Intelligent catwalk pipe grabbing manipulator

Abstract

The invention relates to the field of oil field exploitation pipe grabbing machines, in particular to a catwalk intelligent pipe grabbing mechanical arm which comprises a mounting frame, two rotating frames are arranged at the two ends of the mounting frame correspondingly, and the two rotating frames located at the same end of the mounting frame are symmetrically and rotationally connected to the two sides of the mounting frame; the four driving rollers are rotationally connected to the bottom ends of the four rotating frames correspondingly, first motors are fixedly connected to the top ends of the rotating frames, and output shafts of the first motors are coaxially fixed to the driving rollers; according to the pipeline clamping device, the rotating frame and the driving roller are arranged, the driving roller rotates after the first motor is started, and the pipeline is moved leftwards or rightwards under the action of friction force to adjust the horizontal position of the pipeline, so that the pipeline gravity borne by the two clamping mechanisms is the same, the pipeline can be kept in a stable state in the upward moving process, and the working efficiency is improved. And in addition, deflection loads borne by the hinged position can be reduced, and damage to equipment is reduced.

Description

Technical Field

[0001] The invention relates to the field of pipe grabbing machines for oilfield exploitation, and in particular to a catwalk intelligent pipe grabbing manipulator. Background Art

[0002] The oilfield drilling pipe grabbing robot is an automatic operating device that can imitate certain movements and functions of human hands and arms. It is used to grab and carry objects such as drill pipes or operate tools according to a fixed procedure. Its working principle is to first clamp the pipe with the claws, then drive the pipe upward, and then rotate the pipe grabber ninety degrees to make the pipe vertical.

[0003] For example, the invention patent with publication number CN110685617A discloses an oilfield well repairing operation device, including a chassis, an adjusting centering device, and a pipe grabbing mechanism; the adjusting centering device is arranged on the chassis, and the adjusting centering device is connected to the pipe grabbing mechanism; the adjusting centering device includes a first direction adjusting mechanism and a second direction adjusting mechanism, the first direction adjusting mechanism is used to move the pipe grabbing mechanism along a first direction, and the second direction adjusting mechanism is used to move the pipe grabbing mechanism along a second direction; so that the first direction adjusting mechanism and the second direction adjusting mechanism cooperate to make the pipe grabbing mechanism move in a two-dimensional horizontal plane.

[0004] The above scheme has the following disadvantages: if the distance between the two ends of the pipe and the clamping position is different, the gravity at the two ends of the pipe will be different. On the one hand, it is easy to cause the pipe to lose balance during the upward movement and may roll over. On the other hand, it is easy to generate a deflection load on the hinge point of the pipe grabber, which may cause damage to the equipment.

[0005] To this end, the present invention proposes a catwalk intelligent pipe grabbing manipulator to solve the above problems. Summary of the invention

[0006] In order to achieve the above purpose, the technical solution adopted by the present invention is: a catwalk intelligent pipe grabbing manipulator, comprising: A mounting frame, wherein two rotating frames are respectively arranged at both ends of the mounting frame, and the two rotating frames located at the same end of the mounting frame are symmetrically rotatably connected to the two sides of the mounting frame; Four driving rollers, the four driving rollers are rotatably connected to the bottom ends of four rotating frames respectively, the top ends of the rotating frames are fixedly connected to a first motor, and the output shaft of the first motor is coaxially fixed with the driving roller; A turning drive mechanism, wherein the turning drive mechanism is used to drive the rotating frame to turn over so that the driving roller approaches the pipeline and contacts and clamps the side wall of the pipeline through the driving roller; A pipe support with two weighing sensors; a PLC controller controls the start of the first motor, so that the driving roller rotates and drives the pipe to move to the left or right by a predetermined distance, so that the pipe moves to a position where the gravity at both ends is balanced; Two clamping mechanisms, the two clamping mechanisms are symmetrically arranged at the ends of the mounting frame, and the clamping mechanisms clamp the pipeline after the pipeline is adjusted in the horizontal direction; Specifically, in the prior art, when clamping the pipe and driving the pipe to move upward, if the distance between the two ends of the pipe and the clamping position is different, the gravity at the two ends of the pipe will be different. On the one hand, it is easy to cause the pipe to lose balance during the upward movement and may tip over. On the other hand, it is easy to generate a deflection load on the hinge point of the pipe grabber, which is easy to cause damage to the equipment. This technical solution can solve the above problems. The specific operation is as follows: The mounting frame is moved close to the pipeline by means of an external lifting device (the mounting frame is connected to the lifting device by means of a hinge), and then the driving mechanism is flipped so that the driving roller is close to the pipeline, and the driving roller contacts and clamps the side wall of the pipeline, and then the first motor is started to rotate the driving roller, and the pipeline is moved left or right under the action of friction force to adjust the horizontal position of the pipeline so that the distances from both ends of the pipeline to the clamping mechanism are the same; The pipe is then clamped by the clamping mechanism and driven to move upward. Since the distances between the two ends of the pipe and the two clamping mechanisms are the same, the two clamping mechanisms are subjected to the same pipe gravity, which helps keep the pipe in a stable state during the upward movement and reduces the possibility of rollover. It also helps reduce the deflection load on the hinge and reduce damage to the equipment.

