Extensible pipeline guide rail type collaborative transportation and installation robot and construction method

Abstract

The invention discloses an extensible pipeline guide rail type collaborative transportation and installation robot and a construction method. The extensible pipeline guide rail type collaborative transportation and installation robot comprises a first construction vehicle, a second construction vehicle, a rail assembly, a lifting support assembly and an installation support assembly; the second construction vehicle and a pipeline arranged on the second construction vehicle are transported to a designated place along the rail assembly through the first construction vehicle, the installation support assembly can be connected with the first construction vehicle in an assembled mode after being unfolded, and the second construction vehicle can laterally move to the installation support assembly to achieve the pipeline lateral installation technology. The lifting support assembly is arranged on the second construction vehicle, the pipeline is arranged on the lifting support assembly, and the lifting installation process of the pipeline can be achieved through the lifting support assembly on the second construction vehicle. According to the scheme, the pipeline is accurately, efficiently and safely conveyed to a designated position by utilizing a rail transportation system and a child-mother vehicle linkage unfolding mode, the purpose of rapid opening alignment installation of the pipeline is met, and the construction efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of construction engineering, and in particular to an intelligent deployable pipeline guide rail type human-machine collaborative transportation and installation robot and a construction method. Background Art

[0002] With the continuous improvement of urbanization, urban land resources are becoming increasingly scarce. Pipe corridors are widely constructed as an infrastructure that makes intensive use of underground space. In the limited space of the corridor, various municipal pipelines need to be installed, such as water supply and drainage pipelines, heat pipelines, gas pipelines, etc., and the size of the pipelines is gradually becoming larger. The traditional method of constructing large-diameter pipelines in conventional corridors often uses manual hoists combined with rollers for transportation into place.

[0003] The use of manual hoists for anchoring and lifting in the tunnel can easily cause the risk of leakage of the pipe segments. At the same time, during the construction process, problems such as loose anchor ends, broken chain links, and improper lifting can easily cause pipes to fall and cause casualties. In addition, the impact of the hoist's force point on the top structure of the corridor is a problem that cannot be ignored.

[0004] When using roller groups for transportation, the contact friction between the rollers and the pipeline can easily cause the anti-corrosion layer on the pipeline surface to fall off and be damaged, affecting the durability of the pipeline.

[0005] The above two common methods both have the problems of low construction efficiency and great safety risks. In a sloped pipeline corridor, the danger of installation and transportation will increase exponentially.

[0006] Therefore, the existing method for installing pipelines in pipe corridors has a technical problem of low reliability due to the above-mentioned technical defects. It can be seen that how to improve the reliability of the method for installing pipelines in pipe corridors is a problem that needs to be solved in this field. Summary of the invention

[0007] In view of the technical problem that the existing method of installing pipelines in pipe corridors has low reliability, the purpose of the present invention is to provide an intelligent deployable pipeline guide rail type human-machine collaborative transportation and installation robot, which can meet the goal of rapid installation of pipelines, reduce construction costs, and improve construction efficiency. On this basis, a construction method of the transportation and installation robot is also provided, which effectively overcomes the problems existing in the prior art.

[0008] In order to achieve the above-mentioned objectives, the present invention provides a deployable pipeline guide rail type collaborative transport and installation robot, comprising a first construction vehicle, a second construction vehicle, a track assembly, a lifting bracket assembly and an installation bracket assembly, wherein the second construction vehicle is arranged on the first construction vehicle, and the first construction vehicle is arranged on the track assembly, and the second construction vehicle and the pipeline arranged on the second construction vehicle are transported to a designated location along the track assembly by the first construction vehicle, and the installation bracket assembly can be assembled and connected with the first construction vehicle after being unfolded, and the second construction vehicle can be moved laterally to the installation bracket assembly to realize the lateral installation process of the pipeline; the lifting bracket assembly is arranged on the second construction vehicle, and the pipeline is arranged on the lifting bracket assembly, and the lifting installation process of the pipeline can be realized by the lifting bracket assembly on the second construction vehicle.

