Rapid installation equipment and method for underground mine perforated casing pipe

Abstract

The invention relates to the technical field of mine underground vertical pipeline installation, in particular to underground mine perforated casing rapid installation equipment and a method thereof. According to the technical scheme, the rapid casing installation equipment comprises a movable installation welding device and a raise boring machine used for lifting a pipeline. The installing and welding device comprises a hydraulic mechanical arm installed above the installing and welding device and a grabbing and rotating mechanical arm installed at the output end of the hydraulic mechanical arm, and an auxiliary fixing support located above the installing and welding device is arranged below the grabbing and rotating mechanical arm. The auxiliary fixing support comprises a clamping plate used for clamping the pipeline and fixing the pipeline in an anti-toppling mode. The installation equipment is high in mechanization degree, rapid installation of the deep hole pipeline is achieved, and compared with a mode that a chain block is used for hoisting the lower portion, safety risks such as chain sliding are eliminated through the used mechanical arm and the used lifting raise boring machine.

Description

Technical Field

[0001] The present invention relates to the technical field of the installation of vertical pipelines in underground mines, and particularly to a rapid installation device and method for perforated casings in underground mines. Background Art

[0002] In mine production, the vertical pipelines of the underground auxiliary system play a crucial role. These vertical pipelines undertake various key tasks such as ventilation, drainage, and material transportation, and are the basic support for ensuring the normal, safe, and efficient production of mines. For example, the ventilation pipeline can provide fresh air to the underground operation area, discharge harmful gases, and ensure the safety of miners and the health of the working environment; the drainage pipeline can timely drain the accumulated water in the mine, prevent the roadway from being flooded, and avoid equipment damage and production interruption; the filling pipeline is used to transport filling materials to the goaf, effectively control the ground pressure, reduce surface subsidence, and improve the resource recovery rate. Therefore, the stable operation of the vertical pipeline has a direct and profound impact on the safety production and economic benefits of the mine. The vertical pipelines of the underground auxiliary system in mines are mostly arranged through pipe cable wells or pipe cable holes. During installation, due to space limitations, a manual chain hoist is usually used in cooperation with a gantry to install from top to bottom. This installation method has low construction efficiency, long operation time, and is limited by the capacity of the chain hoist. When encountering a deep well, there will be safety risks such as chain slipping.

[0003] Although there have been some improvement attempts for the problems existing in the traditional vertical pipeline installation method, these solutions still have certain limitations. For example, some improvement schemes only simply upgrade the chain hoist or the gantry, and do not fundamentally change the nature of the installation method, and still cannot effectively solve the problems of low construction efficiency, high safety risk, and poor economy. For the above reasons, this application proposes a device and its installation method for rapid installation of perforated casings in underground mines, which are convenient for construction, safe and efficient, and have good economy. Summary of the Invention

[0004] The purpose of the present invention is to propose a device and its installation method for rapid installation of perforated casings in underground mines, which are convenient for construction, safe and efficient, and have good economy, aiming at the problems existing in the background art.

[0005] In the first aspect, this application provides a rapid installation device for perforated casings in underground mines. The rapid installation device includes a movable installation and welding device and a raise boring machine for lifting the pipeline. The installation and welding device includes a hydraulic manipulator installed above it and a grasping and rotating manipulator installed at the output end of the hydraulic manipulator. Below the grasping and rotating manipulator, there is an auxiliary fixing bracket located above the installation and welding device.

[0006] The auxiliary fixing bracket includes a clamping plate for clamping and preventing the pipeline from tipping over and fixing.

[0007] Optionally, multiple sets of hydraulic legs are provided at the bottom of the installation and welding device. A mobile wheel with a self-locking function is connected to the bottom of the hydraulic leg. A mobile guiding hole and a welding alignment port are also provided on the installation and welding device. The centers of the grasping and rotating manipulator and the auxiliary fixing bracket are coaxial with the center of the welding alignment port.

[0008] Optionally, the grasping and rotating manipulator further includes a telescopic rod connected to the hydraulic robotic arm and connecting rods located on both sides of the grasping and rotating manipulator. A telescopic sleeve rod is fixedly connected below the connecting rod. A sliding connection block that is slidably connected to the inner wall of the mobile guiding hole is provided at the bottom end of the telescopic sleeve rod.

