CN217270077U - Binding clip device and tubular column snatch equipment - Google Patents

Abstract

The utility model provides a binding clip device and tubular column snatch equipment belongs to oil drilling machinery technical field. The binding clip device comprises a binding clip seat, a sliding part, a driving mechanism, binding clip clamping jaws and a connecting rod, wherein the sliding part is connected to the binding clip seat in a sliding manner, the driving mechanism is arranged on the binding clip seat and is connected with the sliding part in a driving manner, the binding clip clamping jaws comprise binding clip front parts and binding clip rear parts, one ends of the front parts of the binding clips are hinged to the binding clip seat, the binding clip rear parts are fixed to the other ends of the front parts of the binding clips, the two binding clip clamping jaws are symmetrically arranged relative to the sliding direction of the sliding part, one ends of the connecting rod are hinged to the corresponding binding clip clamping jaws, the other ends of the connecting rod are hinged to the sliding part, and the binding clip rear parts of the two binding clip clamping jaws are arranged in a staggered manner in the vertical direction. The utility model discloses simple structure, flexibility are high, can support the drilling rod and also can realize accurate drilling rod hasp function, can also adapt to the drilling rod of different specifications simultaneously under the prerequisite of not trading the binding clip device.

Description

Binding clip device and tubular column snatch equipment

Technical Field

The utility model relates to an oil drilling machinery technical field particularly, relates to a binding clip device and tubular column snatch equipment.

Background

At present, with the development of petroleum equipment technology, more and more automatic and intelligent technologies are applied to the drilling and workover operations in the petroleum equipment, some local semi-automatic devices appear in each oil field successively, and the devices obtain certain effect in the aspect of supporting a pipe column and discharging the pipe column to a vertical box area in the process of tripping, so that the problems of high labor intensity and high safety risk in the manual pipe column discharging work are effectively solved. However, in the process of drilling down, the pipe column supported by the equipment is often required to be pushed to a well head and is in buckled connection with the pipe column in the well head. The automatic pipe supporting manipulator used in the existing large oil fields is designed to be large in order to enable the hand to adapt to pipe columns with different specifications, so that when the mechanical hand supports the pipe columns to a wellhead buckling mode, due to the fact that a certain gap exists between the hand and the pipe columns, when the pipe columns are buckled in the wellhead in the buckling mode, the pipe columns supported by the hand can move irregularly in the hand, accurate buckling cannot be achieved, manual assistance is needed to be conducted, and the working efficiency of well drilling is greatly reduced. Although a small part of oil field automatic mechanical arms realize the buckling function, the mechanical arms only can aim at the tubular columns of certain specifications, and the gripping hands are required to be continuously replaced when the tubular columns of different specifications are buckled. Therefore, the working efficiency of well drilling is greatly reduced, and meanwhile, the hand grips are continuously replaced, so that the labor intensity of workers is greatly increased.

SUMMERY OF THE UTILITY MODEL

The present invention is directed to solving at least one of the problems set forth above.

In order to solve the problem, the utility model provides a binding clip device, including binding clip seat, slider, actuating mechanism, binding clip clamping jaw and connecting rod, slider sliding connection in the binding clip seat, actuating mechanism set up in the binding clip seat and with the slider drive is connected, the binding clip clamping jaw includes binding clip front portion and binding clip rear portion, the anterior one end of binding clip with the binding clip seat is articulated, the binding clip rear portion with the other end of binding clip front portion is fixed, two the binding clip clamping jaw about the slip direction symmetry of slider sets up, the one end of connecting rod with correspond the binding clip clamping jaw is articulated, the other end of connecting rod with the slider is articulated, two the binding clip clamping jaw the binding clip rear portion is in vertical direction dislocation set.

The utility model provides a pair of binding clip device can be used to snatch the drilling rod, compares in prior art, has but not confine following beneficial effect to:

