Ground-based vertical pipe-handling robot
By designing a ground-based vertical pipe transfer robot, and utilizing hydraulic motors, gear mechanisms, and a remote control system, the complexities and safety risks of pipe string transfer during drilling were solved, achieving automated and efficient pipe string transfer.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- CNPC NATIONAL OIL & GAS DRILLING EQUIPMENT ENGINEERING & TECHNOLOGY RESEARCH CENTER CO LTD
- Filing Date
- 2022-06-29
- Publication Date
- 2026-06-23
AI Technical Summary
In existing technologies, the process of transferring the tubing string from the ground to the drilling platform during drilling is complex and inefficient, and there are safety risks associated with the power catwalk being pulled from a low position to a high position on the drilling platform.
The system employs a ground-based vertical pipe-transfer robot, which includes a base, a flipping and recovery device, a walking device, a rotating device, and a pipe-grabbing robot. Through components such as hydraulic motors, gear mechanisms, and lifting cylinders, it achieves automated clamping and transport of pipe columns. Combined with a remote control system, it simplifies the transmission process and reduces safety risks.
It enables automated transfer of drill string, simplifies the process, improves transfer efficiency, reduces safety risks, and achieves linkage control between the vertical drill pipe box and the drill rig, thus achieving automated operation.
Smart Images
Figure CN117365336B_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of petroleum machinery and equipment technology, and relates to a ground-based vertical pipeline manipulator. Background Technology
[0002] During drilling, the drill string needs to be transported from the surface to the drilling platform. Conventional automated drilling rigs typically use a low-position powered catwalk with hydraulic pipe racks on both sides. The hydraulic pipe racks control the tilt angle by extending and retracting their hydraulic cylinder outriggers, and the drill string rolls towards the catwalk by gravity. The powered catwalk then transports the drill string to the drilling platform via a wire rope lifting or hydraulic cylinder lifting method. The top drive lifting ring tilts forward, and the powered clamp at the lower end of the lifting ring engages the drill string. The top drive moves upward, pulling the drill string from the catwalk into an upright position and inserting it into the mouse hole or wellhead. The process of dropping the drill string is the reverse. The disadvantages of this method are: the powered catwalk is stretched from a low position to a high position on the drilling platform, posing a significant safety risk; the conversion of the drill string from a horizontal position to the upright position required for drilling requires more processing equipment, and the drill string transport process is complex, which is not conducive to improving transport efficiency. Summary of the Invention
[0003] The purpose of this invention is to provide a ground-based vertical pipe-transfer robot, which solves the problems of complex and inefficient pipe-transfer processes between the ground and the drilling platform in the prior art.
[0004] The technical solution adopted in this invention is a ground-mounted vertical pipe-transfer manipulator for gripping and transporting pipe columns. It includes a base, a tilting and retrieval device, and a horizontally moving traveling device mounted on the base. A tilting frame is hinged to the traveling device, and a rotating device is mounted on the upper part of the tilting frame. The rotating device includes a rotating support, a hydraulic motor, and a gear A connected together. Gear A meshes with the edge teeth of the rotating support. A guide rail bracket is mounted vertically on the rotating support of the rotating device. One end of the tilting and retrieval device is hinged to the base, and the other end is hinged to the guide rail bracket. Lifting cylinders are positioned at corresponding positions on both sides of the guide rail bracket. One end of the lifting cylinder is fixed to the guide rail bracket, and the other movable end is fixed to a lifting frame. A pipe-gripping manipulator is mounted on the lifting frame.
[0005] The invention is further characterized in that,
[0006] The traveling device includes a traveling bracket fixed to a base. Two parallel guide rails A are symmetrically arranged horizontally on the traveling bracket. A rack is installed on the inner side of one guide rail A. A trolley is mounted on the traveling bracket and can move along the guide rails A. A gear mechanism is mounted on the trolley, comprising a servo electric motor and a right-angle planetary gear reducer connected together. A gear B is installed at the end of the right-angle planetary gear reducer, and gear B meshes with the rack.
[0007] The base is also equipped with a drag chain, the end of which is connected to the traveling device. The trolley includes a car body, with upper and lower rollers respectively installed on the upper and lower surfaces of the car body. The upper and lower rollers are in corresponding positions and contact the upper and lower guide rail surfaces of guide rail A respectively.
