Small-space electrically-driven metamorphic spinning grip capable of being quickly replaced

Abstract

The invention relates to a small-space electrically-driven metamorphic spinning-buckling gripper capable of being quickly replaced, which comprises a clamping assembly, a clamping assembly, a first clamping assembly and a second clamping assembly, a metamorphic gripper part is hinged to the first shell, the metamorphic gripper part comprises at least two pairs of clamping rollers, and each pair of clamping rollers is sleeved with an elastic crawler belt capable of being attached to and abutting against a drill rod; the rotary power assembly comprises a driving roller used for driving the drill rod to rotate; a mechanical arm assembly; the electromagnetic adsorption assembly can lock or unlock and separate the clamping assembly and the rotary power assembly; a motor direct drive assembly; a sensor assembly; and a control unit. By arranging the electromagnetic adsorption assembly, quick disassembly and assembly of the clamping assembly are achieved, and the clamp replacement efficiency is remarkably improved; by arranging the clamping assembly of the metamorphic structure, the drill pipe clamp can adapt to drill pipes of different sizes, and multiple purposes are achieved through one clamp; the clamping rollers are sleeved with the elastic crawler belts, the contact area of the clamp and the drill rod is increased, clamping stress is evenly distributed, and damage to the drill rod caused by local stress concentration is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline assembly, and in particular to a small-space electrically driven metamorphic spin buckle gripper that can be quickly replaced. Background Art

[0002] A spinner gripper is an automated tool designed to grip and rotate tubular objects (such as drill pipe and pipe). Its core function is to achieve precise docking and threaded connections through mechanical or hydraulic actuation. In oil drilling, downhole operations, and industrial pipeline assembly, a spinner gripper is a key device for quickly connecting and disconnecting tubulars.

[0003] Traditional rotary grippers rely on hydraulic drive or mechanical linkage design, and rely on multi-machine collaboration to achieve pipe clamping and rotation functions. They have the following significant defects:

[0004] Large size: The hydraulic system requires components such as pump stations and pipelines, which are bulky and difficult to adapt to small spaces such as underground exploration and narrow workshops. Hydraulic oil leakage can easily cause environmental pollution and fire hazards. The clamping process is cumbersome, significantly increasing operating costs and downtime.

[0005] Inefficiency: The multi-machine collaborative operation process is cumbersome and requires frequent manual intervention, resulting in time-consuming and costly operations.

[0006] Inaccurate clamping control: Traditional clamping devices clamp the drill pipe body, but it is difficult to accurately control the clamping force. The clamping force is difficult to balance. Insufficient clamping force can easily cause the drill pipe to fall off, while excessive clamping force can damage the drill pipe body. The traditional clamping device and the drill pipe body are in line contact, which results in a small contact area and stress concentration.

[0007] Lack of flexibility: It is difficult to quickly replace the gripper of the existing device to adapt to drill pipes of different sizes, and the contact surface is concentrated, which easily causes local stress concentration and increases the risk of damage to the drilling tool.

[0008] Therefore, the inventor, relying on many years of experience and practice in related industries, proposes a small-space electric-driven variable cell rotary buckle gripper that can be quickly replaced to overcome the shortcomings of the existing technology. Summary of the Invention

[0009] The present invention aims to provide a small, quickly replaceable, electrically driven metamorphic gripper with a small footprint, addressing the technical challenges of conventional devices, such as bulk, low efficiency, imprecise clamping force control, high maintenance costs, and poor flexibility. This invention utilizes an electromagnetic adsorption assembly to enable rapid disassembly and installation of the clamping assembly, significantly improving fixture replacement efficiency. The metamorphic gripping assembly accommodates drill rods of varying sizes, achieving a "one-clamp, multiple-use" solution. Furthermore, an elastic track is installed on the clamping roller to increase the contact area between the clamp and the drill rod, evenly distributing clamping stress and preventing damage to the drill rod caused by localized stress concentration.

[0010] The object of the present invention is achieved by providing a quickly replaceable small space electric drive metamorphic spin buckle gripper, comprising:

[0011] The clamping assembly includes a first shell; a metamorphic gripper portion is hingedly connected to the first shell, and the metamorphic gripper portion can be rotated to clamp or expand to release the drill rod; the metamorphic gripper portion includes at least two pairs of clamping rollers capable of adjusting the clamping angle, and each pair of the clamping rollers is provided with an elastic crawler that can fit and contact the drill rod;

[0012] The rotary power assembly includes a second housing, the first housing being detachably connected to the second housing; a driving roller for driving the drill rod to rotate is hinged on one side of the second housing;

[0013] A robotic arm assembly, the second housing being connected to the robotic arm assembly, the robotic arm assembly being used to drive the clamping assembly to adjust the movement with six degrees of freedom in a three-dimensional space;

[0014] An electromagnetic adsorption assembly is provided between the first shell and the second shell; the electromagnetic adsorption assembly can lock and connect or unlock and separate the clamping assembly and the rotating power assembly;

[0015] A motor direct drive assembly includes a spin drive motor group and a clamping drive motor group disposed in the second housing, wherein the spin drive motor group is used to drive the active roller to rotate to spin the drill rod, and the clamping drive motor group is used to drive the metamorphic gripper to open and close;

[0016] A sensor assembly, comprising a displacement sensor for collecting an angular displacement signal of the clamping assembly and a pressure sensor for collecting a clamping force of the drill rod;

[0017] The control unit is electrically connected to the electromagnetic adsorption component, the motor direct drive component and the sensor component.

[0018] In a preferred embodiment of the present invention, the metamorphic gripper portion includes two symmetrically arranged half-grip structures, each of the half-grip structures includes two groups of metamorphic support arm structures arranged along the axial direction of the clamping roller, the metamorphic support arm structure includes a driving arm, a first clamping arm, a connecting arm and a second clamping arm, the first clamping arm is provided with a first hinge end, a second hinge end, a third hinge end and a fourth hinge end; the first end of the driving arm is hinged to the first housing and connected to the clamping drive motor group, the second end of the driving arm is hinged to the first hinge end of the first clamping arm; the first end of the connecting arm is hinged to the first housing, and the second end of the connecting arm is hinged to the second hinge end of the first clamping arm; the driving arm, the first clamping arm, the connecting arm and the first housing constitute a four-bar mechanism;

[0019] Each pair of the clamping rollers includes an inner roller close to the connecting arm and an outer roller away from the connecting arm, and the elastic track is sleeved on the inner roller and the outer roller; the first end of the second clamping arm is hinged to the third hinge end of the first clamping arm, the second end of the second clamping arm is hinged to the outer roller, and the fourth hinge end of the first clamping arm is hinged to the inner roller.