the binding clip device can be arranged on a mechanical arm of tubular column grabbing equipment, before a drill rod is grabbed, the sliding part can be moved forwards through the driving mechanism, so that the two binding clip clamping jaws are opened to the maximum angle, the binding clip device is moved through the mechanical arm, the bottom end of the drill rod is arranged in the two open binding clip clamping jaws, then the movement of the mechanical arm can be stopped, the sliding part is driven to gradually move backwards through the driving mechanism, because one end of the connecting rod, which is far away from the binding clip clamping jaws, is hinged with the sliding part, the sliding part which gradually moves backwards can also drive the two binding clip clamping jaws to be gradually closed to be in a first closed state through the connecting rod, in the first closed state, the rear end of the sliding part and the two binding clip clamping jaws enclose a first cohesion area, the drill rod cannot be separated from the two binding clip clamping jaws, but the drill rod can move in a small range in the first cohesion area, and when the top end of the drill rod vertically moves under the action of a lifting clamp, the bottom part of drilling rod can carry out corresponding activity in first cohesion region, under the drive of robotic arm, the binding clip device removes the bottom of drilling rod to well head drilling rod directly over after, do not need the drilling rod to have the small range activity space in first cohesion region this moment, accessible actuating mechanism continues the backward movement slider, make two binding clip devices continue to close to the second closed condition, in the second closed condition, the rear end of slider, two binding clip clamping jaws enclose into second cohesion region, the rear end of slider and two binding clip clamping jaws carry out three point clamping to the drilling rod, guarantee that the drilling rod can only be vertical removal under the effect of elevator, and then guaranteed the drilling rod that is snatched and subsequent accurate butt joint of well head drilling rod, avoid artifical supplementary butt joint, the work efficiency of well drilling has been improved. In addition, the binding clip clamping jaw has binding clip front portion and binding clip rear portion, and two binding clip rear portions stagger from top to bottom, that is to say when the binding clip clamping jaw is closed, two binding clip rear portions can not mutual interference, so, to the great drilling rod of some pipe diameters, can snatch through two binding clip rear portions, to the less drilling rod of some pipe diameters, can snatch through two binding clip front portions, realize the accurate of the drilling rod to different specifications to detaining, need not change different binding clip devices.

Further, the slider includes the connecting seat, the connecting seat is located the outside of binding clip seat, the binding clip device still includes main gyro wheel, anterior gyro wheel and the rear portion gyro wheel of holding forward, main the gyro wheel of holding forward rotate connect in connecting seat rear end department, anterior gyro wheel rotate connect in binding clip front portion department, the rear portion gyro wheel rotate connect in binding clip rear portion department, and two the rear portion gyro wheel is in vertical direction dislocation set.

Further, the two rear rollers and the main pushing roller are located at different heights, or/and the two front rollers and the main pushing roller are located at different heights.

Further, the sliding part further comprises a sliding block, the sliding block is connected with the connecting seat, the forceps head seat is of a box body structure with an opening at the rear end, the sliding block is connected in the forceps head seat in a sliding mode, one end of the connecting rod is hinged to the front portion of the forceps head, and the other end of the connecting rod is hinged to the sliding block.

Furthermore, a through groove is formed in the side wall of the pliers head seat along the sliding direction of the sliding block, and the connecting seat penetrates through the through groove to be connected with the sliding block.

Furthermore, one of a guide protrusion and a guide groove is arranged on the inner wall of the forceps head seat, the other of the guide protrusion and the guide groove is arranged on the slide block, and the guide protrusion is matched with the guide groove.

Furthermore, the driving mechanism is a linear telescopic mechanism, and the driving mechanism is arranged in the forceps head seat and connected with the sliding block.

Furthermore, the slider is provided with first holding tank, binding clip front portion is provided with the second holding tank, the one end of connecting rod stretch into the second holding tank and with binding clip front portion is articulated, the other end of connecting rod stretch into first holding tank and with the slider is articulated.

Furthermore, the front part of the binding clip and the rear part of the binding clip are of an integrally formed structure.

Additionally, the utility model provides a tubular column snatchs equipment, include as before binding clip device and arm, the binding clip seat of binding clip device with the arm is connected.

Since the technical improvement and the technical effect of the pipe string gripping device are the same as those of the tong head device, the detailed description of the pipe string gripping device is omitted.

Drawings

Fig. 1 is a schematic structural view of a binding clip device according to an embodiment of the present invention;

fig. 2 is a schematic top view of the binding clip device of the embodiment of the present invention gripping a drill rod of a first specification;

FIG. 3 is a state diagram before the tong head device of the embodiment of the present invention grips a drill rod of a first specification and buckles;

fig. 4 is a schematic top view of the tong head device for gripping a drill rod with a second specification according to the embodiment of the present invention;

fig. 5 is a state diagram before the tong head device provided by the embodiment of the utility model picks the drill rod of the second specification and buckles.