[0009] Optionally, the auxiliary fixing bracket includes a fixing rod fixedly connected to the side of the telescopic sleeve rod;

[0010] A through hole penetrating through it is provided on the fixing rod, and sliding grooves are provided on both sides of the through hole.

[0011] Optionally, a double-shaft motor is further fixedly installed below the fixing rod. Threaded rods are connected to the output ends of both ends of the double-shaft motor. An articulated block located in the sliding groove is sleeved and connected to the outer circle of the threaded rod.

[0012] Optionally, the cross-sections of the articulated block and the sliding groove are both in a "7"-shaped structure, and the double-shaft motor is slidably arranged in the sliding groove.

[0013] Optionally, one end of the articulated block away from the connection with the threaded rod is rotatably connected to an articulated rod, and the other ends of the two groups of articulated rods are connected to the same clamping plate.

[0014] Optionally, a through rod is fixedly connected to the outer arc surface of the clamping plate. The through rod penetrates through the through hole and is slidably arranged on the inner wall of the through hole.

[0015] In a second aspect, the present application provides a method for quickly installing an underground mine perforation casing, which is applied to an underground mine perforation casing quick installation device as described in the first aspect, and includes the following steps:

[0016] S1. Preparation operation;

[0017] S1.1. Drilling a guide hole using a raise boring machine: Construct a guide hole at a predetermined position using a raise boring machine to penetrate it through to the bottom designed chamber;

[0018] S1.2. Installation of equipment in place and fixation: Install the installation and welding device into the factory and adjust its position. Align the center of the grasping and rotating manipulator with the center of the drill hole, and support the hydraulic legs at the bottom of the installation and welding device to achieve the fixation of the device;

[0019] S1.3. Set up a platform for welding pipelines: Set up an operating platform with a height of 2.5 m for welding pipelines.

[0020] S1.4. Connect the device to the pipeline joint: Remove the bit of the raise boring machine, install the component for welding with the pipeline, and connect the other end to the pipeline joint.

[0021] S1.5. Lay the track for the pipeline to be installed: Lay a special track on the side of the welding device for placing the pipeline to be installed.

[0022] S2. Pipeline installation;

[0023] S2.1. Grasp and position the pipeline: The grasping and rotating manipulator grasps a pipeline, rotates it to a vertical state, moves it below the drill hole, and places it at the center of the installation and welding device after aligning with the drill pipe.

[0024] S2.2. Temporarily fix the pipeline: Temporarily fix the pipeline using the auxiliary fixing bracket and release the grasping and rotating manipulator.

[0025] S2.3. Connect the pipeline in multiple ways: Select the pipeline connection method according to whether the pipeline has threads. If it has threads, perform thread docking and thread rotation through the rotating and lifting device; if it has no threads, directly align the pipeline with the connection joint.

[0026] S2.4. Weld the pipeline without threads: Weld the connected pipelines on the operating platform using the automatic welding device.

[0027] S2.5. Lift the pipeline: Contact the operator of the raise boring machine to remove the drill pipe, and the pipeline is lifted as the drill pipe is removed.

[0028] S3. Repeat the pipeline installation operation in a cycle: Determine whether all pipelines are installed. If not, return to S1 to continue; if completed, enter the final grouting and hole fixing operation.

[0029] Compared with the prior art, the present invention has the following beneficial technical effects:

[0030] By using this device for pipeline installation, the present invention uses a large number of mechanical devices, which improves the installation efficiency and greatly reduces the labor intensity of the operators. Among them, the raise boring machine (200) used has a theoretical lifting force of 200 t and can be used for pipeline installation above 100 meters, solving the problem of installing stage drill holes above 100 meters underground; eliminating the safety risk of chain slipping when using a chain block to install deep-hole pipelines; reducing the labor input, shortening the installation period, and having good economic benefits.

[0031] Furthermore, a robotic arm is used to grasp and rotate the pipeline. Compared with the traditional method of using a chain block and pipe clamp to lift the pipeline, the process is simplified, the installation efficiency is improved, and the labor intensity is reduced. The rotating lifting platform and auxiliary fixing bracket are used for pipeline docking, solving the problems of manual docking and threading difficulties on the pipeline.

[0032] In the present invention, the raise boring machine is also used to replace the chain block through the lifting equipment, greatly increasing the depth of the pipeline installed at one time and solving the problem that large hoisting equipment cannot be used for deep hole installation in the underground stage. The automatic welding machine technology is used for pipeline connection, greatly improving the installation efficiency; the mobile wheels are set to achieve rapid transfer, shortening the construction preparation period.

