Pipe clamping mechanism for oil drilling and manipulator with same

Abstract

The present application relates to a kind of pipe clamping mechanism for oil drilling and manipulator with it, wherein, pipe clamping mechanism includes shell, baffle, clamping component, transmission assembly, drive assembly and switch door component;Shell has pipe clamping passage, baffle is rotatably installed in pipe clamping passage, drive assembly and switch door component are installed in shell, and drive assembly is connected switch door component by transmission assembly, and switch door component is transmission connection baffle;Clamping component is movably installed in shell, drive assembly is connected clamping component by transmission assembly, drive assembly can drive clamping component to move forward and backward by transmission assembly, while driving switch door component to drive baffle to rotate in vertical plane and open or close clamping passage;Shell can be installed in mechanical arm assembly.It has beneficial effects, structure is reasonable and compact, very small space is occupied, can avoid touching other pipes during pipe grabbing or pipe arranging, and also can be compatible with multiple specifications of pipe.

Description

Technical Field

[0001] This invention relates to the field of oil drilling technology, and more particularly to a pipe clamping mechanism for oil drilling and a robotic arm having the same. Background Technology

[0002] A derrick is a device used in oil drilling rigs during the drilling process to house the overhead crane, suspended traveling blocks, hooks, lifting rings, and clamps, as well as for tripping, storing, and handling tubing, pipes, and sucker rods. The derrick consists of the main body, the crane platform, the crane frame, the second-level platform, the riser platform, and the working ladder. The second-level platform is the work area for derrick workers to perform tripping operations; it includes the derrick worker's work platform and the finger beams for storing tubing. Tubing, as connecting rods used to transmit power in drilling tools, is a crucial component in oil drilling.

[0003] In actual working conditions, due to the length and weight of the pipes, a clamping mechanism is needed to maintain their stability during use. Pipes vary in diameter depending on their model, and traditional clamping mechanisms often have poor compatibility with different pipe models. Secondly, due to the limited space on the second-tier platform, but the large number of pipes to be stored, the pipes are stored very densely, resulting in very little working space for gripping or releasing them. Traditional clamping mechanisms require at least two actions—opening and clamping—which occupy a lot of space and often result in contact with other pipes during gripping or releasing, affecting work efficiency and easily damaging the pipes. Summary of the Invention

[0004] (a) Technical problems to be solved

[0005] In view of the above-mentioned shortcomings and deficiencies of the prior art, the present invention provides a pipe clamping mechanism for oil drilling and a robotic arm having the same, which solves the technical problems of poor compatibility with different types of pipes and the impact on work efficiency and easy damage to pipes during the pipe gripping or laying process.

[0006] (II) Technical Solution

[0007] To achieve the above objectives, the main technical solutions adopted by the present invention include:

[0008] On one hand, the present invention provides a pipe clamping mechanism for oil drilling, including a housing, a baffle, a clamping assembly, a transmission assembly, a drive assembly, and a door opening / closing assembly. The housing extends in a front-to-back direction and has a pipe clamping channel. The baffle is rotatably mounted in the pipe clamping channel. The drive assembly and the door opening / closing assembly are mounted on the housing, and the drive assembly is connected to the door opening / closing assembly via the transmission assembly. The door opening / closing assembly is drively connected to the baffle. The clamping assembly is movable back-to-back on the housing. The drive assembly is connected to the clamping assembly via the transmission assembly. Simultaneously, the drive assembly drives the door opening / closing assembly to rotate the baffle in a vertical plane to either block or open the clamping channel. The housing can be mounted on a robotic arm assembly.

[0009] Optionally, the clamping assembly includes a slider mounting base, a jaw plate assembly, and a reset assembly. The slider mounting base is slidably mounted within the housing and is connected to the transmission assembly. The front end of the slider mounting base has a mounting groove that slopes backward from top to bottom. The jaw plate assembly has a mounting surface that slopes backward from top to bottom, and the slope angle of the mounting surface matches the slope angle of the mounting groove. The jaw plate assembly is slidably mounted in the mounting groove via the mounting surface. The reset assembly is installed between the mounting groove and the jaw plate assembly to provide an upward force along the mounting groove to the jaw plate assembly when the jaw plate assembly slides downward along the mounting groove, and to return the jaw plate assembly to its initial position after the clamping operation is completed.

