A robot for pipe installation in tunneling faces

Abstract

This invention relates to the field of auxiliary operation equipment in coal mines, and particularly to a robot for installing pipelines in tunneling faces. The robot includes a robot chassis, a pipeline gripping device, an operating platform, and a pipeline compartment. Support legs are located beneath the robot chassis, and a roadway side monitoring camera and a pipeline compartment monitoring camera are mounted on the front frame. The pipeline gripping device includes a robotic arm, a multi-functional robotic claw, and a lifting sleeve, capable of gripping and installing pipelines. The operating platform facilitates manual pipeline connection, and the pipeline compartment is equipped with pipeline partitions and clamping cylinders to prevent pipeline movement and ensure pipeline stability during transport. This invention significantly reduces manual labor intensity and improves operational efficiency through automated pipeline gripping and installation. It is particularly suitable for installing multi-specification pipelines in the confined space of tunneling faces, combining safety and adaptability.

Description

Technical Field

[0001] This invention relates to the field of auxiliary operation equipment technology in coal mines, and in particular to a robot for installing pipelines in tunneling faces. Background Technology

[0002] With the expansion of coal mining operations, the demand for underground pipelines for water supply and drainage, slurry discharge, ventilation, and gas removal has increased. Furthermore, the variety of pipeline types and specifications makes installation and laying difficult. Currently, pipeline installation mainly relies on manual handling, where pipes are manually lifted onto side wall beams or brackets for installation. Because the weight of the pipelines ranges from tens to hundreds of kilograms, the labor intensity is high, the entire pipeline installation process is inefficient, and there are safety hazards.

[0003] Most existing pipeline lifting vehicles and pipeline installation vehicles are only suitable for pipeline installation in main roadways, where the space is large enough to facilitate mechanized equipment operations. However, pipelines in tunneling faces are usually arranged on one side of the belt conveyor, where the space is relatively small, and conventional pipeline installation equipment cannot perform pipeline installation operations in tunneling faces. Summary of the Invention

[0004] The purpose of this invention is to provide a robot for pipeline installation in tunneling faces, which can solve the problems of high labor intensity, low installation efficiency and high safety hazards of manual installation. At the same time, it can complete pipeline installation in confined spaces, thereby improving the quality and efficiency of pipeline installation.

[0005] To achieve the above objectives, the present invention provides a robot for pipeline installation in a tunneling face, comprising a robot chassis, a pipeline gripping device, an operating platform, and a pipeline compartment. The robot chassis has support legs located below it. The robot chassis includes a front frame and a rear frame fixedly connected to the front frame. The front frame is equipped with a roadway side monitoring camera and a pipeline compartment monitoring camera. The pipeline gripping device, the operating platform, and the pipeline compartment are all located above the rear frame.

[0006] The pipeline gripping device includes a pipeline gripping robotic arm upper arm, a pipeline gripping robotic arm lower arm, a robotic arm swing joint, a multi-functional robotic claw, a lifting sleeve, and a slide rail. The slide rail is fixed to the upper surface of the rear frame. A first support frame is fixedly installed on the side wall of the lifting sleeve. One end of the pipeline gripping robotic arm upper arm is hinged to the upper end of the first support frame, and the other end is slidably connected to the pipeline gripping robotic arm lower arm. The pipeline gripping robotic arm lower arm is connected to the robotic arm swing joint. The multi-functional robotic claw is located below the robotic arm swing joint, and the rotation center of the multi-functional robotic claw is offset.

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

[0008] Preferably, 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 to the rear frame through the slider and the slide rail;

[0009] A first pitch adjustment cylinder is provided between the main arm of the pipeline gripping robot and the first support frame. One end of the first pitch adjustment cylinder is hinged to the first support frame, and the other end is hinged to the bottom of the main arm of the pipeline gripping robot.

[0010] Preferably, the swing joint of the robotic arm includes a first swing joint and a second swing joint, the first swing joint and the second swing joint are connected by a first swing cylinder, and the first swing joint is connected to the forearm of the pipeline gripping robotic arm by a third rotary drive mechanism.

[0011] The lower end of the second swing joint is provided with a fourth rotary drive mechanism, and the multifunctional mechanical gripper is connected to the second swing joint through the fourth rotary drive mechanism.

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

[0013] The operating platform includes an upper arm of the operating platform robotic arm, a lower arm of the operating platform robotic arm, a third swing joint, and a standing base plate. One end of the upper arm of the operating platform robotic arm is hinged to the upper end of the second support frame, and the other end is slidably connected to the lower arm of the operating platform robotic arm.