[0009] Furthermore, the first construction vehicle comprises a first vehicle body, a slide groove is provided at the bottom of the first vehicle body, and the slide groove is assembled and connected with a track, so that the first vehicle body can move along the track.

[0010] Furthermore, the first vehicle body is provided with an energy storage component, which provides energy and power to the first construction vehicle through an energy storage battery.

[0011] Furthermore, a first driving assembly is provided on the first vehicle body, and the speed and torque of the first construction vehicle are controlled by the first driving assembly.

[0012] Furthermore, sensing sensors are installed at both the front and rear ends of the first vehicle body for sensing the driving speed and front and rear obstacles. According to the sensed data, the first driving component is started through the control system to adjust the driving posture of the first construction vehicle.

[0013] Furthermore, the second construction vehicle comprises a second vehicle body, and a sliding assembly is provided at the bottom of the second vehicle body, and the sliding assembly can drive the second vehicle body to move laterally.

[0014] Furthermore, the slide assembly is provided with a second driving assembly, and the second driving assembly is connected to the slide assembly and can drive the slide assembly to move laterally.

[0015] Furthermore, the second construction vehicle is provided with a slide groove along the edge in the length direction for setting a lifting bracket assembly. The lifting bracket assembly is arranged on the second construction vehicle and is connected with the pipeline to realize the lifting of the pipeline.

[0016] Furthermore, pipe supports are symmetrically provided at the bottom of the pipeline, which are used to be connected to the support beams to be constructed.

[0017] In order to achieve the above object, the present invention provides a construction method of a deployable pipeline guide rail type collaborative transport and installation robot, the construction method comprising the following steps:

[0018] Step 1: Measurement and processing:

[0019] Process the pipes and pipe supports according to the actual situation on site, and fix the pipes and pipe supports by spot welding before leaving the factory;

[0020] Step 2: Prefabricated support column installation:

[0021] Lay out the lines through 3D scanning and install the pipe support columns;

[0022] Step 3: Pipeline hoisting:

[0023] Use lifting equipment outside the pipe gallery to hoist the prefabricated pipe onto the lifting platform of the second construction vehicle and fix it through the clamping slot;

[0024] Step 4: Pipeline transportation:

[0025] Using the remote control system, control the first construction vehicle to transport the pipeline to the designated location;

[0026] Step 5: Side Shift Bracket Installation:

[0027] After the trolley arrives at the pipeline installation location, the side-shift bracket is unfolded and temporarily fixed to the first construction vehicle;

[0028] Step 6: Lifting bracket installation:

[0029] After arriving at the pipeline installation location, the pipeline is lifted above the preset height of the beam by the X-lifting frame, and the transport and installation tooling vehicle is in a high position;

[0030] Step 7: Crossbar Installation:

[0031] The support beam is arranged on the top of the column and bolted, and the top of the support beam is correspondingly connected to the pipe support.

[0032] Step 8: Pipeline placement:

[0033] The pipeline is bolted to the crossbeam through pipe supports, the X-lift frame is lowered, and the intelligent all-terrain vertically deployable pipeline transport and installation tooling vehicle is retracted to a low position.

[0034] The intelligent deployable pipeline rail-type human-machine collaborative transport and installation robot and construction method provided by the present invention utilize a rail transport system and a mother-and-child vehicle to deploy in a coordinated manner under conditions of limited space, large ground slope, and long distances, so as to accurately, efficiently, and safely deliver large-diameter pipelines to designated locations, thereby meeting the goal of rapid installation of pipelines, reducing construction costs, and improving construction efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments.

