed pulleys are arranged in parallel on the slide, and a movable pulley is arranged at the center of the hook. The wire rope passes through the movable pulley and the two fixed pulleys in sequence and is then connected to the drum.

[0017] As an optimization of the intelligent pipeline assembly robot, one of the hooks is equipped with a laser emitter, and the other hook is equipped with a corresponding laser receiver.

[0018] As an optimization of the intelligent pipeline assembly robot, the image acquisition sensor is an infrared ranging sensor or a laser vision sensor.

[0019] As an optimization of the intelligent pipeline assembly robot, it also includes a lateral drive mechanism, which includes a screw and a second drive motor mounted on the movable slide. The movable slide rail is threadedly engaged with the screw, and the second drive motor is used to drive the movable slide rail to move along the width direction of the movable slide.

[0020] As an optimization of a pipeline intelligent assembly robot, the top surface of the movable carriage is provided with a groove along the width direction of the movable carriage, and the bottom of the movable slide rail is provided with a slider, which is slidably embedded in the groove.

[0021] Secondly, this application also provides an automated pipeline assembly method, employing the aforementioned intelligent pipeline assembly robot, comprising the following steps:

[0022] S1. Transportation preparation: Hoist the pipeline onto the lifting assembly and control the robot to move to the assembly construction area inside the pipe gallery;

[0023] S2, Visual positioning: The image acquisition sensor is used to obtain the pose information of the interface between the pipe to be assembled and the installed pipe;

[0024] S3. Intelligent alignment: Based on the posture information, the drive component and lifting component are automatically controlled by the intelligent remote control to adjust the posture of the pipeline in the lateral, height and pitch directions until the precise alignment of the pipeline interface is completed.

[0025] S4. Fixed Removal: After the pipe interface is fixed, the lifting assembly is detached from the pipe, and the robot is moved out of the work area.

[0026] Compared to existing technologies, the advantages of this invention are as follows: This device, through its multi-segment composite contour design of the support legs, significantly improves the robot's maneuverability in narrow and complex pipe gallery cross-sections. The use of independent dual-slide drive and machine vision closed-loop control enables automatic fine-tuning of the pipeline in multiple degrees of freedom, replacing low-precision manual operation. The integrated lateral drive mechanism and robust guide design enhance the system's adjustment capabilities and dynamic stability. The entire solution integrates transportation, positioning, and assembly processes into an automated workflow, improving construction safety and efficiency while ensuring the long-term operational quality of the pipeline through high-precision installation, achieving effective unification of construction and maintenance. Attached Figure Description

[0027] 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.

[0028] Figure 1 This is a schematic diagram of the overall structure of a pipeline intelligent assembly robot according to an embodiment of this application;

[0029] Figure 2 This is a schematic diagram of the installation position of the pipe gallery cross-section according to an embodiment of this application;

[0030] Figure 3 for Figure 1 Enlarged view of point A in the middle;

[0031] Figure 4 This is a flowchart of an automated pipeline assembly method according to an embodiment of this application.

[0032] In the diagram: 1. Movable carriage; 11. Support leg; 111. Outward expansion section; 112. Upper vertical section; 113. Inward contraction section; 114. Lower vertical section; 12. Movable pulley; 13. Slide groove; 2. Movable slide rail; 21. Slider; 3. Slide plate; 31. Fixed pulley; 32. Movable pulley; 4. Drive assembly; 41. First drive motor; 42. Gear; 43. Rack; 5. Lifting assembly; 51. Winch; 52. Drum; 53. Hook; 531. Laser emitter; 532. Laser receiver; 6. Image acquisition sensor; 7. Intelligent remote control; 8. Lateral drive mechanism; 81. Screw; 82. Second drive motor. Detailed Implementation

[0033] To make the technical solution and advantages of the present invention clearer, the present invention and its beneficial effects will be described in further detail below with reference to specific embodiments and accompanying drawings, but the embodiments of the present invention are not limited thereto.