[0033] In summary, the installation equipment of the present invention has a high degree of mechanization, realizes the rapid installation of deep hole pipelines, and uses the robotic arm and raise boring machine. Compared with the previous method of lifting with a chain block below, it eliminates safety risks such as chain slipping. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 The flowchart of the rapid installation method of the perforated casing in the underground mine proposed by the present invention is given;

[0035] Figure 2 The structural diagram of the rapid installation device proposed by the present invention is given;

[0036] Figure 3 For Figure 2 the bottom view structural schematic diagram of the grasping and rotating manipulator and the auxiliary fixing bracket in

[0037] Figure 4 For Figure 2 the exploded structural schematic diagram of the auxiliary fixing bracket in

[0038] Figure 5 For Figure 4 the structural schematic diagram of the fixing rod in

[0039] Figure 6 The pipeline installation position state diagram proposed by the present invention is shown.

[0040] Reference Signs:

[0041] 1. Installation and welding device; 11. Hydraulic support leg; 12. Mobile guiding hole; 13. Welding alignment port;

[0042] 2. Hydraulic robotic arm;

[0043] 3. Grasping and rotating manipulator; 31. Telescopic rod; 33. Connecting rod; 34. Telescopic sleeve rod; 35. Sliding connection block;

[0044] 4. Auxiliary fixing bracket; 41. Fixing rod; 410. Through hole; 411. Chute; 42. Through rod; 43. Clamping plate; 44. Hinge rod; 45. Hinge block; 46. Biaxial motor; 47. Threaded rod;

[0045] 100. Pipeline;

[0046] 200. Raise boring machine;

[0047] 2001. Drill pipe. Detailed implementation mode

[0048] The technical solutions of the present disclosure will be described clearly and completely below with reference to the accompanying drawings. Obviously, the described embodiments are some but not all of the embodiments of the present disclosure.

[0049] Generally, the components of the embodiments of the present disclosure described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present disclosure provided in the drawings is not intended to limit the scope of the present disclosure to be protected, but merely represents the selected embodiments of the present disclosure.

[0050] Based on the embodiments in the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of the present disclosure.

[0051] In the description of the present disclosure, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present disclosure and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be understood as a limitation of the present disclosure.

[0052] In the description of the present disclosure, it should be noted that unless otherwise clearly specified and limited, the terms "installation", "connection", and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present disclosure can be understood according to specific situations.

[0053] Embodiment

[0054] As Figures 2 - 6As shown in the figure, a rapid installation device for perforation casing in underground mines proposed by the present invention. The device used in the rapid installation method of the casing includes a movable installation and welding device 1 arranged at the bottom and a raise boring machine 200 arranged at the upper part for lifting the pipeline; the installation and welding device 1 includes a hydraulic manipulator 2 installed above it and a grasping and rotating manipulator 3 installed at the output end of the hydraulic manipulator 2. An auxiliary fixing bracket 4 is arranged below the grasping and rotating manipulator 3 and above the installation and welding device 1;

[0055] As Figure 1 shown, the rapid installation method of the casing includes the following steps:

[0056] S1. Preparation work;

[0057] S1.1. Drilling a guide hole using the raise boring machine 200: Construct a guide hole at a predetermined position using the raise boring machine 200 to penetrate it through to the bottom designed chamber;

[0058] S1.2. Installation and fixation of the equipment in place: Install the installation and welding device 1 into the factory and adjust its position. Align the center of the grasping and rotating manipulator 3 with the center of the drill hole, and support the hydraulic legs 11 at the bottom of the installation and welding device 1 to achieve the fixation of the device; The bottom of the hydraulic legs 11 is connected with mobile wheels with a self-locking function. The installation and welding device 1 is also provided with a mobile guiding hole 12 and a welding alignment opening 13. The centers of the grasping and rotating manipulator 3 and the auxiliary fixing bracket 4 are coaxial with the center of the welding alignment opening 13. This design ensures the accuracy and stability of the pipeline during the installation process, enabling the pipeline to accurately align with the drill hole; Move the movable installation and welding device 1 at the bottom to the installation site through its mobile wheels with a locking function, and adjust its position so that the center of the grasping and rotating manipulator 3 is precisely aligned with the center of the drill hole, while facilitating the movement of the overall equipment and facilitating rapid installation and mobile operations;