[0036] Figure 1A schematic diagram of the structure of the lateral installation process of the deployable pipeline rail-type collaborative transport and installation robot;

[0037] Figure 2 It is a structural schematic diagram of the lifting and installation process of the deployable pipeline rail type collaborative transport and installation robot;

[0038] Figure 3 It is a schematic diagram of the assembly of the construction vehicle in the deployable pipeline rail-type collaborative transport and installation robot;

[0039] Figure 4 It is a schematic diagram of the assembly of the side shift bracket in the deployable pipeline guide rail type collaborative transport installation robot;

[0040] Figure 5 It is a structural stereogram of the lifting bracket assembly in the deployable pipeline guide rail type collaborative transport and installation robot;

[0041] Figure 6 It is a first side structural schematic diagram of the lifting bracket assembly in the deployable pipeline guide rail type collaborative transport and installation robot;

[0042] Figure 7 It is a second side structural schematic diagram of the lifting bracket assembly in the deployable pipeline guide rail type collaborative transport and installation robot;

[0043] Figure 8 This is a schematic diagram of the structure of the robot performing a herringbone pipeline installation.

[0044] The following is a description of the components in the accompanying drawings:

[0045] 100. First construction vehicle 110. First vehicle body 120. Energy storage assembly 130. First drive assembly 140. Perception sensor 200. Second construction vehicle 210. Second vehicle body 220. Sliding assembly 230. Second drive assembly 300. Mounting bracket assembly 400. Lifting bracket assembly 410. X-shaped lifting frame 420. Third drive assembly 430. Lifting platform 440. Slot 500. Pipe 510. Pipe support 600. Track assembly 710. Low column 720. High column 810. Low beam 820. High beam. DETAILED DESCRIPTION

[0046] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below with reference to specific diagrams.

[0047] The deployable pipeline rail-type collaborative transport and installation robot provided by the present invention utilizes the rail transport system and the mother-and-child vehicle to deploy in a coordinated manner to accurately, efficiently and safely deliver large-diameter pipelines to designated beam positions and install them on pipeline supports, thereby meeting the goal of rapid pipeline installation, reducing construction costs and improving construction efficiency.

[0048] It should be noted here that the pipe support is a pre-arranged support assembly, which is composed of a number of columns and beams. The columns are symmetrically arranged at the bottom of the beams, and the pipes are transferred to the top of the beams by the deployable pipeline rail type collaborative transport and installation robot. The beams here are divided into low beams and high beams.

[0049] The intelligent deployable pipeline rail-type human-machine collaborative transport and installation robot provided by the present invention includes a first construction vehicle 100 , a second construction vehicle 200 , a track assembly 600 , a lifting bracket assembly 400 and an installation bracket assembly 300 .

[0050] Among them, the lifting bracket assembly 400 is arranged on the second construction vehicle 200, the pipeline 500 is arranged on the lifting bracket assembly 400, the pipeline 500 is arranged on the second construction vehicle 200 and assembled on the first construction vehicle 100 to form the intelligent all-terrain vertically deployable pipeline transportation and installation tooling vehicle, the first construction vehicle 100 is arranged on the track assembly 600, and the second construction vehicle 200 and the pipeline 500 arranged on the second construction vehicle 200 are transported to the designated location along the track assembly 600 by the first construction vehicle 100.

[0051] After arriving at the designated location, the lifting bracket assembly 400 on the second construction vehicle 200 can be used to lift and install the pipeline 500. Figure 2 .

[0052] At the same time, the first construction vehicle 100 cooperates with the mounting bracket assembly 300. After arriving at the designated location, the second construction vehicle 200 can move sideways to the mounting bracket assembly 300 to complete the lateral installation process of the pipeline 500. Figure 1 .

[0053] Further, see Figure 1 The first construction vehicle 100 is a mother vehicle, which includes a first vehicle body 110. A slide groove is provided at the bottom of the first vehicle body 110, which is assembled and connected with the track assembly 600. The first vehicle body 110 can move along the track assembly 600, and can drive the second construction vehicle 200 and the pipeline 500 arranged on the second construction vehicle 200 to move to the designated location, and adopts rail transportation and installation of pipelines to improve transportation stability.

[0054] An energy storage component 120 is provided on the first vehicle body 110. The intelligent all-terrain vertically deployable pipeline transport and installation tooling vehicle is powered by an energy storage battery and can be remotely controlled within the pipeline corridor.