[0008] The tilting and recycling device includes a tilting liquid cylinder, a support bracket, and a supporting liquid cylinder. The bottom end of the tilting liquid cylinder is hinged to the base, and the piston rod of the tilting liquid cylinder is hinged to the guide rail bracket. The support bracket is located below the tilting liquid cylinder, and the direction of the support bracket is at an angle to the direction of the tilting liquid cylinder. A roller is provided at one end of the support bracket, and the roller is cantilevered. The other end of the support bracket is hinged to the base, the bottom end of the supporting liquid cylinder is hinged to the base, and the piston rod of the supporting liquid cylinder is fixedly connected to the support bracket.
[0009] The guide rail bracket includes an open portal frame consisting of two parallel guide rails B. Several crossbeams are provided at the rear of the two guide rails B, and the two ends of the crossbeams are fixedly connected to the two guide rails B respectively.
[0010] The lifting frame is an integral structural frame. Several pulleys are set on both sides of the lifting frame. Each pulley consists of two rollers. The lifting frame is embedded in the guide rail bracket. The two rollers of the pulley clamp the two guide rails B on both sides of the guide rail bracket, and the rollers move along the internal track of the guide rail B. The lifting frame is symmetrically connected with two lifting cylinders. One end of the lifting cylinder is fixed to the guide rail bracket, and the other movable end of the lifting cylinder is fixed to the lifting frame.
[0011] The pipe-gripping manipulator includes a connecting seat A connected to a lifting frame. Connecting seat A is connected to one end of telescopic arm I, one end of telescopic arm II, and an electric cylinder through three ear holes. The movable end of the electric cylinder is hinged to telescopic arm I. The other ends of telescopic arm I and telescopic arm II are connected to a connecting seat B with four ear holes. Connecting seat B is connected to the other ends of telescopic arm I, the other end of telescopic arm II, one end of telescopic arm III, and one end of telescopic arm IV through four ear holes. The end of telescopic arm I connected to connecting seat B is provided with arm I ear seat. Arm I ear seat is hinged to connecting ear plate. The other end of connecting ear plate is connected to arm IV ear seat provided at the lower part of telescopic arm IV. The other ends of telescopic arm III and telescopic arm IV are jointly fixedly connected to arm III ear seat. Arm III ear seat is fixedly connected to clamping clamps. The clamping clamp is connected to a manipulator hydraulic cylinder. The manipulator hydraulic cylinder drives the clamping clamp to clamp and open. A camera is provided at the end of the clamping clamp.
[0012] The lifting frame is connected to two pipe-grabbing robotic arms, which are positioned vertically.
[0013] The base is equipped with a support.
[0014] The beneficial effects of this invention are:
[0015] This invention discloses a ground-based vertical pipe transfer robot, which solves the problems of complex, indirect, and inefficient pipe string transfer processes between the ground and the drilling rig in existing technologies. The robot grabs the pipe string from the drill pipe box and transports it to the mouse hole, simplifying the transfer process and reducing the safety risks of pulling the power catwalk from a low position to a high position on the drilling rig. Through local operation and remote operation by the driller, the vertical pipe transfer robot, the vertical drill pipe box, and the drilling rig connection device are linked and controlled, achieving automation of the entire process. Attached Figure Description
[0016] Figure 1 This is a three-dimensional structural diagram of a ground-based vertical pipe-transfer manipulator according to the present invention;
[0017] Figure 2 This is a schematic diagram of the horizontal structure of a ground-based vertical pipe-transferring robot according to the present invention;
[0018] Figure 3 This is a front view of a ground-mounted vertical pipe-transfer manipulator according to the present invention;
[0019] Figure 4 This is a schematic diagram of the walking device in the hand of a ground-based vertical pipeline conveying robot according to the present invention;
[0020] Figure 5 This is a schematic diagram of the hand trolley structure of a ground-based vertical pipeline conveying machine according to the present invention;
[0021] Figure 6 This is a schematic diagram of the structure of a ground-based vertical pipeline conveying mechanical hand-turning and recycling device according to the present invention;
[0022] Figure 7 This is a schematic diagram of the structure of a pipe-grabbing manipulator in a ground-based vertical pipe conveying manipulator according to the present invention;
[0023] Figure 8 This is a schematic diagram of the working state of a ground-based vertical pipeline conveying machine according to the present invention.