[0020] In a preferred embodiment of the present invention, the first clamping arm includes a first support arm, the first end of the first support arm is provided with the first hinged end, the second end of the first support arm is connected to the second support arm at a first angle, the second support arm is provided with the second hinged end and the third hinged end, the second support arm is connected to the third support arm at a second angle between the second hinged end and the third hinged end, the third support arm and the first support arm are located on the same side of the second support arm, the fourth hinged end is provided at the end of the third support arm away from the second support arm, and a first return spring is provided between the second clamping arm and the third support arm; the outer end of the second support arm located at the third hinged end can be connected to a limiting arm at an adjustable angle, and the limiting arm is used to adjust the limiting angle of the second clamping arm to adjust the clamping angle of the clamping roller.

[0021] In a preferred embodiment of the present invention, the first ends of the connecting arms of the two semi-gripper structures are coaxially hinged to the first shell, and the displacement sensor is provided at the first end of the connecting arm, and the displacement sensor collects the angular displacement signal of the connecting arm.

[0022] In a preferred embodiment of the present invention, the electromagnetic adsorption assembly includes a third shell having an open first end, the third shell being disposed on the second shell; an iron core is disposed within the third shell, a fourth shell is enclosed and buckled on the iron core, an excitation coil is wound around the outer side of the fourth shell, and a power supply unit is disposed outside the third shell, the power supply unit being used to supply power to the excitation coil;

[0023] A clamping block is movably provided on the first end of the third housing, and a second return spring is provided between the clamping block and the end surface of the fourth housing; a locking through-hole is provided on the second housing for the clamping block to move through; the first housing is sleeved on the outside of the second housing, and a locking groove is provided on the first housing at a position opposite to the locking through-hole;

[0024] When the excitation coil is energized, the iron core is magnetized to generate an axial magnetic attraction force to drive the clamping block to retract and leave the locking groove; when the excitation coil is de-energized, the clamping block extends out and is embedded in the locking groove under the action of the second return spring.

[0025] In a preferred embodiment of the present invention, the spin buckle drive motor group includes a first motor, the output end of the first motor is connected to the spin buckle bevel gear, the spin buckle bevel gear is meshed with the first bevel gear and the spur gear group, the first bevel gear and the spur gear group are meshed with the spin buckle drive gear through the spin buckle transmission gear, the spin buckle drive gear and the active roller are coaxially arranged, and the first motor drives the active roller to rotate through the spin buckle bevel gear, the first bevel gear and the spur gear group, the spin buckle transmission gear and the spin buckle drive gear.

[0026] In a preferred embodiment of the present invention, the number of the active rollers is two, and a driving track is sleeved on the two active rollers. The driving track is driven by the active rollers to drive the drill rod to rotate.

[0027] In a preferred embodiment of the present invention, the clamping drive motor group includes a second motor, the output end of the second motor is connected to the clamping bevel gear, the clamping bevel gear is meshed with the second bevel gear and the spur gear group, the second bevel gear and the spur gear group are meshed with the clamping drive gear through the clamping transmission gear, the clamping drive gear is coaxially arranged with the drive arm, and the second motor drives the drive arm to rotate through the clamping bevel gear, the second bevel gear and the spur gear group, the clamping transmission gear and the clamping drive gear.

[0028] In a preferred embodiment of the present invention, the robotic arm assembly includes a rotating chassis, a robotic arm base, a first robotic arm and a second robotic arm, the first end of the robotic arm base is connected to the rotating chassis, the first end of the first robotic arm is hinged to the second end of the robotic arm base; the second end of the first robotic arm is hinged to the first end of the second robotic arm, and the second end of the second robotic arm is connected to the rotating power assembly.

[0029] In a preferred embodiment of the present invention, a mechanical interface is provided at one end of the second shell, and the mechanical interface is connected to the second end of the second mechanical arm.

[0030] As described above, the quickly replaceable small-space electric-driven metamorphic knob gripper of the present invention has the following beneficial effects:

[0031] In the present invention, the operating requirements of drill rods of different diameters can be adapted by replacing the clamping assembly. An electromagnetic adsorption assembly based on the electromagnetic adsorption principle is provided to realize the locking or unlocking of the clamping assembly and the rotating power assembly. The operation is convenient and does not require complicated mechanical operations. The clamping assembly can be quickly disassembled and installed, which significantly improves the efficiency of fixture replacement; and different sizes of grippers can be quickly replaced to adapt to drill rods of different sizes.

[0032] The clamping assembly of this invention utilizes a metamorphic gripper to dynamically adjust the clamping angle of the clamping rollers, achieving adaptive metamorphic functionality. Each pair of clamping rollers is fitted with an elastic track that conforms to the drill rod, increasing the contact area between the clamp and the drill rod and evenly distributing clamping stress to prevent localized stress concentration and damage to the drill rod. By adjusting the clamping angle of the clamping rollers, the clamping assembly can adapt to drill rods of varying sizes, achieving a "one clamp, multiple uses" approach.

[0033] The present invention adopts a motor direct drive assembly to replace the traditional hydraulic drive. The rotation of the clamping assembly and the rotating power assembly are respectively controlled by the spindle drive motor group and the clamping drive motor group, eliminating intermediate transmission chains such as the reducer, directly realizing "motor-load" control, improving response speed and control accuracy, and reducing environmental risks and maintenance costs. It is significantly more reliable than the reducer drive and is particularly suitable for high-dynamic, high-precision spindle clamping scenarios.

[0034] The sensor assembly and control unit of the present invention realize intelligent sensing and control, monitor the drill rod diameter and clamping force in real time, and ensure that the clamping process is accurate and reliable.

