A drill pipe gripping device

Abstract

The present application relates to drill pipe clamp technical field, especially to a kind of drill pipe grabbing device, it includes mechanical arm and clamp interconnected, the clamp includes at least one set of holder seat, finger seat and clamping finger, the clamping finger is fixedly installed on finger seat, the finger seat is slidably installed on holder seat, rotatingly installed with the matching roller ring on the clamping finger;The clamping finger is provided with vertical positioning screw rod, the inner wall of the matching roller ring is the thread structure matched with positioning screw rod, the matching roller ring is sleeved on positioning screw rod, and the positioning screw rod is also sleeved with elastic component.The position of the present application is monitored in real time that the matching roller ring is on positioning screw rod, when monitoring that roller ring has been displaced to the bottom end of positioning screw rod, this signal is wirelessly transmitted to rig control system, and continue to rotate is stopped;After completing the tightening fixing of rig to drill pipe, the continuous upward elastic force provided by elastic component, eliminate microscopic uneven matching and residual gap.

Description

Technical Field

[0001] This invention relates to the field of drill pipe clamping technology, and more particularly to a drill pipe gripping device. Background Technology

[0002] In drilling operations such as field geological exploration and oil and gas extraction, one of the core operations is to sequentially connect multiple individual drill pipes through precision threads at both ends to form a long, continuous drill string, which is then driven into the ground. This process requires frequent hoisting, docking, and disassembly of the drill pipes. Traditional methods heavily rely on manual labor and cranes, resulting in low efficiency and high risks. Therefore, drill pipe gripping devices using robotic arms combined with specialized clamps have become an important development direction for automated drilling equipment. These devices typically include a robotic arm, an end effector (clamp), and a control and sensing system. Their conventional purpose is to automatically grip and precisely position the drill pipe from its storage end to the center of the wellhead, and to provide auxiliary alignment and support during thread docking, thereby replacing manual labor and improving operational safety.

[0003] However, existing drill pipe gripping devices and methods still have significant shortcomings. Their functions are mostly limited to the physical handling and rough alignment of drill pipes, failing to deeply participate in and ensure the quality and reliability of the critical process of drill pipe connection. Specifically, firstly, existing technologies lack effective means to verify connection stability. That is, after the power tongs complete the threading at a preset torque, the gripping device directly releases the drill pipe, making it impossible to verify whether the threaded connection between the two drill pipes is truly stable and reliable. Secondly, existing technologies cannot actively eliminate residual gaps in the threaded connection. Simply rotating and tightening is insufficient to ensure complete metal-to-metal contact between the male and female thread shoulders, potentially resulting in microscopic uneven fit, affecting connection strength and sealing performance. Furthermore, existing technologies cannot precisely control and optimize the connection prestress. Drill pipe connections cannot be too loose (leading to connection instability and reduced fatigue life) nor too tight (leading to excessive thread torque and damage), and existing gripping devices lack the function of applying a controllable pulling force after tightening to set the optimal prestress. In summary, these shortcomings limit the further improvement of the overall efficiency and reliability of drilling automation systems. Summary of the Invention

[0004] To solve the above-mentioned technical problems, the present invention provides a drill rod gripping device.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0006] A drill pipe gripping device includes a robotic arm and a clamp. The clamp is connected to the robotic arm via a main connecting plate. The clamp includes at least one set of gripper seats, finger seats, and gripping fingers. The gripping fingers are fixedly mounted on the finger seats, and the finger seats are slidably mounted on the gripper seats. The gripping fingers include a connecting part and a groove part, and a fitting roller ring is rotatably mounted in the groove part.

[0007] A vertical positioning screw is provided on the groove portion. The fitting roller ring is a hollow cylindrical structure. The inner wall of the fitting roller ring is a threaded structure that cooperates with the positioning screw. The fitting roller ring is sleeved on the positioning screw. An elastic component is also sleeved on the positioning screw. The elastic component is located below the fitting roller ring.

