# US 11,078,734 B2 · Gripper device for gripping a pipe > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,078,734 B2 - Document ID: US11078734B2 - Status: Granted - Kind: B2 - Application number: 16/991,786 - Filed: 2020-08-12 - Published: 2020-11-26 - Granted: 2021-08-03 - Earliest claimed: 2016-07-22 - Assignees: Canrig Robotic Technologies AS - Applicants: Canrig Robotic Technologies AS - Inventors: Svein Søyland - Web page: https://patentgrep.com/patent/US11078734B2 ## CPC - E21B 19/168: {using a spinner with rollers or a belt adapted to engage a well pipe} - F16B 2/10: using pivoting jaws - F16B 2/185: {using levers} - F16H 19/001: {for conveying reciprocating or limited rotary motion} - F16H 21/44: for conveying or interconverting oscillating or reciprocating motions - F16H 57/082: {Planet carriers} - F16H 2019/008: {Facilitating the engagement or stopping of gear sections} - E21B: EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS - F16B: DEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS OR WEDGES; JOINTS OR JOINTING (couplings for transmitting rotation F16D) - F16H: GEARING ## Abstract A pipe gripping device includes a gripper arm arrangement having first and second gripper arms and having an open state which enables the pipe to be introduced into an opening between the arms, and an engaged state in which the gripper arms are adapted to engage with the pipe. First and second drive arms movably connect the respective first gripper arm and the second gripper arm to a support structure. Pivots rotationally connect the drive arms to the support structure. The device further comprises a transmission drive shaft and a transmission arrangement having first, second and third transmission members, each rotatable in respect to each other and coupled with each other. The first member is coupled with the drive shaft, the second member is coupled to the first member and the first drive arm, and the third member is coupled with the second member and the second drive arm. ## Claims ### Claim 1 A gripper device for gripping a pipe, the gripper device comprising: a gripper arm arrangement comprising a first gripper arm and a second gripper arm comprising an open state in which the gripper arm arrangement is configured to receive a pipe and an engaged state in which the gripper arm arrangement engages the pipe; a transmission arrangement comprising a first transmission member and a second transmission member, wherein the first transmission member and the second transmission member are each rotatable with respect to each other and coupled directly or indirectly with each other, wherein the first transmission member and the second transmission member are coaxially arranged; and a first pivot that is driven by the second transmission member, with the first pivot coupled to the first gripper arm, such that rotation of the first pivot, via the second transmission member, extends or retracts the first gripper arm, wherein the first pivot, the first transmission member, and the second transmission member are coaxially arranged. ### Claim 2 (depends on 1) The gripper device according to claim 1, further comprising a further rotation device arranged at an end portion of at least one of the first gripper arm and the second gripper arm and configured to support rotation of the pipe when the first gripper arm and the second gripper arm are in the engaged state. ### Claim 3 (depends on 1) The gripper device according to claim 1, further comprising a support structure, wherein the support structure is extending into an opening between the first gripper arm and the second gripper arm and wherein the support structure comprises an abutment element arranged in the opening between the first gripper arm and the second gripper arm and configured such that the pipe abuts the abutment element when the first gripper arm and the second gripper arm are in the engaged state. ### Claim 4 (depends on 3) The gripper device according to claim 3, wherein the gripper device further comprises a rotation device adapted to act on the pipe with a force that sets the pipe into rotation when the first gripper arm and the second gripper arm are in the engaged state. ### Claim 5 (depends on 4) The gripper device according to claim 4, wherein the rotation device comprises one or more drive rollers adapted to contact the pipe when the first gripper arm and the second gripper arm are in the engaged state. ### Claim 6 (depends on 1) The gripper device according to claim 1, wherein the transmission arrangement further comprises a third transmission member, wherein the first transmission member, the second transmission member, and the third transmission member are each rotatable with respect to each other and coupled directly or indirectly with each other, and wherein the first transmission member, the second transmission member, and the third transmission member are coaxially arranged. ### Claim 7 (depends on 6) The gripper device according to claim 6, further comprising a drive shaft coupled to the first transmission member. ### Claim 8 (depends on 7) The gripper device according to claim 7, wherein rotation of the first gripper arm and the second gripper arm is driven by the drive shaft. ### Claim 9 (depends on 8) The gripper device according to claim 8, wherein the transmission arrangement is any of a planetary gear, a harmonic gear, a cycloidal gear or a gear where the drive shaft and an output shaft are located on a common rotational axis. ### Claim 10 (depends on 8) The gripper device