Lifting robot

Abstract

The invention belongs to the technical field of petroleum drilling, and particularly relates to a lifting robot. The lifting robot comprises a main base used for supporting a tubular column; the overturning base is arranged on the main base in a hinged mode; the overturning frame is rotationally arranged on the overturning base; the gripper assembly is movably arranged on the overturning frame; in the first state, the overturning frame is parallel to the main base, and the gripper assembly grabs a tubular column located on the main base. And in the second state, the overturning frame is perpendicular to the main base, and the gripper assembly is located on the side, away from the main base, of the overturning frame. By means of the pipe column transferring device, horizontally-placed pipe columns can be transferred to be vertically placed.

Description

Technical Field

[0001] The present invention belongs to the technical field of oil drilling, and specifically relates to a lifting robot. Background Art

[0002] In the process of oil and gas development, there are usually two methods for transferring the pipe tools (drill pipes, drill collars, casing pipes, tubing pipes, and drill string stands, drill collar stands, casing stands, tubing stands, etc. for drilling and workover) horizontally placed on the surface drill pipe rack to the drill floor position.

[0003] The first method: Through a mechanical catwalk and a pneumatic winch, it is sent to a ramp under manual operation, and then the drill pipe is lifted by a drill floor auxiliary winch and transported to the mouse hole with the assistance of workers, waiting for subsequent operations. Its use of traditional mechanical catwalks, pneumatic winches, drill floor auxiliary winches and combined manual operation methods often involves a large amount of manual operations and heavy labor, and the pipe tools are sometimes impacted, deviated or dropped. Since the entire processing process depends entirely on the assistance of operators, the work efficiency is low, the labor intensity is high and the safety risk is high.

[0004] The second method: The pipe tool is sent to the drill floor entrance by a power catwalk, and then the drill pipe is lifted using the elevator link and elevator spider on the top drive system, and then moved to the mouse hole, waiting for the next operation. Its use of a power catwalk to transport the pipe tool can reduce the labor intensity and keep the workers away from the drill pipe and equipment, greatly reducing the safety risk. However, during the process of using the power catwalk to transport the pipe tool, the pipe tool has uncontrollable and unpredictable rolling, and the movement trajectory of the pipe tool cannot be controlled during operation, often deviating from the safe and operable path, and requires manual adjustment and intervention, resulting in a low automation level of the entire pipe tool operation process and unable to achieve full automation. In addition, when the pipe tool deviates from the required state and is not discovered and the subsequent operation process continues to be executed, it is very likely that the pipe tool will fall from a height during the operation, resulting in casualties or equipment damage.

[0005] Therefore, there is an urgent need to develop a lifting robot that can transfer a horizontally placed pipe string to a vertically placed one. Summary of the Invention

[0006] Aiming at the above technical problems, the present invention aims to provide a lifting robot that can transfer a horizontally placed pipe string to a vertically placed one.

[0007] According to the present invention, there is provided a lifting robot, comprising:

[0008] A main base for supporting the pipe string;

[0009] A tilting base arranged on the main base in a hinged manner;

[0010] A turning frame rotatably arranged on the turning base; and

[0011] A gripper assembly movably arranged on the turning frame;

[0012] In the first state, the turning frame is parallel to the total base, and the gripper assembly grabs the pipe column located on the total base;

[0013] In the second state, the turning frame is perpendicular to the total base, and the gripper assembly is located on the side of the turning frame away from the total base.

[0014] In a specific embodiment, in the second state, a slewing bearing is arranged at the upper end of the turning base, and the turning frame is rotatably arranged on the turning base through the slewing bearing, and the rotation axis of the turning frame is perpendicular to the ground.

[0015] In a specific embodiment, a lifting sprocket is rotatably arranged in the turning frame, a lifting chain is arranged on the lifting sprocket, the gripper assembly is fixedly connected to the lifting chain, and the rotation of the lifting sprocket can drive the gripper assembly to move along the turning frame through the lifting chain.

[0016] In a specific embodiment, a motor is fixedly arranged on the turning frame, an output sprocket is arranged at the output end of the motor, an intermediate sprocket is arranged in the turning frame, the intermediate sprocket is coaxially and fixedly connected to the lifting sprocket, and the intermediate sprocket meshes with the output sprocket.

[0017] In a specific embodiment, the motor is connected to the output sprocket through a speed reducer.

