A stainless steel pipe handling manipulator with an external polishing function

Abstract

The present invention discloses a stainless steel pipe handling manipulator with an external polishing function, belonging to the technical field of handling manipulators. It includes a connecting plate connected to the robotic arm, an axial slider A and an axial slider B slidably mounted on the connecting plate, two connecting rods respectively hoisted on the axial slider A and the axial slider B, a positioning plate, a passive link A and a passive link B whose upper ends are hinged at the same point on the positioning plate, a locking slider elastically slidably mounted, a driving link A and a driving link B whose upper ends are hinged at the same point on the locking slider, a composite function claw, a locking link A whose upper end is hinged to the lower end of the passive link A, a locking link B whose upper end is hinged to the lower end of the passive link B, a circumferential slider elastically slidable, a locking and loosening power device, a circumferential polishing driving device, and an axial polishing power device. The present invention is a stainless steel pipe handling manipulator with a reasonable structure that can polish the outer wall of the stainless steel pipe during the handling process.

Description

Technical Field

[0001] The present invention mainly relates to the technical field of handling manipulators, and particularly refers to a stainless steel pipe handling manipulator with an external polishing function. Background Art

[0002] During the processing of stainless steel pipes, they need to be transported from the feeding platform to the operating platform, and then various processing operations are carried out, such as welding, cutting, deburring, and polishing. In the prior art, the external wall polishing operation of stainless steel pipes is to first transport the stainless steel pipes to the operating platform and then perform the external wall polishing. That is, although the prior art realizes the handling and external wall polishing of stainless steel pipes, there are still the following defects: First, each time the processing operation is changed, the stainless steel pipes need to be transported once, which consumes a large amount of time in the transportation process of the stainless steel pipes, that is, the overall processing time of the stainless steel pipes is relatively long and the processing efficiency is low; Second, the external wall polishing of stainless steel pipes is an independent processing operation, so the processing flow of stainless steel pipes is complex. Therefore, there is an urgent need to design a handling manipulator that can perform external wall operations during the handling process of stainless steel pipes. Summary of the Invention

[0003] The technical problem to be solved by the present invention is: Aiming at the technical problems existing in the prior art, the present invention provides a stainless steel pipe handling manipulator with a reasonable structure, capable of simultaneously grasping and transporting stainless steel pipes with double composite function claws, and capable of polishing the outer wall of stainless steel pipes during the transportation process.

[0004] To solve the above problems, the solution proposed by the present invention is: A stainless steel pipe handling manipulator with an external polishing function, including a connecting plate connected to a robotic arm, an axial slider A and an axial slider B slidably mounted on the connecting plate, and two connecting rods respectively hoisted on the axial slider A and the axial slider B.

[0005] The present invention further includes a positioning plate, a passive link A and a passive link B hinged at the same upper end point to the positioning plate, a locking slider elastically slidably mounted on the positioning plate in the vertical direction, a driving link A and a driving link B hinged at the same upper end point to the locking slider, a composite function claw mounted on the positioning plate for grasping and polishing stainless steel pipes, a locking link A hinged at the lower end of the passive link A, a locking link B hinged at the lower end of the passive link B, a circumferential slider elastically slidably mounted on the positioning plate along the circumference of the stainless steel pipe, a locking and relaxation power device for flexibly driving the locking slider to linearly slide relative to the positioning plate, a circumferential polishing driving device for flexibly driving the circumferential slider to arc-slide relative to the positioning plate, and an axial polishing power device for driving the axial slider A and the axial slider B to slide relative to the connecting plate.

[0006] The lower end of the driving link A is slidably and hingedly connected to the middle part of the passive link A, and the lower end of the driving link B is slidably and hingedly connected to the midpoint of the passive link B; the lower end of the connecting rod is fixedly connected to the circumferential slider.

[0007] The composite function claw includes symmetrically installed arc claws A and arc claws B; the upper end of the arc claw A is hingedly connected to the positioning plate, and the middle part thereof is hingedly connected to the lower end of the locking link A; the upper end of the arc claw B is hingedly connected to the positioning plate, and the middle part thereof is hingedly connected to the lower end of the locking link B.

[0008] The arc claws A and arc claws B have the same structure, and each includes: an arc plate with a curvature radius adapted to the radius of the stainless steel pipe, an elastic layer installed on the inner wall of the arc plate, and a polishing layer installed on the inner side of the elastic layer for polishing the stainless steel pipe.