[0034] In the description of this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0035] All standard parts used in this invention can be purchased from the market, and irregular parts can be customized according to the description and drawings. The specific connection methods of each part adopt conventional methods such as bolts, rivets, and welding that are mature in the prior art. The machinery, parts and equipment adopt conventional models in the prior art, and the circuit connection adopts conventional connection methods in the prior art, which will not be described in detail here.

[0036] The following is in conjunction with the appendix Figure 1-4 This application will be described in further detail below.

[0037] This application provides a pipeline intelligent assembly robot, which adopts the following technical solution:

[0038] Reference Figure 1 and Figure 2The intelligent pipeline assembly robot includes a mobile carriage 1, a mobile slide rail 2, two slides 3, a drive assembly 4, a lifting assembly 5, an image acquisition sensor 6, and an intelligent remote controller 7. The mobile carriage 1 serves as the load-bearing and walking foundation frame of the entire device. It is typically constructed from high-strength steel welded or bolted together to form a stable, rigid structure. The top surface of the mobile carriage 1 is a machined, flat mounting surface used to support the upper mobile slide rail 2 and other mechanisms. Multiple support legs 11 are installed at the bottom of the mobile carriage 1, providing stable support for the device. In this embodiment, the top surface of the mobile carriage 1 is a rectangular frame, and preferably four support legs 11 are located at the four corners of the rectangular frame. Each support leg 11 has a mobile pulley 12 installed at its bottom. The mobile pulley 12 can be a caster wheel; preferably, some or all of the mobile pulleys 12 are electric drive wheels with micro-motors and brakes. The electric drive wheels enable the device to move autonomously, turn, and precisely position itself within the pipe gallery, while the brakes ensure the device can be firmly parked during operation, preventing accidental slippage. In this embodiment, a rectangular coordinate system is established with the top surface of the movable slide 1 as the reference plane. The longitudinal direction of the movable slide 1, that is, the length direction of the movable slide 1, is set as the X direction; the transverse direction of the movable slide 1, that is, the width direction of the movable slide 1, is set as the Y direction; and the gravity direction of the movable slide 1, that is, the upper and lower position of the movable slide 1, is set as the Z direction.

[0039] Furthermore, referring to Figure 1 and Figure 2 The support leg 11 of the movable carriage 1 is not a simple vertical column; its lateral profile is designed as a multi-segment composite structure. In side view, the profile of the support leg 11, from top to bottom, includes an outwardly expanding section 111, a vertical upper section 112, an inwardly contracting section 113, and a vertical lower section 114. The outwardly expanding section 111 begins at its connection with the main body of the movable carriage 1, extending obliquely outward and downward at a certain angle, increasing the cross-sectional modulus of the upper part of the support leg 11 and significantly enhancing the bending and compressive stability of this critical load-bearing area. Below the outwardly expanding section 111 is a vertical upper section 112. Below the upper section 112 is the inwardly contracting section 113, whose side slopes obliquely towards the centerline of the support leg 11, forming a "groove." This optimization, designed to address the common protruding obstacles such as cable trays and pipelines within narrow pipe racks, effectively improves the device's maneuverability in complex cross-sections, enabling it to access areas where traditional equipment is difficult to operate. Below the inward-facing section 113 is the vertical lower section 114, and the movable pulley 12 is installed at the bottom of the vertical lower section 114. The vertical lower section 114 directly transmits the load to the movable pulley 12. The design goal of "strong support at the upper end, smooth passage in the middle, and stable force transmission at the lower end" is achieved through the composite profile structure.

[0040] Reference Figure 1 and Figure 2The movable slide rail 2 is a long strip track fixedly installed on the top surface of the movable slide 1 along its length and extending in the X direction. The movable slide rail 2 is usually made of high-strength profiles such as aluminum profiles or steel rails with guide rails. The movable slide rail 2 provides precise sliding guidance for the subsequent slide plate 3.