according to claim 8, wherein a drive mechanism comprises a drive unit and a drive train for transmitting power from the drive unit to the drive shaft. ### Claim 11 (depends on 6) The gripper device according to claim 6, wherein the second transmission member and the third transmission member are configured to rotate in opposite directions in respect to each other. ### Claim 12 A gripper device for gripping a pipe, the gripper device comprising: a gripper arm arrangement comprising a first gripper arm and a second gripper arm comprising an open state in which the gripper arm arrangement is configured to receive a pipe and an engaged state in which the gripper arm arrangement engages the pipe; and a transmission arrangement comprising a first transmission member and a second transmission member, wherein the first transmission member and the second transmission member are each rotatable with respect to each other and coupled directly or indirectly with each other; wherein the first transmission member and the second transmission member are coaxially arranged, wherein at least a portion of the first transmission member is disposed within the second transmission member, wherein the transmission arrangement further comprises a third transmission member, wherein the first transmission member, the second transmission member, and the third transmission member are each rotatable with respect to each other and coupled directly or indirectly with each other, and wherein the first transmission member, the second transmission member, and the third transmission member are coaxially arranged; and a drive shaft coupled to the first transmission member, wherein rotation of the first gripper arm and the second gripper arm is driven by the drive shaft, wherein the transmission arrangement comprises a planetary gear, wherein the first transmission member constitutes a sun gear, the second transmission member constitutes two or more planetary gears, and the third transmission member constitutes an annular gear. ### Claim 13 A gripper device for gripping a pipe, the gripper device comprising: a gripper arm arrangement comprising a first gripper arm and a second gripper arm comprising an open state in which the gripper arm arrangement is configured to receive a pipe and an engaged state in which the gripper arm arrangement engages the pipe; a transmission arrangement comprising a first transmission member and a second transmission member, wherein the first transmission member and the second transmission member are each rotatable with respect to each other and coupled directly or indirectly with each other; wherein the first transmission member and the second transmission member are coaxially arranged; and wherein at least a portion of the first transmission member is disposed within the second transmission member, wherein the transmission arrangement further comprises a third transmission member, wherein the first transmission member, the second transmission member, and the third transmission member are each rotatable with respect to each other and coupled directly or indirectly with each other, and wherein the first transmission member, the second transmission member, and the third transmission member are coaxially arranged; a further gripper arm arrangement comprising a third gripper arm and a fourth gripper arm comprising an open state in which the further gripper arm arrangement is configured to receive the pipe and an engaged state in which the further gripper arm arrangement engages the pipe; and a further transmission arrangement comprising a further first transmission member, a further second transmission member, and a further third transmission member, each rotatable in respect to each other and coupled directly or indirectly with each other. ### Claim 14 (depends on 13) The gripper device according to claim 13, wherein the further first transmission member, the further second transmission member, and the further third transmission member are coaxially arranged. ### Claim 15 (depends on 13) The gripper device according to claim 13, wherein rotation of the first gripper arm, the second gripper arm, the third gripper arm, and the fourth gripper arm, is driven by a drive shaft. ### Claim 16 (depends on 13) The gripper device according to claim 13, wherein the gripper device comprises a respective connection element between the first gripper arm and the third gripper arm, and between the second gripper arm and the fourth gripper arm. ### Claim 17 (depends on 13) The gripper device according to claim 13, wherein the gripper device further comprises an adjustable synchronization gearing acting on the transmission arrangement and the further transmission arrangement. ### Claim 18 (depends on 17) The gripper device according to claim 17, wherein the synchronization gearing is acting on the third transmission member of the transmission arrangement and the further third transmission member of the further transmission arrangement. ### Claim 19 (depends on 17) The gripper device according to claim 17, wherein the synchronization gearing comprises a synchronization carrier configured to allow movement of the synchronization carrier around a planet gear axis in dependency of a position of the first gripper arm, the second gripper arm, the third gripper arm, and the fourth gripper arm. ### Claim 20 (depends on 19) The gripper device according to claim 19, wherein the synchronization gearing comprises adjustment means for adjusting the allowed movement of the synchronization carrier.