Robot for pipeline installation of driving working face

Abstract

The invention relates to the technical field of coal mine underground auxiliary operation equipment, in particular to a robot for installing a driving face pipeline, which comprises a robot walking chassis, a pipeline grabbing and lifting device, an operation platform and a pipeline bin. Supporting legs are arranged below the robot walking chassis, and a roadway side wall monitoring camera and a pipeline bin monitoring camera are installed on the front frame. The pipeline grabbing and lifting device comprises a mechanical arm, a multifunctional mechanical claw and a lifting sleeve and can grab and install a pipeline. The operation platform facilitates manual auxiliary pipeline connection, the pipeline partition plate and the clamping oil cylinder are arranged in the pipeline bin, the pipeline is prevented from moving, and it is guaranteed that the pipeline is stable during transportation. By automatically grabbing and installing the pipeline, the labor intensity of workers is remarkably reduced, the operation efficiency is improved, and the pipeline installation robot is particularly suitable for installation of pipelines of multiple specifications in a narrow space of a tunneling face and has both safety and adaptability.

Description

Technical Field

[0001] The invention relates to the technical field of underground auxiliary operation equipment in coal mines, and in particular to a robot used for installing pipelines on an excavation working face. Background Art

[0002] With the expansion of coal mining, the demand for underground water supply and drainage, slurry drainage, ventilation, gas drainage and other pipelines has increased, and the types and specifications of pipelines vary, making installation and laying difficult. At present, the main method of pipeline installation is manual transportation, and then the pipeline is manually lifted to the side wall joist or bracket for installation. Because the weight of the pipeline ranges from tens of kilograms to hundreds of kilograms, the labor intensity is high, the entire pipeline installation process is inefficient, and there are safety hazards.

[0003] Currently available pipeline grabbing vehicles and pipeline installation vehicles are mostly only suitable for pipeline installation in large tunnels, because large tunnels have larger spaces and are convenient for mechanized equipment to operate. However, the pipelines on the excavation face are usually arranged on one side of the belt conveyor, and the space is relatively small. Conventional pipeline installation equipment cannot perform pipeline installation operations on the excavation face. Summary of the invention

[0004] The purpose of the present invention is to provide a robot for installing pipelines on an excavation working face, which can solve the problems of high labor intensity, low installation efficiency and great safety hazards in manual installation. At the same time, it can complete the pipeline installation work in a small space, thereby improving the pipeline installation quality and efficiency.

[0005] To achieve the above-mentioned purpose, the present invention provides a robot for installing pipelines on an excavation working face, comprising a robot walking chassis, a pipeline grabbing device, an operating platform and a pipeline bin, wherein support legs are arranged below the robot walking chassis, the robot walking chassis comprises a front frame and a rear frame fixedly connected to the front frame, a tunnel side wall monitoring camera and a pipeline bin monitoring camera are arranged on the front frame, and the pipeline grabbing device, the operating platform and the pipeline bin are all arranged above the rear frame;

[0006] The pipeline grabbing device comprises a pipeline grabbing mechanical arm upper arm, a pipeline grabbing mechanical arm lower arm, a mechanical hand swing joint, a multifunctional mechanical claw, a lifting sleeve and a slide rail, wherein the slide rail is fixed to the upper surface of the rear frame, a first support frame is fixedly arranged on the side wall of the lifting sleeve, one end of the pipeline grabbing mechanical arm upper arm is hinged to the upper end of the first support frame, and the other end is slidably connected to the pipeline grabbing mechanical arm lower arm, the pipeline grabbing mechanical arm lower arm is connected to the mechanical hand swing joint, the multifunctional mechanical claw is arranged below the mechanical hand swing joint, and the rotation center of the multifunctional mechanical claw is offset;

[0007] The operating platform is connected to the lifting sleeve.