[0059] S1.3. Erecting a platform for welding pipelines: Erect an operating platform with a height of 2.5 m for welding pipelines;

[0060] S1.4. Connecting the device to the pipeline joint: Remove the drill bit of the raise boring machine 200, install the component for welding with the pipeline, and connect the other end to the pipeline joint;

[0061] S1.5. Laying the track for the pipeline to be installed: Lay a special track on the side of the installation and welding device 1 for placing the pipeline to be installed;

[0062] S2. Pipeline installation;

[0063] S2.1. Grasping and positioning the pipeline: The grasping and rotating manipulator 3 grasps a pipeline, rotates it to a vertical state, moves it below the drill hole, and places it at the center of the installation and welding device 1 after aligning it with the drill pipe 2001; Combined withFigures 2 - 5 As shown in the figure, the grasping and rotating manipulator 3 further includes a telescopic rod 31 connected to the hydraulic manipulator arm 2 and connecting rods 33 located on both sides of the grasping and rotating manipulator 3. A telescopic sleeve rod 34 is fixedly connected below the connecting rod 33, and a sliding connection block 35 that is slidably connected to the inner wall of the moving guide hole 12 is provided at the bottom end of the telescopic sleeve rod 34. This structural design makes the grasping and rotating manipulator 3 more stable when grasping and moving the pipeline. The sliding connection between the sliding connection block 35 and the moving guide hole 12 further enhances the movement accuracy and stability of the grasping and rotating manipulator 3;

[0064] S2.2. Temporary fixation of the pipeline: Temporarily fix the pipeline using the auxiliary fixing bracket 4 and release the grasping and rotating manipulator 3. The auxiliary fixing bracket 4 includes a fixing rod 41 fixedly connected to the side of the telescopic sleeve rod 34. A through hole 410 penetrating it is provided on the fixing rod 41, and sliding grooves 411 are provided on both sides of the through hole 410. A double-shaft motor 46 is also fixedly installed below the fixing rod 41. The output ends of both ends of the double-shaft motor 46 are connected with threaded rods 47, and an articulated block 45 located in the sliding groove 411 is sleeved and connected to the outer circle of the threaded rod 47. The cross-sections of the articulated block 45 and the sliding groove 411 are both in a "7"-shaped structure, and the double-shaft motor 46 is slidably arranged in the sliding groove 411. This structural design makes the auxiliary fixing bracket 4 more flexible and stable when fixing the pipeline. One end of the articulated block 45 away from the connection with the threaded rod 47 is rotatably connected with an articulated rod 44, and the other ends of the two groups of articulated rods 44 are connected to the same clamping plate 43. A through rod 42 is fixedly connected to the outer arc surface of the clamping plate 43. The through rod 42 penetrates the through hole 410 and is slidably arranged on the inner wall of the through hole 410. Combining the setting of the clamping plate 43 realizes the temporary and effective fixation of the pipeline to be welded and prevents it from tipping over;

[0065] S2.3. Multi-mode connection of the pipeline: Select the pipeline connection method according to whether the pipeline has threads. If there are threads, perform thread docking and threading by rotating the lifting device. If there are no threads, directly align the pipeline with the connection joint;

[0066] S2.4. Welding of the pipeline without threads: Weld the connected pipeline on the operation platform using an automatic welding machine device;

[0067] S2.5. Pipeline lifting: Contact the operator of the raise boring machine 200 to disassemble the drill pipe 2001, so that the pipeline is lifted as the drill pipe 2001 is disassembled;

[0068] S3. Repeatedly cycle the pipeline installation operation: Judge whether all pipelines are installed. If not, return to S1 to continue. If completed, enter the final grouting and hole fixing operation.

[0069] In this embodiment, at a predetermined pipeline installation position, the operator starts the raise boring machine 200 to conduct pilot hole construction. During the construction process, the depth and diameter of the pilot hole are strictly controlled in accordance with the design requirements to ensure that the pilot hole can accurately penetrate through the bottom designed chamber. The movable installation and welding device 1 at the bottom is moved to the installation site through its movable wheels with a locking function at the bottom, and its position is adjusted so that the center of the grasping and rotating manipulator 3 is precisely aligned with the drilling center. The operator uses measuring tools for multiple measurements and fine-tuning. Then, the hydraulic legs 11 at the bottom of the installation and welding device 1 are propped up, and the locking function of the hydraulic legs 11 is used to firmly fix the device to prevent displacement during subsequent installation;