[0010] Optionally, an adaptive component is provided between the slider mounting base and the transmission assembly to compensate for displacement between the jaw plate assembly and the pipe when the pipe is tilted.

[0011] Optionally, the adaptive component includes a connecting rod, a baffle, a thrust joint bearing, and multiple disc springs. The baffle is located between the transmission component and the slider mounting base. The connecting rod passes through the baffle to connect the transmission component and the slider mounting base. The thrust joint bearing and the multiple disc springs are sleeved on the connecting rod. The thrust joint bearing is located between the baffle and the slider mounting base, and the multiple disc springs are located between the baffle and the transmission component.

[0012] Optionally, the jaw plate assembly includes a support and at least one jaw plate, two jaw plates are mounted on the support, the support is mounted in the mounting slot, and the reset assembly is mounted between the mounting slot and the support.

[0013] Optionally, the transmission assembly includes a moving block and a push rod. The moving block is connected to the clamping assembly via the push rod. The moving block is movably mounted on the driving assembly. The driving assembly can drive the moving block to move the clamping assembly back and forth via the push rod.

[0014] Optionally, the baffle shaft is rotatably mounted on the housing, with its rotation axis oriented laterally. One end of the baffle shaft is connected to the baffle, and the transmission assembly is connected to the baffle shaft via the lever connecting frame. The drive assembly can drive the lever connecting frame to move back and forth via the transmission assembly, and the lever connecting frame drives the baffle to rotate in a vertical plane via the baffle shaft.

[0015] Optionally, the baffle shaft has an axially extending limiting groove, which includes a straight groove and a quarter-circumference spiral groove that are interconnected. The lever connecting frame is slidably connected to the limiting groove. The driving assembly drives the lever connecting frame to move back and forth through the transmission assembly. When the lever connecting frame slides along the straight groove to the spiral groove, it drives the baffle shaft to rotate.

[0016] Optionally, the drive assembly includes a driver and a drive element, the driver being mounted at the rear end of the housing, and the driver being connected to the transmission assembly via the drive element.

[0017] On the other hand, the present invention provides a robotic arm for oil drilling, including the above-mentioned pipe clamping mechanism and a robotic arm assembly, wherein the housing of the pipe clamping mechanism is mounted on the robotic arm assembly.

[0018] (III) Beneficial Effects

[0019] The beneficial effects of this invention are:

[0020] This invention provides a pipe clamping mechanism for oil drilling. When the clamping assembly is in its initial position, the baffle is in a vertical state, meaning the clamping channel of the housing is open. In use, depending on the position of the pipe, the robotic arm assembly approaches the pipe until it is fully inside the clamping channel. The drive assembly, via the transmission assembly, moves the clamping assembly forward towards the pipe. Simultaneously, the transmission assembly, via the door opening and closing assembly, rotates the baffle from a vertical position to a horizontal position to close the clamping channel. Then, the drive assembly continues to move the clamping assembly forward until it abuts the rear side of the pipe, pushing the pipe so that its front side abuts the baffle, thereby clamping the pipe. Compared to existing technologies, this pipe clamping mechanism eliminates the need for two separate actions—opening and wrapping—when clamping pipes. The robotic arm assembly moves the pipe into the clamping channel, and the drive assembly drives the baffle to close the clamping channel. Simultaneously, the drive assembly moves the clamping component closer to and abuts the pipe. The baffle and clamping component clamp the pipe from both the front and rear sides, achieving a seamless process of pipe positioning, closing, and clamping. The structure is reasonable and compact, occupying very little space. It avoids contact with other pipes during pipe gripping or laying and is compatible with various pipe specifications. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of the pipe clamping mechanism for oil drilling according to Embodiment 1 of the present invention;

[0022] Figure 2 This is a cross-sectional view of the pipe clamping mechanism for oil drilling according to Embodiment 1 of the present invention;

[0023] Figure 3 yes Figure 2 Enlarged view of point A in the middle;

[0024] Figure 4 This is a partial structural schematic diagram of the pipe clamping mechanism for oil drilling according to Embodiment 1 of the present invention.