[0007] Preferably, it also includes: Four air bags, the inner ring walls of the four air bags are fixedly connected to the driving roller, and the air bags are used to adapt to pipes with various outer diameters; An air pressure sensor is disposed in the airbag and is used to detect air pressure change information in the airbag.

[0008] Preferably, the clamping mechanism comprises: Two turning frames, the top ends of the two turning frames are symmetrically rotated to connect the ends of the mounting frames; A clamping plate, the clamping plate is rotatably connected to the bottom end of the flip frame, and a plurality of arc-shaped slots with different radii are formed in a circular array on the outer wall of the clamping plate; A flip driving assembly, wherein the flip driving assembly is used to drive the flip frame to flip; A rotation drive assembly drives the clamping plate to rotate according to the pressure information of the air pressure sensor, so that the arc-shaped slot of the corresponding radius rotates to a specified position to adapt to pipes of various outer diameters.

[0009] Preferably, it also includes: Two rotating rollers, two ends of the two rotating rollers are symmetrically rotatably connected with sliders, the sliders are slidably connected in the slide grooves of the turning frame, and a compression spring is fixedly connected between the sliders and the turning frame bracket; A second motor is installed on the side wall of the slider, and an output shaft of the second motor is coaxially fixed with the rotating roller.

[0010] Preferably, the flip drive assembly comprises: A third motor, wherein the output shaft of the third motor is coaxially fixed to the top end of the flip frame at a corresponding position; Two first gears are coaxially fixed to the top ends of the two flip frames respectively, and the two first gears are meshed with each other.

[0011] Preferably, the rotary drive mechanism comprises: a second gear, the second gear being coaxially fixed to the clamping plate; A worm wheel, the worm wheel is rotatably connected to the side wall of the flip frame, a transmission gear is fixedly connected to the shaft of the worm wheel, and the transmission gear is meshed with the second gear; A worm, both ends of which are rotatably connected to the side wall of the flip frame, and the worm is meshed with a worm wheel; A fourth motor, wherein the fourth motor is fixedly connected to the outer side wall of the flip frame, and an output shaft of the fourth motor is coaxially fixed with the worm; Specifically, after the horizontal position of the pipeline is adjusted, the PLC controller analyzes and calculates the outer diameter of the pipeline according to the air pressure change in the airbag, and then starts the fourth motor through the PLC controller to rotate the worm, thereby driving the worm wheel and the transmission gear to rotate, and the second gear rotates under the drive of the transmission gear, thereby rotating the clamping plate to rotate the corresponding arc-shaped slot to the specified position, so as to adapt to pipelines of various outer diameters; Then the third motor is started, and the two first gears are meshed with each other, so that the two flip frames flip close to the pipe, and finally the pipe is clamped by the arc groove on the clamping plate, so that the pipe remains stable during movement.

[0012] Preferably, the flip driving mechanism comprises: A third gear, the third gear is coaxially fixed to the rotating frame; A driving plate, wherein the driving plate is slidably connected in the mounting frame, a driving rack is fixedly connected to the bottom end of the driving plate, and the driving rack is meshed with the third gear; The cylinder is fixedly connected to the top of the mounting frame, and the telescopic rod of the cylinder is fixedly connected to the driving plate.