[0008] Furthermore, the clamp includes a first clamping part for holding the drill rod during transfer and a second clamping part for assisting in supporting the drill rod during installation. The first and second clamping parts are respectively located at the upper and lower ends of the clamping base. The first clamping part is located at the upper end and is used for automatic gripping, precise positioning, and auxiliary straightening and support of the drill rod from the storage end to the wellhead during threaded connection, achieving transportation and fixation through stable clamping force. The second clamping part is located at the lower end. During the connection process, the newly retrieved drill rod needs to be threaded onto the top of the drill rod drilled into the soil using a drilling rig, and then pushed into the soil layer after threading. Using the first clamping part in this process would cause obstruction during pushing. To ensure the stability of the drill rod and prevent it from tipping over, the second clamping part is used for auxiliary fixation. The groove of the second clamping part laterally limits the drill rod, providing a stable "support" function during connection and fixation, while also ensuring that the vertical displacement of the drill rod is not affected by the clamping fingers.

[0009] Furthermore, the contact rollers are disposed on the second clamping part, and two contact rollers are disposed on one side of any of the clamping fingers on the second clamping part, with the two contact rollers arranged laterally parallel. The four contact rollers in the second clamping part together form a circumferential support surface, which not only better adapts to the cylindrical shape of the drill pipe, but also provides uniform contact and support, preventing the drill pipe from swaying or jumping during rotation, and ensuring that its axis is aligned with the wellhead drill pipe axis. The parallel arrangement of the contact rollers increases the contact area with the drill pipe, providing sufficient friction to drive its own rotation while reducing specific pressure, avoiding indentation damage to the drill pipe coating.

[0010] Furthermore, the clamping base is provided with a transverse sliding groove, and the finger seats are provided with sliders facing the clamping base. The sliders are slidably connected to the sliding groove, and the clamping base is provided with an electronic control component for controlling the driving of the sliders. The sliding engagement between the sliding groove and the slider is used to achieve the clamping drive of the clamp, ensuring that the finger seats in the same group can move synchronously in opposite directions, thereby realizing the opening and closing clamping. The built-in electronic control component is driven by a servo motor or stepper motor, and with the help of an encoder, it can achieve precise digital control of the opening degree. By preset the required clamping positions for drill pipes of different diameters and automatically and quickly adjusting them, the adaptability to drill pipes of different specifications and the working efficiency are improved.

[0011] Furthermore, the electronic control assembly includes a motor and an adjusting lead screw. The adjusting lead screw is fixedly mounted on the output shaft of the motor. The adjusting lead screw includes a threaded portion and a smooth portion. The threaded portion has two sections with opposite rotation directions. The opposite threaded sections are respectively located at both ends of the smooth portion. Two finger seats are threadedly connected to the two threaded sections with opposite rotation directions. When the motor drives the lead screw to rotate, because the threads at both ends rotate in opposite directions, the two finger seats that engage with these two threaded sections will simultaneously and at the same speed move closer or further away from each other, ensuring that the centerline of the clamp remains unchanged during the clamping process.

[0012] Furthermore, the clamping fingers of the second clamping part have an L-shaped structure. The connecting part of the clamping finger is connected to the finger seat by bolts and nuts, and the positioning screw is located on the side where any two clamping fingers face each other. The L-shaped connecting part provides sufficient contact area with the finger seat, and the bolt and nut connection achieves fixation. At the same time, this detachable connection method facilitates later maintenance or replacement. The groove extends forward, allowing the fitting roller ring installed on its side to fit against the drill rod, achieving effective support.

[0013] Furthermore, the positioning screw is disposed within the inner cavity of the groove, and the side wall of the groove has an opening for the fitting roller ring to pass through. The outer wall of the fitting roller ring is covered with an anti-slip rubber sleeve. Covering the outer wall of the roller ring with an anti-slip rubber sleeve increases the coefficient of friction with the drill rod surface, ensuring that the drill rod can reliably drive the roller ring to rotate without slippage. In addition, after the alignment and tightening of the two drill rods are completed, the elastic component is compressed, and its elastic potential energy will generate an upward thrust on each fitting roller ring. At this time, the fitting roller ring and the drill rod wall are in contact. If the drill rod is not securely connected to the drill rod below, it will be pushed upward slightly by friction. The operator can visually judge that if the drill rod is pulled upward, the connection between the two drill rods needs to be re-secured to avoid accidents such as the drill rod falling off.