[0041] Reference Figure 1 and Figure 2 Two slides 3 are configured, each slide 3 being independently slidably connected to the same movable slide rail 2, corresponding to the front and rear ends of the movable slide rail 2 respectively. A T-shaped support platform is fixedly installed on each slide 3 for fixing other components. The slide 3 is rectangular, and its bottom is equipped with a slider 21 or roller (not shown in the figure) that matches the guide rail of the movable slide rail 2, allowing each slide 3 to slide independently and smoothly along the length of the movable slide rail 2 without interference. The top surface of each slide 3 serves as a mounting platform for fixing its respective drive assembly 4 and lifting assembly 5.

[0042] Reference Figure 1 , Figure 2 and Figure 3 The drive assembly 4 is mounted on the slide plate 3, and its function is to drive the slide plate 3 to move along the movable slide rail 2. A preferred embodiment of the drive assembly 4 includes a first drive motor 41, a gear 42, and a rack 43. The first drive motor 41 is fixedly mounted on the slide plate 3, and is preferably a servo motor or a stepper motor. A gear 42 is mounted on the output shaft of the first drive motor 41. Multiple gears 42 of different sizes can be configured to mesh according to the rotational speed of the first drive motor 41 to achieve speed reduction. In this embodiment, a single gear 42 is used for explanation. A precision rack 43 that meshes with the gear 42 is fixedly mounted on the side wall of the movable slide rail 2. The gear 42 and rack 43 mesh to form a gear 42-rack 43 transmission pair. When the first drive motor 41 rotates under the control of the intelligent remote controller 7, it drives the gear 42 to rotate. Since the rack 43 is fixed, the rotational motion of the gear 42 is converted into a precise linear movement of the gear 42 and the entire slide plate 3 along the direction of the rack 43. The first drive motor 41 maintains a communication connection with the intelligent remote controller 7, receives its control commands, and can provide feedback on its own position information to form a precise lateral position closed-loop or semi-closed-loop control.

[0043] Reference Figure 1 and Figure 2The lifting assembly 5 is also fixedly installed on each slide 3. The core function of the lifting assembly 5 is to lift the pipeline. Each lifting assembly 5 includes a winch 51, a drum 52, and a hook 53. The winch 51, as the power source, is fixedly installed on the T-shaped support platform of the slide 3. The drum 52 is also suspended on the T-shaped support platform of the slide 3. The output shaft of the winch 51 is connected to the central shaft of the drum 52 through a reduction wheel and a transmission belt. The winch 51 drives the drum 52 to rotate, and the drum 52 is used to wind up and unwind the wire rope. The main body of the hook 53 is cuboid. The center of gravity of the hook 53 is connected to the drum 52 through a wire rope. The two sides of the hook 53 are integrally formed with upward-opening semi-circular or other shaped hooks for attaching slings or lifting devices tied to the pipeline. By controlling the forward and reverse rotation of the winch 51, the lifting of the hook 53 and the lifted pipeline can be achieved.

[0044] Reference Figure 1 and Figure 2 To further optimize lifting stability and force transmission, a preferred structure for the lifting assembly 5 is to have two fixed pulleys 31 arranged parallel to each other on the slide plate 3. Simultaneously, a movable pulley 32 is installed at the center of the hook 53. The wire rope is arranged as follows: after being drawn from the drum 52, the wire rope sequentially passes over one of the fixed pulleys 31, the movable pulley 32 on the hook 53, and the other fixed pulley 31, before finally being fixed back to an appropriate position on the drum 52 or the frame. This pulley system structure can save effort or change the direction of force, making the lifting process more stable.

[0045] In the preferred embodiment of this application, reference is made to Figure 1 and Figure 2 Two lifting components 5 are arranged on the movable slide rail 2. Each lifting component 5 is equipped with a hook 53. On the facing side of the two hooks 53, a laser emitter 531 is installed on the outer wall of one hook 53, and a laser receiver 532 is installed at a corresponding position on the outer wall of the other hook 53. The laser beam emitted by the laser emitter 531 is received by the laser receiver 532. When the two hooks 53 are not aligned laterally, the laser beam will deviate from the receiver. The system can judge the deviation and make fine adjustments accordingly, thereby assisting the two hooks 53 in quick preliminary alignment in the X direction, serving as a supplement or backup alignment method for the vision system.