Description of reference numerals:

1. a forceps head seat; 11. a through groove; 2. a slider; 21. a slider; 211. a first accommodating groove; 22. a connecting seat; 3. a drive mechanism; 4. a tong head clamping jaw; 41. the front part of the binding clip; 411. a second accommodating groove; 42. the back part of the tong head; 5. a main pushing and supporting roller; 6. a front roller; 7. a rear roller; 8. a mechanical arm; 9. a connecting rod; 10. and (5) drilling a rod.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention more comprehensible, embodiments accompanied with figures are described in detail below.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "left", "right", "front", "rear", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.

Also, in the drawings, the Z-axis represents a vertical, i.e., up-down position, and a positive direction of the Z-axis (i.e., an arrow direction of the Z-axis) represents up, and a negative direction of the Z-axis (i.e., a direction opposite to the positive direction of the Z-axis) represents down; in the drawings, the X-axis represents the longitudinal direction, i.e., the front-rear position, and the positive direction of the X-axis (i.e., the arrow direction of the X-axis) represents the front and the negative direction of the X-axis (i.e., the direction opposite to the positive direction of the X-axis) represents the rear; in the drawings, the Y-axis indicates the lateral, i.e., left-right, position, and the positive direction of the Y-axis (i.e., the arrow direction of the Y-axis) indicates the left, and the negative direction of the Y-axis (i.e., the direction opposite to the positive direction of the Y-axis) indicates the right.

It should also be noted that the foregoing Z-axis, X-axis, and Y-axis representations are merely intended to facilitate the description of the invention and to simplify the description, and are not intended to indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and are not to be construed as limiting the invention.

Referring to fig. 1, a binding clip device according to an embodiment of the present invention includes a binding clip base 1, a slider 2, a driving mechanism 3, a binding clip jaw 4, and a connecting rod 9, the sliding piece 2 is connected with the pliers head seat 1 in a sliding way, the driving mechanism 3 is arranged on the pliers head seat 1 and is connected with the sliding piece 2 in a driving way, the binding clip clamping jaw 4 comprises a binding clip front part 41 and a binding clip rear part 42, one end of the binding clip front part 41 is hinged with the binding clip seat 1, the binding clip rear part 42 is fixed to the other end of the binding clip front part 41, the two binding clip jaws 4 are symmetrically arranged (i.e. a left-right symmetrical arrangement) with respect to the sliding direction of the sliding part 2, one end of each connecting rod 9 is hinged to the corresponding tong head clamping jaw 4, the other end of each connecting rod 9 is hinged to the corresponding sliding part 2, and the tong head rear parts 42 of the two tong head clamping jaws 4 are arranged in a staggered mode in the vertical direction.

In this embodiment, the collet device may be mounted on a mechanical arm 8 of the tubular column gripping device, before gripping the drill rod 10, the sliding member 2 may be moved forward by the driving mechanism 3, and then the two collet jaws 4 are opened to a maximum angle, the collet device is moved by the mechanical arm 8, so that the bottom end of the drill rod 10 is disposed in the two opened collet jaws 4, then the movement of the mechanical arm 8 may be stopped, the sliding member 2 is driven by the driving mechanism 3 to gradually move backward (move in the negative direction of the X axis), because one end of the connecting rod 9 away from the collet jaws 4 is hinged to the sliding member 2, the sliding member 2 which gradually moves backward may also drive the two collet jaws 4 to gradually close to a first closed state by the connecting rod 9, in the first closed state, the rear end of the sliding member 2 and the two collet jaws 4 enclose a first clasping region, and the drill rod 10 may not be separated from the two collet jaws 4, however, the drill rod 10 can move in the first cohesion area within a small range, so that when the top end of the drill rod 10 moves vertically under the action of an elevator, the bottom end part of the drill rod 10 can move correspondingly in the first cohesion area, and under the driving of the mechanical arm 8, the bottom end of the drill rod 10 is moved to the position right above the wellhead drill rod 10 by the tong head device, at this time, the drill rod 10 does not need to have a small-range moving space in the first cohesion area, the sliding part 2 can be moved backwards continuously by the driving mechanism 3, so that the two tong head devices are closed continuously to a second closed state, in the second closed state, the rear end of the sliding part 2 and the two tong head clamping jaws 4 form a second cohesion area in a surrounding manner, the rear end of the sliding part 2 and the two tong head clamping jaws 4 clamp the drill rod 10 at three points, so that the drill rod 10 can only move vertically under the action of the elevator, and further ensure that the grabbed drill rod 10 is accurately buckled with the wellhead 10 subsequently, the manual auxiliary buckling is avoided, and the working efficiency of drilling is improved.