[0014] Furthermore, the inner cavity of the groove is also equipped with a distance monitoring sensor facing the lower end of the positioning screw. This sensor monitors the displacement of the contact roller ring to the bottom of the positioning screw. The sensor is wirelessly connected to the external drilling rig used for rotating and pressing the drill rod. The distance monitoring sensor converts the mechanical motion into a quantifiable electrical signal. Its monitoring end faces the lower end of the positioning screw and monitors the downward position of the contact roller ring during the thread tightening process. When the sensor detects that the roller ring has moved to the bottom of the screw, it sends a signal. This signal is transmitted wirelessly to the main control system of the drilling rig, indicating that the required number of turns has been reached and rotation stops.

[0015] Furthermore, the number of rotations required for the fitting roller ring to move from the top to the bottom of the positioning screw is the same as the number of rotations required to tighten any two drill pipes. By designing the pitch and effective stroke length of the positioning screw, the number of rotations required for the fitting roller ring to rotate from the top to the bottom is exactly the same as the number of rotations required to fully tighten the male and female threads of a specific model of drill pipe used in the field. This ensures that for every rotation of the drill pipe, the roller ring will necessarily move down one fixed pitch.

[0016] Furthermore, the clamping fingers of the first clamping part have a semi-bracket-shaped structure, which fits against the outer wall of the drill rod. During operation, the position of the finger seat is adjusted by adjusting the clamping device seat, thereby adjusting the relative positions of the two clamping fingers to clamp and release the drill rod.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] 1. This invention, by setting a positioning screw and a fitting roller ring that matches the number of turns of the drill rod tightening, allows the fitting roller ring to rotate under the friction of the drill rod and move down along the positioning screw when the drill rig rotates and presses down on the drill rod, compressing the elastic component. This process simulates the tightening process of the drill rod, and its downward endpoint corresponds to the position where the thread is tightened. This achieves the function of automatically controlling and optimizing the connection prestress within a suitable range, ensuring a stable connection while avoiding excessive torque or tightness, and preventing problems such as thread sticking, damage, or stress concentration.

[0019] 2. After the drilling rig tightens and fixes the drill rods, the continuous upward elastic force provided by the elastic component verifies the connection stability between the drill rods, or assists in judging whether they are connected (eliminating height errors in mechanical alignment), while eliminating microscopic uneven fit and residual gaps, fundamentally improving the sealing and strength of the connection.

[0020] 3. This invention uses a distance monitoring sensor to establish a wireless connection with the drilling rig, which monitors the position of the fitting roller ring on the positioning screw in real time. When the roller ring is detected to have moved to the bottom of the positioning screw, the system can determine that the drill rod has been tightened to the predetermined number of turns and transmit this signal wirelessly to the drilling rig control system, and stop further rotation. This can be used to assist in judging the number of pre-rotation turns of the drilling rig, eliminating the inherent error of purely mechanical equipment operation. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of the present invention;

[0022] Figure 2 This is a three-dimensional structural diagram of the fixture;

[0023] Figure 3 This is a side view of the fixture;

[0024] Figure 4 This is a schematic diagram of the structure that holds the fingers in place;

[0025] Figure 5 This is a schematic diagram of the disassembled structure that holds the fingers;

[0026] Figure 6 This is an assembly diagram of the fitting roller ring and the positioning screw;

[0027] Figure labels: 1-robotic arm, 2-gripper, 201-first gripping part, 202-second gripping part, 3-main connecting plate, 4-gripper seat, 5-finger seat, 6-gripping finger, 601-connecting part, 602-groove part, 7-fitting roller ring, 8-positioning screw, 9-elastic component, 10-slide groove, 11-slider, 12-opening, 13-distance monitoring sensor. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the embodiments and accompanying drawings. The illustrative embodiments and descriptions of the present invention are only used to explain the present invention and are not intended to limit the present invention.