[0055] In some embodiments, the energy storage component 120 preferably uses an energy storage battery to provide energy and power to the first construction vehicle through the energy storage battery. It is powered by a rechargeable battery and is suitable for occasions such as tunnel construction where it is inconvenient to provide power.

[0056] Secondly, the first vehicle body 110 is also provided with a first driving assembly 130 , which uses automatic navigation to control the movement of the mother vehicle along the track, and controls the speed and torque of the first construction vehicle 100 through the first driving assembly 130 .

[0057] In some embodiments, the first driving assembly 130 uses a reduction motor, and the speed and torque of the first construction vehicle can be controlled by the reduction motor.

[0058] Furthermore, sensing sensors 140 are installed at both the front and rear ends of the first vehicle body 110 for sensing the driving speed and front and rear obstacles. Based on the sensed data, the first driving assembly 130 is started through the control system to adjust the driving posture of the first construction vehicle 100.

[0059] See also Figure 3 The mounting end surface formed in the middle of the first vehicle body 110 is used to assemble the second construction vehicle 200 , and the size of the end surface is adapted to the body size of the second construction vehicle 200 .

[0060] The second construction vehicle 200 is a sub-vehicle, which includes a second vehicle body 210. A slide assembly 220 is provided at the bottom of the second vehicle body 210. The slide assembly 220 is provided with a second drive assembly 230. The second drive assembly 230 drives the slide assembly 220 to drive the slide assembly 220 to move laterally.

[0061] In some embodiments, the sliding assembly 220 may use a pulley, and the second driving assembly 230 may use a hydraulic device, and the hydraulic device is used to translate the second construction vehicle 200 and the pipeline toward the mounting bracket assembly 300.

[0062] See also Figure 2 and Figure 4 The mounting bracket assembly 300 is composed of a mounting plate and a plurality of columns. The plurality of columns are distributed on one side of the bottom of the mounting plate, and the other side can be built on the first construction vehicle 100 and temporarily fixed through a connecting assembly. Thus, the second construction vehicle 200 and the pipeline 500 arranged on the second construction vehicle 200 can be stably moved sideways to the mounting bracket assembly 300 to complete the lateral installation process of the pipeline 500.

[0063] The bracket assembly installed here is suitable for the installation of the low-level beam of pipeline 500. It can be made of channel steel and customized according to the distance between the track and the low-level beam of the pipeline. The pipeline can be translated to the top of the low-level beam, and then the pipeline and the low-level beam are connected by connecting parts, so that the pipeline 500 can be translated and installed at one time, realizing the lateral installation process of pipeline 500.

[0064] By adopting the deployable side-shift bracket 300, full coverage pipeline laying and installation in the pipeline plane can be achieved, and the length can be processed according to the actual situation on site to facilitate adaptation to various pipeline installation distances.

[0065] The second construction vehicle 200 is provided with a slide groove along the edge in the length direction for setting the lifting bracket assembly 400, see Figure 2 and Figure 5-Figure 7 The lifting support assembly 400 is arranged on the second construction vehicle 200 and is connected with the pipeline 500 to realize the lifting of the pipeline 500. The lifting support assembly 400 includes an X-shaped lifting frame 410, a third driving assembly 420, a lifting platform 430 and a slot 440.

[0066] The lifting platform 430 is disposed on the X-shaped lifting frame 410 . A slot 440 is provided on the lifting platform 430 . The pipeline 500 is disposed on the lifting platform 430 and is limited by the slot 440 .

[0067] The X-shaped lifting frame 410 is symmetrically arranged on the slideway of the second construction vehicle 200 , and the third driving assembly 420 is drivingly connected to the X-shaped lifting frame 410 . The third driving assembly 420 can drive the X-shaped lifting frame 410 to be lifted or lowered.

[0068] When the third driving assembly 420 drives the X-shaped lifting frame 410 to rise, the X-shaped lifting frame 410 is tightened inward along the slide groove, and at this time, the lifting platform 430 is lifted as a whole. When the third driving assembly 420 drives the X-shaped lifting frame 410 to descend, the X-shaped lifting frame 410 slides outward along the slide groove, and the lifting platform 430 is lowered as a whole.