[0025] Figure 5 This is a front view schematic diagram of the pipe clamping mechanism for oil drilling according to Embodiment 1 of the present invention;

[0026] Figure 6 This is a front cross-sectional view of the pipe clamping mechanism for oil drilling according to Embodiment 1 of the present invention;

[0027] Figure 7 This is a top view schematic diagram of the pipe clamping mechanism for oil drilling according to Embodiment 1 of the present invention.

[0028] [Explanation of Labels in the Attached Image]

[0029] 1: Shell;

[0030] 2: Baffle;

[0031] 31: Slider mounting base; 32: Connecting rod; 33: Baffle; 34: Thrust joint bearing; 35: Disc spring; 36: Support; 37: Jaw plate;

[0032] 41: Moving block; 42: Push rod;

[0033] 51: Lever connecting bracket; 52: Baffle pivot; 53: Limiting groove;

[0034] 61: Driver; 62: Drive unit. Detailed Implementation

[0035] To better understand the above technical solutions, exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to enable a clearer and more thorough understanding of the present invention and to fully convey the scope of the invention to those skilled in the art. The terms "front" and "rear" as used herein refer to... Figure 2 The orientation is for reference.

[0036] Example 1:

[0037] like Figure 1-2 As shown, this embodiment provides a pipe clamping mechanism for oil drilling, including a housing 1, a baffle 2, a clamping assembly, a transmission assembly, a drive assembly, and a door opening / closing assembly. The housing 1 has a pipe clamping channel extending in a front-to-back direction. The baffle 2 is rotatably mounted in the pipe clamping channel. The drive assembly and the door opening / closing assembly are mounted on the housing 1, and the drive assembly is connected to the door opening / closing assembly via the transmission assembly. The door opening / closing assembly is drively connected to the baffle 2. The clamping assembly is movably mounted on the housing 1. The drive assembly is connected to the clamping assembly via the transmission assembly. Simultaneously, the drive assembly drives the door opening / closing assembly to rotate the baffle 2 in a vertical plane to either block or open the clamping channel. The housing 1 can be mounted on a robotic arm assembly.

[0038] Specifically, when the clamping assembly is in the initial position, the baffle 2 is in a vertical state, that is, the clamping channel of the housing 1 is in a conductive state. In use, according to the position of the pipe, the robotic arm assembly approaches the pipe until the pipe is fully entered into the clamping channel. The drive assembly drives the clamping assembly forward to approach the pipe through the transmission assembly. At the same time, the transmission assembly drives the baffle 2 to rotate from a vertical state to a horizontal state in the vertical plane through the door opening and closing assembly to close the clamping channel. Then the drive assembly continues to drive the clamping assembly forward to abut the rear side of the pipe, pushing the pipe so that its front side abuts the baffle 2, thereby clamping the pipe. Compared to existing technologies, this pipe clamping mechanism eliminates the need for two separate actions—opening and wrapping—when clamping pipes. The robotic arm assembly moves the pipe into the clamping channel, and the drive assembly drives the baffle 2 to close the clamping channel. Simultaneously, the drive assembly moves the clamping component closer to and abuts the pipe. The baffle 2 and the clamping component clamp the pipe from both the front and rear sides, achieving a seamless process of pipe positioning, closing, and clamping. The structure is reasonable and compact, occupying very little space. It can prevent contact with other pipes during pipe gripping or laying and is also compatible with various pipe specifications.

