Guide rail type full-automatic pipe conveying robot and pipe conveying method thereof

Abstract

The invention provides a guide rail type full-automatic pipe conveying robot and a pipe conveying method thereof.The guide rail type full-automatic pipe conveying robot comprises two robot bodies connected through a stable connecting rod, and each robot body takes one cross arm on a pipe bridge as a rail; at least one end of the track is connected with a track limiting auxiliary device used for fixing the track and parking the robot body. The robot body comprises a sliding block, the bottom of the sliding block is provided with a power wheel connected with the rail in a sliding mode, the power wheel is driven by an engine assembled in the sliding block, the two sides of the sliding block are each connected with a lifting mechanism used for grabbing, lifting and lowering an oil pipe, and the engine and the lifting mechanisms are both electrically connected with a control unit hung on the stable connecting rod. The engine, the lifting mechanism and the control unit are all powered by an external electric box installed on the sliding block. Automatic oil pipe conveying and discharging can be achieved, the size is small, installation is convenient and fast, applicability is high, and labor force is reduced.

Description

Technical Field

[0001] The invention belongs to the technical field of automation of oil well repairing operations, and specifically relates to a rail-type fully automatic pipe conveying robot for realizing automatic oil pipe conveying and a pipe conveying method thereof. Background Art

[0002] In the oil system, well repair operations are the operations with the worst environment, the most difficult working conditions, the highest labor intensity, and the highest risk factor. When repairing an oil well, the oil pipe needs to be pulled out of the well for transportation and discharge. In recent years, with the advancement and development of science and technology, the automation and intelligent technologies in the fields of drilling and logging in the oil industry have developed rapidly. Driven by this trend, since 2021, Liaogong Branch has carried out automation on-site application exploration of three technical routes for the well repair industry. However, the oil pipeline link is still in the manpower stage, with high labor intensity, low work efficiency, and high operating risks, which restricts the improvement of automated well repair efficiency. Summary of the invention

[0003] In order to overcome the deficiencies in the prior art, the present invention provides a rail-type fully automatic pipe conveying robot and a pipe conveying method thereof, which can realize automatic oil pipe conveying and drainage, have a small size, are easy to install, have strong applicability, and reduce labor.

[0004] The technical solution adopted by the present invention to solve the technical problem is:

[0005] A rail-type fully automatic pipe conveying robot comprises two robot bodies connected by a stabilizing link, each of the two robot bodies uses one of the cross arms on the pipe bridge as a track, at least one end of the track is connected to a track limiting auxiliary device for fixing the track and for parking the robot body; the robot body comprises a slider, the bottom of the slider is provided with a power wheel slidably connected to the track, the power wheel is driven by an engine installed inside the slider, both sides of the slider are connected to a lifting mechanism for grabbing, lifting and lowering the oil pipe, the engine and the lifting mechanism are electrically connected to a control unit mounted on the stabilizing link, and the engine, the lifting mechanism and the control unit are powered by an external electrical box installed on the slider.

[0006] As a further implementation scheme of the present invention, the lifting mechanism includes a mounting base fixedly connected to the side wall of the slider and an electric hydraulic cylinder fixed on the mounting base, the front end of the mounting base is hinged to a grabbing arm, a Hall angle sensor is provided on the grabbing arm, and the Hall angle sensor is electrically connected to the control unit; a grabber for grabbing the oil pipe is provided at the front end of the grabbing arm, the output shaft end of the electric hydraulic cylinder is hinged to the grabbing arm, and the electric hydraulic cylinder is electrically connected to the control unit.

[0007] As a further embodiment of the present invention, the gripper is a semi-arc structure, a strong magnet is installed on its inner wall, and a connector connected to the strong magnet is installed on its outer wall. The connector is powered by an external power box and is electrically connected to the control unit.

[0008] As a further embodiment of the present invention, a forward-extending bracket is connected to each side of the front end of the slider, a proximity sensor is installed at the front end of the bracket, and a proximity sensor is also installed at the rear end of the slider, and the proximity sensor is electrically connected to the control unit.