[0046] Reference Figure 1The image acquisition sensor 6 is mounted on the slide plate 3, and its installation position should ensure a clear view of the pipe interface area. The image acquisition sensor 6 is used to acquire real-time image information of the positions of the pipe interfaces to be assembled and those already installed. The sensor type can be an infrared rangefinder sensor, which calculates the pose by measuring the distance between multiple points; or a more precise laser vision sensor or structured light 3D camera, which can acquire 3D point cloud data of the pipe end face, thereby accurately identifying key pose information such as the center and normal direction of the interface. The image acquisition sensor 6 communicates with the intelligent remote controller 7 via wired or wireless means, transmitting the acquired data to the intelligent remote controller 7 for processing in real time.

[0047] Reference Figure 1 The intelligent remote controller 7 can be an industrial-grade handheld terminal or a controller integrated into the equipment control cabinet. The intelligent remote controller 7 establishes communication connections with the first drive motor 41 in the drive assembly 4, the winch motor 51 in the lifting assembly 5, the image acquisition sensor 6, and the micro motor of the moving pulley 12 via wires or a Bluetooth module. The intelligent remote controller 7 is configured to receive user commands input by operators through human-machine interfaces such as joysticks, buttons, and touchscreens, such as manual walking and inching lifting. Furthermore, the intelligent remote controller 7 is configured to receive and process real-time position and orientation data of the pipe interface fed back by the image acquisition sensor 6, and based on this data, automatically generate control commands through internal control algorithms to control the drive assembly 4 and the lifting assembly 5 to perform corresponding actions, thereby achieving automatic alignment and assembly of the pipe.

[0048] In the preferred embodiment of this application, reference is made to Figure 1 The robot also includes a lateral drive mechanism 8, which comprises a screw 81 mounted on the top surface of the movable carriage 1 and a second drive motor 82 that drives the screw 81 to rotate. The side wall of the movable carriage 2 is threadedly engaged with the screw 81. When the second drive motor 82 drives the screw 81 to rotate under the control of the intelligent remote controller 7, it can move the entire movable carriage 2 and all its components together along the width direction (i.e., the Y direction) of the movable carriage 1. This structure gives the robot additional lateral adjustment freedom, enabling it to perform a wide range of lateral position compensation for pipelines or actively avoid fixed obstacles on the side of the pipe gallery while maintaining a fixed chassis position, significantly improving its adaptability and operational flexibility in complex asymmetrical environments.

[0049] Furthermore, referring to Figure 1The top surface of the movable carriage 1 has a groove 13 along its width direction (i.e., the Y direction). Correspondingly, a slider 21 is integrally formed at the bottom of the movable slide rail 2. The slider 21 is embedded in the groove 13 and can slide within it. The cooperation between the groove 13 and the slider 21 not only provides precise guidance for the lateral movement of the movable slide rail 2, but also effectively prevents the movable slide rail 2 from shifting or twisting during load-bearing and movement, thereby ensuring the smoothness and straightness of the lateral movement and enhancing the structural rigidity and movement stability of the entire hoisting system during dynamic adjustments.

[0050] Secondly, referring to Figure 4 This application also provides an automated pipeline assembly method using the aforementioned intelligent pipeline assembly robot for narrow pipe corridors, comprising the following steps:

[0051] S1. Transportation preparation: The large-diameter pipeline is hoisted onto the hooks 53 of the two lifting components 5 using a lifting device. The operator controls the robot to move using a smart remote control 7, and safely transports the pipeline from the stacking point to the predetermined assembly construction area in the pipe gallery.

[0052] S2. Visual Positioning: After the robot arrives at the assembly station, the operator activates the image acquisition sensor 6 via the intelligent remote control 7. The sensor scans the port of the pipe to be installed and the port of the already installed pipe, acquires their spatial pose information, and transmits it to the intelligent remote control 7.