[0013] Preferably, there are at least three clamping plates, and a plurality of the clamping plates are rotatably connected to the bottom end of the flip frame in a linear array.

[0014] Preferably, the outer side wall of the airbag is provided with a rubber layer, and the outer side of the rubber layer is provided with anti-skid patterns to increase the friction of the airbag.

[0015] Preferably, the radii of the arc-shaped slots increase in sequence according to the arrangement order, and the arc-shaped slots are rotatably connected to a rotating wheel in the array.

[0016] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention sets a rotating frame and a driving roller. After the first motor is started, the driving roller rotates. Under the action of friction, the pipeline is moved left or right to adjust the horizontal position of the pipeline, so that the gravity of the pipeline on the two clamping mechanisms is the same, which is conducive to keeping the pipeline in a stable state during the upward movement and reducing the possibility of rollover. It is also conducive to reducing the deflection load on the hinge and reducing damage to the equipment.

[0017] 2. The present invention provides an airbag and an air pressure sensor, which can adapt to pipes of various outer diameters on the one hand, and detect the air pressure change information in the airbag on the other hand, and transmit the air pressure change information to the PLC controller. The PLC controller calculates the outer diameter of the pipe through the second calculation module inside it.

[0018] 3. The present invention sets a clamping plate and a plurality of arc-shaped slots with different radii. After the horizontal position of the pipeline is adjusted, the PLC controller calculates the outer diameter of the pipeline through the second calculation module inside it, and then starts the fourth motor through the PLC controller to rotate the worm, thereby driving the worm wheel to rotate, and the second gear rotates under the drive of the transmission gear, thereby rotating the clamping plate to rotate the corresponding arc-shaped slot to the specified position, thereby adapting to pipelines of various outer diameters.

[0019] 4. The present invention sets a rotating roller and a second motor. During the turning process of the turning frame, the rotating roller is close to the outer wall of the pipe. Under the squeezing effect of the outer wall of the pipe, the slider drives the rotating roller to move along the slide groove of the turning frame, and the clamping spring is compressed, so that the rotating roller can adapt to pipes of different outer diameters. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a schematic diagram of the connection between the mounting frame and the rotating frame in the present invention; Figure 3 for Figure 2 Enlarged view of point A in the middle; Figure 4It is a schematic diagram of the connection between the turning frame and the first gear in the present invention; Figure 5 It is a schematic diagram of the connection between the worm wheel and the worm in the present invention; Figure 6 It is a schematic diagram of the connection between the rotating frame and the driving roller of the present invention; Figure 7 It is a schematic diagram of the connection between the airbag and the driving roller in the present invention; Figure 8 It is a schematic diagram of the connection between the clamping plate and the rotating wheel in the present invention; Fig. 9 It is a connection diagram of the U-shaped bracket and the weighing sensor in the present invention.

[0021] In the figure: mounting frame 1, rotating frame 2, driving roller 3, first motor 4, cylinder 5, driving plate 6, driving rack 7, third gear 8, airbag 9, air pressure sensor 10, flip frame 11, clamping plate 12, arc-shaped slot 13, rotating wheel 14, third motor 15, first gear 16, second gear 17, worm gear 18, worm 19, fourth motor 20, rotating roller 21, slider 22, compression spring 23, second motor 24, U-shaped frame 25, weighing sensor 26, pipeline 27, transmission gear 28. DETAILED DESCRIPTION

[0022] The following description is used to disclose the present invention so that those skilled in the art can implement the present invention. The preferred embodiments described below are only examples, and those skilled in the art may think of other obvious variations.