[0009] As a further implementation scheme of the present invention, the track limiting auxiliary device includes a horizontally arranged base and a plurality of hydraulic cylinders integrally and vertically installed on the base, and a spring is arranged between the base and the bottom end of the hydraulic cylinder; the top end of each hydraulic cylinder output shaft is commonly connected to a horizontally arranged feed slide rail, a horizontally slidable feed shaft is arranged in the feed slide rail, a conical butt joint is arranged at the end of the feed shaft, and the conical butt joint is used to correspond to and be plugged into the hollow port of the track; the top of the feed slide rail is a flat surface, which is used for parking the robot body.

[0010] As a further embodiment of the present invention, the rotation range of the grabbing arm is 0°-85°. When the angle between the grabbing arm and the bottom plane is between 0°-20° and above 70°, the strong magnetic field is powered off, and at other angles, the strong magnetic field is powered on.

[0011] As a further implementation of the present invention, the bottom of the slider is also provided with auxiliary wheels slidably engaged with both sides of the track, and a transmission mounted on a stabilizing link is connected between the engine and the power wheel.

[0012] As a further implementation scheme of the present invention, the control unit is a PLC controller, the PLC controller is connected to the DTU, and the DTU is connected to the cloud server through a mobile network.

[0013] As a further implementation of the present invention, the PLC controller is connected to a remote controller via a wireless signal to remotely receive control signals for the pipe transport robot.

[0014] A pipe conveying method of a rail-type fully automatic pipe conveying robot comprises the following steps:

[0015] The track limit auxiliary device is installed and connected to the pipe bridge cross arm as the track to complete the fixed support of the track. After the track limit auxiliary device and the pipe bridge cross arm are installed, the robot body parked on the track limit auxiliary device is started;

[0016] The control unit sends a signal to the lifting mechanism of the robot body, controls the lifting mechanism to first grab the oil pipe, and then lift the oil pipe through the grabbing arm of the lifting mechanism. After lifting to the specified angle, the Hall angle sensor installed on the grabbing arm transmits a detection signal to the control unit. When the control unit receives the Hall angle sensor detection signal that the lifting mechanisms of the two robot bodies are lifted to the specified angle, it sends a motion command to the engine to drive the power wheel to drive the robot body to move on the track; during the movement of the robot body, if the proximity sensor installed on it senses that there is a metal object in front, the proximity sensor sends a deceleration signal to the control unit, and the control unit controls the engine to stop moving;

[0017] After the robot body stops moving, the control unit sends a signal to the lifting mechanism of the robot body to control the grabbing arm of the lifting mechanism to drop down, so that the oil pipe is put down, thus completing a cycle of pipe transportation action;

[0018] In the above-mentioned pipe transportation action of one cycle, the cloud server communicating with the control unit monitors the movement speed, current position, and bending angle of the robot body, so as to realize data monitoring, data query, fault alarm, and data input reverse operation; the control unit receives and parses the control instructions of the remote control, and executes the corresponding actions in the pipe transportation cycle.

[0019] The beneficial effects of the present invention include:

[0020] The robot can automatically move and operate the oil pipeline, reducing the need for human intervention and improving work efficiency and production speed; due to the use of a guide rail design, the robot moves on the track and can complete various operational tasks stably and accurately, avoiding human errors; through the electrical connection of the control unit, the engine and the lifting mechanism can be automatically controlled to improve the accuracy and stability of the operation; the robot's lifting mechanism can grab, lift and lower the oil pipeline, and has multiple functions, suitable for pipeline transportation operations in different scenarios; the track limit auxiliary device can improve the stability of the track and can be used for robot parking, providing additional safety protection.