[0014] The third swing joint is connected to the forearm of the robotic arm of the operating platform via the second swing cylinder, and the man-standing base plate is connected to the third swing joint via the fifth rotary drive mechanism.

[0015] Preferably, a second pitch adjustment cylinder is provided between the upper arm of the operating platform robotic 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 lower arm of the operating platform robotic arm.

[0016] A foldable guardrail is installed above the standing platform.

[0017] Preferably, the pipeline compartment includes a pipeline compartment body, two pipeline partition plates, and two pipeline clamping cylinders. The pipeline partition plates are disposed inside the pipeline compartment body and are slidably connected to the pipeline compartment body.

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

[0019] The two pipeline partition plates move in opposite directions under the drive of the two pipeline clamping cylinders.

[0020] Preferably, the multifunctional mechanical gripper includes a mechanical gripper connecting plate, a side gripper lateral slide rail, a first lateral pushing cylinder, a second lateral pushing cylinder, a fixed slider, a first side gripper, a second side gripper, and a middle gripper. The first side gripper, the second side gripper, and the middle gripper are all disposed below the mechanical gripper connecting plate, and the mechanical gripper connecting plate is fixedly connected to the fourth rotary drive mechanism.

[0021] One end of the first lateral pushing cylinder and the second lateral pushing cylinder are fixed to the middle claw, and the other end are fixedly connected to the first side claw and the second side claw, respectively.

[0022] One end of the fixed slider 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 slide rail includes a first slide rail, a second slide rail, a third slide rail and a fourth slide rail. The first slide rail and the fourth slide rail are a group, and one end of each is fixed to the upper two ends of the first side claw. The second slide rail and the third slide rail are a group, and one end of each is fixed to the upper two ends of the second side claw.

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

[0025] Preferably, the first side claw includes a first claw plate, a second claw plate, a side claw base plate, a claw plate clamping cylinder, and a slider seat. The first claw plate and the second claw plate are both connected to the slider seat. The slider seat and the claw plate clamping cylinder are both disposed on the side claw base plate. One end of the claw plate clamping cylinder is fixedly connected to the side claw base 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, and the claw is provided with a claw oblique hole. The pin is engaged with the claw oblique hole.

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

[0028] Therefore, the robot for pipeline installation in tunneling faces provided by the present invention has the following beneficial effects:

[0029] (1) By setting up a pipeline compartment on the robot's walking chassis, the pipeline to be installed is placed in the pipeline compartment. After loading, the robot goes down into the well. During the pipeline installation stage, the robot can grab the pipeline from the pipeline compartment through the pipeline grabbing device and install the pipeline, which effectively reduces the configuration requirements of special transportation equipment in the downhole operation system.

[0030] (2) By installing two pipe clamping cylinders inside the pipe compartment, the two pipe clamping cylinders push in opposite directions, respectively driving the two pipe partition plates to move in opposite directions, thereby clamping the pipes placed in the pipe compartment and preventing the pipes from moving or falling out of the pipe compartment during transportation.

[0031] (3) By setting up a multi-functional mechanical claw to grip the pipeline, three pipelines can be gripped at once, which greatly improves the pipeline installation efficiency. At the same time, under the action of the first and second lateral push cylinders, the distance between the first and second side claws can be adjusted, thereby adjusting the distance of the gripped pipelines and improving the applicability of the multi-functional mechanical claw.

[0032] (4) By setting up pipeline compartment monitoring cameras and roadway side monitoring cameras, the pipeline color and pipeline location 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 achieve the lateral clamping of the first side claw, the second side claw and the middle claw, which reduces the size of the mechanical claw. At the same time, the rotation center of the multi-functional mechanical claw is set in an offset manner, so that the mechanical claw can extend into the gap between the belt conveyor and the side support, and realize the installation of pipelines in the narrow gap. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of the structure of a robot used for pipeline installation in a tunneling face, according to an embodiment of the present invention.

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

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

[0037] Figure 4 This is a schematic diagram of the pipeline lifting device in an embodiment of the present invention;

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

[0040] Figure 7This is a schematic diagram of the structure of the first side claw in an embodiment of the present invention;

[0041] Figure 8 This is a flowchart illustrating the automatic identification and grasping of pipelines by a robot in an embodiment of the present invention;

[0042] Figure 9 This is a diagram illustrating the working conditions of a robot used for pipeline installation in a tunneling face, according to an embodiment of the present invention.