[0029] Example 1, as Figures 1-6 As shown, the present invention discloses a drill pipe gripping device, including a robotic arm 1 and a clamp 2. The clamp 2 is connected to the robotic arm 1 through a main connecting plate 3. The clamp 2 includes at least one set of gripper seats 4, finger seats 5 and gripping fingers 6. The gripping fingers 6 are fixedly installed on the finger seats 5, and the finger seats 5 are slidably installed on the gripper seats 4. The gripping fingers 6 include a connecting part 601 and a groove part 602. A fitting roller ring 7 is rotatably installed in the groove part 602.

[0030] A vertical positioning screw 8 is provided on the groove portion 602. The fitting roller ring 7 is a hollow cylindrical structure, and the inner wall of the fitting roller ring 7 is a threaded structure that mates with the positioning screw 8. The fitting roller ring 7 is sleeved on the positioning screw 8, and an elastic component 9 is also sleeved on the positioning screw 8. The elastic component 9 is located below the fitting roller ring 7. Specifically, the positioning screw 8 provides vertical guidance and stroke limitation. Because the inner wall of the fitting roller ring 7 mates with the outer wall of the positioning screw 8, a vertical displacement will occur along the positioning screw 8 during the rotation of the fitting roller ring 7. During the clamping process of the drill rod, the drilling motion of the drill rod drives the rotation of the fitting roller ring 7, which then moves downward and compresses the elastic component 9.

[0031] The clamp 2 includes a first clamping part 201 for holding the drill rod during transfer, and a second clamping part 202 for assisting in supporting the drill rod during installation. The first clamping part 201 and the second clamping part 202 are respectively located at the upper and lower ends of the clamping device base 4. Specifically, the first clamping part 201 is located at the upper end and is used for automatic gripping, precise positioning, and auxiliary straightening and support of the drill rod during the threaded connection process, achieving transportation and fixation through a stable clamping force. The second clamping part 202 is located at the lower end. During the connection process, the newly retrieved drill rod needs to be threaded onto the top of the drill rod drilled into the soil using a drilling rig, and then pushed into the soil layer after threading. If the first clamping part 201 is used in this process, the pushing will be obstructed. To ensure the stability of the drill rod and prevent it from tipping over, the second clamping part 202 is used for auxiliary fixation. The drill rod is laterally limited by the groove 602 of the second clamping part 202, which provides a stable "support" function for the drill rod during the connection and fixing process, while also ensuring that the vertical displacement of the drill rod is not affected by the clamping fingers 6.

[0032] The contact rollers 7 are disposed on the second clamping part 202. Two contact rollers 7 are disposed on one side of any of the clamping fingers 6 on the second clamping part 202, and the two contact rollers 7 are arranged laterally parallel. Specifically, the four contact rollers 7 in the second clamping part 202 together form a ring-shaped support surface, which not only better adapts to the cylindrical shape of the drill pipe, but also provides uniform contact and support, preventing the drill pipe from swaying or jumping during rotation, and ensuring that its axis is aligned with the wellhead drill pipe axis. The parallel arrangement of the contact rollers 7 increases the contact area with the drill pipe, providing sufficient friction to drive its own rotation while reducing specific pressure, avoiding indentation damage to the drill pipe coating.

[0033] The clamping base 4 is provided with a transverse sliding groove 10. A slider 11 is provided on the finger seat 5 facing the clamping base 4. The slider 11 is slidably connected to the sliding groove 10. An electronic control component for controlling and driving the slider 11 is provided inside the clamping base 4. Specifically, the sliding engagement of the sliding groove 10 and the slider 11 is used to achieve the clamping drive of the clamp 2, ensuring that the finger seats 5 in the same group can move synchronously in opposite directions, thereby achieving opening and closing clamping. The built-in electronic control component is driven by a servo motor or stepper motor, and with the help of an encoder, it can achieve precise digital control of the opening degree. By presetting the required clamping positions for drill pipes of different diameters and automatically and quickly adjusting them, the adaptability to drill pipes of different specifications and the operating efficiency are improved.