[0035] Through mechatronic design, the present invention significantly improves the lightweight, automation and safety of the rotary knob gripper, meeting the urgent needs of modern industry for high efficiency, environmental protection and small space operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The following drawings are only intended to illustrate and explain the present invention, and are not intended to limit the scope of the present invention.

[0037] in:

[0038] Figure 1 This is an overall schematic diagram of the quickly replaceable small-space electric-driven metamorphic rotary knob gripper of the present invention.

[0039] Figure 2 This is a front view of the quickly replaceable small-space electric-driven metamorphic rotary buckle gripper of the present invention.

[0040] Figure 3 This is a schematic diagram of the quickly replaceable small-space electric-driven metamorphic spin buckle gripper removing the robotic arm assembly of the present invention.

[0041] Figure 4 This is a top view of the quickly replaceable small-space electric-driven metamorphic spin buckle gripper removing the robotic arm assembly of the present invention.

[0042] Figure 5 This is a front view of the quickly replaceable small-space electric-driven metamorphic spin buckle gripper removing the robotic arm assembly of the present invention.

[0043] Figure 6 This is a cross-sectional view of the assembled clamping assembly and the rotating power assembly of the present invention.

[0044] Figure 7 This is a diagram showing the state of the clamping assembly of the present invention being disassembled from the rotating power assembly.

[0045] Figure 8 Schematic diagram of the clamping assembly of the present invention.

[0046] Figure 9 It is a rear view of the clamping assembly of the present invention.

[0047] Figure 10 Schematic diagram of the first clamping arm of the present invention.

[0048] Figure 11 Schematic diagram of the rotary power assembly of the present invention.

[0049] Figure 12 Schematic diagram of the electromagnetic adsorption component of the present invention.

[0050] Figure 13 It is a cross-sectional view of the electromagnetic adsorption component of the present invention.

[0051] Figure 14 This is a schematic diagram of the pressure sensor of the present invention being installed on the outer roller.

[0052] In the picture:

[0053] 1. Clamping assembly;

[0054] 11. First housing; 12. Metamorphic gripper; 120. Driving arm; 121. First clamping arm; 1211. First hinged end; 1212. Second hinged end; 1213. Third hinged end; 1214. Fourth hinged end; 1215. First support arm; 1216. Second support arm; 1217. Third support arm; 122. Second clamping arm; 123. Connecting arm; 124. Limiting arm; 125. First return spring; 13. Elastic track; 14. Inner roller; 15. Outer roller; 16. Outer roller bearing;

[0055] 2. Rotating power assembly;

[0056] 21. Second housing; 22. Active roller; 23. Drive track; 24. Mechanical interface;

[0057] 3. Robotic arm assembly;

[0058] 31. First robotic arm; 32. Second robotic arm; 33. Robotic arm base; 34. Rotating chassis;

[0059] 4. Electromagnetic adsorption components;

[0060] 41. Third housing; 42. Iron core; 43. Fourth housing; 44. Excitation coil; 45. Power supply unit; 46. Clamping block; 47. Second return spring;

[0061] 5. Motor direct drive assembly;

[0062] 51. Spindle drive motor assembly; 511. First motor; 512. Spindle bevel gear; 513. First bevel gear and spur gear assembly; 514. Spindle transmission gear; 515. Spindle drive gear; 516. Spindle transmission bearing; 52. Clamping drive motor assembly; 521. Second motor; 522. Clamping bevel gear; 523. Second bevel gear and spur gear assembly; 524. Clamping transmission gear; 525. Clamping drive gear; 526. Clamping transmission bearing;

[0063] 61. Displacement sensor; 62. Pressure sensor;

[0064] 7. Single chip microcomputer;

[0065] 8. Drill rod. DETAILED DESCRIPTION

[0066] In order to have a clearer understanding of the technical features, purposes and effects of the present invention, specific embodiments of the present invention are now described with reference to the accompanying drawings.

[0067] The specific embodiments of the present invention described herein are intended only to illustrate the present invention and are not to be construed as limiting the present invention in any way. In light of the present invention, a skilled person may conceive of any possible variations based on the present invention, all of which should be considered to fall within the scope of the present invention. It should be noted that when an element is referred to as being "disposed on" another element, it may be directly on the other element or there may be an intermediate element. When an element is considered to be "connected" to another element, it may be directly connected to the other element or there may be an intermediate element at the same time. The terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to mechanical or electrical connections, or to internal communication between two elements, and may be directly connected or indirectly connected through an intermediate medium. A person of ordinary skill in the art can understand the specific meanings of the above terms based on the specific circumstances. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only implementation methods.

[0068] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application pertains. The terms used herein in the specification of this application are intended only to describe specific embodiments and are not intended to limit this application. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0069] like Figures 1 to 14As shown, the present invention provides a small space electric drive metamorphic spin buckle gripper that can be quickly replaced, comprising:

[0070] Clamping assembly 1, such as Figure 8 、 Figure 9 、 Figure 10 As shown, it includes a first shell 11; a cell-changing gripper portion is hinged on the first shell 11, as shown Figure 1 As shown, the metamorphic gripper portion 12 can be rotated to clamp or expand to release the drill rod 8; the metamorphic gripper portion 12 includes at least two pairs of clamping rollers capable of adjusting the clamping angle, and each pair of clamping rollers is provided with an elastic crawler 13 capable of fitting against the drill rod 8;

[0071] Rotating power assembly 2, such as Figure 6 、 Figure 7 、 Figure 11 As shown, it includes a second housing 21, and the first housing 11 is detachably connected to the second housing 21; a driving roller 22 for driving the drill rod 8 to rotate is hinged on one side of the second housing 21;

[0072] Robotic arm assembly 3, such as Figure 1 、 Figure 2 As shown, the second housing 21 is connected to the robotic arm assembly 3, and the robotic arm assembly 3 is used to drive the clamping assembly 1 to adjust the six degrees of freedom movement in three-dimensional space;