[0018] In a specific embodiment, an encoder for recording the number of turns of the output sprocket is arranged on the turning frame.

[0019] In a specific embodiment, the gripper assembly includes a gripper frame, the gripper frame is movably arranged on the turning frame, two gripper sliders are movably arranged on the gripper frame, and the two gripper sliders are arranged in relative dislocation.

[0020] In a specific embodiment, two lifting frames are symmetrically and fixedly arranged on the gripper frame, and the turning frame is located between the two lifting frames, so that the two lifting frames play a guiding role.

[0021] In a specific embodiment, a plurality of traveling wheels are rotatably arranged on the lifting frame, and the traveling wheels are in rolling contact with the turning frame.

[0022] In a specific embodiment, leveling legs are provided on both the main base and the tilting base.

[0023] Compared with the prior art, the advantages of the present application are as follows.

[0024] The tilting base of the present invention is hinged to the main base, and the tilting frame is rotatably arranged on the tilting base. In the first state, the tilting frame is parallel to the main base, and the gripper assembly on the tilting frame can grip the pipe column horizontally placed on the main base. Subsequently, the tilting base drives the tilting frame to rotate relative to the main base, making the tilting frame perpendicular to the main base, that is, both the tilting frame and the pipe column are in a state perpendicular to the ground. At the same time, the tilting frame rotates relative to the tilting base, so that the side of the tilting frame provided with the gripper assembly rotates away from the main base, thus facilitating the transfer of the pipe column to the drill floor. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The present invention will be described below with reference to the accompanying drawings.

[0026] Figure 1 Shows a schematic diagram of an embodiment of a lifting robot according to the present invention;

[0027] Figure 2 Shows according to the present invention Figure 1 top view structural schematic diagram;

[0028] Figure 3 Shows a schematic diagram of an embodiment of a tilting frame according to the present invention;

[0029] Figure 4 Shows a side view structural schematic diagram of a tilting frame according to the present invention;

[0030] Figure 5 Shows Figure 3 sectional schematic diagram in the direction of B-B in

[0031] Figure 6 Shows Figure 3 sectional schematic diagram in the direction of D-D in

[0032] Figure 7 Shows Figure 4 magnified schematic diagram of the gripper assembly in

[0033] Figure 8 Shows Figure 7 left view structural schematic diagram of the gripper assembly in

[0034] Figure 9 Shows Figure 7 top view structural schematic diagram of the gripper assembly in

[0035] Figure 10Shows a schematic diagram of the stepping mechanism according to the present invention;

[0036] Figure 11 Shows a schematic cross-sectional structure diagram of the stepping mechanism according to the present invention.

[0037] In the figure:

[0038] 51, total base; 511, pipe column lifting mechanism; 512, adapter;

[0039] 52, tilting base; 521, first hinge ear; 522, second hinge ear; 523, tilting hydraulic cylinder;

[0040] 53, tilting frame;

[0041] 54, gripper assembly; 540, slider guide; 541, gripper frame; 542, gripper slider; 543, lifting frame; 545, walking wheel; 546, fixed bracket; 547, gripper telescopic cylinder; 548, photoelectric switch; 549, reflector;

[0042] 55, slewing bearing; 56, lifting sprocket; 57, lifting chain;

[0043] 571, motor; 572, output sprocket; 573, intermediate sprocket; 574, speed reducer; 575, encoder; 576, inner chain; 577, drag chain box;

[0044] 58, leveling leg;

[0045] 59, stepping mechanism; 590, pressure plate; 591, stepping frame leg; 592, support plate; 593, track plate; 594, backing plate; 595, guide plate; 596, guide rod; 597, lifting cylinder; 598, transverse movement cylinder; 599, ball joint; 100, lifting robot.

[0046] In this application, all the drawings are schematic drawings, only used to illustrate the principle of the present invention and are not drawn to actual scale. Detailed implementation manners

[0047] The present invention will be introduced below with reference to the drawings.

[0048] It should be noted that the directional terms or qualifiers "up", "down", "front", "rear", "left", "right", etc. used in this application are all with reference to the drawings. They do not limit the absolute positions of the components involved, but can vary according to specific situations.

[0049] Figure 1 Shows the structure of the lifting robot 100 according to the present invention. As Figure 1As shown in the figure, the lifting robot 100 includes a main base 51, a tilting base 52, a tilting frame 53, and a gripper assembly 54.