[0021] The rail-type fully automatic pipe conveying robot is small in size, easy to install, highly applicable, reduces labor, can pick up conventional downhole oil pipes and insulation pipes, realize automated oil pipe conveying and drainage, complete the technical research and development of automated pipe-rod conveying and drainage operations for minor repairs, promote the connection with mature minor repair automation technology applications, realize the transformation of well repair operation modes, comprehensively reduce labor intensity, control safety operation risks, and promote the large-scale application of minor repair automation technology, which is of great significance to achieving efficient well repair, safe well repair and low-cost operations.

[0022] In summary, the rail-type fully automatic pipe conveying robot has the characteristics of improved work efficiency, accurate operation, automated control, multi-functional operation, safety and stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the connection structure of two robot bodies of the present invention;

[0024] Figure 2 It is a schematic diagram of the structure of the lifting mechanism of the present invention;

[0025] Figure 3 yes Figure 2 A partial enlarged view of

[0026] Figure 4 This is a schematic diagram of the strong magnetic installation position;

[0027] Figure 5 It is a schematic diagram of the structure of the track limit auxiliary device;

[0028] Figure 6 1. It is a schematic diagram of the connection structure between the proximity sensor and the bracket;

[0029] Figure 7 It is a schematic diagram of the power wheel structure;

[0030] Figure 8 This is a schematic diagram of the cloud server data monitoring operation interface.

[0031] In the figure: 1. Stabilizing link; 2. Robot body; 2-1. Slider; 3. Lifting mechanism; 3-1. Mounting base; 3-2. Electric hydraulic cylinder; 3-3. Grabbing arm; 3-4. Gripper; 3-5. Strong magnet; 3-6. Electrical connection; 4. External electrical box; 5. Bracket; 6. Proximity sensor; 7. Hall angle sensor; 8. Base; 9. Hydraulic cylinder; 10. Feed slide rail; 11. Conical joint; 12. Spring; 13. Control unit. DETAILED DESCRIPTION

[0032] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0033] In the description of the present invention, it should be noted that the terms "vertical", "horizontal", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as a limitation on the present invention. In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0034] Example 1

[0035] In order to solve the problem of high intensity and high risk of manual operation of pipe delivery and discharge rods in automated well repair applications, this embodiment provides a rail-type fully automatic pipe delivery robot. The robot's movement adopts the rail principle and completes the automatic delivery and discharge of the oil pipe through the reciprocating motion of the pipe bridge crossarm.

[0036] Specifically, Figure 1 As shown, it includes two robot bodies 2 connected by a stabilizing link 1, and the two middle two of the four cross arms on the pipe bridge are used as tracks. The stabilizing link 1 adopts a longitudinal fixation and lateral rotation fixing method. The longitudinal fixation can ensure that the two robot bodies 2 are absolutely horizontal, and the lateral rotation enhances the picking tolerance. The stabilizing link 1 suspends the control unit 13 and the transmission and other power components to save space. Power wheels are installed in the robot body 2, and the two robot bodies 2 move on two tracks respectively to achieve the basic movement of the robot. Figure 7 As shown, in order to make the operation more stable, the power wheel is designed to be inverted circular (inverted circular refers to a convexity in the horizontal direction, shaped like an inverted circle or sphere), which fits the track surface and has a diameter of 100mm.

[0037] At least one end of the track is connected to a track limiting auxiliary device for fixing the track and for parking the robot body 2, such as Figure 5 As shown, the track limit auxiliary device includes a horizontally arranged base 8 and a plurality of hydraulic cylinders 9 integrally installed vertically on the base 8, a spring 12 is arranged between the base 8 and the bottom end of the hydraulic cylinder 9, and the integral base has the functions of manual hydraulic lifting and spring support; the top end of the output shaft of each hydraulic cylinder 9 is commonly connected to a horizontally arranged feed slide 10, a horizontally slidable feed shaft is arranged in the feed slide 10, a conical butt joint 11 is arranged at the end of the feed shaft, and the conical butt joint 11 is used to be plugged into the hollow port of the track; the top of the feed slide 10 is a flat surface for the robot body 2 to park. When increasing or decreasing the pipe row, the track limit auxiliary device is raised or lowered by the output shaft of the hydraulic cylinder 9 to drive the robot body 2 in the parked state, and after the conical butt joint 11 is driven by the feed shaft to connect the track limit auxiliary device and the track, the robot body 2 can be operated and used.