[0073] Electromagnetic adsorption component 4, such as Figure 12 、 Figure 13 As shown, it is arranged between the first shell 11 and the second shell 21; the electromagnetic adsorption component 4 can lock and connect or unlock and separate the clamping component 1 and the rotating power component 2; electromagnetic adsorption is a mechanical connection technology based on the electromagnetic principle, which generates or eliminates the magnetic field by controlling the power on and off of the coil to achieve rapid adsorption and release of ferromagnetic materials;

[0074] Motor direct drive assembly 5, such as Figure 6 As shown, it includes a spin drive motor group 51 and a clamping drive motor group 52 arranged in the second housing 21. The spin drive motor group 51 is used to drive the active roller 22 to rotate to spin the drill rod 8, and the clamping drive motor group 52 is used to drive the metamorphic gripper 12 to open and close;

[0075] The sensor assembly includes a displacement sensor 61 for collecting the angular displacement signal of the clamping assembly 1 (the displacement sensor 61 can use an encoder, which is a sensor for measuring the angular displacement or linear displacement of the rotating shaft and can output a digital signal to feedback the motion state. The present invention uses a sensor for measuring the angular displacement of the rotating shaft) and a pressure sensor 62 for collecting the clamping force of the drill rod; the pressure sensor is a flexible pressure sensor, which is a flexible thin sensor that can measure the pressure distribution or pressure value of the contact surface.

[0076] The control unit is electrically connected to the electromagnetic attraction assembly 4, the motor direct drive assembly 5, and the sensor assembly. In this embodiment, the control unit uses a single-chip microcomputer 7. The single-chip microcomputer 7 collects sensor data and adjusts the motor output (the spinner drive motor assembly 51 and the clamping drive motor assembly 52) in real time, forming a closed-loop "detection-feedback-control" system.

[0077] The present invention solves the pain points of traditional rotary buckle devices such as low efficiency, poor flexibility and high maintenance cost, and meets the urgent needs of modern industry for automation, lightweight and safety.

[0078] In the present invention, the operation requirements of drill rods of different diameters can be adapted by replacing the clamping assembly. An electromagnetic adsorption assembly based on the electromagnetic adsorption principle is provided to achieve locking or unlocking of the clamping assembly and the rotary power assembly. The operation is convenient and does not require complex mechanical operations. The clamping assembly can be quickly disassembled and installed, significantly improving the efficiency of fixture replacement. It can also achieve rapid replacement of grippers of different sizes to adapt to drill rods of different sizes.

[0079] The clamping assembly of this invention utilizes a metamorphic gripper to dynamically adjust the clamping angle of the clamping rollers, achieving adaptive metamorphic functionality. Each pair of clamping rollers is fitted with an elastic track that conforms to the drill rod, increasing the contact area between the clamp and the drill rod and evenly distributing the clamping stress. This prevents localized stress concentration (a significant increase in stress in a mechanical structure due to insufficient contact area or sudden changes in shape) that can damage the drill rod. By adjusting the clamping angle of the clamping rollers, the clamping assembly can adapt to drill rods of different sizes, achieving a "one clamp, multiple uses" approach.

[0080] The present invention adopts a motor direct drive assembly to replace the traditional hydraulic drive (using hydraulic systems such as pump stations, hydraulic motors, pipelines, etc. to transmit power, and controlling mechanical movement through changes in hydraulic oil pressure). The rotation of the clamping assembly and the rotating power assembly are respectively controlled by the spindle drive motor group and the clamping drive motor group, eliminating intermediate transmission chains such as reducers, directly realizing "motor-load" control, improving response speed and control accuracy, and reducing environmental risks and maintenance costs. It is significantly better than the reducer drive in terms of reliability, and is particularly suitable for high-dynamic, high-precision spindle clamping scenarios.

[0081] The sensor assembly and control unit of the present invention realize intelligent sensing and control, monitor the drill rod diameter and clamping force in real time, and ensure that the clamping process is accurate and reliable.

[0082] Through mechatronic design, this solution significantly improves the lightweight, automation and safety of the twist-lock gripper, meeting the urgent needs of modern industry for efficient, environmentally friendly and small-space operations.

[0083] Furthermore, the metamorphic gripper 12 comprises two symmetrically arranged half-gripper structures, each consisting of two metamorphic arm structures arranged axially along the gripping roller. The metamorphic structure is a mechanical system capable of dynamically adjusting its structural form or degrees of freedom to adapt to different mission requirements or environmental conditions. Its core feature is its variable topology, which allows it to change its kinematic chain, number of degrees of freedom, or configuration during operation, thereby achieving multi-mode switching or performance optimization.

[0084] like Figure 3 、 Figure 4 、 Figure 5 、 Figure 8 、 Figure 9 、 Figure 10 As shown, the metamorphic arm structure includes a driving arm 120, a first clamping arm 121, a connecting arm 123 and a second clamping arm 122. The first clamping arm 121 is provided with a first hinge end 1211 (first hinge point), a second hinge end 1212 (second hinge point), a third hinge end 1213 (third hinge point) and a fourth hinge end 1214 (fourth hinge point); the first end of the driving arm 120 is hinged to the first housing 11 and connected to the clamping drive motor group 52, and the second end of the driving arm 120 is hinged to the first hinge end 1211 of the first clamping arm 121; the first end of the connecting arm 123 is hinged to the first housing 11, and the second end of the connecting arm 123 is hinged to the second hinge end 1212 of the first clamping arm 121; the driving arm 120, the first clamping arm 121, the connecting arm 123 and the first housing 11 constitute a four-bar mechanism;

[0085] Each pair of clamping rollers includes an inner roller 14 close to the connecting arm 123 and an outer roller 15 away from the connecting arm 123. An elastic track 13 is provided on the inner roller 14 and the outer roller 15, and the elastic track 13 can roll between the outer roller 15 and the inner roller 14; the first end of the second clamping arm 122 is hinged to the third hinge end 1213 of the first clamping arm 121, the second end of the second clamping arm 122 is hinged to the outer roller 15, and the fourth hinge end 1214 of the first clamping arm 121 is hinged to the inner roller 14.

