Catwalk intelligent pipe grabbing manipulator

Abstract

The present invention relates to the field of pipe grabbers for oilfield production, and in particular to a catwalk intelligent pipe grabber, comprising: a mounting frame, two rotating frames are respectively provided 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 both sides of the mounting frame; four driving rollers, the four driving rollers are respectively rotatably connected to the bottom ends of the four rotating frames, and the top end of the rotating frame is fixedly connected to a first motor, and the output shaft of the first motor is coaxially fixed to the driving roller. The present invention provides a rotating frame and a driving roller, and after the first motor is started, the driving roller rotates, and 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 applied to the two clamping mechanisms is the same, which is conducive to keeping the pipeline in a stable state during upward movement and reducing the possibility of overturning. It is also conducive to reducing the deflection load on the hinge and reducing damage to the equipment.

Description

Technical Field

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

[0002] An oilfield drilling pipe-grabbing robot is an automatic device that can imitate certain movements and functions of human hands and arms. It is used to grab and move objects such as drill pipes or operate tools according to a fixed procedure. Its working principle is to first clamp the pipe with a clamping claw, then drive the pipe upward, and then rotate the pipe grabber 90 degrees to make the pipe vertical.

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

[0004] The above solution 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 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] To achieve the above objectives, the present invention adopts the following technical solution: a catwalk intelligent pipe grabbing manipulator, comprising:

[0007] A mounting frame, wherein two rotating frames are respectively provided 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 both sides of the mounting frame;

[0008] Four driving rollers, the four driving rollers are rotatably connected to the bottom ends of four rotating frames, 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 rollers;

[0009] A turning drive mechanism, the turning drive mechanism is used to drive the rotating frame to turn over, so that the driving roller approaches the pipe, and the driving roller contacts and clamps the side wall of the pipe;

[0010] A pipe support with two weighing sensors; a PLC controller starts the first motor, causing the drive roller to rotate and drive the pipe to move left or right a predetermined distance, so that the pipe moves to a position where gravity is balanced at both ends;

[0011] 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 completes horizontal adjustment;

[0012] Specifically, in the prior art, when clamping a pipe and driving it 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 possibly tip over. On the other hand, it is easy to generate a deflection load on the hinge point of the pipe grabber, which can easily cause damage to the equipment. This technical solution can solve the above problems. The specific operation is as follows:

[0013] The mounting frame is moved close to the pipe using an external lifting device (the mounting frame is hingedly connected to the lifting device). The driving mechanism is then flipped to bring the driving roller close to the pipe. The driving roller contacts and clamps the side wall of the pipe. The first motor is then started to rotate the driving roller. The friction force moves the pipe left or right to adjust its horizontal position so that the distance between the two ends of the pipe and the clamping mechanism is the same.

[0014] 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 gravity of the pipe, which helps to keep the pipe stable during the upward movement and reduce the possibility of rollover. It also helps to reduce the deflection load on the hinge and reduce damage to the equipment.

[0015] Preferably, it also includes:

[0016] Four air bags, the inner ring walls of the four air bags are fixedly connected to the driving roller, and the air bags are adapted to pipes with various outer diameters;

[0017] An air pressure sensor is provided in the airbag and is used to detect air pressure change information in the airbag.

[0018] Preferably, the clamping mechanism includes:

[0019] Two turning frames, the top ends of the two turning frames are symmetrically rotated to connect the ends of the mounting frame;

[0020] A clamping plate, the clamping plate being rotatably connected to the bottom end of the flip frame, wherein a plurality of arc-shaped slots with different radii are formed in a circular array on the outer wall of the clamping plate;

[0021] A turning drive assembly, wherein the turning drive assembly is used to drive the turning frame to turn over;

[0022] A rotary 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.

[0023] Preferably, it also includes:

[0024] Two rotating rollers, with sliders symmetrically connected to both ends of the two rotating rollers, the sliders being slidably connected in the slide grooves of the turning frame, and a compression spring being fixedly connected between the sliders and the turning frame bracket;

[0025] The second motor is mounted on the side wall of the slider, and the output shaft of the second motor is coaxially fixed with the rotating roller.

[0026] Preferably, the flip drive assembly includes:

[0027] 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;

[0028] 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.