[0023] like Figures 1 to 8 The catwalk intelligent pipe grabbing manipulator shown includes: A mounting frame 1, two rotating frames 2 are respectively arranged at both ends of the mounting frame 1, and the two rotating frames 2 located at the same end of the mounting frame 1 are symmetrically rotated and connected to both sides of the mounting frame 1; Four driving rollers 3, the four driving rollers 3 are rotatably connected to the bottom ends of four rotating frames 2 respectively, the top ends of the rotating frames 2 are fixedly connected to a first motor 4, and the output shaft of the first motor 4 is coaxially fixed with the driving rollers 3; The turning drive mechanism is used to drive the rotating frame 2 to turn over, so that the driving roller 3 is close to the pipe 27, and the driving roller 3 contacts and clamps the side wall of the pipe 27; Two clamping mechanisms, which are symmetrically arranged at the ends of the mounting frame 1, and clamp the pipe 27 after the pipe 27 is adjusted in the horizontal direction; Specifically, in the prior art, when the pipe 27 is clamped and driven to move upward, if the distance between the two ends of the pipe 27 and the clamping position is different, the gravity at the two ends of the pipe 27 will be different. On the one hand, it is easy to cause the pipe 27 to lose balance during the upward movement and may tip over. On the other hand, it is easy to generate a deflection load on the hinge point of the pipe grabber, which is easy to cause damage to the equipment. The present technical solution can solve the above problems. The specific operation is as follows: The mounting frame 1 is moved close to the pipe 27 by means of an external lifting device (the mounting frame 1 is connected to the lifting device by means of a hinge), and then the driving mechanism is flipped so that the driving roller 3 is close to the pipe 27, and the driving roller 3 contacts and clamps the side wall of the pipe 27, and then the first motor 4 is started to rotate the driving roller 3, and under the action of friction, the pipe 27 is moved leftward or rightward to adjust the horizontal position of the pipe 27 so that the distances from both ends of the pipe 27 to the corresponding clamping mechanism are the same; Subsequently, the pipe 27 is clamped by the clamping mechanism, and then the pipe 27 is driven to move upward. Since the distances from the two ends of the pipe 27 to the corresponding clamping mechanisms are the same, the gravity of the pipe 27 exerted on the two clamping mechanisms is the same, which helps to keep the pipe 27 in a stable state during the upward movement and reduces the possibility of rollover. It is also helpful to reduce the deflection load on the hinge, thereby reducing damage to the equipment.

[0024] like Fig. 9 As shown, in order to make the distances from both ends of the pipe 27 to the corresponding clamping mechanism the same, the present invention further proposes a pipe support, including a U-shaped frame 25, the U-shaped frame 25 is located directly below the mounting frame 1, and weighing sensors 26 are provided on the two supporting points at the top of the U-shaped frame 25, and the two supporting points are used to support the pipe 27; Specifically, the gravity parameters at both ends of the pipe 27 are obtained through two weighing sensors 26, and the two gravity parameters are transmitted to the PLC controller (model Siemens S7-400). The PLC controller calculates the distance that the pipe 27 needs to move through the built-in first calculation module, and then the PLC controller controls to start the first motor 4, so that the driving roller 3 rotates and drives the pipe 27 to move a predetermined distance to the left or right, so that the pipe 27 moves to a position where the gravity at both ends is balanced, so that the two clamping mechanisms are subjected to the same gravity of the pipe 27, which is conducive to keeping the pipe 27 in a stable state during the upward movement and reducing the possibility of rollover. It is also conducive to reducing the deflection load on the hinge and reducing damage to the equipment.

[0025] As an optional implementation of the flip driving mechanism, the flip driving mechanism includes: A third gear 8, the third gear 8 is coaxially fixed to the rotating frame 2; A driving plate 6, the driving plate 6 is slidably connected in the mounting frame 1, a driving rack 7 is fixedly connected to the bottom end of the driving plate 6, and the driving rack 7 is meshed with a third gear 8; Cylinder 5, which is fixedly connected to the top of the mounting frame 1, and a telescopic rod of the cylinder 5 is fixedly connected to the driving plate 6; Specifically, by starting the cylinder 5, the telescopic rod of the cylinder 5 moves downward, so that the driving plate 6 drives the driving rack 7 to move downward, thereby engaging with the third gear 8, so that the rotating frame 2 drives the driving roller 3 to flip, so that the driving roller 3 is close to the pipe 27, and the driving roller 3 contacts and clamps the side wall of the pipe 27, and then the first motor 4 is started to rotate the driving roller 3, so that the pipe 27 is moved, so as to adjust the pipe 27 in the horizontal direction.

[0026] As a further embodiment of the present invention, it also includes: Four air bags 9, the inner ring walls of the four air bags 9 are fixedly connected to the driving roller 3, and the air bags 9 are adapted to the pipes 27 with various outer diameters; The air pressure sensor 10 is arranged in the airbag 9 and is used to detect the air pressure change information in the airbag 9 and transmit the air pressure change information to the PLC controller. The PLC controller calculates the outer diameter of the pipeline 27 through the second calculation module inside it.