[0086] Further, if Figure 10As shown, the first clamping arm 121 is arranged in a hand shape. Specifically, the first clamping arm 121 includes a first support arm 1215. The first end of the first support arm 1215 is provided with a first hinge end 1211. The second end of the first support arm 1215 is connected to the second support arm 1216 at a first angle. The second support arm 1216 is provided with a second hinge end 1212 and a third hinge end 1213. The second support arm 1216 is connected to the third support arm 1217 at a second angle between the second hinge end 1212 and the third hinge end 1213. The third arm 1217 and the first arm 1215 are located on the same side of the second arm 1216, and a fourth hinged end 1214 is provided at the end of the third arm 1217 away from the second arm 1216, and a first return spring 125 is provided between the second clamping arm 122 and the third arm 1217; the outer end of the second arm 1216 located at the third hinged end 1213 can be connected to the limiting arm 124 in an adjustable angle, and the limiting arm 124 is used to adjust the limiting angle of the second clamping arm 122 to adjust the clamping angle of the clamping roller.

[0087] Further, if Figure 4 As shown, the first ends of the connecting arms 123 of the two half-gripper structures are coaxially hinged to the first shell 11 , and a displacement sensor 61 (encoder) is provided at the first end of the connecting arm 123 , which collects the angular displacement signal of the connecting arm 123 .

[0088] The clamping assembly 1 realizes the adaptive metamorphosis function through the linkage of the driving arm 120, the connecting arm 123 and the limiting arm 124. The working principle of the clamping assembly 1 is as follows:

[0089] The driving arm 120 receives power from the rotating power assembly 2, and drives the first clamping arm 121 and the connecting arm 123 to rotate. The outer roller 15 first contacts the drill rod 8. As the driving arm 120 rotates further, the first return spring 125 fixed to the second clamping arm 122 is stretched, and the inner roller 14 also contacts the drill rod 8. When the driving arm 120 rotates to the limit device, the elastic track 13 between the two rollers fits tightly against the drill rod 8, increasing the overall contact area, evenly distributing the clamping stress, and avoiding damage to the drill rod 8 caused by local stress concentration. Due to the clamping of drill rods 8 of different sizes, the second clamping arm 122 and the limit arm 124 form different angles, realizing a metamorphic structure. When the second clamping arm 122 and the limit arm 124 come into contact, it indicates that the size of the clamping assembly is inappropriate and needs to be replaced.

[0090] By adjusting the limiting angle, it can be adapted to drill rods 8 of different sizes, realizing "one clamp for multiple uses".

[0091] Further, if Figure 11 、 Figure 12 、 Figure 13As shown, the electromagnetic adsorption component 4 includes a third shell 41 with an opening at the first end, and the third shell 41 is arranged on the second shell 21; an iron core 42 is arranged in the third shell 41, and a fourth shell 43 is closed and buckled on the iron core 42, and an excitation coil 44 is wound around the outside of the fourth shell 43, and a power supply unit 45 is arranged on the outside of the third shell 41, and the power supply unit 45 is used to supply power to the excitation coil 44.

[0092] A clamping block 46 is movably provided on the first end of the third shell 41, and a second return spring 47 is provided between the clamping block 46 and the end face of the fourth shell 43; a locking through hole is provided on the second shell 21 for the clamping block 46 to move through; the first shell 11 is sleeved on the outer side of the second shell 21, and a locking groove is provided on the first shell 11 at a position opposite to the locking through hole; in this embodiment, there is a row of locking grooves on the upper and lower sides of the rear end of the first shell 11 for clamping the clamping block 46 of the electromagnetic adsorption component 4.

[0093] When the excitation coil 44 is energized, the iron core 42 is magnetized to form a closed magnetic field, generating an axial magnetic attraction force to drive (attract) the card block 46 to retract and completely disengage from the locking groove. The current clamping assembly 1 is separated without resistance, and the clamping assembly 1 is quickly disassembled; after replacing the clamping assembly 1 with an appropriate size, the excitation coil 44 is powered off, the magnetic field is eliminated, the magnetic force disappears, and the card block 46 is extended and embedded in the locking groove under the action of the second return spring 47 (pre-compression elastic force) (the second return spring 47 pushes the card block 46 into the locking groove on the first shell 11 to complete the fixation), completing the mechanical interlocking.

[0094] Through the design of the aforementioned electromagnetic adsorption component 4, no complicated mechanical operation is required, which significantly improves the replacement efficiency of the clamping component 1 and adapts to the operation requirements of drill rods 8 with different diameters.

[0095] Further, if Figure 6 As shown, the spin-drive motor assembly 51 includes a first motor 511. The output end of the first motor 511 is connected to a spin-bevel gear 512, with a spin-drive bearing 516 disposed therebetween. The spin-bevel gear 512 is meshed with a first bevel gear and spur gear assembly 513. The first bevel gear and spur gear assembly 513 are meshed with a spin-drive gear 515 via a spin-drive gear 514. The spin-drive gear 515 is coaxially arranged with the active roller 22. The first motor 511 drives the active roller 22 to rotate via the spin-bevel gear 512, the first bevel gear and spur gear assembly 513, the spin-drive gear 514, and the spin-drive gear 515. The first motor 511 is fixed within the second housing 21 and transmits power to the active roller 22 via the aforementioned gear assembly, thereby achieving the spinning action.

[0096] Further, if Figure 11As shown, there are two active rollers 22 , and driving tracks 23 are sleeved on the two active rollers 22 . The driving tracks 23 are driven by the active rollers 22 to fit and drive the drill rod 8 to rotate.

[0097] Further, if Figure 6 As shown, the clamping drive motor assembly 52 includes a second motor 521. The output end of the second motor 521 is connected to the clamping bevel gear 522, with a clamping transmission bearing 526 disposed therebetween. The clamping bevel gear 522 is meshed with a second bevel gear and spur gear assembly 523. The second bevel gear and spur gear assembly 523 are meshed with a clamping drive gear 525 via a clamping transmission gear 524. The clamping drive gear 525 is coaxially arranged with the drive arm 120. The second motor 521 drives the drive arm 120 of the metamorphic support arm structure to rotate via the clamping bevel gear 522, the second bevel gear and spur gear assembly 523, the clamping transmission gear 524, and the clamping drive gear 525. The second motor 521 is fixed within the second housing 21 and transmits power to the drive arm 120 via the aforementioned gear assembly, thereby achieving the clamping action.