[0039] Furthermore, such as Figure 2 and Figure 5 As shown, the clamping assembly includes a slider mounting base 31, a jaw plate assembly, and a reset assembly. The slider mounting base 31 is slidably mounted in the housing 1. The slider mounting base 31 is connected to the transmission assembly. The front end of the slider mounting base 31 has a mounting groove that slopes from top to bottom and backward. The jaw plate assembly has a mounting surface that slopes from top to bottom and backward. The slope angle of the mounting surface matches the slope angle of the mounting groove. The jaw plate assembly is slidably mounted in the mounting groove via the mounting surface. Specifically, as... Figure 2 and Figure 6As shown, the jaw plate assembly includes a support 36 and at least two jaw plates 37. The two jaw plates 37 are mounted on the support 36, which is mounted in a mounting groove. A reset assembly is installed between the mounting groove and the support 36. The two jaw plates 37 are arranged in a V-shape on the support 36, with the V-shaped opening facing forward to facilitate close clamping of the pipe fitting. The pipe clamping surfaces of the jaw plates 37 are uniformly provided with jaws. Because the pipe surface is smooth, the jaws improve the stability of the pipe clamping and prevent the pipe fitting from falling off. The reset assembly is installed between the mounting groove and the jaw plate assembly to provide an upward force along the mounting groove to the jaw plate assembly when it slides downward along the mounting groove, and to return the jaw plate assembly to its initial position after the clamping operation is completed. In this embodiment, the reset assembly includes two clamping plate lifting springs, with both ends of the springs mounted on the mounting groove and the jaw plate mounting seat, respectively, located between the mounting groove and the jaw plate mounting seat. Therefore, by using the jaw assembly as a wedge, the drive assembly drives the sliding mounting seat to move the jaw assembly to the rear of the pipe fixture, and the baffle 2 to the front of the pipe fixture. Then, the mechanical arm assembly drives the entire mechanism to rise, and the jaw assembly begins to slide downward along the mounting groove. The two clamping plate lifting springs are compressed, further reducing the distance between the jaw assembly and the baffle 2. This increases the clamping force of the jaw assembly and the baffle 2 on the pipe fixture, and also increases the friction between the jaw assembly and the baffle 2 on the pipe fixture, thus achieving pipe clamping. When releasing the pipe fixture, the drive assembly drives the sliding mounting seat to move backward, driving the baffle to open the clamping channel, and the jaw assembly leaves the pipe fixture. Under the action of the two clamping plate lifting springs, the jaw assembly slides upward along the mounting groove to reset. The jaw assembly forms a wedge-shaped self-locking clamping method on the pipe fixture, and it can automatically release and reset when the pipe fixture leaves, without interfering with the pipe fixture's departure.

[0040] Furthermore, considering actual working conditions, when the pipe enters the clamping channel in a non-vertical state, a gap will be generated between the jaw assembly and the pipe, causing the pipe to sag. Figure 3 and Figure 5As shown, an adaptive component is provided between the slider mounting base 31 and the transmission assembly to compensate for displacement between the jaw plate assembly and the pipe when the pipe is tilted, ensuring that the jaw plate assembly can completely lock the pipe and avoid the aforementioned situation. Specifically, the adaptive component includes a connecting rod 32, a baffle 33, a thrust joint bearing 34, and multiple disc springs 35. The baffle 33 is located between the transmission assembly and the slider mounting base 31. The connecting rod 32 passes through the baffle 33 to connect the transmission assembly and the slider mounting base 31. The thrust joint bearing 34 and multiple disc springs 35 are sleeved on the connecting rod 32. The thrust joint bearing 34 is located between the baffle 33 and the slider mounting base 31, and the multiple disc springs are located between the baffle 33 and the transmission assembly. The thrust joint bearing 34 ensures that the slider mounting base 31, the jaw plate assembly, and the pipe remain relatively stationary when the pipe is tilted, preventing jamming or loosening of the clamp. The multiple disc springs achieve the effect of displacement compensation between the jaw plate assembly and the pipe.