[0024] In the diagram, 1. Lifting frame, 2. Guide rail support, 3. Pipe gripping robot, 4. Pipe column, 5. Lifting cylinder, 6. Rotating device, 7. Tilting frame, 8. Traveling device, 9. Cable chain, 10. Tilting and recovery device, 11. Base, 12. Pulley, 13. Support, 14. Guide rail A, 15. Rack, 16. Gear mechanism, 17. Trolley, 18. Upper roller, 19. Lower roller, 20. Car body floor plate, 21. Side plate, 22. Tilting cylinder, 23. Support cylinder, 24. Roller, 25. Support bracket, 26. Connecting seat A, 27. Electric cylinder, 28. Telescopic arm I, 29. Telescopic arm II, 30. Telescopic arm III, 31. Telescopic arm IV, 32. Connecting seat B, 33. Clamping clamp, 34. Camera, 35. Control box. Detailed Implementation
[0025] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments.
[0026] This invention discloses a ground-based vertical pipe-transfer robot for gripping and transporting pipe string 4, such as... Figure 1-3 As shown, the device includes a base 11, on which a tilting and recycling device 10, a horizontally moving traveling device 8, and a support 13 are mounted. A tilting frame 7 is hinged to the traveling device 8, and a rotating device 6 is mounted on the upper part of the tilting frame 7. The rotating device 6 includes a rotating support, a hydraulic motor, and a gear A connected together. The gear A meshes with the edge teeth of the rotating support. The rotating device 6 is driven by the hydraulic motor to engage the gear A with the rotating support. As the rotating device 6 rotates, it drives the equipment on it to rotate. A guide rail bracket 2 is mounted vertically on the rotating support of the rotating device 6. One end of the tilting and recycling device 10 is hinged to the base 11, and the other end is hinged to the guide rail bracket 2. Lifting cylinders 5 are fixedly connected to corresponding positions on both sides of the guide rail bracket 2. One end of the lifting cylinder 5 is fixedly connected to the guide rail bracket 2, and the other movable end of the lifting cylinder 5 is fixedly connected to the lifting frame 1. The lifting frame 1 can move up and down on the guide rail bracket 2 by extending and retracting the lifting cylinder 5. The lifting frame 1 is connected to two pipe gripping manipulators 3, which are distributed vertically.
[0027] like Figure 4 As shown, the walking device 8 includes a walking bracket fixed on the base 11. A connecting lug B is provided at the bottom of the walking bracket. A fixed lug is provided on the base 11 at a position corresponding to the connecting lug B. The connecting lug B and the fixed lug are fixed by a pin. Two parallel guide rails A14 are symmetrically arranged in the horizontal direction on the walking bracket. A rack 15 is provided on the inner side of one guide rail A14. A trolley 17 is provided on the walking bracket. The trolley 17 can move along the guide rail A14. A gear mechanism 16 is provided on the trolley 17. The gear mechanism 16 includes a servo electric motor and a right-angle planetary gear reducer connected together. A gear B is provided at the end of the right-angle planetary gear reducer. The gear B meshes with the rack 15. By rotating the gear B, the gear mechanism 16 moves on the rack 15, driving the entire trolley 17 to roll along the track arranged on the plane of the guide rail A14, thus realizing walking.
[0028] A cable chain 9 is also arranged on the base 11, and the end of the cable chain 9 is connected to the traveling device 8, such as... Figure 5As shown, the trolley 17 includes a car body, with four upper rollers 18 and four lower rollers 19 respectively provided on the upper and lower surfaces of the car body. The upper rollers 18 and lower rollers 19 are positioned correspondingly. The axles of the upper rollers 18 are respectively provided with bracket lugs and side plates, and the axles of the upper rollers 18 are respectively hinged to the bracket lugs and side plates 21. The lower rollers 19 are provided on the car body base plate 20, and holes are opened on the car body base plate 20 at corresponding positions. The axles of the lower rollers 19 are respectively hinged to the base plate lugs provided on the car body base plate 20. The upper rollers 18 and lower rollers 19 are in contact with the upper and lower guide rail surfaces of the guide rail A14 respectively.