[0098] Further, if Figure 6 As shown, the single-chip microcomputer 7 is installed in the gap between the first motor 511 and the second shell 21. Based on the mapping relationship between the outer diameter of the drill pipe and the target clamping force, combined with the real-time feedback of the clamping force data, it generates closed-loop control instructions for the motor torque and speed, and accurately drives the rotary power component 2 to perform adaptive tightening, thread alignment and connection operations.

[0099] Direct motor drive technology replaces traditional hydraulic drive, with the first motor 511 and the second motor 521 controlling the rotation of the active roller 22 and the drive arm 120, respectively. This direct motor drive eliminates intermediate transmission chains such as speed reducers, directly implementing "motor-load" control. This offers the advantages of fast response, high precision, and strong reliability. Simultaneously, the single-chip microcomputer 7 adjusts the motor output torque and speed in real time based on feedback from the sensor components (displacement sensor 61 and pressure sensor 62), ensuring the precision and stability of the turning action and resolving the issues of bulky and leak-prone hydraulic systems.

[0100] Further, if Figure 1 、 Figure 2 As shown, the robotic arm assembly 3 includes a rotating chassis 34, a robotic arm base 33, a first robotic arm 31, and a second robotic arm 32. The first end of the robotic arm base 33 is connected to the rotating chassis 34, and the first end of the first robotic arm 31 is hinged to the second end of the robotic arm base 33. The second end of the first robotic arm 31 is hinged to the first end of the second robotic arm 32, and the second end of the second robotic arm 32 is connected to the rotary power assembly 2. In this embodiment, there are two first robotic arms 31, and the two first robotic arms 31 are serially connected between the robotic arm base 33 and the second robotic arm 32.

[0101] The second robotic arm 32 can drive the rotary power assembly 2 and the clamping assembly 1 to rotate 360° around an axis. The first end of the second robotic arm 32 is hingedly connected to the first robotic arm 31, allowing the second robotic arm 32 to rotate around the hinge point. The first end of the first robotic arm 31 is hingedly connected to the robotic arm base 33, allowing the first robotic arm 31 to rotate around the hinge point. The robotic arm base 33 is connected to the rotating chassis 34 and can rotate 360° around the central axis of the rotating chassis 34.

[0102] The robotic arm assembly 3, driven by multiple joints, precisely adjusts the gripping assembly 1's position within six degrees of freedom (translation along the X, Y, and Z axes and rotation about them) in three-dimensional space. This allows for stable gripping and screwing of drill rods in any spatial orientation. For example, the robotic arm assembly 3 can adjust the gripping assembly 1's position, gripping the drill rod 8, moving it to the appropriate position, and screwing it.

[0103] Further, if Figure 11 As shown, the rotary power assembly 2 is primarily composed of a second housing 21, a driving roller 22, and a drive track 23. The front end of the second housing 21 is equipped with the driving roller 22, which is covered with a drive track 23 for directly executing the spin torque output of the drill rod 8. The rear end of the second housing 21 is provided with a mechanical interface 24, which is connected to the second end of the second mechanical arm 32. The upper and lower surfaces of the rear end of the second housing 21 are respectively provided with symmetrically distributed locking holes for embedded installation of the electromagnetic adsorption assembly 4. The internal cavity of the second housing 21 adopts a modular partitioning design, with the front compartment integrating the spin drive motor unit 51 and the rear compartment integrating the clamping drive motor unit 52.

[0104] Further, the sensor assembly includes a displacement sensor 61 and a pressure sensor 62 (flexible pressure sensor);

[0105] A high-precision rotation displacement sensor is installed at the rotation axis of the connecting arm 123 to collect the angular displacement signal of the connecting arm 123 in real time, and analyze the outer diameter parameters of the clamped drill rod 8 based on a preset algorithm.

[0106] like Figure 14As shown, an outer roller bearing 16 is provided at the connection between the outer roller 15 and the second clamping arm 122. Four grooves are provided on the outer roller bearing 16, with a circumferential angle of 45°. A flexible pressure sensor is placed thereon, and the radius of the flexible pressure sensor is slightly larger than the radius of the outer roller bearing 16. This ensures that when the elastic track 13 on the outer roller 15 contacts the drill rod 8, the pressure sensor 62 contacts the hinge hole of the second clamping arm 122 before the outer roller bearing 16, thereby facilitating a more accurate pressure response. The pressure sensor 62 dynamically monitors the distribution of the normal pressure on the clamping surface and the total clamping force value. The above sensor data is transmitted to the built-in microcontroller 7 via a high-speed communication interface. Based on the mapping relationship between the drill rod outer diameter and the target clamping force, combined with the real-time feedback of the clamping force data, the microcontroller 7 generates closed-loop control instructions for the motor torque and speed, accurately driving the rotary power assembly 2 to perform adaptive tightening, thread alignment, and connection operations.

[0107] The working process of the quickly replaceable small space electric drive metamorphic buckle gripper of the present invention is as follows:

[0108] Step 1: Device initialization and parameter setting

[0109] The power supply is turned on, the single chip microcomputer 7 is initialized, and the preset mapping relationship between the outer diameter of the drill rod and the target clamping force is loaded;

[0110] Adjust the spatial posture of the clamping assembly 1 of the spinner gripper through the mechanical arm assembly 3 (first mechanical arm 31, second mechanical arm 32, mechanical arm base 33, rotating chassis 34) so ​​that it is aligned with the target drill pipe axis;

[0111] Select the clamping assembly 1 that matches the drill pipe size according to the operation requirements. If the clamping assembly 1 needs to be replaced, perform the electromagnetic adsorption quick replacement process in step 6.

