The invention discloses a bearing frame for building a wall to install a tunnel opening lintel, a bricklaying robot and a control method. The bearing frame comprises two clamping support units, wherein the two clamping support units are matched and are of the same structure; each clamping support unit comprises a bearing plate and a bearing mechanism; each bearing mechanism comprises a first pneumatic cylinder, a driving plate and a plurality of bearing rods; the first pneumatic cylinder is fixed to one side of the bearing plate, and the moving direction of a push rod of the first pneumatic cylinder is perpendicular to the bearing plate; one end of each bearing rod is fixedly arranged on the driving plate, and the other ends of the bearing rods are arranged near the bearing plate; the twoclamping support units are respectively arranged on both sides of a fixture of the bricklaying robot so as to do a synchronous opening and clamping motion together with the fixture; and the two bearing rods are abutted and separated under the action of the two first pneumatic cylinders. The bearing frame for building the wall to install the tunnel opening lintel and the bricklaying robot have theadvantages of convenience in use, the automatic installation of the tunnel opening lintel is realized, manpower is reduced, and the installation efficiency is improved.