[0029] like Figure 6 As shown, the tilting and recovery device 10 can make the tilting frame 7 lie down or stand upright relative to the traveling device 8. When it is in the lying down state, the guide rail bracket 2 is fixedly connected to the support 13. The whole device meets the requirements for hoisting and transportation. The tilting and recovery device 10 includes a tilting liquid cylinder 22, a support bracket 25, and a support liquid cylinder 23. The bottom end of the tilting liquid cylinder 22 is hinged to the base 11, and the piston rod of the tilting liquid cylinder 22 is hinged to the guide rail bracket 2. The guide rail bracket 2 lies down or stands upright by extending and retracting the tilting liquid cylinder 22. The support bracket 25 is located below the tilting liquid cylinder 22. The direction of 5 is at an angle to the direction of the tilting cylinder 22. One end of the support bracket 25 is provided with a roller 24, which is cantilevered. The other end of the support bracket 25 is hinged to the base 11. When the tilting cylinder 22 extends to make the whole device stand upright, the support cylinder 23 extends to drive the bracket 25 to tilt. The roller 24 supports the tilting cylinder 22. The connection between the tilting cylinder 22 and the guide rail bracket 2 is removed, and the tilting cylinder 22 retracts to achieve recycling. The bottom end of the support cylinder 23 is hinged to the base, and the piston rod of the support cylinder 23 is hinged to the support bracket 25.
[0030] The guide rail bracket 2 is a portal frame with an open front, including two parallel C-shaped steel guide rails B. The C-shaped steel guide rails B have square steel tube tracks inside. The front is open, and the rear is equipped with several crossbeams located between the two guide rails B. The crossbeams connect the C-shaped steel guide rails B on both sides to form an integral frame.
[0031] The lifting frame 1 is an integral structural frame with several pulleys 12 on both sides. Each pulley 12 consists of two rollers. The lifting frame 1 is embedded in the guide rail bracket 2. The two rollers of the pulley 12 clamp the C-shaped steel guide rails B on both sides of the guide rail bracket 2, and the rollers move along the square steel tube track inside the guide rail B. The lifting frame 1 is symmetrically connected with two lifting cylinders 5. One end of the lifting cylinder 5 is fixed to the guide rail bracket 2, and the other movable end of the lifting cylinder 5 is fixed to the lifting frame 1. By extending and retracting the lifting cylinder 5, the lifting frame 1 can move up and down inside the guide rail bracket 2.
[0032] like Figure 7As shown, the pipe-grabbing manipulator 3 includes a connecting seat A26 connected to the lifting frame 1. The connecting seat A26 is connected to one end of the telescopic arm I 28, one end of the telescopic arm II 29, and an electric cylinder 27 through three ear holes. The movable end of the electric cylinder 27 is hinged to the telescopic arm I 28. The other end of the telescopic arm I 28 and the other end of the telescopic arm II 29 are connected to a connecting seat B 32 with four ear holes. The connecting seat B 32 is connected to the other end of the telescopic arm I 28, the other end of the telescopic arm II 29, one end of the telescopic arm III 30, and one end of the telescopic arm IV 31 through four ear holes. The end of the telescopic arm I 28 connected to the connecting seat B 32 is provided with an arm I ear seat. The arm I ear seat is hinged to a connecting ear plate. The other end of the connecting ear plate is connected to the arm IV ear seat provided at the lower part of the telescopic arm IV 31. When the electric cylinder 27 extends, it lifts the telescopic arms I 28, II 29, and B 32, causing the telescopic arms III 30 and IV 31 to separate at a certain angle relative to the telescopic arms I 28 and II 29, thus extending the folding arms. When the electric cylinder 27 retracts, and the telescopic arms I 28, II 29, and B 32 are perpendicular to the connecting seat A 26, the connecting lug between the telescopic arms I 28 and IV 31 causes the telescopic arms III 30 and IV 31 to fold and retract, thus retracting the folding arms. The other end of telescopic arm Ⅲ30 and the other end of telescopic arm Ⅳ31 are fixedly connected to arm Ⅲ ear seat. Arm Ⅲ ear seat is fixedly connected to clamping clamp 33. Clamping clamp 33 is connected to a robotic arm cylinder. The robotic arm cylinder drives clamping clamp 33 to clamp and open. A camera 34 is set at the end of clamping clamp 33. Through the clamping force of clamping clamp 33 and the image feedback of camera 34, it is ensured that clamping clamp 33 clamps the column 4 in place, thereby improving safety.