In addition, the binding clip clamping jaw 4 is provided with a binding clip front part 41 and a binding clip rear part 42, and the two binding clip rear parts 42 are staggered up and down, that is to say, when the binding clip clamping jaw 4 is closed, the two binding clip rear parts 42 cannot interfere with each other, so for some drill rods 10 with larger pipe diameters, the drill rods can be grabbed through the two binding clip rear parts 42, for some drill rods 10 with smaller pipe diameters, the drill rods 10 with different pipe diameters can be grabbed through the two binding clip front parts 41, accurate buckling of the drill rods 10 with different specifications is realized, and different binding clip devices do not need to be replaced. Specifically, for some drill rods 10 with larger pipe diameters, the drill rods 10 are clamped at three points through the rear end of the sliding part 2 and the two tong head rear parts 42 so as to realize accurate buckling, and for some drill rods 10 with smaller pipe diameters, the drill rods 10 are clamped at three points through the rear end of the sliding part 2 and the two tong head front parts 41 so as to realize accurate buckling.

Referring to fig. 1, 2 and 4, optionally, the sliding member 2 includes a connecting seat 22, the connecting seat 22 is located outside the vise seat 1, the vise device further includes a main push roller 5, a front roller 6 and a rear roller 7, the main push roller 5 is rotatably connected to the rear end of the connecting seat 22, the front roller 6 is rotatably connected to the front portion 41 of the vise, the rear roller 7 is rotatably connected to the rear portion 42 of the vise, and the two rear rollers 7 are vertically arranged in a staggered manner, that is, the two rear rollers 7 are arranged one above the other.

Here, whether in the first closed state or the second closed state, the drill rod 10 is in contact with the corresponding roller, specifically, the rear end of the sliding member 2, that is, the rear end of the connecting seat 22 is in contact with the drill rod 10 through the main push roller 5, and the tong head clamping jaw 4 is in contact with the drill rod 10 through the front roller 6 or the rear roller 7, so that the friction with the drill rod 10 is reduced through rolling, and thus, when the drill rod 10 is lifted, the tong head device and the drill rod 10 are prevented from breaking the mechanical arm 8 due to excessive friction force.

Specifically, referring to fig. 2 and 3, for a drill rod 10 with a large pipe diameter, when the drill rod 10 is clamped at three points in the second closed state, the main pushing roller 5 and the two rear rollers 7 are respectively positioned at different directions to clamp the drill rod 10, and the corresponding first closed state is a slightly larger opening angle of the tong head clamping jaws 4.

In larger pipe diameter drill rods 10, for example, in the range of 5 "to 11" drill rods 10, the position of the gripping point of the rear roller 7 on the drill rods 10 of different pipe diameters is varied accordingly, so that the rear roller 7 has a length to grip the drill rods 10 of different pipe diameters in the range of 5 "to 11".

Referring to fig. 4 and 5, for a drill rod 10 with a smaller pipe diameter, when the drill rod 10 is clamped at three points in the second closed state, the main thrust roller 5 and the two front rollers 6 are respectively positioned at different directions to clamp the drill rod 10, and the corresponding first closed state is a slightly larger opening angle of the tong head clamping jaws 4.

In pipe 10 of smaller pipe diameter, for example, ranging from 2-7/8 inches to 4-1/2 inches for pipe 10, the position of the gripping point of nose roller 6 on pipe 10 of different pipe diameters varies accordingly, so that nose roller 6 has a length to grip pipe 10 of different pipe diameters ranging from 2-7/8 inches to 4-1/2 inches.

Wherein, no matter the grabbing and clamping of the drill rod 10 with larger or smaller pipe diameter, the main pushing and supporting roller 5 is contacted with the drill rod 10, so the main pushing and supporting roller 5 has a certain length. The tong head device can realize three-point synchronous clamping through one driving mechanism 3, and the center of the drill rod 10 is slightly deviated after the drill rod 10 is tightly held, so that the accurate buckling of the pipe column is realized.