[0027] As a further embodiment of the present invention, the clamping mechanism comprises: Two turning frames 11, the top ends of the two turning frames 11 are symmetrically rotated and connected to the ends of the mounting frame 1; A clamping plate 12, the clamping plate 12 is rotatably connected to the bottom end of the flip frame 11, and a plurality of arc-shaped slots 13 with different radii are formed in a circular array on the outer wall of the clamping plate 12; A flip driving assembly, which is used to drive the flip frame 11 to flip; A rotation drive assembly drives the clamping plate 12 to rotate according to the pressure information of the air pressure sensor 10, so that the arc-shaped slot 13 of the corresponding radius rotates to a specified position to adapt to pipes 27 of various outer diameters; The flip drive assembly includes: A third motor 15, the output shaft of the third motor 15 is coaxially fixed to the top of the flip frame 11 at the corresponding position; Two first gears 16, the two first gears 16 are coaxially fixed to the top ends of the two flip frames 11, and the two first gears 16 are meshed with each other; The rotary drive mechanism includes: A second gear 17, the second gear 17 is coaxially fixed to the clamping plate 12; A worm wheel 18 is rotatably connected to the side wall of the flip frame 11, and a transmission gear 28 is fixedly connected to the shaft of the worm wheel 18, and the transmission gear 28 is meshed with the second gear 17; A worm 19, both ends of which are rotatably connected to the side wall of the turning frame 11, and the worm 19 is meshed with the worm wheel 18; A fourth motor 20, the fourth motor 20 is fixedly connected to the outer wall of the flip frame 11, and the output shaft of the fourth motor 20 is coaxially fixed with the worm 19; Specifically, after the horizontal position adjustment of the pipe 27 is completed, the PLC controller calculates the outer diameter of the pipe 27 through the second calculation module inside it, and then starts the fourth motor 20 through the PLC controller to rotate the worm 19, thereby driving the worm wheel 18 and the transmission gear 28 to rotate, and the second gear 17 rotates under the drive of the transmission gear 28, so that the clamping plate 12 rotates to rotate the corresponding arc-shaped slot 13 to the specified position, so as to adapt to pipes 27 with various outer diameters; Then the third motor 15 is started, and the two first gears 16 mesh with each other, so that the two flip frames 11 flip and approach the pipe 27, and finally the pipe 27 is clamped by the arc-shaped clamping groove 13 on the clamping plate 12, so that the pipe 27 remains stable during movement; It should be noted that the lead angle of the worm 19 is smaller than the equivalent friction angle between the teeth of the worm wheel 18, so that the worm wheel 18 and the worm 19 have the characteristic of reverse self-locking. The power transmitted to the worm 19 through the worm wheel 18 is difficult to cause the worm 19 to reverse, which is beneficial to improve the stability of the position of the clamping plate 12, and further improve the stability of the clamping pipe 27.

[0028] As a further embodiment of the present invention, it also includes: Two rotating rollers 21, two ends of the two rotating rollers 21 are symmetrically rotatably connected with sliders 22, the sliders 22 are slidably connected in the slide grooves of the turning frame 11, and a compression spring 23 is fixedly connected between the sliders 22 and the brackets of the turning frame 11; A second motor 24, the second motor 24 is mounted on the side wall of the slider 22, and the output shaft of the second motor 24 is coaxially fixed with the rotating roller 21; Specifically, by providing the rotating roller 21 and the second motor 24, during the turning process of the turning frame 11, the rotating roller 21 is close to the outer wall of the pipe 27. Under the squeezing effect of the outer wall of the pipe 27, the slider 22 drives the rotating roller 21 to move along the slide groove of the turning frame 11, and the pressing spring 23 is compressed, so that the rotating roller 21 is fully in contact with the outer wall of the pipe 27, so that the rotating roller 21 can adapt to pipes 27 with different outer diameters. After the mounting frame 1 moves the pipe 27 to the specified height, the mounting frame 1 rotates 90 degrees to make the pipe 27 vertical, and the second motor 24 is started to drive the rotating roller 21 to rotate. Under the action of friction, the pipe 27 rotates, thereby completing the connection between the pipe 27 and other pipes. (The pipe 27 is connected to other pipes by threads) It should be noted that before the second motor 24 is started, the driving roller 3 needs to be kept away from the pipe 27 so as to reduce the resistance encountered by the pipe 27 when rotating.