[0050] Among them, the main base 51 is used to support the pipe column. Specifically, as Figure 1 and Figure 2 shown, the main base 51 is configured as a frame structure in the shape of a cuboid. In this embodiment, the length of the main base 51 is greater than the length of the pipe column, so that the pipe column can be better supported by the main base 51.

[0051] In a specific embodiment, a plurality of pipe column lifting mechanisms 511 are arranged at intervals along the length direction inside the main base 51. During the working process, the plurality of pipe column lifting mechanisms 511 jointly support the pipe column, so that the pipe column can be placed parallel on the main base 51.

[0052] Furthermore, as Figure 2 shown, transfer connectors 512 are symmetrically arranged on the front and rear sides of the main base 51. Specifically, the transfer connectors 512 are inclinedly arranged on the main base 51. When the pipe column is transferred from the previous process to the lifting robot 100, the pipe column first lands on the transfer connectors 512, and then under the inclination of the transfer connectors 512, the pipe column rolls along the inclined transfer connectors 512 to the pipe column lifting mechanisms 511. The lifting mechanism can lift the pipe column off the main base 51 and position the pipe column through a V shape, and hand over the pipe column to the gripper assembly 54.

[0053] According to the present invention, the tilting base 52 is arranged on the main base 51 in a hinged manner. As Figure 1 shown, the tilting base 52 is configured as a frame structure generally in the shape of a trapezoid. A first hinge ear 521 is arranged at the right lower end of the tilting base 52, and the tilting base 52 is hingedly arranged at the left lower end of the main base 51 through the first hinge ear 521. A second hinge ear 522 is arranged at the upper part of the tilting base 52.

[0054] One end of the tilting hydraulic cylinder 523 is hinged to the main base 51, and the other end is hinged to the second hinge ear 522, and the hinge point of the tilting hydraulic cylinder 523 and the main base 51 is located on the right side of the first hinge ear 521. With this arrangement, the tilting base 52 can be flipped relative to the main base 51 by the telescoping of the tilting hydraulic cylinder 523.

[0055] According to the present invention, the tilting frame 53 is rotatably arranged on the tilting base 52. Specifically, as Figure 1 shown, a slewing bearing 55 is arranged at the upper end of the tilting base 52, and the tilting frame 53 is rotatably arranged on the tilting base 52 through the slewing bearing 55, and the rotation axis of the tilting frame 53 is perpendicular to the ground.

[0056] The gripper assembly 54 is movably arranged on the tipping frame 53. In the first state, the tipping hydraulic cylinder 523 is in a contracted state, the tipping base 52 is perpendicular to the main base 51, the tipping frame 53 is parallel to the main base 51, and the gripper assembly 54 grabs the pipe column located on the main base 51. In the second state, the tipping hydraulic cylinder 523 extends, the tipping base 52 is parallel to the main base 51, the tipping frame 53 is perpendicular to the main base 51, and the tipping frame 53 rotates 180° under the action of the slewing support 55, so that the gripper assembly 54 turns the grabbed pipe column to the side of the tipping frame 53 away from the main base 51.

[0057] According to the present invention, in a specific embodiment, as Figure 3 shown, a lifting sprocket 56 is rotatably arranged in the tipping frame 53. In this embodiment, a lifting sprocket 56 is arranged at the upper part of the tipping frame 53, a lifting sprocket 56 is arranged at the lower part of the tipping frame 53, a lifting chain 57 is connected between the two lifting sprockets 56, the gripper assembly 54 is fixedly connected with the lifting chain 57, and the rotation of the lifting sprocket 56 can drive the gripper assembly 54 to move along the tipping frame 53 through the lifting chain 57.

[0058] The structure of the lifting sprocket 56 arranged at the lower part of the tipping frame 53 will be described in detail. As Figure 5 shown, the two lifting sprockets 56 are symmetrically arranged on the front and rear sides of the tipping frame 53. Correspondingly, two lifting sprockets 56 are also arranged at the upper part of the tipping frame 53. Arranging two lifting sprockets 56 can make the gripper assembly 54 move more smoothly during the movement.