[0008] Preferably, the bottom end and the top end of the lifting sleeve are respectively provided with a first rotary drive mechanism and a second rotary drive mechanism, the bottom of the first rotary drive mechanism is fixedly connected with a slider, and the lifting sleeve is slidably connected with the rear frame through the slider and the slide rail;

[0009] A first pitch adjustment cylinder is arranged between the main arm of the pipeline grabbing mechanical arm and the first supporting frame, one end of the first pitch adjustment cylinder is hinged to the first supporting frame, and the other end is hinged to the bottom of the main arm of the pipeline grabbing mechanical arm.

[0010] Preferably, the manipulator swing joint comprises a first swing joint and a second swing joint, the first swing joint and the second swing joint are connected via a first swing cylinder, and the first swing joint and the pipeline grabbing manipulator arm forearm are connected via a third rotary drive mechanism;

[0011] A fourth rotary drive mechanism is disposed at the lower end of the second swing joint, and the multifunctional mechanical claw is connected to the second swing joint via the fourth rotary drive mechanism.

[0012] Preferably, an operating platform turntable is disposed above the second rotary drive mechanism, and the operating platform turntable is fixedly connected to a second support frame;

[0013] The operating platform comprises an operating platform mechanical arm upper arm, an operating platform mechanical arm lower arm, a third swing joint and a standing bottom plate, one end of the operating platform mechanical arm upper arm is hinged to the upper end of the second supporting frame, and the other end is slidably connected to the operating platform mechanical arm lower arm;

[0014] The third swing joint is connected to the forearm of the operating platform mechanical arm through a second swing cylinder, and the standing base plate and the third swing joint are connected to each other through a fifth rotary drive mechanism.

[0015] Preferably, a second pitch adjustment cylinder is provided between the operating platform mechanical arm main arm and the second support frame, one end of the second pitch adjustment cylinder is hinged to the lower end of the second support frame, and the other end is hinged to the bottom end of the operating platform mechanical arm forearm;

[0016] A foldable guardrail is arranged above the standing bottom plate.

[0017] Preferably, the pipeline warehouse comprises a pipeline warehouse body, two pipeline partition plates and two pipeline clamping cylinders, and the pipeline partition plates are arranged inside the pipeline warehouse body and are slidably connected to the pipeline warehouse body;

[0018] One end of the pipeline clamping oil cylinder is fixedly connected to the pipeline bin body, and the other end is fixedly connected to the pipeline partition plate;

[0019] The two pipeline partition plates are driven by the two pipeline clamping cylinders respectively and move in opposite directions.

[0020] Preferably, the multifunctional mechanical claw comprises a mechanical claw connecting plate, a side claw transverse sliding rail, a first transverse push oil cylinder, a second transverse push oil cylinder, a fixed slide block, a first side claw, a second side claw and a middle claw, wherein the first side claw, the second side claw and the middle claw are all arranged below the mechanical claw connecting plate, and the mechanical claw connecting plate is fixedly connected to the fourth rotary drive mechanism;

[0021] One end of the first lateral push cylinder and the second lateral push cylinder are both fixed to the middle claw, and the other ends are fixedly connected to the first side claw and the second side claw respectively;

[0022] One end of the fixed sliding block is fixedly connected to the bottom of the mechanical claw connecting plate, and the other end is slidably connected to the side claw transverse sliding rail.

[0023] Preferably, the side claw transverse sliding rail comprises a first sliding rail, a second sliding rail, a third sliding rail and a fourth sliding rail, the first sliding rail and the fourth sliding rail are a group, and one end of each of the first sliding rail and the fourth sliding rail is respectively fixed at the two ends above the first side claw, the second sliding rail and the third sliding rail are a group, and one end of each of the second sliding rail and the third sliding rail is respectively fixed at the two ends above the second side claw;

[0024] The middle claw is fixedly connected to the mechanical claw connecting plate through a middle claw fixing plate.