[0029] Preferably, the rotary drive assembly comprises:

[0030] a second gear, the second gear being coaxially fixed to the clamping plate;

[0031] 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;

[0032] A worm, both ends of which are rotatably connected to the side walls of the turning frame, and the worm is meshed with a worm wheel;

[0033] a fourth motor, the fourth motor being fixedly connected to the outer side wall of the flip frame, and the output shaft of the fourth motor being coaxially fixed with the worm;

[0034] Specifically, after the horizontal position of the pipe is adjusted, the PLC controller analyzes and calculates the outer diameter of the pipe based on the air pressure change in the airbag. The PLC controller then activates the fourth motor, causing the worm to rotate, thereby driving the worm wheel and the transmission gear to rotate. 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 pipes of various outer diameters.

[0035] Then the third motor is started, and the two first gears are engaged with each other, causing the two flip frames to flip close to the pipe, and finally clamp the pipe through the arc-shaped groove on the clamping plate, so that the pipe remains stable during movement.

[0036] Preferably, the flip driving mechanism includes:

[0037] a third gear, the third gear being coaxially fixed to the rotating frame;

[0038] a driving plate, the driving plate being slidably connected to the mounting frame, the bottom end of the driving plate being fixedly connected to a driving rack, the driving rack being meshed with the third gear;

[0039] 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.

[0040] Preferably, there are at least three clamping plates, and several of the clamping plates are rotatably connected to the bottom end of the turning frame in a linear array.

[0041] 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-slip grooves to increase the friction of the airbag.

[0042] Preferably, the radii of the arc-shaped slots increase in sequence, and the arc-shaped slots are rotatably connected to a rotating wheel in an array.

[0043] Compared with the prior art, the present invention has the following beneficial effects:

[0044] 1. The present invention provides 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. The two clamping mechanisms are subjected to the same gravity of the pipeline, which helps to keep the pipeline in a stable state during the upward movement and reduces the possibility of rollover. It also helps to reduce the deflection load on the hinge and reduce damage to the equipment.

[0045] 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 its internal second calculation module.

[0046] 3. The present invention provides 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. 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.

[0047] 4. The present invention sets a rotating roller and a second motor. During the turning process of the turning frame, the rotating roller approaches 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 compression spring is compressed, so that the rotating roller can adapt to pipes with different outer diameters. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0049] Figure 2 Schematic diagram of the connection between the mounting frame and the rotating frame in the present invention;

[0050] Figure 3 for Figure 2 Enlarged view of point A in the middle;

[0051] Figure 4 This is a schematic diagram of the connection between the turning frame and the first gear in the present invention;

[0052] Figure 5 Schematic diagram of the connection between the worm wheel and the worm in the present invention;

[0053] Figure 6 A schematic diagram of the connection between the rotating frame and the driving roller of the present invention;

[0054] Figure 7 Schematic diagram of the connection between the airbag and the driving roller in the present invention;

[0055] Figure 8 This is a schematic diagram of the connection between the clamping plate and the rotating wheel in the present invention;

[0056] Figure 9 It is a schematic diagram of the connection between the U-shaped bracket and the weighing sensor in the present invention.

[0057] 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, pipe 27, transmission gear 28. DETAILED DESCRIPTION

[0058] The following description is intended to disclose the present invention so that those skilled in the art can implement the present invention. The preferred embodiments described below are merely examples, and those skilled in the art may conceive of other obvious variations.

[0059] like Figures 1 to 8 The catwalk intelligent pipe grabbing robot shown includes:

[0060] A mounting frame 1, with two rotating frames 2 provided 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 connected to both sides of the mounting frame 1;

[0061] Four driving rollers 3, the four driving rollers 3 are rotatably connected to the bottom ends of the four rotating frames 2, the top ends of the rotating frames 2 are fixedly connected to the first motor 4, and the output shaft of the first motor 4 is coaxially fixed with the driving rollers 3;

[0062] 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;

[0063] Two clamping mechanisms, which are symmetrically arranged at the ends of the mounting frame 1, clamp the pipe 27 after the pipe 27 has completed horizontal adjustment;

[0064] Specifically, in the prior art, when clamping the pipe 27 and driving the pipe 27 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 may cause damage to the equipment. The present technical solution can solve the above problems. The specific operation is as follows:

[0065] Using an external lifting device (the mounting frame 1 is hingedly connected to the lifting device), the mounting frame 1 is moved close to the pipe 27. The driving mechanism is then flipped to bring the driving roller 3 close to the pipe 27. The driving roller 3 contacts and clamps the side wall of the pipe 27. The first motor 4 is then started to rotate the driving roller 3. The friction force moves the pipe 27 left or right, adjusting the horizontal position of the pipe 27 so that the distances from both ends of the pipe 27 to the corresponding clamping mechanisms are the same.