[0059] Furthermore, a motor 571 and a speed reducer 574 are fixedly arranged on the tipping frame 53. The output end of the motor 571 is drivingly connected to the input end of the speed reducer 574. The output end of the speed reducer 574 is connected with an output sprocket 572. After the motor 571 is started, it can drive the output sprocket 572 to rotate. An intermediate sprocket 573 is arranged in the tipping frame 53. The intermediate sprocket 573 is coaxially and fixedly arranged between the two lifting sprockets 56, and the intermediate sprocket 573 meshes with the output sprocket 572. After the motor 571 drives the output sprocket 572 to rotate, the output sprocket 572 can drive the lifting sprocket 56 to rotate through the intermediate sprocket 573, and then drive the gripper assembly 54 to move along the length direction of the tipping frame 53 through the lifting chain 57. Through this setting, on the one hand, when grabbing the pipe columns placed in parallel on the main base 51, the position can be adjusted according to the length of the pipe columns. On the other hand, after the gripper assembly 54 grabs the pipe columns, it can drive the pipe columns to move relative to the tipping frame 53 together.

[0060] As Figure 3 shown, the output sprocket 572 is connected with the intermediate sprocket 573 through an inner chain 576, so as to realize power transmission.

[0061] In a preferred embodiment, an encoder 575 for recording the number of rotations of the output sprocket 572 is provided on the flipping frame 53. The encoder 575 and the motor 571 are respectively arranged on the front and rear sides of the output sprocket 572, and are kept as symmetric as possible in the front and rear. By providing the encoder 575, the number of rotations of the output sprocket 572 can be detected, and thus the position of the gripper assembly 54 relative to the flipping frame 53 at this time can be known.

[0062] In a preferred embodiment, two gripper assemblies 54 are provided on the flipping frame 53. Among them, the gripper assembly 54 located at the top of the flipping frame 53 is fixedly connected to the flipping frame 53, and the gripper assembly 54 located at the lower part of the flipping frame 53 is movably arranged on the flipping frame 53 through the above-mentioned lifting chain 57.

[0063] As Figure 4 and Figure 7 shown, the gripper assembly 54 includes a gripper frame 541, and two gripper sliders 542 are arranged on the side of the gripper frame 541 facing away from the flipping frame 53 in a transverse movable manner. Specifically, the gripper slider 542 in this embodiment is configured in a V shape, and the V-shaped openings of the two gripper sliders 542 face each other. In this setting, when the two gripper sliders 542 approach each other to grip the pipe string, automatic centering of the pipe string can be achieved. Preferably, as Figure 7 shown, the two gripper sliders 542 are arranged with a dislocation in the up and down direction. Through this setting, the gripper sliders 542 can grip various pipe strings with different outer diameters. Compared with the structure in which the two gripper sliders 542 are not dislocated, the outer diameter range of the pipe strings used in this structure is wider. In this embodiment, the two gripper sliders 542 can hold pipe strings with a diameter of 2 - 20 inches.

[0064] In a specific embodiment, a structure for driving the movement of the gripper slider 542 is provided on the gripper frame 541. Taking one of the gripper sliders 542 as an example for illustration, as Figure 7 shown, a slider guide rail 540 is arranged on the gripper frame 541 in the left - right direction, and the gripper slider 542 is slidably arranged on the slider guide rail 540. A fixed bracket 546 is provided on the gripper frame 541, and a gripper telescopic cylinder 547 is fixedly arranged on the fixed bracket 546. The telescopic end of the gripper telescopic cylinder 547 is fixedly connected to the gripper slider 542. Through this setting, the telescopic movement of the gripper telescopic cylinder 547 can drive the gripper slider 542 to move, realizing the gripping action of the pipe string.

[0065] This embodiment is provided with two gripper assemblies 54. Among them, the gripper frame 541 of the upper gripper assembly 54 is directly fixedly connected to the flipping frame 53, and the lower gripper assembly 54 is also provided with other mechanisms for realizing movement relative to the flipping frame 53, as follows.

[0066] On one side of the gripper frame 541 close to the flipping frame 53, a lifting frame 543 is fixedly arranged. As Figure 9 shown, two lifting frames 543 are symmetrically arranged on the left and right sides of the gripper frame 541, and the two lifting frames 543 are respectively fixedly connected to two lifting chains 57. During the working process, the flipping frame 53 is located between the two lifting frames 543.