[0009] Further, the locking and loosening power device includes a locking winding wheel rotatably installed on the positioning plate, a locking rope with one end connected to the locking slider and the other end wound around the locking winding wheel, and a locking motor installed on the positioning plate to drive the locking winding wheel to rotate.

[0010] Further, the circumferential polishing driving device includes: a fixed pulley and a polishing winding wheel rotatably installed on the positioning plate, a polishing motor installed on the positioning plate to drive the polishing winding wheel to rotate, and a polishing rope with one end connected to the circumferential slider and the other end bypassing the fixed pulley and wound around the polishing winding wheel.

[0011] Further, a linear locking chute is opened on the front surface of the positioning plate in the vertical direction, the locking slider is slidably installed in the locking chute, and the bottom of the locking slider is connected to the inner wall of the bottom end of the locking chute by a locking spring that is always under pressure.

[0012] Further, an arc-shaped circumferential chute is opened on the back surface of the positioning plate, the circumferential slider is slidably installed in the circumferential chute, and the circumferential slider is connected to the inner wall of the right end of the circumferential chute by a polishing spring that is always under tension; the center of the circumferential chute is located on the axis of the clamped stainless steel pipe.

[0013] Further, a sliding sleeve A is slidably sleeved on the middle part of the passive link A, and the sliding sleeve A is hingedly connected to the lower end of the driving link A; a sliding sleeve B is slidably sleeved on the middle part of the passive link B, and the sliding sleeve B is hingedly connected to the lower end of the driving link B.

[0014] Compared with the prior art, the present invention has the following advantages and beneficial effects: A stainless steel pipe handling manipulator with an external polishing function according to the present invention is provided with two composite function claws. When the left composite function claw is used to fix the stainless steel pipe, the right composite function claw can slide relative to the outer wall of the stainless steel pipe. When the right composite function claw is used to fix the stainless steel pipe, the left composite function claw can slide relative to the outer wall of the stainless steel pipe, so as to realize the staggered polishing operation of the left and right parts of the stainless steel pipe during the handling process. In addition, the axial polishing driving device can drive the composite function claw to slide axially along the outer wall of the stainless steel pipe, and the circumferential polishing driving device can drive the circumferential slider to slide relatively in a curve with respect to the positioning plate, and then drive the composite function claw to slide circumferentially along the outer wall of the stainless steel pipe, so as to perform axial and circumferential composite polishing operations on the outer wall of the stainless steel pipe. It can be seen from this that the present invention is a stainless steel pipe handling manipulator with a reasonable structure, capable of simultaneously grasping and handling stainless steel pipes with double composite function claws, and capable of polishing the outer wall of the stainless steel pipe during the handling process. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is the overall structural schematic diagram of a stainless steel pipe handling manipulator with an external polishing function according to the present invention.

[0016] Figure 2 is Figure 1 The sectional view taken along line A-A after removing the connecting plate.

[0017] Figure 3 is Figure 1 The left view after removing the connecting plate.

[0018] Figure 4 is the structural principle schematic diagram of the composite function claw in the present invention.