Alternatively, referring to fig. 1, the two rear rollers 7 and the main push roller 5 are located at different heights, respectively, or/and the two front rollers 6 and the main push roller 5 are located at different heights, respectively. Wherein the aforementioned "or/and" has three cases: in case one, the two rear rollers 7 and the main push roller 5 are located at different heights, respectively. In case two, the two front rollers 6 and the main push roller 5 are located at different heights, respectively. In case three, the two rear rollers 7 and the main push roller 5 are located at different heights, respectively, and the two front rollers 6 and the main push roller 5 are located at different heights, respectively.

Here, when carrying out three point clamping to the drilling rod 10 of pipe diameter at 5 cun to 11 cun range size, main push idler wheel 5 and two rear portion gyro wheels 7 are located different heights respectively, so, to the centre gripping of the axial different positions in drilling rod 10, three point clamping is more stable, can not take place to rock under the second closed condition. This is true for drill pipe 10 having a pipe diameter in the range of 2-7/8 inches to 4-1/2 inches.

Optionally, referring to fig. 1, fig. 2 and fig. 4, the sliding member 2 further includes a sliding block 21, the sliding block 21 is connected to the connecting seat 22, the forceps head seat 1 is a box structure with an opening at a rear end, the sliding block 21 is slidably connected to the forceps head seat 1, the driving mechanism 3 is disposed in the forceps head seat 1 and connected to the sliding block 21, wherein one end of the connecting rod 9 is hinged to the forceps head front portion 41, and the other end of the connecting rod 9 is hinged to the sliding block 21.

Here, the slider 21 can slide linearly on the bit holder 1 having a box structure, and the drive mechanism 3 and the slider 21 are both located in the bit holder 1, so that the bit holder 1 can protect both of them, and the integration of the entire bit device can be improved.

Optionally, referring to fig. 1, a through groove 11 is formed in a side wall of the forceps head holder 1 along a sliding direction of the slider 21, and the connecting seat 22 passes through the through groove 11 to be connected with the slider 21.

Here, one end of the connecting seat 22 away from the main pushing and supporting roller 5, that is, the front end of the connecting seat 22 may directly pass through the through groove 11 downward to be fixedly connected with the slider 21, so as to simplify the structure for connecting the two. Secondly, the through slot 11 can also provide a guiding function for the back and forth movement of the connecting seat 22.

Optionally, one of a guide protrusion and a guide groove is arranged on the inner wall of the forceps head holder 1, the other of the guide protrusion and the guide groove is arranged on the slide block 21, and the guide protrusion is matched with the guide groove.

Here, through the cooperation of guide protrusion and guide groove, guarantee the straightness accuracy of the motion of slider 21, remove more stably, combine through groove 11 to the guide effect of connecting seat 22, the effect is better. The guide groove can be a long circular groove formed in the inner wall of the forceps head seat 1 along the X-axis direction, correspondingly, the guide protrusion is a long circular protrusion arranged on the slider along the X-axis direction, the length of the long circular protrusion is smaller than that of the long circular groove, and the long circular protrusion can be guaranteed to have a moving space in the long circular groove.

Further, the driving mechanism 3 is a linear telescopic mechanism, and the linear telescopic mechanism is an oil cylinder or an air cylinder or an electric push rod. Through the linear telescopic mechanism, the occupation of the internal space of the binding clip seat 1 is greatly reduced, the structure is simple, and the installation is also convenient. Of course, the driving mechanism 3 is not limited to the linear telescopic mechanism, and other circular motion or other forms of motion can be used to convert the circular motion into the linear motion.

Alternatively, referring to fig. 3, the sliding block 21 is provided with a first receiving groove 211, the binding clip front part 41 is provided with a second receiving groove 411, one end of the connecting rod 9 extends into the second receiving groove 411 and is hinged with the binding clip front part 41, and the other end of the connecting rod 9 extends into the first receiving groove 211 and is hinged with the sliding block 21.

Here, through having seted up first holding tank 211 at the middle part of slider 21 thickness direction, slider 21 is similar to the C template, and the installation of connecting rod 9 need not occupy slider 21 upside and downside space so, has just also reduced the thickness of pincers head holder 1 (the top of pincers head holder 1 to the distance of bottom), improves holistic integrated level, and secondly, the thrust to connecting rod 9 when slider 21 removes is balanced. Through set up second holding tank 411 at binding clip front portion 41, when connecting rod 9 and binding clip front portion 41 articulated, do not occupy the upper and lower side space of binding clip front portion 41, improve whole integrated level, secondly, binding clip clamping jaw 4 receives the thrust of connecting rod 9 also balanced.