[0038] The robot body 2 includes a slider 2-1, and a power wheel is provided at the bottom of the slider 2-1, which falls above the track and slides with the track to enhance the load capacity and stability. The power wheel is driven by an engine installed inside the slider 2-1, and the engine is powered by an external power box 4 installed on the slider 2-1, and the engine is electrically connected to the control unit 13 mounted on the stabilizing link 1. Auxiliary wheels are also provided at the bottom of the slider 2-1, which are slidably connected to both sides of the track to enhance the stability of the robot.

[0039] like Figure 6 As shown, a bracket 5 extending forward is connected to both sides of the front end of the slider 2-1, and a proximity sensor 6 is installed at the front end of the bracket 5. A proximity sensor 6 is also installed at the rear end of the slider 2-1. The proximity sensor 6 is electrically connected to the control unit 13, and the sensing distance is 3mm. The proximity sensor 6 is used to detect the oil pipe in front and return to the berth, slow down in advance to prevent collision, four in front and two in the rear. When the robot body 2 drives to the proximity sensor 6 and senses a metal object, the proximity sensor 6 sends a deceleration command to the control unit 13, and the control unit 13 controls the robot body 2 to stop moving.

[0040] Both sides of the slider 2-1 are connected to a lifting mechanism 3 for grabbing, lifting, and lowering the oil pipe. Figure 2-Figure 4 As shown, the lifting mechanism 3 includes a mounting base 3-1 fixedly connected to the side wall of the slider 2-1 and an electric hydraulic cylinder 3-2 fixed on the mounting base 3-1. The front end of the mounting base 3-1 is hinged to a grabbing arm 3-3. In order to ensure the synchronization of grabbing the oil pipe, a Hall angle sensor 7 is provided on the grabbing arm 3-3. The Hall angle sensor 7 is electrically connected to the control unit 13. When the control unit receives the signal that the grabbing arms 3-3 of the two robot bodies are lifted to the specified angle, it sends a motion command to the engine; a gripper 3-4 for grabbing the oil pipe is provided at the front end of the grabbing arm 3-3, and the output shaft end of the electric hydraulic cylinder 3-2 is hinged to the grabbing arm 3-3, and the electric hydraulic cylinder 3-2 is electrically connected to the control unit 13. The gripper 3-4 is a semi-arc structure with an inner diameter of φ112mm, which can improve the picking rate of the gripper and can pick up oil pipes of various calibers. A strong magnet 3-5 is installed on its inner wall, and an electrical connector 3-6 connected to the strong magnet 3-5 is installed on its outer wall. The electrical connector 3-6 is powered by an external power box 4, and the electrical connector 3-6 is electrically connected to the control unit 13.

[0041] Based on the above implementation scheme, the rotation range of the grabbing arm 3-3 is 0°-85°. When the angle between the grabbing arm 3-3 and the bottom plane is between 0°-20° and above 70°, the control unit 13 cuts off the power supply of the strong magnet 3-5 according to the transmission signal of the Hall angle sensor 7 to avoid affecting the oil pipeline transportation and discharge action. At other angles, the strong magnet 3-5 is energized.

[0042] Furthermore, the control unit 13 used in this embodiment is a PLC controller, which completes digital quantity acquisition, analyzes remote control commands, exchanges data with configuration software and servers, and completes the corresponding control process. The speed and rotation direction of the robot body are realized through PLC control, and the engine output power, frequency, voltage, torque, fault code and other information are read into the PLC controller to complete status monitoring. The photoelectric encoder inside the PLC controller calculates the position, movement speed and movement direction.