[0019] In the figure, 10 - stainless steel pipe; 11 - connecting plate; 12 - axial slider A; 13 - axial slider B; 14 - connecting rod; 21 - positioning plate; 210 - locking chute; 211 - circumferential chute; 22 - passive link A; 23 - passive link B; 24 - driving link A; 25 - driving link B; 26 - locking link A; 27 - locking link B; 28 - composite function claw; 281 - arc claw A; 282 - arc claw B; 31 - sliding sleeve A; 32 - sliding sleeve B; 33 - locking slider; 34 - locking spring; 35 - locking winding wheel; 36 - locking rope; 37 - locking motor; 41 - circumferential slider; 42 - fixed pulley; 43 - polishing rope; 44 - polishing winding wheel; 45 - polishing motor; 46 - polishing spring; 51 - arc plate; 52 - elastic layer; 53 - polishing layer. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0020] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0021] See Figures 1 to 3 , a stainless steel pipe handling manipulator with an external polishing function according to the present invention, which includes: a connecting plate 11 connected to a robotic arm, an axial slider A 12 and an axial slider B 13 slidably mounted on the connecting plate 11, two connecting rods 14 respectively hoisted on the axial slider A 12 and the axial slider B 13, a positioning plate 21, a passive link A 22 and a passive link B 23 whose upper ends are hinged at the same point on the positioning plate 21, a locking slider 33 elastically slidably mounted on the positioning plate 21 in the vertical direction, a driving link A 24 and a driving link B 25 whose upper ends are hinged at the same point on the locking slider 33, a composite function claw 28 mounted on the positioning plate 21 for grasping and polishing the stainless steel pipe 10, a locking link A 26 whose upper end is hinged to the lower end of the passive link A 22, a locking link B 27 whose upper end is hinged to the lower end of the passive link B 23, a circumferential slider 41 elastically slidably mounted on the positioning plate 21 along the circumference of the stainless steel pipe 10, a locking and slackening power device for flexibly driving the locking slider 33 to linearly slide relative to the positioning plate 21, a circumferential polishing driving device for flexibly driving the circumferential slider 41 to arc-slide relative to the positioning plate 21, and an axial polishing power device (not shown in the figure) for driving the axial slider A 12 and the axial slider B 13 to slide relative to the connecting plate 11. Specifically, during implementation, the connecting plate 11 is fixedly connected to the robotic arm of the robot by bolts, and the robot realizes the movement of the connecting plate 11 in the spatial position by controlling the movement of the robotic arm; a linear guide rail (not shown in the figure) is fixedly installed at the bottom of the connecting plate 11, and the axial slider A 12 and the axial slider B 13 are slidably mounted on the linear guide rail; when the locking and slackening power device drives the locking slider 33 to move downward, the composite function claw 28 can loosen and release the stainless steel pipe 10, and when the locking and slackening power device drives the locking slider 33 to move upward, the composite function claw 28 can grasp and compress the stainless steel pipe 10. When the circumferential polishing driving device drives the circumferential slider 41 to move leftward relative to the positioning plate 21, the positioning plate 21 drives the composite function claw 28 to rotate around the axis of the stainless steel pipe 10, thereby implementing the circumferential polishing of the stainless steel pipe 10. When the axial polishing power device drives the axial slider A 12 to move back and forth, the positioning plate 21 drives the composite function claw 28 on the left side to axially slide relative to the stainless steel pipe 10, thereby realizing the axial polishing of the left half of the stainless steel pipe 10; when the axial polishing power device drives the axial slider B 13 to move back and forth, the positioning plate 21 drives the composite function claw 28 on the right side to axially slide back and forth relative to the stainless steel pipe 10, thereby realizing the axial polishing of the right half of the stainless steel pipe 10. The axial polishing power device is a prior art and will not be elaborated here.

[0022] See Figure 2, the lower end of the driving link A24 is slidably and hingedly connected to the middle part of the driven link A22, and the lower end of the driving link B25 is slidably and hingedly connected to the midpoint of the driven link B23; the lower end of the connecting rod 14 is fixedly connected to the circumferential slider 41. During specific use, when the locking slider 33 moves upward, the driving link A24 moves in a planar motion counterclockwise, and the driving link B25 moves in a planar motion clockwise. The driven link A22 rotates counterclockwise around the hinge point at the upper end and pushes the locking link A26 to move in a planar motion counterclockwise. The driven link B23 rotates clockwise around the hinge point at the upper end and pushes the locking link B27 to move in a planar motion clockwise. When the locking slider 33 moves downward, the driving link A24 moves in a planar motion clockwise, and the driving link B25 moves in a planar motion counterclockwise. The driven link A22 rotates clockwise around the hinge point at the upper end and pulls the locking link A26 to move in a planar motion clockwise. The driven link B23 rotates counterclockwise around the hinge point at the upper end and pulls the locking link B27 to move in a planar motion counterclockwise.

[0023] The composite function claw 28 includes symmetrically installed arc claws A281 and arc claws B282; the upper end of the arc claw A281 is hingedly connected to the positioning plate 21, and the middle part thereof is hingedly connected to the lower end of the locking link A26; the upper end of the arc claw B282 is hingedly connected to the positioning plate 21, and the middle part thereof is hingedly connected to the lower end of the locking link B27. During specific use, when the locking slider 33 moves upward, the locking link A26 pushes the arc claw A281 to rotate counterclockwise around the hinge point at the upper end, and the locking link B27 pushes the arc claw B282 to rotate clockwise around the hinge point at the upper end, thereby realizing the grasping and pressing of the stainless steel pipe 10. When the locking slider 33 moves downward, the locking link A26 pulls the arc claw A281 to rotate clockwise around the hinge point at the upper end, and the locking link B27 pulls the arc claw B282 to rotate counterclockwise around the hinge point at the upper end, thereby realizing the loosening and releasing of the stainless steel pipe 10.