[0070] The construction workers use professional building tools and materials to build an operating platform with a height of 2.5 m; first, the drill bit of the raise boring machine 200 is disassembled, and then the components for pipeline welding are installed. A special track is laid on the side of the installation and welding device 1. The laying of the track requires being flat and firm. The construction workers use tools such as a level to measure and adjust the track. After the track laying is completed, the pipeline to be installed is placed on the track to facilitate subsequent grasping and installation operations;

[0071] It starts to work under the drive of the hydraulic manipulator 2. The grasping and rotating manipulator 3 accurately grasps a pipeline through its special grasping structure. During the grasping process, it is ensured that the pipeline is firmly grasped without slipping. During the rotation process, through precise control and the feedback of sensors. Then, the grasping and rotating manipulator 3 moves the pipeline below the drill hole and precisely aligns it with the drill pipe 2001. Finally, the pipeline is placed at the center of the installation and welding device 1;

[0072] The auxiliary fixing bracket 4 is used to temporarily fix the pipeline. The biaxial motor 46 is started, and the threaded rod 47 drives the hinge block 45 to slide in the chute 411. The hinge block 45 drives the clamping plate 43 and the through rod 42 to move through the hinge rod 44, and finally the clamping plate 43 tightly fits on the surface of the pipeline to achieve the temporary fixation of the pipeline. After the fixation is completed, check the firmness of the fixation to ensure that the pipeline will not shake during subsequent connection and lifting processes;

[0073] The construction workers check whether the pipeline has threads. If the pipeline has threads, the pipeline is subjected to thread docking and threading through the rotating lifting device; for pipelines without threads, the construction workers use an automatic welding machine device on the operating platform to weld the connecting pipelines. Before welding, the welding parts of the pipeline are cleaned and polished to remove impurities such as oil stains and rust to ensure the welding quality; during the welding process, operate strictly in accordance with the welding process parameters, and control parameters such as welding current, voltage, and welding speed;

[0074] After welding is completed, the construction workers contact the operator of the raise boring rig 200 to carry out the disassembly operation of the drill pipe 2001; the operator of the raise boring rig 200 gradually disassembles the drill pipe 2001 according to the operating procedures, so that the pipeline is smoothly lifted as the drill pipe 2001 is disassembled; during the lifting process, closely monitor the lifting speed and stability of the pipeline, and ensure that the lifting speed of the pipeline is uniform by adjusting the lifting parameters of the raise boring rig 200 to avoid jamming or shaking phenomena;

[0075] After each installation and lifting of a pipeline is completed, determine whether all pipelines are installed. If not, return to step S2.1 to continue the installation operation of the next pipeline. During the entire installation process, continuously repeat the above steps until all pipelines are installed; when all pipelines are installed, enter the final grouting and hole fixing operation. The construction workers use professional grouting equipment to inject grouting materials into the borehole to fill the gap between the pipeline and the borehole to ensure the stability of the pipeline during use. During the grouting process, control the grouting pressure and grouting volume to ensure the grouting quality.

[0076] The above specific embodiments are only several alternative embodiments of the present invention. Based on the technical solution of the present invention and the relevant revelations of the above embodiments, those skilled in the art can make various alternative improvements and combinations to the above specific embodiments.

Claims

1. A rapid installation device for perforating casings in underground mines, characterized in that The quick installation device includes a movable installation and welding device (1) and a raise boring machine (200) for lifting a pipeline (100); the installation and welding device (1) includes a hydraulic manipulator (2) installed above it and a grasping and rotating manipulator (3) installed at the output end of the hydraulic manipulator (2), and an auxiliary fixing bracket (4) located above the installation and welding device (1) is arranged below the grasping and rotating manipulator (3); The auxiliary fixing bracket (4) includes a clamping plate (43) for clamping and anti-tipping fixation of the pipeline (100).

2. The rapid installation device for an underground mine perforation casing according to claim 1, characterized in that, A plurality of hydraulic legs (11) are arranged at the bottom of the installation and welding device (1), the bottom of the hydraulic legs (11) is connected with moving wheels with a self-locking function, a moving guide hole (12) and a welding alignment port (13) are also formed on the installation and welding device (1), and the centers of the grasping and rotating manipulator (3) and the auxiliary fixing bracket (4) are coaxial with the center of the welding alignment port (13).