[0025] Preferably, the first side claw comprises a first claw piece, a second claw piece, a side claw bottom plate, a claw piece clamping cylinder and a slider seat, the first claw piece and the second claw piece are both connected to the slider seat, the slider seat and the claw piece clamping cylinder are both arranged on the side claw bottom plate, one end of the claw piece clamping cylinder is fixedly connected to the side claw bottom plate, and the other end is connected to the push rod, the push rod passes through the interior of the slider seat and is slidably connected to the slider seat;

[0026] The push rod is provided with a pin shaft, the claw piece is provided with a claw piece inclined hole, and the pin shaft is clamped with the claw piece inclined hole.

[0027] Preferably, the second side claw and the middle claw have the same structure as the first side claw.

[0028] Therefore, the present invention provides a robot for installing pipelines on a tunneling working face, which has the following beneficial effects:

[0029] (1) A pipeline bin is set on the robot's walking chassis, and the pipelines to be installed are placed in the pipeline bin. After loading is completed, the robot goes down the well. During the pipeline installation stage, the robot can grab the pipeline from the pipeline bin through the pipeline grabbing device and install the pipeline, effectively reducing the configuration requirements of special transportation equipment in the underground operation system.

[0030] (2) Two pipeline clamping cylinders are arranged in the pipeline bin body. The two pipeline clamping cylinders push in opposite directions and respectively drive the two pipeline partition plates to move in opposite directions, thereby clamping the pipelines placed in the pipeline bin to prevent the pipelines from moving or falling out of the pipeline bin during transportation.

[0031] (3) By setting up a multifunctional mechanical claw to grasp the pipeline, three pipelines can be grasped at a time, which greatly improves the efficiency of pipeline installation. At the same time, under the action of the first lateral push cylinder and the second lateral push cylinder, the distance between the first side claw and the second side claw can be adjusted, thereby adjusting the distance between the grasped pipelines, thereby improving the applicability of the multifunctional mechanical claw.

[0032] (4) By setting up pipeline warehouse monitoring cameras and tunnel side monitoring cameras, the pipeline color and pipeline position can be automatically identified, which facilitates the grabbing and installation of the pipeline grabbing device.

[0033] (5) The claw clamping cylinder is arranged longitudinally to realize the lateral clamping of the first side claw, the second side claw and the middle claw, thereby reducing the size of the mechanical claw. At the same time, the rotation center of the multifunctional mechanical claw is offset so that the mechanical claw can extend into the gap between the belt conveyor and the side wall, thereby realizing the installation of pipelines in a narrow gap. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 This is a schematic structural diagram of a robot used for installing pipelines on an excavation working face in an embodiment of the present invention;

[0035] Figure 2 It is a schematic diagram of the overall structure of the pipeline grabbing device and the operating platform in an embodiment of the present invention;

[0036] Figure 3 This is a schematic diagram of the structure of the pipeline bin in an embodiment of the present invention;

[0037] Figure 4 It is a schematic diagram of the structure of the pipeline grabbing device in an embodiment of the present invention;

[0038] Figure 5 This is a schematic diagram of the structure of the operating platform in an embodiment of the present invention;

[0039] Figure 6 This is a schematic diagram of the structure of the multifunctional mechanical claw in an embodiment of the present invention;

[0040] Figure 7Schematic diagram of the structure of the first side claw in an embodiment of the present invention;

[0041] Figure 8 This is a flow chart of the robot automatically identifying and grasping a pipeline in an embodiment of the present invention;

[0042] Fig. 9 This is a working diagram of a robot used for installing pipelines on an excavation working face according to an embodiment of the present invention.