[0043] The PLC controller is connected to the DTU, and the DTU communicates with the cloud server through the mobile 4G network. The cloud server monitors the moving speed, current position, and bending angle of the robot body 2, and is used to realize data monitoring, data query, fault alarm, and data input reverse operation;

[0044] The above remote control instructions come from a remote control connected to the PLC controller via a wireless signal. The remote control consists of a transmitting handle and a receiving module. The transmitting frequency is 433 MHz and the maximum distance is 200 meters. The transmitting handle has ten buttons, including parking, berthing, lifting, lowering, holding, releasing, taking the pipe, and releasing the pipe. Among them, taking the pipe and releasing the pipe are fully automatic working modes. The receiving module connects the control signal to the input end of the PLC controller, and the PLC controller parses and executes corresponding actions according to the input signal.

[0045] Example 2

[0046] Based on the rail-type fully automatic pipe conveying robot described in Example 1, the pipe conveying method thereof comprises the following steps:

[0047] The track limit auxiliary device is installed and connected to the pipe bridge cross arm as the track to complete the fixed support of the track. After the track limit auxiliary device and the pipe bridge cross arm are installed, the robot body 2 parked on the track limit auxiliary device is started;

[0048] The control unit 13 sends a signal to the lifting mechanism 3 of the robot body 2, controlling the lifting mechanism 3 to first grab the oil pipe, and then lift the oil pipe through the grabbing arm 3-3 of the lifting mechanism 3. After lifting to the specified angle, the Hall angle sensor 7 installed on the grabbing arm 3-3 transmits a detection signal to the control unit 13. When the control unit 13 receives the Hall angle sensor 7 detection signal that the lifting mechanisms 3 of the two robot bodies 2 are lifted to the specified angle, it sends a motion command to the engine to drive the power wheel to drive the robot body 2 to move on the track; during the movement of the robot body 2, if the proximity sensor 6 arranged thereon senses that there is a metal object in front, the proximity sensor 6 sends a deceleration signal to the control unit 13, and the control unit 13 controls the engine to stop moving;

[0049] After the robot body 2 stops moving, the control unit 13 sends a signal to the lifting mechanism 3 of the robot body 2 to control the grabbing arm 3-3 of the lifting mechanism 3 to perform a falling action, so that the oil pipe is put down, thus completing a cycle of pipe transportation action;

[0050] In the above-mentioned pipe transportation action of one cycle, the cloud server communicating with the control unit 13 monitors the moving speed, current position, and bending angle of the grabbing arm 3-3 of the robot body 2 to realize data monitoring, data query, fault alarm, and data input reverse operation; the control unit 13 receives and analyzes the control instructions of the remote control, and executes the corresponding actions in the pipe transportation cycle.

[0051] Based on the technical solution described in this application, the technical problems that can be solved include the following:

[0052] ① Solve the problem of high intensity and high risk of manual operation of pipe and drainage rods in automated well workover applications; ② Solve the problem of limited space for platform cluster well pipe and drainage rod bridges in large-scale automated well workover applications; ③ Solve the problems of long completion cycle, high relocation frequency, and increased transportation costs for new equipment for the team; ④ Solve the technical problem that the pipe and drainage link is still blank in large-scale automated well workover applications.

[0053] The robot is small in size, easy to install, highly applicable, reduces labor, and realizes automated oil pipe transportation. The load capacity is ≤1000kg, and it can pick up conventional downhole oil pipes and insulated pipes. In addition, the application of this robot device has significant advantages in economic and social benefits:

[0054] (1) Reduce labor costs: The application of this robot can reduce the number of people operating in the pipe and rod transportation operations of small repair automated units. Currently, the annual per capita cost of operating positions in Liaohe Oilfield is 200,000 yuan.