[0043] Figure Labels

[0044] 1. Robot chassis; 101. Front frame; 102. Rear frame; 103. Support leg; 2. Pipeline gripping device; 201. Pipeline gripping robotic arm upper arm; 202. Pipeline gripping robotic arm lower arm; 203. Robotic 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. 4. Second rotary drive mechanism; 4. Multifunctional mechanical gripper; 401. Mechanical gripper connecting plate; 402. Side gripper transverse slide rail; 4021. First slide rail; 4022. Second slide rail; 4023. Third slide rail; 4024. Fourth slide rail; 403. First transverse pushing cylinder; 404. Second transverse pushing cylinder; 405. First side gripper; 406. Second side gripper; 407. Middle gripper; 408. Fixed slider; 5. Operating platform; 501. Operating platform 502. Robotic arm upper arm; 503. Robotic arm lower arm of operating platform; 504. Third swing joint; 505. Personnel stand base plate; 6. Pipeline compartment; 601. Pipeline compartment body; 602. Pipeline partition plate; 603. Pipeline clamping cylinder; 7. Lane side monitoring camera; 8. Pipeline compartment 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. 15. Second swing cylinder; 16. Fifth rotary drive mechanism; 17. Second pitch adjustment cylinder; 18. Foldable guardrail; 19. Middle claw fixing plate; 20. First claw plate; 21. Second claw plate; 22. Side claw bottom plate; 23. Claw clamping cylinder; 24. Slider seat; 25. Pin shaft; 26. Claw plate oblique hole; 27. Push rod; 28. Side support; 29. ​​Belt conveyor; 30. Lower pipeline support; 31. Top pipeline support. Detailed Implementation

[0045] The technical solution of the present invention will be further described below with reference to the accompanying drawings and embodiments.

[0046] Unless otherwise defined, the technical or scientific terms used in this invention shall have the ordinary meaning understood by one of ordinary skill in the art to which this invention pertains. The terms "first," "second," and similar terms used in this invention do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects. Terms such as "upper," "lower," "left," and "right" are used only 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 in the figure, an embodiment of the present invention provides a robot for installing pipelines in a tunneling face, comprising a robot chassis 1, a pipeline gripping device 2, an operating platform 5, and a pipeline compartment 6. Support legs 103 are provided below the robot chassis 1. The robot chassis 1 includes a front frame 101 and a rear frame 102 fixedly connected to the front frame 101. A roadway side monitoring camera 7 and a pipeline compartment monitoring camera 8 are provided on the front frame 101. The pipeline gripping device 2, the operating platform 5, and the pipeline compartment 6 are all located above the rear frame 102. Figure 8 The flowchart shows the robot's automatic identification and grasping of pipelines. The pipeline compartment monitoring camera 8 is used to identify the different colored pipelines and their location coordinates in the pipeline compartment 6. The robot arm is controlled to grasp the pipeline of the corresponding color according to the color of the pipeline to be installed in the tunnel. The tunnel side monitoring camera 7 is used to identify the color of the existing pipelines in the tunnel, thereby determining the color of the next pipeline to be installed.

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

[0050] The operating platform 5 is connected to the lifting sleeve 204. The operating platform 5 is used for the operator to stand upright, which facilitates manual assistance in completing the connection between pipelines.

[0051] The bottom and top 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 to 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 provided between the main arm 201 of the pipeline gripping robot 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 main arm 201 of the pipeline gripping robot. The first pitch adjustment cylinder 9 can control the pitch angle of the pipeline gripping robot.

[0053] The robotic arm's 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 by a first swing cylinder 10. The first swing joint 2031 is connected to the forearm 202 of the pipeline gripping robotic arm via a third rotary drive mechanism 11. A fourth rotary drive mechanism 12 is provided at the lower end of the second swing joint 2032. The multi-functional robotic gripper 4 is connected to the second swing joint 2032 via 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 multi-functional robotic gripper 4 to rotate in three directions.

[0054] An operating platform turntable 13 is provided 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 the upper arm 501 of the operating platform robotic arm, the lower arm 502 of the operating platform robotic arm, the third swing joint 503, and the standing base plate 504. One end of the upper arm 501 of the operating platform robotic arm is hinged to the upper end of the second support frame 14, and the other end is slidably connected to the lower arm 502 of the operating platform robotic arm.

[0055] The third swing joint 503 is connected to the forearm 502 of the robotic arm on the operating platform via the second swing cylinder 15, and the man-standing base plate 504 is connected to the third swing joint 503 via the fifth rotary drive mechanism 16.

[0056] A second pitch adjustment cylinder 17 is provided between the upper arm 501 of the operating platform robotic arm 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 lower arm 502 of the operating platform robotic arm. The second pitch adjustment cylinder 17 can adjust the pitch angle of the operating platform 5.