[0029] As a further implementation scheme of the present invention, there are at least three clamping plates 12, and several clamping plates 12 are rotatably connected to the bottom end of the flip frame 11 in a linear array; by providing multiple clamping plates 12, the clamping area between the clamping plates 12 and the pipe 27 is increased, thereby improving the stability of clamping the pipe 27.

[0030] As a further embodiment of the present invention, the outer wall of the airbag 9 is provided with a rubber layer, and the outer side of the rubber layer is provided with anti-skid patterns to increase the friction of the airbag 9 and avoid the problem of the airbag 9 and the pipe 27 slipping.

[0031] As a further implementation scheme of the present invention, the radius of the arc-shaped slots 13 increases in sequence, and the arc-shaped slots 13 are rotatably connected to the rotating wheels 14 to reduce the wear between the pipe 27 and the clamping plate 12 during rotation.

[0032] Working principle of the present invention: The mounting frame 1 is moved close to the pipe 27 by an external lifting device, and then the driving mechanism is flipped to make the driving roller 3 close to the pipe 27, so that the driving roller 3 contacts and clamps the side wall of the pipe 27, and then the first motor 4 is started to rotate the driving roller 3, and the pipe 27 is moved left or right under the action of friction force to adjust the horizontal position of the pipe 27 so that the distances from the two ends of the pipe 27 to the corresponding clamping mechanism are the same; Then, the pipe 27 is clamped by the clamping mechanism, and then the pipe 27 is driven to move upward. Since the distances from the two ends of the pipe 27 to the corresponding clamping mechanisms are the same, the two clamping mechanisms are subjected to the same gravity of the pipe 27, which helps to keep the pipe 27 in a stable state during the upward movement, reducing the possibility of rollover, and also helps to reduce the deflection load on the hinge, thereby reducing damage to the equipment; After the horizontal position adjustment of the pipe 27 is completed, the PLC controller calculates the outer diameter of the pipe 27 through the second calculation module inside it, and then starts the fourth motor 20 through the PLC controller to rotate the worm 19, thereby driving the worm wheel 18 to rotate, and the second gear 17 rotates under the drive of the transmission gear 28, so that the clamping plate 12 rotates to rotate the corresponding arc-shaped slot 13 to the specified position, so as to adapt to pipes 27 with various outer diameters; Then the third motor 15 is started, and the two first gears 16 mesh with each other, so that the two flip frames 11 flip close to the pipe 27, and finally the pipe 27 is clamped by the arc groove 13 on the clamping plate 12, so that the pipe 27 remains stable during movement.

[0033] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments, and the above embodiments and descriptions only describe the principles of the present invention. The present invention may be subject to various changes and improvements without departing from the spirit and scope of the present invention, and these changes and improvements fall within the scope of the present invention claimed.

Claims

1. A catwalk intelligent pipe grabbing manipulator, characterized in that: include: A mounting frame (1), wherein two rotating frames (2) are respectively arranged at both ends of the mounting frame (1), and the two rotating frames (2) located at the same end of the mounting frame (1) are symmetrically rotatably connected to the two sides of the mounting frame (1); Four driving rollers (3), the four driving rollers (3) being rotatably connected to the bottom ends of four rotating frames (2) respectively, the top ends of the rotating frames (2) being fixedly connected to a first motor (4), the output shaft of the first motor (4) being coaxially fixed to the driving rollers (3); A turning drive mechanism, the turning drive mechanism is used to drive the rotating frame (2) to turn over, so that the driving roller (3) is close to the pipeline (27), and the driving roller (3) contacts and clamps the side wall of the pipeline (27); A pipe support with two weighing sensors (26); a PLC controller controls the start of a first motor (4) so ​​that the driving roller (3) rotates and drives the pipe (27) to move to the left or right by a predetermined distance, so that the pipe (27) moves to a position where gravity at both ends is balanced; Two clamping mechanisms are symmetrically arranged at the ends of the mounting frame (1); after the pipeline (27) has completed horizontal adjustment, the clamping mechanisms clamp the pipeline (27).

