Automated drilling rig pipe column mechanical gripper

The invention discloses an automated drilling rig pipe column mechanical gripper. The gripper comprises a mounting base, a first fixing shaft and a second fixing shaft which are parallel, a first clamping mechanism mounted on the first fixing shaft and the second fixing shaft, a second clamping mechanism mounted on the first fixing shaft and the second fixing shaft, a first active clamping jaw, afirst driven clamping jaw, a second active clamping jaw and a second driven clamping jaw which have the same inscribed circle, a driving mechanism which is capable of driving the first active clampingjaw and the second active clamping jaw to make the first active clamping jaw, the first driven clamping jaw, the second active clamping jaw and the second driven clamping jaw tangent to the circumference of a drilling and completion pipe column, and the central axis of the drilling and completion pipe column coincides with the center of the inscribed circle. The drilling rig pipe column mechanical gripper achieves accurat