[0067] Furthermore, as Figure 8 shown, a plurality of traveling wheels 545 are arranged on the lifting frame 543. For Figure 8 the sake of description in terms of orientation, the two lifting frames 543 limit the front - rear direction, and the plurality of traveling wheels 545 on the lifting frame 543 limit the left - right direction. The two work together to enable the gripper frame 541 to only move relative to the length direction of the flipping frame 53.

[0068] In this embodiment, four traveling wheels 545 are respectively arranged on each lifting frame 543. As Figure 8 shown, the four traveling wheels 545 are respectively arranged around the lifting frame 543. Combining Figure 3 shown, the flipping base 52 is configured in an I - shape. The two traveling wheels 545 on the left side of the lifting frame 543 are in rolling contact with the left side of the flipping base 52, and the two traveling wheels 545 on the right side of the lifting frame 543 are in rolling contact with the right side of the flipping base 52.

[0069] In a preferred embodiment, as Figure 7 shown, a photoelectric switch 548 and a reflector 549 are respectively arranged on the lower left and right sides of the gripper frame 541. The photoelectric switch 548 and the reflector 549 are mutually adapted. When the pipe column is located between the photoelectric switch 548 and the reflector 549, the pipe column will block the space between the photoelectric switch 548 and the reflector 549, thereby determining whether the gripper assembly 54 successfully grabs the pipe column.

[0070] In a preferred embodiment, leveling legs 58 are arranged on both the main base 51 and the flipping base 52. By adjusting the height of the leveling legs 58, the Figure 1 main base 51 and the flipping base 52 in the state shown can be made parallel to the ground.

[0071] The process of lifting the pipe column by the present invention is as follows.

[0072] First, when the flipping frame 53 is not parallel to the main base 51, the pipe column is moved to the pipe column lifting mechanism 511 of the main base 51, and at this time the pipe column is in a horizontal state. Then, the flipping frame 53 rotates relative to the flipping base 52 to make the gripper assembly 54 face the orientation where the main base 51 is located, that is Figure 1The position shown. Then, the flipping base 52 drives the flipping frame 53 to rotate relative to the total base 51, thereby changing the tilting angle of the flipping frame 53 relative to the total base 51 until the flipping frame 53 is parallel to the total base 51. Then, the pipe column lifting mechanism 511 adjusts the height of the pipe column so that the pipe column is within the grasping range of the gripper assembly 54, and the gripper assembly 54 grasps the pipe column. Then, the flipping base 52 drives the flipping frame 53 to rotate relative to the total base 51, thereby changing the tilting angle of the flipping frame 53 relative to the total base 51 until the flipping frame 53 is perpendicular to the ground. At the same time, the flipping frame 53 rotates 180° relative to the flipping base 52 under the action of the slewing bearing 55 until the side of the flipping frame 53 holding the pipe column rotates to the side away from the total base 51, that is Figure 1 the left side in

[0073] Thereafter, the above working process is cycled to realize the lifting of multiple pipe columns.

[0074] In the above working process, the process of moving the pipe column onto the total base 51 will not interfere with the process of the flipping frame 53 lifting the pipe column, thereby saving the time required for the entire process.

[0075] In a preferred embodiment, a plurality of stepping mechanisms 59 are provided on the total base 51.

[0076] As Figure 10 shown, the stepping mechanism 59 includes a stepping frame leg 591 and a support plate 592. Specifically, the left end of the stepping frame leg 591 is fixedly connected to the side surface of the total base 51. A lifting cylinder 597 is fixedly provided at the lower part of the stepping frame leg 591. The lifting cylinder 597 is arranged in the vertical direction, and the telescopic end of the lifting cylinder 597 extends below the stepping frame leg 591. A transverse movement cylinder 598 is provided above the left side of the support plate 592 in a hinged manner. A backing plate 594 is provided at the telescopic end of the lifting cylinder 597. The right end of the transverse movement cylinder 598 is connected to the backing plate 594 in a hinged manner. A track plate 593 is provided at the upper right part of the support plate 592. The track plate 593 is horizontally arranged in the left-right direction. The backing plate 594 is slidably arranged on the track plate 593.

[0077] The present invention provides a working mode of the stepping mechanism 59.

[0078] First, the lifting cylinders 597 of all the stepping mechanisms 59 are in the contracted state. At this time, the support plate 592 does not contact the ground, and the total base 51 contacts the ground.

