US 12,221,840 B2
End effector for gripping and spinning pipes
Andreas Johan Lindblom, Kristiansand (NO); Morten Roger Sporsheim, Kristiansand (NO); and Arnstein Bernt Olsen, Kristiansand (NO)
Assigned to GRANT PRIDECO, INC., Houston, TX (US)
Filed by National Oilwell Varco Norway AS, Kristiansand S (NO)
Filed on Jun. 23, 2022, as Appl. No. 17/848,002.
Claims priority of application No. 21193466 (EP), filed on Aug. 27, 2021.
Prior Publication US 2023/0067025 A1, Mar. 2, 2023
Int. Cl. E21B 19/16 (2006.01); B25J 15/00 (2006.01); B25J 19/02 (2006.01)
CPC E21B 19/168 (2013.01) [B25J 15/0038 (2013.01); B25J 19/02 (2013.01)] 15 Claims
OG exemplary drawing
 
1. An end effector for gripping and spinning a pipe having a longitudinal central axis, the end effector comprising:
a head portion including a first connection interface configured to directly connect the end effector to a mounting face of a robotic arm;
a pair of jaws rotatably connected to the head portion, wherein the pair of jaws are configured to rotate between an open position and a gripping position;
a spinner configured to spin the pipe held by the pair of jaws in the gripping position about a spinning axis (A) corresponding to the longitudinal central axis of the pipe, wherein the first connection interface has a normal (N1) oriented parallel to the spinning axis (A).