[0057] A foldable guardrail 18 is installed above the standing base plate 504.

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

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

[0060] One end of the first transverse pushing cylinder 403 and the second transverse pushing cylinder 404 are fixed to the middle jaw 407, and the other end is fixedly connected to the first side jaw 405 and the second side jaw 406 respectively. One end of the fixed slider 408 is fixedly connected to the bottom of the mechanical jaw connecting plate 401, and the other end is slidably connected to the side jaw 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 of each is fixed to the upper two ends of the first side claw 405. The second slide rail 4022 and the third slide rail 4023 are a group, and one end of each is fixed to the upper two ends of the second side claw 406.

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

[0063] The multifunctional mechanical claw 4 in this embodiment of the invention can grasp three pipes at a time, improving work efficiency by 300% compared to traditional single-pipe operations. Furthermore, under the push of the first lateral pushing cylinder 403 and the second lateral pushing cylinder 404, the distance between the first side claw 405 and the second side claw 406 is adjusted to achieve the desired pipe spacing. For example, if the pipe compartment contains pipes with a diameter of 280mm and the center-to-center distance between adjacent pipes in the compartment is 140mm, when grasping the pipes in the compartment, the distance between the first side claw 405 and the second side claw 406 is 208mm. However, since the pipe supports on the mounting side are spaced 300mm apart, the first lateral pushing cylinder 403 and the second lateral pushing cylinder 404 need to be activated to adjust the distance between the first side claw 405 and the second side claw 406 to 600mm, i.e., the center-to-center distance between adjacent pipes is 300mm.

[0064] The first side claw 405 includes a first claw piece 20, a second claw piece 21, a side claw base 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 mounted on the side claw base plate 22. One end of the claw piece clamping cylinder 23 is fixedly connected to the side claw base 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 25 is provided on the push rod 27. The first claw piece 20 and the second claw piece 21 are both provided with claw piece oblique holes 26. The pin 25 is engaged with the claw piece oblique holes 26. The claw clamping cylinder 23 drives the pin 25 on the push rod 27 to move longitudinally along the interior of the slider seat 24. Because the pin 25 on the push rod 27 contacts the claw oblique hole 26, the pin 25 slides within the claw oblique hole 26, causing the first side claw 405 and the second side claw 406 to 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. In this embodiment of the invention, the first side claw 405, the second side claw 406, and the middle claw 407 achieve the lateral clamping action of the claw by longitudinally arranging the claw clamping cylinder 23.

[0065] Figure 9 This is a working diagram of a robot for installing pipelines in a tunneling face according to an embodiment of the present invention. A belt conveyor 29 is provided between the side wall 28 and the robot. A lower pipeline support 30 and a top pipeline support 31 are provided on the side wall 28. The gap between the side wall 28 and the belt conveyor 29 is small. Traditional mechanical claws cannot lift the pipeline to this position. Because the rotation center of the multi-functional mechanical claw 4 is set in an offset manner, the multi-functional mechanical claw 4 can extend to the lower lower pipeline support 30 on the side closer to the belt conveyor 29.

[0066] The implementation process of a robot for pipeline installation in a tunneling face using the above-described structure is as follows:

[0067] S1. The robot loads the pipeline from the ground, and the pipeline is placed in the pipeline compartment by a person or a pipeline gripping robotic arm.

[0068] S2. The robot transports the pipeline to the location downhole where it needs to be installed, and its support legs extend, ready for pipeline installation.

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

[0070] S4. The pipeline compartment monitoring camera identifies the location of the pipeline of the required installation color, and then controls the multi-functional mechanical claw to grab the pipeline in a top-down and left-to-right sequence, adjusting the distance between the first and second side claws.

[0071] S5. Control the pipeline gripping robotic arm to place the pipeline on the pipeline installation bracket in the roadway, control the operating platform to move to the corresponding position, and manually assist in completing the pipeline connection.

[0072] S6. Repeat S2-S5 until all pipes in the pipe compartment are installed.