[0043] Reference numerals

[0044] 1. Robot walking chassis; 101. Front frame; 102. Rear frame; 103. Support legs; 2. Pipeline grabbing device; 201. Pipeline grabbing robot arm arm; 202. Pipeline grabbing robot arm forearm; 203. Robot arm swing joint; 2031. First swing joint; 2032. Second swing joint; 204. Lifting sleeve; 205. Slide rail; 206. Slider; 3. First support frame; 301. First rotary drive mechanism; 302. Second rotary drive mechanism; 4, multifunctional mechanical claw; 401, mechanical claw connecting plate; 402, side claw transverse sliding rail; 4021, first sliding rail; 4022, second sliding rail; 4023, third sliding rail; 4024, fourth sliding rail; 403, first transverse push oil cylinder; 404, second transverse push oil cylinder; 405, first side claw; 406, second side claw; 407, middle claw; 408, fixed slider; 5, operating platform; 501, operating platform Robot arm arm; 502, operating platform robot arm forearm; 503, third swing joint; 504, standing bottom plate; 6, pipeline warehouse; 601, pipeline warehouse body; 602, pipeline partition plate; 603, pipeline clamping cylinder; 7, tunnel side monitoring camera; 8, pipeline warehouse monitoring camera; 9, first pitch adjustment cylinder; 10, first swing cylinder; 11, third rotary drive mechanism; 12, fourth rotary drive mechanism; 13, operating platform turntable; 14 , the second support frame; 15, the second swing cylinder; 16, the fifth rotary drive mechanism; 17, the second pitch adjustment cylinder; 18, the foldable guardrail; 19, the middle claw fixing plate; 20, the first claw piece; 21, the second claw piece; 22, the side claw bottom plate; 23, the claw piece clamping cylinder; 24, the slider seat; 25, the pin shaft; 26, the claw piece inclined hole; 27, the push rod; 28, the side help; 29, the belt conveyor; 30, the lower pipeline bracket; 31, the top pipeline bracket. DETAILED DESCRIPTION

[0045] The technical solution of the present invention is further described below through the accompanying drawings and embodiments.

[0046] Unless otherwise defined, the technical terms or scientific terms used in the present invention should be understood by people with ordinary skills in the field to which the present invention belongs. The words "first", "second" and similar words used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. "Include" or "comprise" and similar words mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0047] Example

[0048] like Figure 1-8 As shown, an embodiment of the present invention is a robot for installing pipelines in an excavation working face, including a robot walking chassis 1, a pipeline grabbing device 2, an operating platform 5 and a pipeline bin 6. Support legs 103 are arranged below the robot walking chassis 1. The robot walking chassis 1 includes a front frame 101 and a rear frame 102 fixedly connected to the front frame 101. A tunnel side wall monitoring camera 7 and a pipeline bin monitoring camera 8 are arranged on the front frame 101. The pipeline grabbing device 2, the operating platform 5 and the pipeline bin 6 are all arranged above the rear frame 102. Figure 8 The figure is a flow chart of the robot automatically identifying and grabbing pipelines, wherein the pipeline bin monitoring camera 8 is used to identify pipelines of different colors and position coordinates in the pipeline bin 6, and the robot arm is controlled to grab pipelines of corresponding colors according to the colors of pipelines to be installed in the lane. The lane side monitoring camera 7 is used to identify the colors of existing pipelines in the lane, so as to determine the color of the next pipeline to be installed.

[0049] The pipeline grabbing device 2 includes a pipeline grabbing robot arm upper arm 201, a pipeline grabbing robot arm lower arm 202, a robot arm swing joint 203, a multifunctional robot claw 4, a lifting sleeve 204 and a slide rail 205. The slide rail 205 is fixed on the upper surface of the rear frame 102. A first support frame 3 is fixedly arranged on the side wall of the lifting sleeve 204. One end of the pipeline grabbing robot arm upper arm 201 is hinged to the upper end of the first support frame 3, and the other end is slidingly connected to the pipeline grabbing robot arm lower arm 202. The pipeline grabbing robot arm lower arm 202 is connected to the robot arm swing joint 203. The multifunctional robot claw 4 is arranged below the robot arm swing joint 203, and the rotation center of the multifunctional robot claw 4 is offset.