[0033] The present invention provides a ground-based vertical pipe-transfer manipulator, which also includes a control box 35. The control box 35 is connected to a lifting hydraulic cylinder 5, a rotating device 6, an electric cylinder 27, a clamping clamp 33, a gear mechanism 16, a tilting hydraulic cylinder 22, a supporting hydraulic cylinder 23, and the control box 35. Except for the pipelines of the tilting hydraulic cylinder 22 and the supporting hydraulic cylinder 23, the other pipelines are arranged in the drag chain 9 for controlling the operation of the entire equipment. Remote control is achieved by transmitting control signals to the driller's operating platform.
[0034] The working process of the ground-based vertical pipe-transfer manipulator of the present invention is as follows:
[0035] like Figure 8 As shown, the entire device of the present invention is arranged along the center line of the wellhead on the front side of the base, and several vertical drill pipe boxes are arranged on both sides of the front end of the base. When the entire device is in a horizontal position, the tilting cylinder 22 extends and drives the guide rail bracket 2 to an upright position. The connecting pin of the tilting frame 7 and the pulley 17 is connected. The support cylinder 23 extends and drives the support bracket 25 to tilt. The roller 24 supports the tilting cylinder 22. The connection between the tilting cylinder 22 and the guide rail bracket 2 is removed, and the tilting cylinder 22 retracts to realize the cylinder recovery.
[0036] The trolley 17 moves the entire device on guide rail A14. The rotary device 6 rotates the entire device, causing the electric cylinder 27 to extend and the folding arm to extend as well. The clamping pliers 33 grab the tubing string 4 from the drill pipe boxes on both sides. The clamping force of the clamping pliers 33 and the image feedback from the camera 34 ensure the tubing string 4 is properly gripped, and the folding arm retracts. Then, the rotary device 6 moves the entire device toward the wellhead, and the folding arm extends to deliver the tubing string 4 to the mouse hole on the base. To accommodate different base heights, the lifting cylinder 5 extends, causing the lifting frame 1 to move on the guide rail support 2.
[0037] After drilling operations are completed, the pipe-grabbing manipulator 3 picks up the disassembled pipe string 4 from the drilling rig and transports it to the vertical drill pipe box. With the operation finished, the trolley 17 moves to its initial position, the support tilting cylinder 22 extends and connects to the guide rail bracket 2, the connecting pin between the tilting frame 7 and one end of the trolley 17 is removed, and the tilting cylinder 22 retracts, bringing the entire device to a horizontal position. The guide rail bracket 2 is then fixedly connected to the support 13. The entire device serves as a single transport unit.
[0038] This invention discloses a ground-based vertical pipe transfer robot, which solves the problems of complex, indirect, and inefficient pipe string transfer processes between the ground and the drilling rig in existing technologies. The robot grabs the pipe string from the drill pipe box and transports it to the mouse hole, simplifying the transfer process and reducing the safety risks of pulling the power catwalk from a low position to a high position on the drilling rig. Through local operation and remote operation by the driller, the vertical pipe transfer robot, the vertical drill pipe box, and the drilling rig connection device are linked and controlled, achieving automation of the entire process.