[0066] 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 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. It also helps to reduce the deflection load on the hinge, thereby reducing damage to the equipment.

[0067] like Figure 9 As shown, in order to make the distances between the two ends of the pipe 27 and the corresponding clamping mechanism the same, the present invention further proposes a pipe support, including a U-shaped frame 25, which is located directly below the mounting frame 1, and a weighing sensor 26 is 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;

[0068] 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 a 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 the start of the first motor 4 to rotate the drive roller 3 and drive 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, reducing the possibility of rollover, and also helping to reduce the deflection load on the hinge and reduce damage to the equipment.

[0069] As an optional embodiment of the flip drive mechanism, the flip drive mechanism includes:

[0070] A third gear 8, the third gear 8 is coaxially fixed to the rotating frame 2;

[0071] A driving plate 6 is slidably connected to the mounting frame 1 , and a driving rack 7 is fixedly connected to the bottom end of the driving plate 6 , and the driving rack 7 is engaged with the third gear 8 ;

[0072] Cylinder 5, cylinder 5 is fixedly connected to the top of the mounting frame 1, and the telescopic rod of cylinder 5 is fixedly connected to the driving plate 6;

[0073] 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 starts the first motor 4 to rotate the driving roller 3, so that the pipe 27 moves, so as to adjust the pipe 27 in the horizontal direction.

[0074] As a further embodiment of the present invention, it also includes:

[0075] 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 pipes 27 with various outer diameters;

[0076] 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 pipe 27 through the second calculation module inside it.

[0077] As a further embodiment of the present invention, the clamping mechanism comprises:

[0078] 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;

[0079] The clamping plate 12 is rotatably connected to the bottom end of the flip frame 11, and the outer wall of the clamping plate 12 is provided with a plurality of arc-shaped slots 13 of different radii in a circular array;

[0080] A flip drive assembly, which is used to drive the flip frame 11 to flip;

[0081] 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;

[0082] The flip drive assembly includes:

[0083] 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;

[0084] 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;

[0085] The rotary drive assembly includes:

[0086] A second gear 17, the second gear 17 is coaxially fixed to the clamping plate 12;

[0087] The worm gear 18 is rotatably connected to the side wall of the flip frame 11. A transmission gear 28 is fixedly connected to the shaft of the worm gear 18. The transmission gear 28 is meshed with the second gear 17.

[0088] A worm 19, both ends of which are rotatably connected to the side walls of the turning frame 11, and the worm 19 is engaged with the worm wheel 18;

[0089] A fourth motor 20 is fixedly connected to the outer wall of the turning frame 11, and an output shaft of the fourth motor 20 is coaxially fixed with the worm 19;

[0090] Specifically, after the horizontal position of the pipe 27 is adjusted, the PLC controller calculates the outer diameter of the pipe 27 through its internal second calculation module. The PLC controller then activates the fourth motor 20, causing the worm 19 to rotate, thereby driving the worm gear 18 and the transmission gear 28 to rotate. The second gear 17 rotates under the drive of the transmission gear 28, thereby rotating the clamping plate 12 to rotate the corresponding arc-shaped slot 13 to a specified position, thereby adapting to pipes 27 with various outer diameters.

[0091] Then, the third motor 15 is started, and the two first gears 16 mesh with each other, causing the two flip frames 11 to flip and approach the pipe 27. 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.

[0092] 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 characteristics 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 improving the stability of the position of the clamping plate 12, and thereby improving the stability of the clamping pipe 27.

[0093] As a further embodiment of the present invention, it also includes:

[0094] Two rotating rollers 21, both ends of the two rotating rollers 21 are symmetrically connected to the slider 22, the slider 22 is slidably connected in the slide groove of the turning frame 11, and a compression spring 23 is fixedly connected between the slider 22 and the bracket of the turning frame 11;

[0095] A 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 ;

[0096] 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 approaches 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 fully contacts the outer wall of the pipe 27, so that the rotating roller 21 can adapt to pipes 27 with different outer diameters.

[0097] After the mounting frame 1 moves the pipe 27 to the specified height, the mounting frame 1 rotates 90 degrees, making the pipe 27 vertical. The second motor 24 is then started, driving the rotating roller 21 to rotate. The friction force causes the pipe 27 to rotate, thus completing the connection between the pipe 27 and the other pipes. (The pipe 27 is connected to the other pipes by threads.)