[0069] In some embodiments, the third driving component 420 may adopt a lifting cylinder, and the X-shaped lifting frame 410 controls the lifting and lowering changes through the lifting cylinder. When the lifting cylinder is pressurized, the X-shaped lifting frame 410 is tightened inward along the slide groove. At this time, the lifting platform 430 is lifted as a whole. When the lifting cylinder is depressurized, the X-shaped lifting frame 410 slides outward along the slide groove, and the lifting platform 430 is lowered as a whole. In this way, the lifting and installation process of the pipeline 500 can be realized.

[0070] Here, the lifting bracket assembly 400 is suitable for installing the high-position crossbeam of the pipeline 500. The second construction vehicle can be lifted to the top of the high-position crossbeam through the lifting bracket assembly 400, and then the pipeline 500 is connected to the low-position crossbeam through the connecting piece to realize the lifting installation process of the pipeline 500.

[0071] Pipe supports 510 are symmetrically provided at the bottom of the pipeline 500, which are used to move the pipeline 500 to just above the high-position beam and the low-position beam and then connect with the high-position beam or the low-position beam.

[0072] The intelligent deployable pipeline guide rail type human-machine collaborative transport and installation robot constructed by the above scheme is illustrated below with examples of its construction process in specific applications. It should be noted here that the construction process is only an example and does not constitute a limitation to this scheme.

[0073] The intelligent deployable pipeline guide rail type human-machine collaborative transport and installation robot constructed based on the above scheme can complete the lateral installation process of pipelines in a narrow space, the lifting and installation process of pipelines in a narrow space, and the T-shaped installation process of pipelines in a narrow space.

[0074] Lateral installation process of pipelines in narrow spaces:

[0075] Step 1: Measurement and processing:

[0076] According to the actual situation on site, the pipe support is spot welded at the bottom of the pipeline 500; the height of the pipeline installation bracket is measured, and the sub-trolley 200 and the side shift bracket 300 are customized according to the pipeline height.

[0077] Step 2: Pipeline hoisting:

[0078] The prefabricated pipes are hoisted onto the sub-trolley 200 by using lifting equipment outside the pipe gallery.

[0079] Step 3: Pipeline transportation:

[0080] The remote control system is used to control the mother vehicle 100 to transport the pipeline to the designated location.

[0081] Step 4: Side shift bracket installation:

[0082] After the trolley arrives at the pipeline installation position, the side shift bracket 300 is unfolded and temporarily fixed to the mother vehicle 100 by using a high-strength locking pin.

[0083] Step 5: Pipeline side shift:

[0084] The sub-trolley 200 and the pipeline are first moved toward the side shift bracket 300 by means of a hydraulic device, and then translated toward the left (or right) low-position beam 810 installed in the pipe gallery after the side shift bracket 300.

[0085] Step 6: The sixth step is to install the pipeline: After the pipeline 500 is in place, the pipe support 510 at the bottom of the pipeline 500 is bolted to the left (or right) low-position crossbeam 810. After the installation is completed, the side shift bracket 300 is removed, and the intelligent horizontally deployable pipeline guide rail type human-machine collaborative transportation and installation robot sub-carriage 200 is automatically recovered.

[0086] Pipe lifting installation process in narrow space:

[0087] Step 1: Measurement and processing:

[0088] According to the actual situation on site, the pipeline 500 and the pipe support 510 are processed, and the pipeline 500 and the pipe support 510 are spot welded and fixed before leaving the factory.

[0089] Step 2: Prefabricated support column installation:

[0090] The high-position column 720 is installed by three-dimensional scanning and laying out.

[0091] Step 3: Pipeline hoisting:

[0092] The prefabricated pipe 500 (pipeline + pipe support) is hoisted onto the lifting platform 430 of the sub-trolley 200 by using lifting equipment outside the pipe gallery and fixed by the slot 440 .

[0093] Step 4: Pipeline transportation:

[0094] The remote control system is used to control the mother vehicle 100 to transport the pipeline 500 to a designated location.