Claims
1. A ground-mounted vertical pipe-transfer manipulator for gripping and transporting pipe strings (4), characterized in that, The device includes a base (11), on which a flipping and recycling device (10) and a walking device (8) that moves in the horizontal direction are provided. A flipping frame (7) is hinged on the walking device (8). A rotating device (6) is provided on the upper part of the flipping frame (7). The rotating device (6) includes a rotating support. The rotating device (6) also includes a hydraulic motor and a gear A connected together. The gear A meshes with the edge teeth of the rotating support. A guide rail bracket (2) is provided on the rotating support of the rotating device (6) in the vertical direction. One end of the flipping and recycling device (10) is hinged to the base (11), and the other end is hinged to the guide rail bracket (2). Lifting cylinders (5) are provided at corresponding positions on both sides of the guide rail bracket (2). One end of the lifting cylinder (5) is fixed to the guide rail bracket (2), and the other movable end of the lifting cylinder (5) is fixed to the lifting frame (1). A pipe-grabbing manipulator (3) is provided on the lifting frame (1). The flipping recycling device (10) includes a flipping liquid cylinder (22), a support bracket (25) and a support liquid cylinder (23). The bottom end of the flipping liquid cylinder (22) is hinged to the base (11). The piston rod of the flipping liquid cylinder (22) is hinged to the guide rail bracket (2). The support bracket (25) is located below the flipping liquid cylinder (22). The direction of the support bracket (25) is at an angle to the direction of the flipping liquid cylinder (22). The bottom end of the support liquid cylinder (23) is hinged to the base. The piston rod of the support liquid cylinder (23) is fixed to the support bracket (25). The pipe-grabbing manipulator (3) includes a connecting seat A (26) connected to the lifting frame (1). The connecting seat A (26) is connected to one end of the telescopic arm I (28), one end of the telescopic arm II (29), and an electric cylinder (27) through three ear holes. The movable end of the electric cylinder (27) is hinged to the telescopic arm I (28). The other end of the telescopic arm I (28) and the other end of the telescopic arm II (29) are connected to a connecting seat B (32) with four ear holes. The connecting seat B (32) is connected to the other end of the telescopic arm I (28), the other end of the telescopic arm II (29), one end of the telescopic arm III (30), and one end of the telescopic arm IV (31) through four ear holes. The telescopic arm I (28) and the connecting seat B (32) An arm I ear seat is provided at the end of the connection. The arm I ear seat is hinged to a connecting ear plate. The other end of the connecting ear plate is connected to the arm IV ear seat provided at the lower part of the telescopic arm IV (31). The other end of the telescopic arm III (30) and the other end of the telescopic arm IV (31) are fixedly connected to the arm III ear seat. The arm III ear seat is fixedly connected to a clamping clamp (33). The clamping clamp (33) is connected to a manipulator cylinder. The manipulator cylinder drives the clamping clamp (33) to clamp and open. A camera (34) is provided at the end of the clamping clamp (33). The lifting frame (1) is connected to two pipe-grabbing manipulators (3). The two pipe-grabbing manipulators (3) are distributed vertically.
2. The ground-based vertical pipe-transfer robot according to claim 1, characterized in that, The walking device (8) includes a walking bracket fixed on a base (11). Two parallel guide rails A (14) are symmetrically arranged on the walking bracket in the horizontal direction. A rack (15) is arranged on the inner side of one of the guide rails A (14). A trolley (17) is arranged on the walking bracket. The trolley (17) can move along the guide rail A (14). A gear mechanism (16) is arranged on the trolley (17). The gear mechanism (16) includes a servo electric motor and a right-angle planetary gear reducer connected together. A gear B is arranged at the end of the right-angle planetary gear reducer. The gear B meshes with the rack (15).
3. A ground-based vertical pipe-transfer robot according to claim 2, characterized in that, A drag chain (9) is also arranged on the base (11). The end of the drag chain (9) is connected to the walking device (8). The trolley (17) includes a car body. The upper and lower surfaces of the car body are respectively provided with an upper roller (18) and a lower roller (19). The upper roller (18) and the lower roller (19) are in corresponding positions. The upper roller (18) and the lower roller (19) are in contact with the upper and lower guide rail surfaces of the guide rail A (14).
4. A ground-based vertical pipe-transfer robot according to claim 1, characterized in that, The guide rail bracket (2) includes an open gate-shaped frame composed of two parallel guide rails B. Several crossbeams are provided at the rear of the two guide rails B, and the two ends of the crossbeams are fixedly connected to the two guide rails B respectively.
5. A ground-based vertical pipe-transfer robot according to claim 4, characterized in that, The lifting frame (1) is an integral structural frame. Several pulleys (12) are provided on both sides of the lifting frame (1). Each pulley (12) consists of two rollers. The lifting frame (1) is embedded in the guide rail bracket (2). The two rollers of the pulley (12) clamp the guide rails B on both sides of the guide rail bracket (2), and the rollers move along the internal track of the guide rail B. The lifting frame (1) is symmetrically connected with two lifting cylinders (5). One end of the lifting cylinder (5) is fixed to the guide rail bracket (2), and the other movable end of the lifting cylinder (5) is fixed to the lifting frame (1).
6. A ground-based vertical pipe-transfer robot according to claim 1, characterized in that, A support (13) is provided on the base (11).