[0053] S3. Intelligent Alignment: The operator initiates the automatic alignment mode. Based on the received pose information, the intelligent remote controller 7 automatically calculates the deviation between the current pipe position and the target alignment position. Subsequently, through closed-loop control logic, the intelligent remote controller 7 automatically coordinates the control drive component 4 to adjust the longitudinal position of the slide plate 3 on the chute 13; automatically coordinates the control lifting component 5 to adjust the pipe height and achieves the pipe pitch attitude through the independent control of the two hooks 53; and automatically coordinates the lateral drive mechanism 8 to perform overall lateral adjustment, driving the pipe to perform precise movement in three-dimensional space. This process continues, with real-time feedback from the image acquisition sensor 6 and real-time correction of control commands by the intelligent remote controller 7, until the pose error of the pipe interface reaches the preset high-precision alignment requirements.

[0054] S4. Fixing and Removing: After the pipe joints are precisely aligned, construction personnel perform permanent fixing operations such as welding or flange connections. Once fixing is complete, the operator controls the winch 51 of the lifting assembly 5 to lower the hook 53, detaching the lifting device from the pipe. Finally, the robot is controlled to move unloaded out of the current work area, preparing for the assembly cycle of the next pipe section.

[0055] The application process and implementation principle of this application embodiment are as follows: During construction, the operator first uses the intelligent remote controller 7 to control the robot to move to the pipe stacking point, operates the independently controlled lifting components 5 on the two slides 3, and uses the hook 53 to safely lift the large-diameter pipe off the ground and raise it to a stable transportation height. Then, the operator drives the moving pulleys 12 on the robot chassis to smoothly drive the pipe into the target pipe gallery. Thanks to the special multi-segment composite contour design of the support legs 11, the robot has excellent passability when passing through narrow sections with protrusions such as cable trays. When the robot arrives at the preset assembly station, the operator issues a command through the intelligent remote controller 7 to start the automatic assembly program. The image acquisition sensor 6 installed on the slide 3 immediately works, accurately acquiring the three-dimensional spatial pose information of the interface between the pipe to be installed and the installed pipe, and transmitting the data to the processing core of the intelligent remote controller 7 in real time. The intelligent remote controller 7 then enters the intelligent closed-loop control process: its built-in algorithm calculates the multi-dimensional deviation between the current pose of the pipe and the target alignment pose in real time based on visual information, and simultaneously generates cooperative control commands. These commands control the drive motors on the two slides 3, driving the slides 3 to move independently and precisely longitudinally along the moving slide rail 2 via the meshing transmission of gears 42 and racks 43, thereby adjusting the front and rear positions of the pipeline. Simultaneously, they independently and collaboratively control the winches 51 of the two lifting components 5 to wind up and unwind the wire ropes, adjusting the overall height and pitch angle of the pipeline. Furthermore, if lateral overall adjustment is required, the intelligent remote controller 7 can activate the lateral drive mechanism 8, driving the screw 81 to rotate via the second drive motor 82, thus causing the entire moving slide rail 2 platform to move laterally. The entire fine-tuning process is dynamically performed under continuous feedback from the image acquisition sensor 6, forming a high-speed, precise perception-decision-execution closed loop until the pipeline interface achieves sub-millimeter precision alignment. After alignment, the construction personnel complete the final welding or mechanical connection of the pipeline interface. After all operations are completed, the lifting components 5 are released, and the robot can be easily moved out, ready to perform the next round of operations. This application process deeply integrates the structural characteristics of the device with intelligent control methods, realizing the mechanization and automation of the entire process from pipeline transportation and automatic identification to precise multi-degree-of-freedom alignment.

[0056] Based on the disclosure and teachings of the foregoing specification, those skilled in the art can make changes and modifications to the above embodiments. Therefore, the present invention is not limited to the specific embodiments described above, and any obvious improvements, substitutions, or modifications made by those skilled in the art based on the present invention are within the scope of protection of the present invention. Furthermore, although some specific terms are used in this specification, these terms are only for convenience of explanation and do not constitute any limitation on the present invention.