[0112] Step 2: Clamping preparation and adaptive adjustment

[0113] The second motor 521 drives the drive arm 120 of the metamorphic gripper to rotate through the gear set of the clamping transmission (the spindle bevel gear 512, the first bevel gear and spur gear set 513, the spindle transmission gear 514, and the spindle driving gear 515), thereby driving the first clamping arm 121 and the connecting rod arm 123 to form a four-bar mechanism movement;

[0114] The outer roller 15 first contacts the drill pipe surface, and the flexible pressure sensor monitors the initial contact pressure in real time;

[0115] As the driving arm 120 continues to rotate, the first return spring 125 on the second clamping arm 122 is stretched, and the inner roller 14 is synchronously attached to the drill rod 8;

[0116] The elastic track 13 is unfolded between the inner and outer rollers, forming a large-area contact with the drill rod 8, and the metamorphic structure enters a stable working state. The displacement sensor 61 collects the angular displacement of the connecting rod arm 123 and feeds it back to the single-chip computer 7 to calculate the outer diameter of the drill rod.

[0117] Step 3: Closed-loop clamping force control

[0118] The single chip microcomputer 7 generates closed loop control instructions based on the outer diameter of the drill pipe fed back by the displacement sensor 61 and the real-time clamping force data of the flexible pressure sensor;

[0119] Adjust the output torque and speed of the second motor 521 to dynamically optimize the clamping force to ensure that it is within a safe threshold (to prevent insufficient clamping force from causing the drill rod to fall, and to prevent excessive clamping force from damaging the drill rod 8);

[0120] When the limit arm 124 is triggered, it indicates that the drill rod size is not appropriate, and the electromagnetic adsorption quick replacement process of step six is ​​executed.

[0121] Step 4: Execution of the spinning action

[0122] The first motor 511 drives the active roller 22 to rotate through the gear set of the spindle transmission (clamping bevel gear 522, second bevel gear and spur gear set 523, clamping transmission gear 524, clamping drive gear 525), driving the drive track 23 to output the spindle torque;

[0123] The single chip computer 7 synchronously monitors the rotation speed and torque of the screw thread, and combines the displacement sensor data to achieve accurate thread alignment;

[0124] The second robotic arm 32 (three-degree-of-freedom robotic arm) coordinates to adjust the gripper posture to ensure that the axis of the drill pipe is centered during the screwing process to avoid deflection.

[0125] Step 5: Clamp release and reset

[0126] After the screwing is completed, the second motor 521 drives the driving arm 120 in the reverse direction to release the grip of the inner and outer rollers on the drill rod;

[0127] The first return spring 125 contracts, driving the second clamping arm 122 to return to its original position;

[0128] The robot arm assembly 3 withdraws from the working position and prepares for the next operation.

[0129] Step 6: Electromagnetic adsorption to quickly change the fixture

[0130] When the excitation coil 44 is energized, the iron core 42 is magnetized to generate magnetic attraction, driving the clamping block 46 to move downward and disengage from the locking slot of the current clamping component 1;

[0131] The robotic arm assembly 3 removes the current clamping assembly 1 and replaces it with a clamping assembly 1 of the target size;

[0132] The excitation coil 44 is de-energized, and the second return spring 47 pushes the clamping block 46 upward to embed into the locking groove of the new clamping assembly, completing the mechanical interlocking;

[0133] The single chip microcomputer 7 automatically recognizes the new fixture parameters and updates the control algorithm.

[0134] As described above, the quickly replaceable small-space electric-driven metamorphic knob gripper of the present invention has the following beneficial effects:

[0135] In the present invention, the operating requirements of drill rods of different diameters can be adapted by replacing the clamping assembly. An electromagnetic adsorption assembly based on the electromagnetic adsorption principle is provided to realize the locking or unlocking of the clamping assembly and the rotating power assembly. The operation is convenient and does not require complicated mechanical operations. The clamping assembly can be quickly disassembled and installed, which significantly improves the efficiency of fixture replacement; and different sizes of grippers can be quickly replaced to adapt to drill rods of different sizes.

[0136] The clamping assembly of this invention utilizes a metamorphic gripper to dynamically adjust the clamping angle of the clamping rollers, achieving adaptive metamorphic functionality. Each pair of clamping rollers is fitted with an elastic track that conforms to the drill rod, increasing the contact area between the clamp and the drill rod and evenly distributing clamping stress to prevent localized stress concentration and damage to the drill rod. By adjusting the clamping angle of the clamping rollers, the clamping assembly can adapt to drill rods of varying sizes, achieving a "one clamp, multiple uses" approach.

[0137] The present invention adopts a motor direct drive assembly to replace the traditional hydraulic drive. The rotation of the clamping assembly and the rotating power assembly are respectively controlled by the spindle drive motor group and the clamping drive motor group, eliminating intermediate transmission chains such as the reducer, directly realizing "motor-load" control, improving response speed and control accuracy, and reducing environmental risks and maintenance costs. It is significantly more reliable than the reducer drive and is particularly suitable for high-dynamic, high-precision spindle clamping scenarios.

[0138] The sensor assembly and control unit of the present invention realize intelligent sensing and control, monitor the drill rod diameter and clamping force in real time, and ensure that the clamping process is accurate and reliable.

[0139] Through mechatronic design, this solution significantly improves the lightweight, automation and safety of the twist-lock gripper, meeting the urgent needs of modern industry for efficient, environmentally friendly and small-space operations.

[0140] The above description is only an illustrative embodiment of the present invention and is not intended to limit the scope of the present invention. Any equivalent changes and modifications made by those skilled in the art without departing from the concept and principle of the present invention shall fall within the scope of protection of the present invention.

Claims

1. A small space electric drive metamorphic spin buckle gripper that can be quickly replaced, characterized by: include: The clamping assembly includes a first shell; a metamorphic gripper portion is hingedly connected to the first shell, and the metamorphic gripper portion can be rotated to clamp or expand to release the drill rod; the metamorphic gripper portion includes at least two pairs of clamping rollers capable of adjusting the clamping angle, and each pair of the clamping rollers is provided with an elastic crawler that can fit and contact the drill rod; The rotary power assembly includes a second housing, the first housing being detachably connected to the second housing; a driving roller for driving the drill rod to rotate is hinged on one side of the second housing; A robotic arm assembly, the second housing being connected to the robotic arm assembly, the robotic arm assembly being used to drive the clamping assembly to adjust the movement with six degrees of freedom in a three-dimensional space; An electromagnetic adsorption assembly is provided between the first shell and the second shell; the electromagnetic adsorption assembly can lock and connect or unlock and separate the clamping assembly and the rotating power assembly; A motor direct drive assembly includes a spin drive motor group and a clamping drive motor group disposed in the second housing, wherein the spin drive motor group is used to drive the active roller to rotate to spin the drill rod, and the clamping drive motor group is used to drive the metamorphic gripper to open and close; A sensor assembly, comprising a displacement sensor for collecting an angular displacement signal of the clamping assembly and a pressure sensor for collecting a clamping force of the drill rod; The control unit is electrically connected to the electromagnetic adsorption component, the motor direct drive component and the sensor component.