[0055] (2) Promote the large-scale application of minor repair automation: The application of the pipe-rod conveying robot completes the minor repair automation technology chain, realizes the full chain automation of pipe-rod conveying, lifting, and wellhead tripping in minor repair operations, and can realize single-person operation of minor repair automation. At the same time, it solves the problem of limited wellhead placement for platform cluster well automation operations. Based on the current minor repair operation team of four people per machine and the current annual per capita cost of 200,000 yuan for Liaohe Oilfield operations, each team can reduce three people, and the average annual labor cost can be reduced by 600,000 yuan, creating conditions for large-scale investment and application.

[0056] (3) Increased safety benefits: It essentially solves the safety accidents that occur during the transmission and discharge of oil pipes. It promotes the large-scale application of small repair automation, and essentially solves the risk of accidents in wellhead safety operations. The direct cost of a single personal accident is 50,000 to 100,000 yuan, and the safety benefits are immeasurable.

[0057] (4) According to statistics, the Liaohe Oilfield will reduce the number of workers in the oilfield industry by more than 500 from 2019 to 2022 due to various reasons. It is estimated that more than 1,000 people will retire naturally in ten years. The annual reduction of workers is an inevitable trend in the development of the industry. Only by promoting automated workover can the stable development of the oilfield industry be promoted and the upstream production be better guaranteed.

[0058] (5) Low manufacturing cost: The device costs about RMB 250,000, which is several times lower than similar products.

[0059] (6) Electric-driven green development: The hydraulic system and power system of the device are fully electric-driven, which is in line with the current development trend of electrified operations.

[0060] In summary, the rail-type fully automatic pipe conveying robot has completed the technical research and development of automated pipe-rod conveying and discharge operations for minor repairs, promoted the docking with mature minor repair automation technology applications, realized the transformation of well repair operation modes, comprehensively reduced labor intensity, controlled safety operation risks, and promoted the large-scale application of minor repair automation technology, which is of great significance to achieving efficient, safe, and low-cost well repair operations.

[0061] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention.

Claims

1. A rail-type fully automatic pipe transport robot, characterized in that: The invention comprises two robot bodies (2) connected by a stabilizing link (1), each of the two robot bodies (2) using one of the cross arms on the pipe bridge as a track, at least one end of the track being connected to a track limiting auxiliary device for fixing the track and for parking the robot body (2); the robot body (2) comprising a slider (2-1), the bottom of the slider (2-1) being provided with a power wheel slidably connected to the track, the power wheel being driven by an engine mounted inside the slider (2-1), both sides of the slider (2-1) being connected to a lifting mechanism (3) for grabbing, lifting and lowering an oil pipe, the engine and the lifting mechanism (3) being electrically connected to a control unit (13) mounted on the stabilizing link (1), the engine, the lifting mechanism (3) and the control unit (13) being powered by an external power box (4) mounted on the slider (2-1).

2. The rail-type fully automatic pipe transport robot according to claim 1, characterized in that: The lifting mechanism (3) comprises a mounting base (3-1) fixedly connected to the side wall of the slider (2-1) and an electric hydraulic cylinder (3-2) fixed on the mounting base (3-1); a grabbing arm (3-3) is hingedly connected to the front end of the mounting base (3-1); a Hall angle sensor (7) is provided on the grabbing arm (3-3); the Hall angle sensor (7) is electrically connected to the control unit (13); a gripper (3-4) for grabbing the oil pipe is provided at the front end of the grabbing arm (3-3); the output shaft end of the electric hydraulic cylinder (3-2) is hingedly connected to the grabbing arm (3-3), and the electric hydraulic cylinder (3-2) is electrically connected to the control unit (13).

3. The rail-type fully automatic pipe transport robot according to claim 2, characterized in that: The gripper (3-4) is a semi-arc structure, with a strong magnet (3-5) installed on its inner wall surface, and an electrical connector (3-6) connected to the strong magnet (3-5) installed on its outer wall surface. The electrical connector (3-6) is powered by an external electrical box (4), and the electrical connector (3-6) is electrically connected to a control unit (13).