[0034] The electrical control assembly includes a motor and an adjusting lead screw. The adjusting lead screw is fixedly mounted on the output shaft of the motor. The adjusting lead screw includes a threaded portion and a smooth portion. The threaded portion has two sections with opposite rotation directions. The opposite threaded sections are respectively located at both ends of the smooth portion. Two finger seats 5 are threadedly connected to the two threaded sections with opposite rotation directions. Specifically, when the motor drives the lead screw to rotate, because the two threads at both ends rotate in opposite directions, the two finger seats 5 that engage with these two threaded sections will simultaneously and at the same speed move closer or further away from each other, ensuring that the centerline of the clamp 2 remains unchanged during the clamping process. Compared to two independent drive assemblies, this application eliminates the asynchronous error that may be caused by two independent drive sources, ensuring a uniform distribution of clamping force and avoiding damage to the drill pipe or the clamp 2 itself due to uneven loading. The smooth portion provides structural support and stability for the central area.

[0035] The clamping fingers 6 of the second clamping part 202 have an L-shaped structure. The connecting part 601 of the clamping fingers 6 is connected to the finger seat 5 by bolts and nuts. The positioning screw 8 is located on the side where any two clamping fingers 6 face each other. For example, the connecting part 601 and the groove part 602 are integrally formed. The vertical side of the L-shaped structure (connecting part 601) provides sufficient connection area with the finger seat 5, and is fixed by bolt and nut connection. At the same time, this detachable connection method facilitates later maintenance or replacement. The horizontal side (groove part 602) extends forward, so that the fitting roller ring 7 installed on its side can fit against the drill rod to achieve effective support.

[0036] The positioning screw 8 is disposed within the inner cavity of the groove portion 602. The side wall of the groove portion 602 has an opening 12 for the fitting roller ring 7 to pass through. The outer wall of the fitting roller ring 7 is covered with an anti-slip rubber sleeve. Specifically, the drilling site environment is harsh, with a large amount of contaminants such as mud and gravel. Enclosing the positioning screw 8 in the groove portion 602 effectively prevents foreign objects from entering the threaded pair, avoiding jamming, wear, or corrosion, and significantly improving the reliability and service life of the system. Covering the outer wall of the roller ring 7 with an anti-slip rubber sleeve, such as polyurethane, increases the coefficient of friction with the drill pipe surface, ensuring that the drill pipe can reliably drive the roller ring to rotate without slippage. In addition, after the alignment and tightening of the two drill rods are completed, the elastic component 9 is compressed, and its elastic potential energy will generate an upward thrust on each mating roller ring 7. At this time, the mating roller ring 7 is in contact with the drill rod wall. If the drill rod is not firmly connected to the drill rod below, it will be pushed upward slightly by friction. The staff can judge by visual inspection. If the drill rod is pulled upward, the connection between the two drill rods needs to be fixed again to avoid accidents such as the drill rod falling off.

[0037] The inner cavity of the groove 602 is also equipped with a distance monitoring sensor 13 facing the lower end of the positioning screw 8. The distance monitoring sensor 13 is used to monitor the displacement of the fitting roller ring 7 to the bottom end of the positioning screw 8. The distance monitoring sensor 13 is wirelessly connected to the external drilling rig used for rotating and pressing the drill rod. Specifically, the distance monitoring sensor 13 converts the mechanical action into a quantifiable electrical signal. Its monitoring end faces the lower end of the positioning screw 8 and is used to monitor the downward position of the fitting roller ring 7 during the thread tightening process. When the sensor detects that the roller ring 7 has moved to the bottom end of the screw 8 (i.e., the preset end position), it sends a signal. This signal is transmitted wirelessly to the main control system of the drilling rig, indicating that the number of rotations has been reached and rotation stops. Although the drilling rig can be set to achieve a fixed number of rotations, errors may occur due to the connection and fit between the two drill rods. By setting the distance monitoring sensor 13, it can help determine whether the number of rotations of the two drill rods is within the required range, avoiding insufficient or excessive rotations.