3. The rapid installation equipment for underground mine perforation casing according to claim 1, characterized in that, The grasping and rotating manipulator (3) further includes a telescopic rod (31) connected with the hydraulic manipulator (2) and connecting rods (33) located on both sides of the grasping and rotating manipulator (3), a telescopic sleeve rod (34) is fixedly connected below the connecting rod (33), and a sliding connection block (35) which is slidably connected with the inner wall of the moving guide hole (12) is arranged at the bottom end of the telescopic sleeve rod (34).

4. The rapid installation equipment for an underground mine perforation casing according to claim 1, characterized in that, The auxiliary fixing bracket (4) includes a fixing rod (41) fixedly connected to the side surface of the telescopic sleeve rod (34); A through hole (410) penetrating through it is formed on the fixing rod (41), and sliding grooves (411) are formed on both sides of the through hole (410).

5. The rapid installation equipment for underground mine perforation casing according to claim 4, characterized in that, A double-shaft motor (46) is further fixedly installed below the fixing rod (41), threaded rods (47) are connected to the output ends of both ends of the double-shaft motor (46), and hinge blocks (45) located in the sliding grooves (411) are sleeved and connected to the outer circles of the threaded rods (47).

6. The rapid installation device for an underground mine perforation casing according to claim 5, characterized in that, The cross sections of the hinge block (45) and the sliding groove (411) are both in a "7"-shaped structure, and the double-shaft motor (46) is slidably arranged in the sliding groove (411).

7. The rapid installation equipment for an underground mine perforation casing according to claim 6, characterized in that, One end of the hinge block (45) far away from the connection with the threaded rod (47) is rotatably connected with a hinge rod (44), and the other ends of the two hinge rods (44) are connected with the same clamping plate (43).

8. The rapid installation equipment for an underground mine perforation casing according to claim 7, characterized in that, A through rod (42) is fixedly connected to the outer arc surface of the clamping plate (43), the through rod (42) penetrates through the through hole (410) and is slidably arranged on the inner wall of the through hole (410).

9. A method for quickly installing a perforating casing in an underground mine, which is applied to a device for quickly installing a perforating casing in an underground mine according to any one of claims 1-8, characterized in that, Including the following steps: S1. Preparation work; S1.

1. Drilling a pilot hole by using the raise boring machine (200): A pilot hole is constructed by using the raise boring machine (200) at a predetermined position to penetrate it through to the bottom designed chamber; S1.

2. Installation of the device in place and fixation: The installation and welding device (1) is installed in the factory and its position is adjusted, the center of the grasping and rotating manipulator (3) is aligned with the center of the drill hole, and the hydraulic legs (11) at the bottom of the installation and welding device (1) are propped up to realize the fixation of the device; S1.

3. Erecting a platform for welding pipelines: An operating platform with a height of 2.5 m is erected for welding pipelines; S1.

4. Connect the connecting device to the joint of the pipeline (100): Remove the bit of the raise boring machine (200), install the component welded to the pipeline (100), and connect the other end thereof to the joint of the pipeline (100). S1.

5. Lay the track for the pipeline (100) to be installed: Lay a special track on the side of the installation welding device (1) for placing the pipeline (100) to be installed. S2. Installation of the pipeline (100). S2.

1. Grasp and position the pipeline (100): The grasping and rotating manipulator (3) grasps a pipeline (100), rotates it to a vertical state, moves it below the borehole, and places it at the center of the installation welding device (1) after aligning it with the drill pipe (2001). S2.

2. Temporary fixation of the pipeline (100): Use the auxiliary fixing bracket (4) to temporarily fix the pipeline (100), and release the grasping and rotating manipulator (3). S2.

3. Multiple connection methods of the pipeline (100): Select the connection method of the pipeline (100) according to whether there are threads on the pipeline (100). If there are threads, perform thread docking and thread rotation through the rotating and lifting device; if there are no threads, directly align the pipeline (100) with the connection joint. S2.

4. Welding of the pipeline (100) without threads: Weld the connected pipeline (100) with an automatic welding machine device on the operation platform. S2.

5. Lifting of the pipeline (100): Contact the operator of the raise boring machine (200) to remove the drill pipe (2001), so that the pipeline (100) is lifted as the drill pipe (2001) is removed. S3. Repeat the installation operation of the pipeline (100) in a cycle: Judge whether all the pipelines (100) are installed. If not, return to S1 to continue; if so, enter the final grouting and hole fixing operation.

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