[0024] See Figure 4, the arc claws A281 and arc claws B282 have the same structure, both including: an arc plate 51 with a radius of curvature adapted to the radius of the stainless steel pipe 10, an elastic layer 52 installed on the inner wall of the arc plate 51, and a polishing layer 53 installed on the inner side of the elastic layer 52 for polishing the stainless steel pipe 10. During specific use, when the arc claws A281 and arc claws B282 clamp the stainless steel pipe 10, the elastic layer 52 can undergo significant elastic deformation. The greater the deformation of the elastic layer 52, the greater the frictional force between the polishing layer 53 and the stainless steel pipe 10. During the polishing process, the compression deformation amounts of the elastic layers 52 in the two composite function claws 28 are significantly unequal. The composite function claw 28 where the elastic layer 52 with a larger compression deformation amount is located is used to fix the stainless steel pipe 10, and the composite function claw 28 where the elastic layer 52 with a smaller compression deformation amount is located can move axially and circumferentially relative to the stainless steel pipe 10, so as to perform a polishing operation on the stainless steel pipe 10.

[0025] See Figure 2 , preferably, the locking and loosening power device includes a locking winding wheel 35 rotatably installed on the positioning plate 21, a locking rope 36 with one end connected to the locking slider 33 and the other end wound around the locking winding wheel 35, and a locking motor 37 installed on the positioning plate 21 to drive the locking winding wheel 35 to rotate. During specific use, when the locking motor 37 drives the locking winding wheel 35 to wind the locking rope 36, the locking slider 33 moves downward relative to the positioning plate 21, the compression amount of the locking spring 34 increases, and the pressure of the composite function claw 28 on the stainless steel pipe 10 gradually decreases until the stainless steel pipe 10 is completely released; when the locking motor 37 drives the locking winding wheel 35 to release the locking rope 36, the locking slider 33 moves upward relative to the positioning plate 21 under the spring force of the locking spring 34, the compression amount of the locking spring 34 decreases, the composite function claw 28 grabs the stainless steel pipe 10, and the deformation amount of the elastic layer 52 gradually increases after grabbing.

[0026] See Figure 3, Preferably, the circumferential polishing drive device includes: a fixed pulley 42 rotatably mounted on the positioning plate 21, a polishing wire winding wheel 44, a polishing motor 45 mounted on the positioning plate 21 to drive the polishing wire winding wheel 44 to rotate, and a polishing rope 43 with one end connected to the circumferential slider 41 and the other end bypassing the fixed pulley 42 and wound around the polishing wire winding wheel 44. During specific use, the polishing motor 45 drives the polishing wire winding wheel 44 to wind the polishing rope 43. Since the circumferential slider 41 is fixed by the connecting rod 14, the polishing motor 45 is connected to the positioning plate 21, and the positioning plate 21 and the circumferential slider 41 are slidably clamped through the circumferential chute 211, so the positioning plate 21 moves to the right relative to the circumferential slider 41, that is, the positioning plate 21 and the composite function claw 28 will rotate clockwise around the axis of the stainless steel pipe 10; when the polishing motor 45 drives the polishing wire winding wheel 44 to release the polishing rope 43, the positioning plate 21 moves to the left relative to the circumferential slider 41 under the spring force of the polishing spring 46, that is, the positioning plate 21 and the composite function claw 28 will rotate counterclockwise around the axis of the stainless steel pipe 10.

[0027] Preferably, a linear locking chute 210 is formed vertically on the front surface of the positioning plate 21. A locking slider 33 is slidably mounted in the locking chute 210, and the bottom of the locking slider 33 is connected to the inner wall of the bottom end of the locking chute 210 by a locking spring 34 that is always under pressure.