Claims

1. A pipeline intelligent assembly robot, characterized in that, include: The movable carriage (1) has multiple support legs (11) at the bottom, and each support leg (11) has a movable pulley (12) at the bottom; A movable slide rail (2) is disposed on the top surface of the movable slide (1) along the length direction of the movable slide (1); Two slides (3), each slide (3) is independently slidably connected to the movable slide rail (2), and each slide (3) is provided with a drive assembly (4) and a lifting assembly (5). The drive assembly (4) is used for the slide (3) to move along the movable slide rail (2). An image acquisition sensor (6) is installed on the slide (3) to collect the position information of the pipe interface in real time; The intelligent remote control (7) is communicatively connected to the drive assembly (4), the lifting assembly (5), and the image acquisition sensor (6); The lifting assembly (5) is used to hoist the pipe, and the smart remote controller (7) is configured to control the actions of the drive assembly (4) and the lifting assembly (5) based on receiving user instructions or feedback from the image acquisition sensor (6). The side profile of the support leg (11) is a multi-segment composite structure, which includes an outwardly expanding segment (111), a vertical upper segment (112), an inwardly contracting segment (113), and a vertical lower segment (114) connected in sequence from top to bottom. The movable pulley (12) is located at the bottom end of the vertical lower segment (114). The drive assembly (4) includes a first drive motor (41), a gear (42) and a rack (43). The first drive motor (41) is fixedly connected to the slide (3). The gear (42) is located at the output end of the first drive motor (41). The rack (43) is located on the side wall of the movable slide rail (2) and meshes with the gear (42). The first drive motor (41) is communicatively connected to the intelligent remote controller (7). The lifting assembly (5) includes a winch (51), a drum (52) and a hook (53). The winch (51) drives the drum (52) to rotate. The hook (53) is connected to the drum (52) by a wire rope.

2. The intelligent pipeline assembly robot according to claim 1, characterized in that, Two fixed pulleys (31) are arranged in parallel on the slide (3), and a movable pulley (32) is arranged at the center of the hook (53). The wire rope passes through the movable pulley (32) and the two fixed pulleys (31) in sequence and is then connected to the drum (52).

3. The intelligent pipeline assembly robot according to claim 1, characterized in that, One of the hooks (53) is equipped with a laser emitter (531), and the other hook (53) is equipped with a corresponding laser receiver (532).

4. The intelligent pipeline assembly robot according to claim 1, characterized in that, The image acquisition sensor (6) is an infrared ranging sensor or a laser vision sensor.

5. The intelligent pipeline assembly robot according to claim 1, characterized in that, It also includes a lateral drive mechanism (8), which includes a screw (81) and a second drive motor (82) mounted on the movable slide (1). The movable slide rail (2) is threadedly engaged with the screw (81), and the second drive motor (82) is used to drive the movable slide rail (2) to move along the width direction of the movable slide rail (1).

6. The intelligent pipeline assembly robot according to claim 5, characterized in that, The top surface of the movable carriage (1) is provided with a groove (13) along the width direction of the movable carriage (1), and the bottom of the movable slide rail (2) is provided with a slider (21), which is slidably embedded in the groove (13).

7. An automated pipeline assembly method, characterized in that, The intelligent pipeline assembly robot according to any one of claims 1 to 6 includes the following steps: S1. Transportation preparation: Hoist the pipe onto the lifting assembly (5) and control the robot to move to the assembly construction area inside the pipe gallery; S2, Visual positioning: The image acquisition sensor (6) is used to obtain the pose information of the interface between the pipe to be assembled and the installed pipe; S3. Intelligent alignment: Based on the position information, the drive component (4) and the lifting component (5) are automatically controlled by the intelligent remote controller (7) to adjust the position of the pipeline in the horizontal, vertical and pitch directions until the precise alignment of the pipeline interface is completed. S4. Fixed Removal: After the pipe interface is fixed, the lifting assembly (5) is detached from the pipe and the robot is moved out of the work area.

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