It should be noted that, in this embodiment, the related hinges may be implemented by pins.

Optionally, the front portion 41 and the rear portion 42 are integrally formed, so as to ensure the structural strength of the binding clip 4. The whole tong head clamping jaw 4 is designed like an arc and is in accordance with the shape of the drill rod 10.

Additionally, the utility model discloses another embodiment still provides a tubular column snatchs equipment, include as before binding clip device and arm 8, binding clip seat 1 of binding clip device with arm 8 is connected.

Since the technical improvement and the technical effect of the pipe string gripping device are the same as those of the tong head device, the detailed description of the pipe string gripping device is omitted.

The terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature.

Although the present disclosure has been described above, the scope of the present disclosure is not limited thereto. Without departing from the spirit and scope of the present disclosure, those skilled in the art can make various changes and modifications, which will fall into the scope of the present disclosure.

Claims (10)

1. The binding clip device is characterized by comprising a binding clip seat (1), a sliding part (2), a driving mechanism (3), binding clip clamping jaws (4) and a connecting rod (9), wherein the sliding part (2) is connected with the binding clip seat (1) in a sliding manner, the driving mechanism (3) is arranged on the binding clip seat (1) and is in driving connection with the sliding part (2), the binding clip clamping jaws (4) comprise binding clip front parts (41) and binding clip rear parts (42), one end of the binding clip front parts (41) is hinged with the binding clip seat (1), the binding clip rear parts (42) are fixed with the other end of the binding clip front parts (41), the two binding clip clamping jaws (4) are symmetrically arranged relative to the sliding direction of the sliding part (2), the binding clip rear parts (42) of the two binding clip clamping jaws (4) are arranged in a staggered manner in the vertical direction, one end of the connecting rod (9) is hinged with the corresponding binding clip clamping jaws (4), the other end of the connecting rod (9) is hinged with the sliding piece (2).

2. The binding clip device according to claim 1, wherein the slider (2) comprises a connecting seat (22), the connecting seat (22) is located outside the binding clip seat (1), the binding clip device further comprises a main pushing roller (5), a front roller (6) and a rear roller (7), the main pushing roller (5) is rotatably connected to the rear end of the connecting seat (22), the front roller (6) is rotatably connected to the front portion (41) of the binding clip, the rear roller (7) is rotatably connected to the rear portion (42) of the binding clip, and the two rear rollers (7) are vertically arranged in a staggered manner.

3. The tong head device according to claim 2, wherein the two rear rollers (7) and the main pushing roller (5) are located at different heights, respectively, or/and wherein the two front rollers (6) and the main pushing roller (5) are located at different heights, respectively.

4. The binding clip device according to claim 2, wherein the slider (2) further comprises a slider (21), the slider (21) is connected to the connecting seat (22), the binding clip seat (1) is a box structure with an opening at the rear end, the slider (21) is slidably connected to the inside of the binding clip seat (1), wherein one end of the connecting rod (9) is hinged to the binding clip front portion (41), and the other end of the connecting rod (9) is hinged to the slider (21).

5. The binding clip device according to claim 4, wherein the side wall of the binding clip seat (1) is provided with a through groove (11) along the sliding direction of the sliding block (21), and the connecting seat (22) passes through the through groove (11) to be connected with the sliding block (21).

6. The binding clip device according to claim 4, wherein the inner wall of the binding clip base (1) is provided with one of a guide protrusion and a guide groove, and the slider (21) is provided with the other of the guide protrusion and the guide groove, and the guide protrusion is engaged with the guide groove.

7. The binding clip device according to claim 4, wherein the driving mechanism (3) is a linear extension mechanism, and the driving mechanism (3) is disposed in the binding clip seat (1) and connected to the slider (21).

8. The binding clip device according to claim 4, wherein the slider (21) is provided with a first receiving groove (211), the binding clip front portion (41) is provided with a second receiving groove (411), one end of the connecting rod (9) extends into the second receiving groove (411) and is hinged with the binding clip front portion (41), and the other end of the connecting rod (9) extends into the first receiving groove (211) and is hinged with the slider (21).

9. The binding clip device according to claim 1, wherein the binding clip front portion (41) and the binding clip rear portion (42) are integrally formed.

10. A tubular string gripping apparatus, comprising a jaw device as claimed in any one of claims 1 to 9 and a robotic arm (8), the head carrier (1) of the jaw device being connected to the robotic arm (8).

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