[0098] 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 during rotation.

[0099] 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.

[0100] 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.

[0101] As a further embodiment of the present invention, the radius of the arc-shaped slots 13 increases in sequence, and the array of arc-shaped slots 13 is rotatably connected to the rotating wheel 14 to reduce the wear between the pipe 27 and the clamping plate 12 during rotation.

[0102] Working principle of the present invention:

[0103] The mounting frame 1 is moved close to the pipe 27 by means of an external lifting device. The driving mechanism is then flipped so that the driving roller 3 approaches the pipe 27. The driving roller 3 contacts and clamps the side wall of the pipe 27. The first motor 4 is then started to rotate the driving roller 3. The friction force moves the pipe 27 left or right to adjust the horizontal position of the pipe 27 so that the distances from both ends of the pipe 27 to the corresponding clamping mechanisms are the same.

[0104] The pipe 27 is then clamped by the clamping mechanism and driven to move upward. Since the distances between the two ends of the pipe 27 and the corresponding clamping mechanisms are the same, the weight of the pipe 27 exerted on the two clamping mechanisms is the same. This helps to keep the pipe 27 stable during the upward movement, reducing the possibility of rollover. It also helps to reduce the deflection load on the hinge, thereby reducing damage to the equipment.

[0105] After the horizontal position of the pipe 27 is adjusted, the PLC controller calculates the outer diameter of the pipe 27 through the second calculation module inside it. Then, the PLC controller starts the fourth motor 20, causing the worm 19 to rotate, thereby driving the worm wheel 18 to rotate. The second gear 17 rotates under the drive of the transmission gear 28, thereby rotating the clamping plate 12 to rotate the corresponding arc-shaped slot 13 to the specified position, thereby adapting to pipes 27 with various outer diameters.

[0106] Then the third motor 15 is started, and the two first gears 16 are meshed with each other, causing the two flip frames 11 to flip close to the pipe 27, and finally the pipe 27 is clamped by the arc-shaped groove 13 on the clamping plate 12, so that the pipe 27 remains stable during movement.

[0107] The basic principles, main features, and advantages of the present invention are shown and described above. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions only describe the principles of the present invention. Various changes and improvements are possible without departing from the spirit and scope of the present invention, and such changes and improvements fall within the scope of the invention as claimed.

Claims

1. A catwalk intelligent pipe grabbing manipulator, characterized in that: include: A mounting frame (1), wherein two rotating frames (2) are respectively provided 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 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), 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); 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) approaches the pipe (27), and the driving roller (3) contacts and clamps the side wall of the pipe (27); A pipe support with two weighing sensors (26); a PLC controller controls the start of a first motor (4), causing the driving roller (3) to rotate and drive 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, the two clamping mechanisms being symmetrically arranged at the ends of the mounting frame (1), and clamping the pipeline (27) after the pipeline (27) has completed horizontal adjustment; Four air bags (9), wherein 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 pipes (27) with various outer diameters; An air pressure sensor (10), the air pressure sensor (10) being arranged in the airbag (9) and used for detecting air pressure change information in the airbag (9); 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) being rotatably connected to the bottom end of the flip frame (11), and a plurality of arc-shaped slots (13) of different radii are formed in a circular array on the outer wall of the clamping plate (12); A turning drive assembly, the turning drive assembly being used to drive the turning frame (11) to turn over; A rotary 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.

2. The catwalk intelligent pipe grabbing manipulator according to claim 1, characterized in that: Also includes: Two rotating rollers (21), two ends of the two rotating rollers (21) are symmetrically connected to 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) 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).

3. The catwalk intelligent pipe grabbing manipulator according to claim 2, characterized in that: The flip drive assembly includes: a third motor (15), wherein the output shaft of the third motor (15) is coaxially fixed to the 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), and the two first gears (16) are meshed with each other.

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

5. 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), wherein the driving plate (6) is slidably connected to the mounting frame (1), and 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); A cylinder (5) 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).

6. The catwalk intelligent pipe grabbing manipulator according to claim 1, characterized in that: There are at least three clamping plates (12), and several of the clamping plates (12) are rotatably connected to the bottom end of the turning frame (11) in a linear array.

7. The catwalk intelligent pipe grabbing manipulator according to claim 1, 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).

8. The catwalk intelligent pipe grabbing manipulator according to claim 1, 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.

Images