[0038] The number of rotations required for the fitting roller ring 7 to move from the top to the bottom of the positioning screw 8 is the same as the number of rotations required to tighten any two drill pipes. Specifically, by designing the pitch and effective stroke length of the positioning screw 8, the number of rotations required for the fitting roller ring 7 to rotate from the top to the bottom is exactly the same as the number of rotations required to fully tighten the male and female threads of a specific model of drill pipe used in the field. This ensures that for every rotation of the drill pipe, the roller ring will precisely move down one fixed pitch.

[0039] The clamping fingers 6 of the first clamping part 201 have a semi-bracket-shaped structure, which fits against the outer wall of the drill rod. Specifically, during operation, the position of the finger seat 5 is adjusted by adjusting the clamping base 4, thereby adjusting the relative positions of the two clamping fingers 6 to clamp and release the drill rod.

[0040] Example 2: Based on Example 1, this example presents a specific working principle of a drill pipe gripping device.

[0041] According to the specifications of the drill pipe to be grasped, the control system controls the robotic arm 1 to rotate and grasp the drill pipe through the first clamping part 201. At this time, the contact roller rings 7 of the second clamping part 202 are not in contact with the drill pipe or are only in slight contact. Then, the robotic arm 1 transfers the drill pipe to above the center of the wellhead, keeping it coaxially aligned with the drill pipe already drilled underground. The robotic arm 1 slowly lowers the drill pipe so that the threaded ends of the two drill pipes begin to contact. The electrical control component controls the first clamping part 201 to slightly loosen, reducing the clamping force. At the same time, the first clamping part 201 clamps and fixes the drill pipe, completing the mode switch from rigid clamping to flexible auxiliary support. Next, the drilling rig power shaft above the wellhead clamps the upper end of the new drill pipe and begins to rotate and press down. The rotation of the drill pipe drives the four contact roller rings 7 in contact with it to rotate synchronously through friction. Since the internal threads of the contact roller rings 7 cooperate with the positioning screw 8, their rotation is converted into a precise downward displacement along the positioning screw 8, and begins to compress the elastic component 9 below. The distance monitoring sensor 13 inside the groove 602 monitors in real time that the contact roller ring 7 has descended to the bottom of the positioning screw 8. At this point, it is considered that the drill rod has rotated to the predetermined number of turns and the thread is fully tightened. The distance monitoring sensor 13 transmits the detection signal to the drilling rig control system wirelessly. After receiving the signal, the drilling rig stops rotating and pressing down.

[0042] After the drilling rig stops, the compressed elastic component 9 continues to push the contact roller ring 7 upwards, thereby applying a continuous and stable upward preload force to the drill pipe through static friction. If the threaded connection is not properly tightened, this upward force will attempt to slightly lift the new drill pipe. This abnormal displacement can be observed by the operator or system sensors, indicating that the connection is unreliable and needs to be retightened. For tightened connections, this force can eliminate microscopic gaps inside the threaded pair, allowing the male and female shoulders to fit more tightly and establishing an optimized prestress distribution on the thread teeth, preventing the connection from being too loose or too tight. After confirming that the connection is secure, the electrical control component controls the clamping fingers 6 of the second clamping part 202 to open, disengaging the contact roller ring 7 from the drill pipe. The robotic arm 1 moves away, and the drilling rig begins subsequent downward drilling operations.

[0043] Under the restoring force of the elastic component 9, the fitting roller ring 7 rotates and rises back to the initial top position along the positioning screw 8, preparing for the next gripping operation.

[0044] Example 3: Based on Example 1, this example proposes a specific equipment model for a drill pipe gripping device.