[0050] The operating platform 5 is connected to the lifting sleeve 204, and the operating platform 5 is used for operators to stand, so as to facilitate manual assistance in completing the connection between pipelines.

[0051] The bottom and top ends of the lifting sleeve 204 are respectively provided with a first rotary drive mechanism 301 and a second rotary drive mechanism 302. The first rotary drive mechanism 301 can drive the pipeline grabbing device 2 and the operating platform 5 to rotate. The bottom of the first rotary drive mechanism 301 is fixedly connected with a slider 206. The lifting sleeve 204 is slidably connected to the rear frame 102 through the slider 206 and the slide rail 205. The slider 206 slides on the slide rail 205, which can drive the entire pipeline grabbing device 2 to move and expand the grabbing range.

[0052] A first pitch adjustment cylinder 9 is arranged between the pipeline grabbing robot arm boom 201 and the first support frame 3. One end of the first pitch adjustment cylinder 9 is hinged to the first support frame 3, and the other end is hinged to the bottom of the pipeline grabbing robot arm boom 201. The first pitch adjustment cylinder 9 can control the pitch angle of the pipeline grabbing robot arm.

[0053] The manipulator swing joint 203 includes a first swing joint 2031 and a second swing joint 2032, the first swing joint 2031 and the second swing joint 2032 are connected through a first swing oil cylinder 10, the first swing joint 2031 and the pipeline grabbing manipulator arm 202 are connected through a third rotary drive mechanism 11, the lower end of the second swing joint 2032 is provided with a fourth rotary drive mechanism 12, and the multifunctional mechanical claw 4 is connected to the second swing joint 2032 through the fourth rotary drive mechanism 12. The first swing joint 2031, the second swing joint 2032 and the fourth rotary drive mechanism 12 can control the multifunctional mechanical claw 4 to rotate in three directions.

[0054] An operating platform turntable 13 is arranged above the second rotary drive mechanism 302. The second rotary drive mechanism 302 can drive the operating platform 5 to rotate independently. The operating platform turntable 13 is fixedly connected to the second support frame 14. The operating platform 5 includes an operating platform robotic arm upper arm 501, an operating platform robotic arm lower arm 502, a third swing joint 503 and a standing base plate 504. One end of the operating platform robotic arm upper arm 501 is hinged to the upper end of the second support frame 14, and the other end is slidably connected to the operating platform robotic arm lower arm 502.

[0055] The third swing joint 503 is connected to the operating platform mechanical arm forearm 502 via the second swing cylinder 15 , and the standing base plate 504 and the third swing joint 503 are connected to each other via the fifth rotary drive mechanism 16 .

[0056] A second pitch adjustment cylinder 17 is arranged between the operating platform robotic arm upper arm 501 and the second support frame 14. One end of the second pitch adjustment cylinder 17 is hinged to the lower end of the second support frame 14, and the other end is hinged to the bottom end of the operating platform robotic arm lower arm 502. The second pitch adjustment cylinder 17 can adjust the pitch angle of the operating platform 5.

[0057] A foldable guardrail 18 is provided above the standing bottom plate 504 .

[0058] The pipeline bin 6 includes a pipeline bin body 601, two pipeline partition plates 602 and two pipeline clamping cylinders 603. The pipeline partition plates 602 are arranged inside the pipeline bin body 601 and are slidably connected to the pipeline bin body 601. One end of the pipeline clamping cylinder 603 is fixedly connected to the pipeline bin body 601, and the other end is fixedly connected to the pipeline partition plates 602. The two pipeline partition plates 602 move in opposite directions under the drive of the two pipeline clamping cylinders 603.

[0059] The multifunctional mechanical claw 4 includes a mechanical claw connecting plate 401, a side claw transverse slide rail 402, a first transverse push cylinder 403, a second transverse push cylinder 404, a fixed slider 408, a first side claw 405, a second side claw 406 and a middle claw 407. The first side claw 405, the second side claw 406 and the middle claw 407 are all arranged below the mechanical claw connecting plate 401, and the mechanical claw connecting plate 401 is fixedly connected to the fourth rotary drive mechanism 12.