2. The catwalk intelligent pipe grabbing manipulator according to claim 1, characterized in that: Also includes: Four air bags (9), the inner ring walls of the four air bags (9) being fixedly connected to the driving roller (3), and the air bags (9) being adapted to pipes (27) with various outer diameters; An air pressure sensor (10) is arranged in the airbag (9) and is used to detect air pressure change information in the airbag (9).

3. The catwalk intelligent pipe grabbing manipulator according to claim 2, characterized in that: The clamping mechanism comprises: Two turning frames (11), the top ends of the two turning frames (11) being symmetrically rotatably connected to the end of the mounting frame (1); A clamping plate (12), the clamping plate (12) being rotatably connected to the bottom end of the flip frame (11), and a plurality of arc-shaped slots (13) with different radii are formed in a circular array on the outer wall of the clamping plate (12); A flipping drive assembly, the flipping drive assembly being used to drive the flip frame (11) to flip; A rotation drive assembly drives the clamping plate (12) to rotate according to pressure information from the air pressure sensor (10), so that the arc-shaped slot (13) of the corresponding radius rotates to a specified position to adapt to pipes (27) of various outer diameters.

4. The catwalk intelligent pipe grabbing manipulator according to claim 3, characterized in that: Also includes: Two rotating rollers (21), two ends of the two rotating rollers (21) are symmetrically rotatably connected with sliders (22), the sliders (22) are slidably connected in the slide grooves of the turning frame (11), and a compression spring (23) is fixedly connected between the sliders (22) and the bracket of the turning frame (11); A second motor (24), the second motor (24) is mounted on a side wall of the slider (22), and an output shaft of the second motor (24) is coaxially fixed to the rotating roller (21).

5. The catwalk intelligent pipe grabbing manipulator according to claim 3, characterized in that: The flip drive assembly comprises: A third motor (15), wherein an output shaft of the third motor (15) is coaxially fixed to a top end of the turning frame (11) at a corresponding position; Two first gears (16), the two first gears (16) are coaxially fixed to the top ends of the two flip frames (11) respectively, and the two first gears (16) are meshed with each other.

6. The catwalk intelligent pipe grabbing manipulator according to claim 3, characterized in that: The rotary drive mechanism comprises: a second gear (17), the second gear (17) being coaxially fixed to the clamping plate (12); A worm wheel (18), the worm wheel (18) being rotatably connected to a side wall of the tilting frame (11), a transmission gear (28) being fixedly connected to the shaft of the worm wheel (18), the transmission gear (28) being meshed with the second gear (17); A worm (19), wherein both ends of the worm (19) are rotatably connected to the side wall of the turning frame (11), and the worm (19) is meshed with the worm wheel (18); A fourth motor (20), the fourth motor (20) being fixedly connected to the outer side wall of the flip frame (11), and the output shaft of the fourth motor (20) being coaxially fixed to the worm (19).

7. The catwalk intelligent pipe grabbing manipulator according to claim 1, characterized in that: The flip driving mechanism comprises: A third gear (8), the third gear (8) being coaxially fixed to the rotating frame (2); A driving plate (6), the driving plate (6) being slidably connected in the mounting frame (1), the bottom end of the driving plate (6) being fixedly connected with a driving rack (7), the driving rack (7) being meshed with a third gear (8); A cylinder (5), wherein the cylinder (5) is fixedly connected to the top end of the mounting frame (1), and the telescopic rod of the cylinder (5) is fixedly connected to the driving plate (6).

8. The catwalk intelligent pipe grabbing manipulator according to claim 3, characterized in that: There are at least three clamping plates (12), and a plurality of the clamping plates (12) are rotatably connected to the bottom end of the turning frame (11) in a linear array.

9. The catwalk intelligent pipe grabbing manipulator according to claim 2, characterized in that: The outer side wall of the airbag (9) is provided with a rubber layer, and the outer side of the rubber layer is provided with anti-slip patterns to increase the friction of the airbag (9).

10. The catwalk intelligent pipe grabbing manipulator according to claim 3, characterized in that: The radii of the plurality of arc-shaped slots (13) increase in sequence according to the arrangement order, and the arc-shaped slots (13) are rotatably connected to a rotating wheel (14) in an array.

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