[0095] Step 5: Lifting bracket installation:

[0096] After arriving at the pipeline installation position, the pipeline is lifted by the X-lifting frame 410 to exceed the preset height of the high-position crossbeam 820, and the transport and installation tooling vehicle presents a high-position posture.

[0097] Step 6: Crossbar Installation:

[0098] The support beam 800 is arranged on the top of the high-position column 720 and bolted, and the top of the high-position beam 820 is correspondingly connected to the pipe support 510 .

[0099] Step 7: Pipeline placement:

[0100] The pipeline 500 is bolted to the high-position crossbeam 820 through the pipe support 510, the X-lift frame 410 is lowered, and the intelligent all-terrain vertically deployable pipeline transport and installation tooling vehicle is recovered to a low position.

[0101] This solution does not limit the steps for installing the crossbeam. The crossbeam can be installed after the pipeline is lifted, or the crossbeam can be installed first after the support column is installed and then the pipeline is lifted. The specific steps can be determined according to the actual situation.

[0102] Installation process of T-shaped pipes in narrow space, see Figure 8 :

[0103] Step 1: Install the low-position columns 710 and low-position crossbeam 810 of the left and right side brackets, and install the high-position column 720 of the middle bracket.

[0104] Step 2: Use the side shift function of the transport and installation robot to install the left pipeline.

[0105] Specifically, the mother vehicle 100 moves along the designated road with the sub-vehicle 200 and the pipeline 500 installed on the sub-vehicle 200. After moving to the designated location, the side shift bracket 300 is unfolded and temporarily fixed to the mother vehicle 100. The sub-vehicle 200 moves to the left and moves onto the side shift bracket 300. Then, after passing through the side shift bracket 300, it moves horizontally to the left low-level beam 810 installed in the pipe gallery. After the pipeline is in place, the pipe support at the bottom of the pipeline is fastened to the left low-level beam 810 with bolts. After the installation is completed, the side shift bracket 300 is removed.

[0106] Step 3: Use the side shift function of the transport and installation robot to install the right pipe.

[0107] The steps for installing the right pipe here are the same as those for the left pipe in step 2, so they will not be described in detail here.

[0108] Step 4: Use the lifting function of the transport and installation robot to install the upper pipeline.

[0109] Specifically, when the mother vehicle 100 moves to the middle high-position column 720, the lifting platform 430 on the sub-vehicle 200 is lifted to a preset height above the high-position beam 820 provided on the middle high-position column 720, and then the high-position beam 820 is set on the high-position column 720 and connected to the high-position column 720. After the top of the high-position beam 820 is connected to the pipe support 510 at the bottom of the pipeline, the lifting platform 430 descends to complete the installation of the middle pipeline 500.

[0110] This solution does not limit the installation order of the left and right pipes. The right side can be installed first, and then the left side. The specific order can be determined according to the actual situation.

[0111] The intelligent deployable pipeline rail-type human-machine collaborative transportation and installation robot composed of the above scheme uses the rail transportation system and the linkage deployment of the mother-and-child vehicle to accurately, efficiently and safely deliver large-diameter pipelines to the designated location when space is limited, the ground slope is large, and the distance is long, thereby meeting the goal of rapid installation of pipelines, reducing construction costs, and improving construction efficiency.

[0112] At the same time, it can achieve zero welding, zero opening, no high-altitude lifting, no manual handling, and automatic, efficient and safe operation on site. The flexibility of the intelligent horizontally deployable pipeline rail-type human-machine collaborative transportation and installation robot enables it to adapt to various complex working conditions, providing a new solution for the efficient construction of large-diameter pipelines in long distances, large slopes, and narrow confined spaces, and effectively promoting the technological progress of intelligent construction of infrastructure.