[0060] One end of the first lateral pushing cylinder 403 and the second lateral pushing cylinder 404 are fixed to the middle claw 407, and the other end is fixedly connected to the first side claw 405 and the second side claw 406 respectively. One end of the fixed slider 408 is fixedly connected to the bottom of the mechanical claw connecting plate 401, and the other end is slidably connected to the side claw transverse sliding rail 402.

[0061] The side claw transverse slide rail 402 includes a first slide rail 4021, a second slide rail 4022, a third slide rail 4023 and a fourth slide rail 4024. The first slide rail 4021 and the fourth slide rail 4024 are a group, and one end is respectively fixed to the two ends above the first side claw 405. The second slide rail 4022 and the third slide rail 4023 are a group, and one end is respectively fixed to the two ends above the second side claw 406.

[0062] The middle claw 407 is fixedly connected to the mechanical claw connecting plate 401 via the middle claw fixing plate 19 .

[0063] The multifunctional mechanical claw 4 in the embodiment of the present invention can grab three pipes at a time, which improves the work efficiency by 300% compared with the traditional single-pipe operation. Under the push of the first lateral push cylinder 403 and the second lateral push cylinder 404, the distance between the first side claw 405 and the second side claw 406 is adjusted to achieve the distance of grabbing the pipes. For example, the pipe bin is loaded with pipes with a diameter of 280 mm, and the center distance between adjacent pipes in the pipe bin is 140 mm. The pipes in the pipe bin 6 are grabbed. At this time, the distance between the first side claw 405 and the second side claw 406 is 208 mm. However, since the distance between the pipe brackets on the installation side is 300 mm, it is necessary to start the first lateral push cylinder 403 and the second lateral push cylinder 404 to adjust the distance between the first side claw 405 and the second side claw 406 to 600 mm, that is, the center distance between adjacent pipes is 300 mm.

[0064] The first side claw 405 includes a first claw piece 20, a second claw piece 21, a side claw bottom plate 22, a claw piece clamping cylinder 23 and a slider seat 24. The first claw piece 20 and the second claw piece 21 are both connected to the slider seat 24. The slider seat 24 and the claw piece clamping cylinder 23 are both arranged on the side claw bottom plate 22. One end of the claw piece clamping cylinder 23 is fixedly connected to the side claw bottom plate 22, and the other end is connected to the push rod 27. The push rod 27 passes through the interior of the slider seat 24 and is slidably connected to the slider seat 24. A pin shaft 25 is arranged on the push rod 27. The first claw piece 20 and the second claw piece 21 are both provided with a claw piece oblique hole 26, and the pin shaft 25 is clamped with the claw piece oblique hole 26. The claw clamping oil cylinder 23 drives the pin 25 on the push rod 27 to move longitudinally along the inside of the slider seat 24. Since the pin 25 on the push rod 27 contacts the claw inclined hole 26, the pin 25 slides in the claw inclined hole 26, so that the first side claw 405 and the second side claw 406 move to both sides under the action of the pin 25. The second side claw 406 and the middle claw 407 have the same structure as the first side claw 405. The first side claw 405, the second side claw 406 and the middle claw 407 in the embodiment of the present invention realize the horizontal clamping action of the claw by longitudinally arranging the claw clamping oil cylinder 23.

[0065] Fig. 9 This is a working condition diagram of a robot for installing pipelines on an excavation working face according to an embodiment of the present invention. A belt conveyor 29 is arranged between the side wall 28 and the robot, and a lower pipeline support 30 and a top pipeline support 31 are arranged on the side wall 28. The gap between the side wall 28 and the belt conveyor 29 is small, and a traditional mechanical claw cannot grab the pipeline to this position. Because the rotation center of the multifunctional mechanical claw 4 is offset, the multifunctional mechanical claw 4 can extend to the lower pipeline support 30 on the side close to the belt conveyor 29.