[0045] The motor specifically adopts a hybrid stepper motor, for example, a 57HS22 stepper motor with a rated voltage of DC24V, a rated phase current of 2.0A, and a maximum static holding torque of 2.2 N·m, which can ensure the stable rotation of the adjusting screw and the high-precision equidistant movement of the clamping seat 4. The clamping seat 4 specifically adopts a wedge-shaped slider structure with a built-in induction magnet, providing a stable base with high output and stability. For example, an HDW80-SD2-40 stable base is used, with a cylinder diameter of 80mm and a working pressure of 3~7 kgf / cm² (300~700 kPa), which can ensure the stable clamping of the six pairs of drill rods by the clamping fingers.

[0046] Of course, the present invention may have many other embodiments. Without departing from the spirit and essence of the present invention, those skilled in the art can make various corresponding changes and modifications according to the present invention, but these corresponding changes and modifications should all fall within the protection scope of the appended claims.

Claims

1. A drill pipe gripping device, comprising a robotic arm and a clamp, wherein the clamp is connected to the robotic arm via a main connecting plate, characterized in that: The clamp includes at least one set of clamping base, finger base and clamping finger. The clamping finger is fixedly installed on the finger base and the finger base is slidably installed on the clamping base. The clamping finger includes a connecting part and a groove part. A fitting roller ring is rotatably installed in the groove part. A vertical positioning screw is provided on the groove part. The fitting roller ring is a hollow cylindrical structure. The inner wall of the fitting roller ring is a threaded structure that mates with the positioning screw. The fitting roller ring is sleeved on the positioning screw. An elastic component is also sleeved on the positioning screw. The elastic component is located below the fitting roller ring. The clamp includes a first clamping part for holding the drill pipe during drill pipe transfer, and a second clamping part for auxiliary support of the drill pipe during drill pipe installation. One side of the clamp has an upper clamping seat and a lower clamping seat. The upper clamping seat has the first clamping part, and the lower clamping seat has the second clamping part. Fitting rollers are disposed on the second clamping part. Two fitting rollers are disposed on one side of the second clamping part for each clamping finger. The two fitting rollers are arranged laterally parallel. The clamping fingers of the second clamping part have an L-shaped structure. The finger clamping connection is connected to the finger seat by bolts and nuts. The positioning screw is set on the side of any two clamping fingers facing each other. The positioning screw is set in the inner cavity of the groove. The side wall of the groove is provided with an opening for the fitting roller to pass through. The outer wall of the fitting roller is covered with an anti-slip rubber sleeve. The inner cavity of the groove is also equipped with a distance monitoring sensor facing the lower end of the positioning screw. The distance monitoring sensor is used to monitor the displacement of the fitting roller to the bottom end of the positioning screw. The distance monitoring sensor is wirelessly connected to the external drilling machine used for rotating and pressing down the drill rod.

2. The drill pipe gripping device according to claim 1, characterized in that: The gripper base is provided with a horizontal sliding groove, and a slider is provided on the gripper base facing the finger seat. The slider is adapted to slide and connected to the sliding groove. An electronic control component for controlling the drive slider is provided inside the gripper base.

3. The drill pipe gripping device according to claim 2, characterized in that: The electronic control assembly includes a motor and an adjusting screw. The adjusting screw is fixedly mounted on the output shaft of the motor. The adjusting screw includes a threaded part and a smooth part. The threaded part has two sections with opposite directions of rotation. The opposite threaded sections are respectively located at both ends of the smooth part. Two finger seats are threadedly connected to the two threaded sections with opposite directions of rotation.

4. The drill pipe gripping device according to claim 1, characterized in that: The number of rotations required for the fitting roller ring to move from the top to the bottom of the positioning screw is the same as the number of rotations required to tighten any two drill rods.

5. The drill pipe gripping device according to claim 1, characterized in that: The clamping fingers of the first clamping part have a semi-bracket-shaped structure, which fits against the outer wall of the drill pipe.

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