[0073] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the technical solutions of the present invention, and these modifications or equivalent substitutions cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. A robot for installing pipelines in a tunneling face, characterized in that: The system includes a robot chassis, a pipeline gripping device, an operating platform, and a pipeline compartment. The robot chassis has support legs underneath and includes a front frame and a rear frame fixedly connected to the front frame. The front frame is equipped with a roadway side monitoring camera and a pipeline compartment monitoring camera. The pipeline gripping device, the operating platform, and the pipeline compartment are all located above the rear frame. The pipeline gripping device includes a pipeline gripping robotic arm upper arm, a pipeline gripping robotic arm lower arm, a robotic arm swing joint, a multi-functional robotic claw, a lifting sleeve, and a slide rail. The slide rail is fixed to the upper surface of the rear frame. A first support frame is fixedly installed on the side wall of the lifting sleeve. One end of the pipeline gripping robotic arm upper arm is hinged to the upper end of the first support frame, and the other end is slidably connected to the pipeline gripping robotic arm lower arm. The pipeline gripping robotic arm lower arm is connected to the robotic arm swing joint. The multi-functional robotic claw is located below the robotic arm swing joint, and the rotation center of the multi-functional robotic claw is offset. The operating platform is connected to the lifting sleeve; The bottom and top 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 to a slider, and the lifting sleeve is slidably connected to the rear frame through the slider and the slide rail. A first pitch adjustment cylinder is provided between the upper arm of the pipeline gripping robot arm and the first support frame. One end of the first pitch adjustment cylinder is hinged to the first support frame, and the other end is hinged to the bottom of the upper arm of the pipeline gripping robot arm. The robotic arm swing joint includes a first swing joint and a second swing joint. The first swing joint and the second swing joint are connected by a first swing cylinder. The first swing joint is connected to the forearm of the pipeline gripping robotic arm through a third rotary drive mechanism. The lower end of the second swing joint is provided with a fourth rotary drive mechanism, and the multifunctional mechanical gripper is connected to the second swing joint through the fourth rotary drive mechanism; An operating platform turntable is provided above the second rotary drive mechanism, and a second support frame is fixedly connected to the operating platform turntable; The operating platform includes an upper arm of the operating platform robotic arm, a lower arm of the operating platform robotic arm, a third swing joint, and a standing base plate. One end of the upper arm of the operating platform robotic arm is hinged to the upper end of the second support frame, and the other end is slidably connected to the lower arm of the operating platform robotic arm. The third swing joint is connected to the forearm of the robotic arm of the operating platform via the second swing cylinder, and the man-standing base plate is connected to the third swing joint via the fifth rotary drive mechanism; The pipeline compartment includes a pipeline compartment body, two pipeline partition plates, and two pipeline clamping cylinders. The pipeline partition plates are disposed inside the pipeline compartment body and are slidably connected to the pipeline compartment body. One end of the pipeline clamping cylinder is fixedly connected to the pipeline compartment body, and the other end is fixedly connected to the pipeline partition plate; The two pipeline partition plates move in opposite directions under the drive of the two pipeline clamping cylinders.

2. The robot for pipeline installation in a tunneling face according to claim 1, characterized in that: A second pitch adjustment cylinder is provided between the upper arm of the robotic arm of the operating platform 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 lower arm of the robotic arm of the operating platform. A foldable guardrail is installed above the standing platform.

3. The robot for pipeline installation in a tunneling face according to claim 2, characterized in that: The multifunctional mechanical gripper includes a mechanical gripper connecting plate, a side gripper transverse slide rail, a first transverse pushing cylinder, a second transverse pushing cylinder, a fixed slider, a first side gripper, a second side gripper, and a middle gripper. The first side gripper, the second side gripper, and the middle gripper are all located below the mechanical gripper connecting plate. The mechanical gripper connecting plate is fixedly connected to the fourth rotary drive mechanism. One end of the first lateral pushing cylinder and the second lateral pushing cylinder are fixed to the middle claw, and the other end are fixedly connected to the first side claw and the second side claw, respectively. One end of the fixed slider 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.

4. The robot for pipeline installation in a tunneling face according to claim 3, characterized in that: The side claw transverse slide rail includes a first slide rail, a second slide rail, a third slide rail and a fourth slide rail. The first slide rail and the fourth slide rail are a group, and one end of each is fixed to the upper two ends of the first side claw. The second slide rail and the third slide rail are a group, and one end of each is fixed to the upper two ends of the second side claw. The middle claw is fixedly connected to the mechanical claw connecting plate via a middle claw fixing plate.

5. A robot for pipeline installation in a tunneling face according to claim 4, characterized in that: The first side claw includes a first claw plate, a second claw plate, a side claw base plate, a claw plate clamping cylinder, and a slider seat. The first claw plate and the second claw plate are both connected to the slider seat. The slider seat and the claw plate clamping cylinder are both disposed on the side claw base plate. One end of the claw plate clamping cylinder is fixedly connected to the side claw base 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, and the claw is provided with a claw oblique hole. The pin is engaged with the claw oblique hole.

6. A robot for pipeline installation in a tunneling face according to claim 5, characterized in that: The second side claw and the middle claw have the same structure as the first side claw.

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