[0066] The implementation process of the robot for installing pipelines on a tunneling working face using the above structure is as follows:

[0067] S1. The robot loads the pipeline from the ground, and the pipeline is placed in the pipeline bin manually or by a pipeline grabbing robot arm.

[0068] S2. The robot transports the pipeline to the location underground where the pipeline needs to be installed, unfolds the support legs, and prepares to install the pipeline.

[0069] S3. The robot uses the monitoring camera on the side of the tunnel to identify the installation status of the pipelines on both sides of the tunnel and determine the color and location of the pipelines to be installed.

[0070] S4. The pipeline warehouse monitoring camera identifies the location of the pipeline of the required installation color, and then controls the multifunctional mechanical claw to grab the pipeline from top to bottom and from left to right, and adjusts the distance between the first side claw and the second side claw.

[0071] S5. Control the pipeline grabbing robot arm to place the pipeline on the pipeline mounting bracket in the laneway, control the operating platform to move to the corresponding position, and complete the pipeline connection with manual assistance.

[0072] S6. Repeat S2-S5 until all pipelines in the pipeline bin are installed.

[0073] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that they can still modify or replace the technical solution of the present invention with equivalents, and these modifications or equivalent replacements cannot cause the modified technical solution to deviate from the spirit and scope of the technical solution of the present invention.

Claims

1. A robot for installing pipelines on a tunneling working face, characterized in that: It includes a robot walking chassis, a pipeline grabbing device, an operating platform and a pipeline warehouse. A supporting leg is arranged below the robot walking chassis. The robot walking chassis includes a front frame and a rear frame fixedly connected to the front frame. A lane side monitoring camera and a pipeline warehouse monitoring camera are arranged on the front frame. The pipeline grabbing device, the operating platform and the pipeline warehouse are all arranged above the rear frame. The pipeline grabbing device comprises a pipeline grabbing mechanical arm upper arm, a pipeline grabbing mechanical arm lower arm, a mechanical hand swing joint, a multifunctional mechanical claw, a lifting sleeve and a slide rail, wherein the slide rail is fixed to the upper surface of the rear frame, a first support frame is fixedly arranged on the side wall of the lifting sleeve, one end of the pipeline grabbing mechanical arm upper arm is hinged to the upper end of the first support frame, and the other end is slidably connected to the pipeline grabbing mechanical arm lower arm, the pipeline grabbing mechanical arm lower arm is connected to the mechanical hand swing joint, the multifunctional mechanical claw is arranged below the mechanical hand swing joint, and the rotation center of the multifunctional mechanical claw is offset; The operating platform is connected to the lifting sleeve.

2. A robot for installing pipelines on an excavation working face according to claim 1, characterized in that: The bottom and top ends of the lifting sleeve are respectively provided with a first rotary drive mechanism and a second rotary drive mechanism, the bottom of the first rotary drive mechanism is fixedly connected with a slider, and the lifting sleeve is slidably connected with the rear frame through the slider and the slide rail; A first pitch adjustment cylinder is arranged between the main arm of the pipeline grabbing mechanical arm and the first supporting frame, one end of the first pitch adjustment cylinder is hinged to the first supporting frame, and the other end is hinged to the bottom of the main arm of the pipeline grabbing mechanical arm.

3. A robot for installing pipelines on a tunneling working face according to claim 1, characterized in that: The manipulator swing joint comprises a first swing joint and a second swing joint, the first swing joint and the second swing joint are connected via a first swing cylinder, and the first swing joint and the pipeline grabbing manipulator arm forearm are connected via a third rotary drive mechanism; A fourth rotary drive mechanism is disposed at the lower end of the second swing joint, and the multifunctional mechanical claw is connected to the second swing joint via the fourth rotary drive mechanism.