[0028] Preferably, an arc-shaped circumferential chute 211 is formed on the back surface of the positioning plate 21. A circumferential slider 41 is slidably mounted in the circumferential chute 211, and the circumferential slider 41 is connected to the inner wall of the right end of the circumferential chute 211 by a polishing spring 46 that is always under tension; the center of the circumferential chute 211 is located on the axis of the clamped stainless steel pipe 10. During specific use, the arc length of the circumferential chute 211 must be designed so that when the positioning plate 21 rotates around the axis of the stainless steel pipe 10, the polishing layer 53 can polish the entire circumferential outer wall of the stainless steel pipe 10. When the circumferential slider 41 moves to the left relative to the positioning plate 21, that is, the positioning plate 21 moves to the right relative to the circumferential slider 41, the stretching amount of the polishing spring 46 increases, and the positioning plate 21 drives the corresponding composite function claw 28 to rotate clockwise around the axis of the stainless steel pipe 10; when the circumferential slider 41 moves to the right relative to the positioning plate 21, the stretching amount of the polishing spring 46 decreases, and the positioning plate 21 drives the corresponding composite function claw 28 to rotate counterclockwise around the axis of the stainless steel pipe 10.

[0029] Preferably, a sliding sleeve A31 is slidably sleeved in the middle of the passive link A22, and the sliding sleeve A31 is hinged to the lower end of the driving link A24; a sliding sleeve B32 is slidably sleeved in the middle of the passive link B23, and the sliding sleeve B32 is hinged to the lower end of the driving link B25.

[0030] The working process and principle of the present invention are as follows: In the first step, the robotic arm drives the connecting plate 11 to move, so that the two open composite function claws 28 are aligned with the stainless steel pipe 10 to be carried, and the two composite function claws 28 are approximately located at the one-third and two-thirds positions of the length of the stainless steel pipe 10. In the second step, the two locking motors 37 respectively drive the two locking sliders 33 to move upward, and the two composite function claws 28 simultaneously grasp the stainless steel pipe 10, and the compression deformation amount of the elastic layer 52 in the left composite function claw 28 is significantly less than that of the elastic layer 52 in the right composite function claw 28, that is, the left composite function claw 28 can slide relative to the stainless steel pipe 10, while the right composite function claw 28 will fix the position of the stainless steel pipe 10. In the third step, the robotic arm drives the connecting plate 11 to move to achieve the handling of the stainless steel pipe 10. During the handling process, the axial polishing power device (not shown in the figure) drives the axial slider A12 to move back and forth, and the polishing layer 53 in the left composite function claw 28 performs axial polishing operation on the left half of the stainless steel pipe 10. At the same time, the circumferential polishing driving device on the left drives the left positioning plate 21 and the left composite function claw 28 to rotate in the positive and negative directions around the axis of the stainless steel pipe 10, so that the polishing layer 53 in the left composite function claw 28 performs circumferential polishing operation on the left half of the stainless steel pipe 10. That is, the polishing layer 53 can perform circumferential reciprocating polishing while moving axially along the outer wall of the stainless steel pipe 10 in a straight line. In the fourth step, during the handling process, the left locking motor 37 drives the left locking slider 33 to move upward, and the right locking motor 37 drives the right locking slider 33 to move downward, so that the compression deformation amount of the elastic layer 52 in the left composite function claw 28 is significantly greater than that of the elastic layer 52 in the right composite function claw 28. That is, the left composite function claw 28 fixes the position of the stainless steel pipe 10, and the right composite function claw 28 can slide relative to the stainless steel pipe 10. In the fifth step, during the handling process, the axial polishing power device (not shown in the figure) drives the axial slider B13 to move back and forth, and the polishing layer 53 in the right composite function claw 28 performs axial polishing operation on the right half of the stainless steel pipe 10. At the same time, the circumferential polishing driving device on the right drives the right positioning plate 21 and the right composite function claw 28 to rotate in the positive and negative directions around the axis of the stainless steel pipe 10, so that the polishing layer 53 in the right composite function claw 28 performs circumferential polishing operation on the right half of the stainless steel pipe 10. That is, during the above handling process, the overall polishing of the entire outer wall is achieved by performing staggered polishing operations on the left and right parts of the stainless steel pipe. In the sixth step, after the polishing contact, the robotic arm drives the connecting plate 11 to move to the destination and releases the stainless steel pipe 10, thereby realizing the polishing operation during the handling of the stainless steel pipe 10.

[0031] The above are only the specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be thought of without creative efforts shall fall within the protection scope of the present invention.