[0113] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments, and the above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A deployable pipeline rail type collaborative transport and installation robot, characterized in that: It includes a first construction vehicle, a second construction vehicle, a track assembly, a lifting bracket assembly and an installation bracket assembly. The second construction vehicle is arranged on the first construction vehicle, and the first construction vehicle is arranged on the track assembly. The second construction vehicle and the pipeline arranged on the second construction vehicle are transported to a designated location along the track assembly by the first construction vehicle. The installation bracket assembly can be assembled and connected with the first construction vehicle after being unfolded, and the second construction vehicle can be moved laterally to the installation bracket assembly to realize the lateral installation process of the pipeline; the lifting bracket assembly is arranged on the second construction vehicle, and the pipeline is arranged on the lifting bracket assembly. The lifting installation process of the pipeline can be realized by the lifting bracket assembly on the second construction vehicle.

2. The deployable pipeline guide rail type collaborative transport and installation robot according to claim 1, characterized in that: The first construction vehicle comprises a first vehicle body. A slide groove is provided at the bottom of the first vehicle body and is assembled and connected with a track. The first vehicle body can move along the track.

3. The deployable pipeline guide rail type collaborative transport and installation robot according to claim 2, characterized in that: The first vehicle body is provided with an energy storage component, which provides energy and power to the first construction vehicle through an energy storage battery.

4. The deployable pipeline rail type collaborative transport and installation robot according to claim 3, characterized in that: The first vehicle body is also provided with a first driving assembly, through which the speed and torque of the first construction vehicle are controlled.

5. The deployable pipeline guide rail type collaborative transport and installation robot according to claim 4, characterized in that: The first vehicle body is equipped with sensing sensors at both the front and rear ends for sensing the driving speed and front and rear obstacles. According to the sensed data, the first driving component is started through the control system to adjust the driving posture of the first construction vehicle.

6. The deployable pipeline rail type collaborative transport and installation robot according to claim 1, characterized in that: The second construction vehicle comprises a second vehicle body, and a sliding assembly is provided at the bottom of the second vehicle body, and the sliding assembly can drive the second vehicle body to move laterally.

7. The deployable pipeline guide rail type collaborative transport and installation robot according to claim 6, characterized in that: The slide assembly is equipped with a second drive assembly, and the second drive assembly drives and connects the slide assembly, and can drive the slide assembly to move laterally.

8. The deployable pipeline guide rail type collaborative transport and installation robot according to claim 1, characterized in that: The second construction vehicle is provided with a slide groove along the edge in the length direction for arranging a lifting bracket assembly. The lifting bracket assembly is arranged on the second construction vehicle and is connected with the pipeline to realize the lifting of the pipeline.

9. The deployable pipeline guide rail type collaborative transport and installation robot according to claim 8, characterized in that: Pipe supports are symmetrically arranged at the bottom of the pipeline, which are used to connect with the support beams to be constructed.

10. A construction method of a deployable pipeline rail type cooperative transport and installation robot, characterized in that: The construction method comprises the following steps: Step 1: Measurement and processing: Process the pipes and pipe supports according to the actual situation on site, and fix the pipes and pipe supports by spot welding before leaving the factory; Step 2: Prefabricated support column installation: Lay out the lines through 3D scanning and install the pipe support columns; Step 3: Pipeline hoisting: Use lifting equipment outside the pipe gallery to hoist the prefabricated pipe onto the lifting platform of the second construction vehicle and fix it through the clamping slot; Step 4: Pipeline transportation: Using the remote control system, control the first construction vehicle to transport the pipeline to the designated location; Step 5: Side Shift Bracket Installation: After the trolley arrives at the pipeline installation position, the side-shift bracket is unfolded and temporarily fixed to the first construction vehicle, and the trolley is moved sideways to the installation bracket; Step 6: Lifting bracket installation: After arriving at the pipeline installation location, the X-lifting frame on the trolley lifts the pipeline above the preset height of the beam, and the transport and installation tooling vehicle presents a high-position posture; Step 7: Crossbar Installation: The support beam is set on the top of the column and bolted, and the top of the support beam is connected to the pipe support accordingly; Step 8: Pipeline placement: The pipeline is bolted to the crossbeam through pipe supports, the X-lift frame is lowered, and the intelligent all-terrain vertically deployable pipeline transport and installation tooling vehicle is retracted to a low position.

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