4. A robot for installing pipelines on an excavation working face according to claim 2, characterized in that: An operating platform turntable is disposed above the second rotary drive mechanism, and the operating platform turntable is fixedly connected to a second support frame; The operating platform comprises an operating platform mechanical arm upper arm, an operating platform mechanical arm lower arm, a third swing joint and a standing bottom plate, one end of the operating platform mechanical arm upper arm is hinged to the upper end of the second supporting frame, and the other end is slidably connected to the operating platform mechanical arm lower arm; The third swing joint is connected to the forearm of the operating platform mechanical arm through a second swing cylinder, and the standing base plate and the third swing joint are connected to each other through a fifth rotary drive mechanism.

5. The robot for installing pipelines on an excavation working face according to claim 4, characterized in that: A second pitch adjustment cylinder is provided between the operating platform mechanical arm main arm and the second support frame, one end of the second pitch adjustment cylinder is hinged to the lower end of the second support frame, and the other end is hinged to the bottom end of the operating platform mechanical arm forearm; A foldable guardrail is arranged above the standing bottom plate.

6. The robot for installing pipelines on a tunneling working face according to claim 1, characterized in that: The pipeline warehouse comprises a pipeline warehouse body, two pipeline partition plates and two pipeline clamping oil cylinders, wherein the pipeline partition plates are arranged inside the pipeline warehouse body and are slidably connected with the pipeline warehouse body; One end of the pipeline clamping oil cylinder is fixedly connected to the pipeline bin body, and the other end is fixedly connected to the pipeline partition plate; The two pipeline partition plates are driven by the two pipeline clamping cylinders respectively and move in opposite directions.

7. The robot for installing pipelines on an excavation working face according to claim 3, characterized in that: The multifunctional mechanical claw comprises a mechanical claw connecting plate, a side claw transverse sliding rail, a first transverse push oil cylinder, a second transverse push oil cylinder, a fixed slider, a first side claw, a second side claw and a middle claw, wherein the first side claw, the second side claw and the middle claw are all arranged below the mechanical claw connecting plate, and the mechanical claw connecting plate is fixedly connected to the fourth rotary drive mechanism; One end of the first lateral push cylinder and the second lateral push cylinder are both fixed to the middle claw, and the other ends are fixedly connected to the first side claw and the second side claw respectively; One end of the fixed sliding block is fixedly connected to the bottom of the mechanical claw connecting plate, and the other end is slidably connected to the side claw transverse sliding rail.

8. The robot for installing pipelines on a tunneling working face according to claim 7, characterized in that: The side claw transverse sliding rail includes a first sliding rail, a second sliding rail, a third sliding rail and a fourth sliding rail, the first sliding rail and the fourth sliding rail are a group, and one end is respectively fixed to the two ends above the first side claw, the second sliding rail and the third sliding rail are a group, and one end is respectively fixed to the two ends above the second side claw; The middle claw is fixedly connected to the mechanical claw connecting plate through a middle claw fixing plate.

9. The robot for installing pipelines on a tunneling working face according to claim 8, characterized in that: The first side claw comprises a first claw piece, a second claw piece, a side claw bottom plate, a claw piece clamping cylinder and a slider seat, the first claw piece and the second claw piece are both connected to the slider seat, the slider seat and the claw piece clamping cylinder are both arranged on the side claw bottom plate, one end of the claw piece clamping cylinder is fixedly connected to the side claw bottom plate, and the other end is connected to a push rod, the push rod passes through the interior of the slider seat and is slidably connected to the slider seat; The push rod is provided with a pin shaft, the claw piece is provided with a claw piece inclined hole, and the pin shaft is clamped with the claw piece inclined hole.

10. The robot for installing pipelines on an excavation working face according to claim 9, characterized in that: The second side claw and the middle claw have the same structure as the first side claw.

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