Claims

1. A stainless steel pipe handling manipulator with an external polishing function, comprising a connecting plate (11) connected to a robotic arm, an axial slider A (12) and an axial slider B (13) slidably mounted on the connecting plate (11), and two connecting rods (14) respectively hoisted on the axial slider A (12) and the axial slider B (13), characterized in that: It further includes a positioning plate (21), a passive link A (22) and a passive link B (23) whose upper ends are hinged at the same point on the positioning plate (21), a locking slider (33) elastically slidably mounted on the positioning plate (21) in the vertical direction, a driving link A (24) and a driving link B (25) whose upper ends are hinged at the same point on the locking slider (33), a composite function claw (28) mounted on the positioning plate (21) for grasping and polishing a stainless steel pipe (10), a locking link A (26) whose upper end is hinged to the lower end of the passive link A (22), a locking link B (27) whose upper end is hinged to the lower end of the passive link B (23), a circumferential slider (41) elastically slidably mounted on the positioning plate (21) along the circumference of the stainless steel pipe (10), a locking and slackening power device for flexibly driving the locking slider (33) to linearly slide relative to the positioning plate (21), a circumferential polishing driving device for flexibly driving the circumferential slider (41) to arc-slide relative to the positioning plate (21), and an axial polishing power device for driving the axial slider A (12) and the axial slider B (13) to slide relative to the connecting plate (11); The lower end of the driving link A (24) is slidably and hingedly connected to the middle of the passive link A (22), and the lower end of the driving link B (25) is slidably and hingedly connected to the midpoint of the passive link B (23); the lower end of the connecting rod (14) is fixedly connected to the circumferential slider (41); The composite function claw (28) includes symmetrically installed arc claws A (281) and arc claws B (282); the upper end of the arc claw A (281) is hinged to the positioning plate (21), and the middle part thereof is hinged to the lower end of the locking link A (26); the upper end of the arc claw B (282) is hinged to the positioning plate (21), and the middle part thereof is hinged to the lower end of the locking link B (27); The arc claws A (281) and arc claws B (282) have the same structure, and each includes: an arc plate (51) whose radius of curvature is adapted to the radius of the stainless steel pipe (10), an elastic layer (52) installed on the inner wall of the arc plate (51), and a polishing layer (53) installed on the inner side of the elastic layer (52) for polishing the stainless steel pipe (10); The locking and slackening power device includes a locking winding wheel (35) rotatably installed on the positioning plate (21), a locking rope (36) with one end connected to the locking slider (33) and the other end wound around the locking winding wheel (35), and a locking motor (37) installed on the positioning plate (21) for driving the locking winding wheel (35) to rotate; The circumferential polishing driving device includes: a fixed pulley (42) and a polishing wire winding wheel (44) rotatably installed on the positioning plate (21), a polishing motor (45) installed on the positioning plate (21) to drive the rotation of the polishing wire winding wheel (44), and a polishing rope (43) with one end connected to the circumferential slider (41) and the other end bypassing the fixed pulley (42) and wound around the polishing wire winding wheel (44).

2. The stainless steel pipe handling manipulator with an external polishing function according to claim 1, characterized in that: A linear locking chute (210) is formed in the front surface of the positioning plate (21) in the vertical direction. A locking slider (33) is slidably installed in the locking chute (210). The bottom of the locking slider (33) is connected to the inner wall of the bottom end of the locking chute (210) by a locking spring (34) that is always under pressure.

3. The stainless steel pipe handling manipulator with an external polishing function according to claim 2, wherein: An arc-shaped circumferential chute (211) is formed in the back surface of the positioning plate (21). A circumferential slider (41) is slidably installed in the circumferential chute (211). The circumferential slider (41) is connected to the inner wall of the right end of the circumferential chute (211) by a polishing spring (46) that is always under tension; the center of the circumferential chute (211) is located on the axis of the clamped stainless steel pipe (10).

4. A stainless steel pipe handling manipulator with an external polishing function according to claim 3, characterized in that: A sliding sleeve A (31) is slidably sleeved on the middle part of the passive link A (22). The sliding sleeve A (31) is hinged to the lower end of the driving link A (24); a sliding sleeve B (32) is slidably sleeved on the middle part of the passive link B (23). The sliding sleeve B (32) is hinged to the lower end of the driving link B (25).

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