[0041] Furthermore, such as Figure 2 and Figure 5 As shown, the transmission assembly includes a movable block 41 and a push rod 42. The movable block 41 is connected to the clamping assembly via the push rod 42. The movable block 41 is movably mounted on the drive assembly, and the drive assembly can drive the movable block 41 to move the clamping assembly back and forth via the push rod 42. Further, the drive assembly includes a driver 61 and a drive member 62. The driver 61 is mounted at the rear end of the housing 1 and is connected to the transmission assembly via the drive member 62. Specifically, in this embodiment, the driver 61 is a motor, and the drive member 62 is a lead screw connected to the motor drive shaft. The movable block 41 is screwed onto the lead screw, and the motor drives the lead screw to rotate, causing the movable block 41 to move back and forth along the lead screw.

[0042] Furthermore, such as Figure 2 , Figures 3-6 As shown, the door opening and closing assembly includes a lever connecting frame (51) and a baffle rotating shaft 52. The baffle rotating shaft 52 is rotatably mounted on the housing 1, with its rotation axis oriented laterally. One end of the baffle rotating shaft 52 is connected to the baffle 2, and the transmission assembly is connected to the baffle rotating shaft 52 through the lever connecting frame 51. The drive assembly can drive the lever connecting frame 51 to move back and forth through the transmission assembly. The lever connecting frame 51 drives the baffle 2 to rotate in the vertical plane via the baffle rotating shaft 52. Specifically, the baffle rotating shaft 52 has a limiting groove 53 extending axially. The limiting groove 53 includes a straight groove and a quarter-circumference spiral groove that are interconnected. The lever connecting frame 51 is slidably connected to the limiting groove 53. The drive assembly drives the lever connecting frame 51 to move back and forth through the transmission assembly. When the lever connecting frame 51 slides along the straight groove to the spiral groove, it drives the baffle rotating shaft 52 to rotate 90°.

[0043] Example 2:

[0044] This embodiment provides a robotic arm for oil drilling, including the pipe clamping mechanism and robotic arm assembly described in Embodiment 1. Specifically, the housing 1 of the pipe clamping mechanism is mounted on the robotic arm assembly.

[0045] The robotic arm in this embodiment operates as follows: Based on the pipe's position, the robotic arm assembly moves the pipe clamping mechanism until the pipe is fully inserted into the clamping channel. A motor drives a lead screw to rotate, causing a moving block 41 to move forward along it. The moving block 41 then drives a lever connecting frame 51 to slide along a straight groove to a spiral groove. At this point, the baffle 2 rotates 90° from a vertical position to a horizontal position via the baffle shaft 52, closing the clamping channel. Simultaneously, the moving block 41 pushes the slider mounting base 31 and the jaw plate assembly forward along the clamping channel via the push rod 42 until the jaw plate 37 abuts against the pipe and pushes the front of the pipe against the baffle 2. Then, the robotic arm assembly raises the entire mechanism, causing the support 36 to slide downwards along the mounting groove, compressing the two clamping plate lifting springs. The jaw plate 37 and the baffle 2 then clamp the pipe. The process of releasing the pipe is the reverse of the above process and will not be described in detail here.

[0046] In the description of this invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0047] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0048] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first and second features are in direct contact, or that they are in indirect contact through an intermediate medium. Furthermore, "above," "over," or "on top" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," or "beneath" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0049] In the description of this specification, the terms "one embodiment," "some embodiments," "embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0050] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make modifications, alterations, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A pipe clamping mechanism for oil drilling, characterized in that, Includes housing (1), baffle (2), clamping assembly, transmission assembly, door opening and closing assembly and drive assembly; The housing (1) has a tube clamping channel extending in the front-rear direction, the baffle (2) is rotatably mounted on the housing (1), the drive assembly and the door opening and closing assembly are mounted on the housing (1), and the drive assembly is connected to the door opening and closing assembly through the transmission assembly, and the door opening and closing assembly is drivenly connected to the baffle (2). The clamping assembly is movably mounted on the housing (1). The driving assembly is connected to the clamping assembly through the transmission assembly. The driving assembly can drive the clamping assembly to move back and forth through the transmission assembly, while driving the door opening and closing assembly to rotate the baffle (2) in the vertical plane to block the clamping channel or open the clamping channel. The housing (1) can be installed on the robotic arm assembly; The clamping assembly includes a slider mounting base (31), a jaw plate assembly, and a reset assembly; The slider mounting base (31) is slidably mounted in the housing (1) and the slider mounting base (31) is connected to the transmission assembly. The front end of the slider mounting base (31) has a mounting groove that is inclined from top to bottom and backward. The jaw plate assembly has a mounting surface that is inclined from top to bottom and backward. The inclination angle of the mounting surface matches the inclination angle of the mounting groove. The jaw plate assembly is slidably mounted in the mounting groove through the mounting surface. The reset component is installed between the mounting slot and the jaw plate assembly to return the jaw plate assembly to its initial position after the clamping operation is completed.