2. The quickly replaceable small space electric drive metamorphic buckle gripper according to claim 1, characterized in that: The metamorphic gripper portion includes two symmetrically arranged half-grip structures, each of the half-grip structures includes two groups of metamorphic support arm structures arranged along the axial direction of the clamping roller, the metamorphic support arm structure includes a driving arm, a first clamping arm, a connecting arm and a second clamping arm, the first clamping arm is provided with a first hinge end, a second hinge end, a third hinge end and a fourth hinge end; the first end of the driving arm is hinged to the first shell and connected to the clamping drive motor group, the second end of the driving arm is hinged to the first hinge end of the first clamping arm; the first end of the connecting arm is hinged to the first shell, and the second end of the connecting arm is hinged to the second hinge end of the first clamping arm; the driving arm, the first clamping arm, the connecting arm and the first shell constitute a four-bar mechanism; Each pair of the clamping rollers includes an inner roller close to the connecting arm and an outer roller away from the connecting arm, and the elastic track is sleeved on the inner roller and the outer roller; the first end of the second clamping arm is hinged to the third hinge end of the first clamping arm, the second end of the second clamping arm is hinged to the outer roller, and the fourth hinge end of the first clamping arm is hinged to the inner roller.

3. The quickly replaceable small space electric drive metamorphic spin buckle gripper according to claim 2, characterized in that: The first clamping arm includes a first support arm, the first end of the first support arm is provided with the first hinge end, the second end of the first support arm is connected to the second support arm at a first angle, the second support arm is provided with the second hinge end and the third hinge end, the second support arm is connected to the third support arm at a second angle between the second hinge end and the third hinge end, the third support arm and the first support arm are located on the same side of the second support arm, the fourth hinge end is provided at the end of the third support arm away from the second support arm, and a first return spring is provided between the second clamping arm and the third support arm; the outer end of the second support arm located at the third hinge end can be connected to the limiting arm at an adjustable angle, and the limiting arm is used to adjust the limiting angle of the second clamping arm to adjust the clamping angle of the clamping roller.

4. The quickly replaceable small space electric drive metamorphic spin buckle gripper according to claim 3, characterized in that: The first ends of the connecting rod arms of the two semi-gripper structures are coaxially hinged to the first shell, and the displacement sensor is provided at the first end of the connecting rod arm, and the displacement sensor collects the angular displacement signal of the connecting rod arm.

5. The quickly replaceable small space electric drive metamorphic buckle gripper according to claim 1, characterized in that: The electromagnetic adsorption assembly includes a third shell with an opening at the first end, the third shell being arranged on the second shell; an iron core is arranged in the third shell, a fourth shell is closed and buckled on the iron core, an excitation coil is wound around the outer side of the fourth shell, and a power supply unit is arranged on the outer side of the third shell, the power supply unit is used to supply power to the excitation coil; A clamping block is movably provided on the first end of the third housing, and a second return spring is provided between the clamping block and the end surface of the fourth housing; a locking through-hole is provided on the second housing for the clamping block to move through; the first housing is sleeved on the outside of the second housing, and a locking groove is provided on the first housing at a position opposite to the locking through-hole; When the excitation coil is energized, the iron core is magnetized to generate an axial magnetic attraction force to drive the clamping block to retract and leave the locking groove; when the excitation coil is de-energized, the clamping block extends out and is embedded in the locking groove under the action of the second return spring.

6. The quickly replaceable small space electric drive metamorphic buckle gripper according to claim 1, characterized in that: The spin button drive motor group includes a first motor, the output end of the first motor is connected to the spin button bevel gear, the spin button bevel gear is meshed with the first bevel gear and the spur gear group, the first bevel gear and the spur gear group are meshed with the spin button drive gear through the spin button transmission gear, the spin button drive gear and the active roller are coaxially arranged, and the first motor drives the active roller to rotate through the spin button bevel gear, the first bevel gear and the spur gear group, the spin button transmission gear and the spin button drive gear.

7. The quickly replaceable small space electric drive metamorphic spin buckle gripper according to claim 6, characterized in that: There are two active rollers, and driving tracks are sleeved on the two active rollers. The driving tracks are driven by the active rollers to drive the drill rod to rotate.

8. The quickly replaceable small space electric drive metamorphic spin buckle gripper according to claim 2, characterized in that: The clamping drive motor group includes a second motor, the output end of the second motor is connected to the clamping bevel gear, the clamping bevel gear is meshed with the second bevel gear and the spur gear group, the second bevel gear and the spur gear group are meshed with the clamping drive gear through the clamping transmission gear, the clamping drive gear is coaxially arranged with the drive arm, and the second motor drives the drive arm to rotate through the clamping bevel gear, the second bevel gear and the spur gear group, the clamping transmission gear and the clamping drive gear.

9. The quickly replaceable small space electric drive metamorphic buckle gripper according to claim 1, characterized in that: The robotic arm assembly includes a rotating chassis, a robotic arm base, a first robotic arm and a second robotic arm, the first end of the robotic arm base being connected to the rotating chassis, the first end of the first robotic arm being hinged to the second end of the robotic arm base; the second end of the first robotic arm being hinged to the first end of the second robotic arm, and the second end of the second robotic arm being connected to the rotating power assembly.

10. The quickly replaceable small space electric drive metamorphic buckle gripper according to claim 9, characterized in that: A mechanical interface is provided at one end of the second shell, and the mechanical interface is connected to the second end of the second mechanical arm.

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