4. The rail-type fully automatic pipe transport robot according to claim 1, characterized in that: A bracket (5) extending forward is connected to both sides of the front end of the slider (2-1), and a proximity sensor (6) is installed at the front end of the bracket (5). A proximity sensor (6) is also installed at the rear end of the slider (2-1), and the proximity sensor (6) is electrically connected to the control unit (13).

5. The rail-type fully automatic pipe transport robot according to claim 1, characterized in that: The track limiting auxiliary device comprises a horizontally arranged base (8) and a plurality of hydraulic cylinders (9) integrally and vertically mounted on the base (8); a spring (12) is arranged between the base (8) and the bottom end of the hydraulic cylinder (9); the top ends of the output shafts of the hydraulic cylinders (9) are commonly connected to a horizontally arranged feed rail (10); a horizontally slidable feed shaft is arranged in the feed rail (10); a conical joint (11) is arranged at the end of the feed shaft; the conical joint (11) is used to be correspondingly plugged into a hollow port of the track; the top of the feed rail (10) is a flat surface for parking the robot body (2).

6. The rail-type fully automatic pipe transport robot according to claim 3, characterized in that: The grabbing arm (3-3) has a rotation range of 0°-85°. When the angle between the grabbing arm (3-3) and the bottom plane is between 0°-20° and above 70°, the strong magnet (3-5) is powered off. At other angles, the strong magnet (3-5) is powered on.

7. The rail-type fully automatic pipe transport robot according to claim 1, characterized in that: The bottom of the sliding block (2-1) is also provided with auxiliary wheels which are slidably engaged with the two sides of the track, and a transmission mounted on the stabilizing link (1) is connected between the engine and the power wheel.

8. The rail-type fully automatic pipe transport robot according to any one of claims 1 to 7, characterized in that: The control unit (13) is a PLC controller, the PLC controller is connected to the DTU, and the DTU is connected to the cloud server through a mobile network.

9. The rail-type fully automatic pipe transport robot according to claim 8, characterized in that: The PLC controller is connected to a remote controller via a wireless signal to remotely receive control signals for the pipe transport robot.

10. A pipe conveying method using a rail-type fully automatic pipe conveying robot, characterized in that: The steps include: The track position limiting auxiliary device is installed and connected to the pipe bridge cross arm as the track to complete the fixed support of the track. After the track position limiting auxiliary device and the pipe bridge cross arm are installed, the robot body (2) parked on the track position limiting auxiliary device is started; The control unit (13) sends a signal to the lifting mechanism (3) of the robot body (2), controls the lifting mechanism (3) to first grasp the oil pipe, and then lift the oil pipe through the grabbing arm (3-3) of the lifting mechanism (3). After lifting to a specified angle, the Hall angle sensor (7) installed on the grabbing arm (3-3) transmits a detection signal to the control unit (13). When the control unit (13) receives the Hall angle sensor (7) detection signal that the lifting mechanisms (3) of the two robot bodies (2) are both lifted to the specified angle, it sends a movement instruction to the engine to drive the power wheel to drive the robot body (2) to move on the track; during the movement of the robot body (2), if the proximity sensor (6) arranged on it senses that there is a metal object in front, the proximity sensor (6) sends a deceleration signal to the control unit (13), and the control unit (13) controls the engine to stop moving; After the robot body (2) stops moving, the control unit (13) sends a signal to the lifting mechanism (3) of the robot body (2) to control the grabbing arm (3-3) of the lifting mechanism (3) to perform a falling action, so that the oil pipe is put down, thereby completing a cycle of pipe transportation action; During the above-mentioned pipe transporting action in one cycle, the cloud server communicating with the control unit (13) monitors the moving speed, current position and bending angle of the grabbing arm (3-3) of the robot body (2) to realize data monitoring, data query, fault alarm and data input reverse operation; the control unit (13) receives and analyzes the control instructions of the remote controller and executes the corresponding actions in the pipe transporting cycle.

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