2. The pipe clamping mechanism for oil drilling as described in claim 1, characterized in that, An adaptive component is provided between the slider mounting base (31) and the transmission assembly to compensate for displacement between the jaw plate assembly and the pipe when the pipe is tilted.

3. The pipe clamping mechanism for oil drilling as described in claim 2, characterized in that, The adaptive component includes a connecting rod (32), a baffle (33), a thrust joint bearing (34), and multiple disc springs (35). The baffle (33) is located between the transmission assembly and the slider mounting base (31). The connecting rod (32) passes through the baffle (33) to connect the transmission assembly and the slider mounting base (31). The thrust joint bearing (34) and a plurality of disc springs (35) are sleeved on the connecting rod (32). The thrust joint bearing (34) is located between the baffle (33) and the slider mounting base (31). The plurality of disc springs are located between the baffle (33) and the transmission assembly.

4. The pipe clamping mechanism for oil drilling as described in claim 1, characterized in that, The jaw plate assembly includes a support (36) and at least one jaw plate (37). The jaw plate (37) is mounted on the support (36), the support (36) is mounted on the mounting groove, and the reset assembly is mounted between the mounting groove and the support (36).

5. The pipe clamping mechanism for oil drilling as described in claim 1, characterized in that, The transmission assembly includes a moving block (41) and a push rod (42). The movable block (41) is connected to the clamping assembly via the push rod (42). The movable block (41) is mounted on the driving assembly in a movable manner. The driving assembly can drive the movable block (41) to move the clamping assembly back and forth via the push rod (42).

6. The pipe clamping mechanism for oil drilling as described in claim 1, characterized in that, The door opening and closing assembly includes a lever connecting frame (51) and a baffle pivot (52). The baffle shaft (52) is rotatably mounted on the housing (1), and its rotation axis is oriented laterally. One end of the baffle shaft (52) is connected to the baffle (2), and the transmission assembly is connected to the baffle shaft (52) through the lever connecting frame (51). The drive assembly can drive the lever connecting frame (51) to move back and forth through the transmission assembly. The lever connecting frame (51) drives the baffle (2) to rotate in the vertical plane via the baffle shaft (52).

7. The pipe clamping mechanism for oil drilling as described in claim 6, characterized in that, The baffle shaft (52) has a limiting groove (53) extending axially. The limiting groove (53) includes a straight groove and a spiral groove of a quarter circumference that are interconnected. The lever connecting frame (51) is slidably connected to the limiting groove (53). The driving assembly drives the lever connecting frame (51) to move back and forth through the transmission assembly. When the lever connecting frame (51) slides along the straight groove to the spiral groove, it drives the baffle shaft (52) to rotate.

8. The pipe clamping mechanism for oil drilling as described in claim 1, characterized in that, The drive assembly includes a driver (61) and a drive element (62). The driver (61) is mounted at the rear end of the housing (1), and the driver (61) is connected to the transmission assembly via the drive element (62).

9. A robotic arm for oil drilling, comprising a pipe clamping mechanism for oil drilling as described in any one of claims 1-8 and a robotic arm assembly. The housing (1) is mounted on the robotic arm assembly.

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