The invention relates to the technical field of pile foundation construction, in particular to a low-net-clearance multi-section type drill pipe splicing and centering mechanism. The low-net-clearancemulti-section type drill pipe splicing and centering mechanism comprises a rack, a rotating arm and a rotating wrist, the rotating arm is horizontally and rotationally connected to the rack, the rotating wrist is horizontally and rotationally connected to the rotating arm, the rotating wrist is provided with a clamp, and the clamp is used for vertically clamping to-be-spliced drill pipe sections.During splicing, firstly, the to-be-spliced drill pipe sections are hoisted to one side of the rack through a crane, the rotating arm swings to enable the rotating wrist to get close to the to-be-spliced drill pipe sections, and then by finely adjusting the rotating wrist, the to-be-spliced drill pipe sections are clamped; and then the rotating arm is rotated, the axes of the to-be-spliced drillpipe sections get close to spliced drill pipe sections on the lower part, and then by finely adjusting the rotating wrist, the to-be-spliced drill pipe sections and the spliced drill pipe sections share the same axes for splicing operation. Through two-stage rotating fit of the rotating arm and the rotating wrist, accurate centering of the pipe sections can be achieved easily, adjusting of the drill pipe sections is driven by the rotating arm and the rotating wrist, and thus safety is guaranteed.