[0079] Then, the transverse movement cylinder 598 of the stepping mechanism 59 contracts or extends, so that the support plate 592 moves horizontally relative to the stepping frame leg 591, and further the support plate 592 moves horizontally relative to the total base 51.

[0080] After the horizontal movement cylinder 598 stops operating, the lifting cylinder 597 extends, causing the support plate 592 to contact the ground and supporting the total base 51 to be lifted off the ground.

[0081] After that, the horizontal movement cylinder 598 of the stepping mechanism 59 extends or contracts, causing the support plate 592 to move horizontally relative to the stepping frame leg 591, and further causing the support plate 592 to move horizontally relative to the total base 51. Since the support plate 592 is in contact with the ground at this time, the support plate 592 and the ground are relatively stationary at this time, and the total base 51 moves relative to the ground.

[0082] By repeatedly performing the above actions by the stepping mechanism 59, the total base 51 can be moved.

[0083] In a preferred embodiment, a guide rod 596 is fixedly arranged on the backing plate 594. The guide rod 596 is arranged in the vertical direction. A guide plate 595 is fixedly arranged on the stepping frame leg 591. The guide rod 596 and the guide plate 595 are in sliding fit in the vertical direction. Through this arrangement, it can play a guiding role during the lifting process of the lifting cylinder 597.

[0084] In a preferred embodiment, as Figure 11 shown, a ball joint 599 is fixedly arranged at the lower end of the lifting cylinder 597. A ball groove for fitting the ball joint 599 is arranged at the upper part of the backing plate 594. The ball joint 599 is inserted into the ball groove of the backing plate 594. When it is necessary to change the traveling direction of the stepping mechanism 59, the angle of the support plate 592 and the horizontal movement cylinder 598 relative to the stepping frame leg 591 can be adjusted by rotating the backing plate 594 relative to the ball joint 599.

[0085] Furthermore, a pressing plate 590 is arranged at the upper end of the backing plate 594. The ball joint 599 passes through the pressing plate 590. When the pressing plate 590 is fastened to the backing plate 594 by bolts, the pressing plate 590 can abut against the ball joint 599, thereby preventing the relative rotation of the ball joint 599 and the backing plate 594 by increasing friction.

[0086] In the description of the present invention, it should be understood that the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, "a plurality" means two or more unless otherwise specifically defined.

[0087] In the present invention, unless otherwise clearly specified or limited, the terms "installed", "connected", "coupled", "fixed", etc. shall be construed broadly. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0088] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0089] Finally, it should be noted that the above are only the preferred implementation schemes of the present invention and do not constitute any limitation to the present invention. Although the present invention has been described in detail with reference to the foregoing implementation schemes, for those skilled in the art, it is still possible to modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A lifting robot, characterized in that, Comprising: A total base (51) for supporting the pipe string; A tilting base (52) arranged on the total base (51) in a hinged manner; A tilting frame (53) rotatably arranged on the tilting base (52); And A gripper assembly (54) movably arranged on the tilting frame (53); In the first state, the tilting frame (53) is parallel to the total base (51), and the gripper assembly (54) grips the pipe string located on the total base (51); In the second state, the tilting frame (53) is perpendicular to the total base (51), and the gripper assembly (54) is located on the side of the tilting frame (53) away from the total base (51).

2. The lifting robot according to claim 1, characterized in that, In the second state, a slewing bearing (55) is arranged at the upper end of the tilting base (52), and the tilting frame (53) is rotatably arranged on the tilting base (52) through the slewing bearing (55), and the rotation axis of the tilting frame (53) is perpendicular to the ground.

3. The lifting robot according to claim 1, characterized in that, A lifting sprocket (56) is rotatably arranged in the tilting frame (53), a lifting chain (57) is arranged on the lifting sprocket (56), the gripper assembly (54) is fixedly connected to the lifting chain (57), and the rotation of the lifting sprocket (56) can drive the gripper assembly (54) to move along the tilting frame (53) through the lifting chain (57).

4. The lifting robot according to claim 3, characterized in that, A motor (571) is fixedly arranged on the tilting frame (53), an output sprocket (572) is arranged at the output end of the motor (571), an intermediate sprocket (573) is arranged in the tilting frame (53), the intermediate sprocket (573) is coaxially and fixedly connected to the lifting sprocket (56), and the intermediate sprocket (573) meshes with the output sprocket (572).

5. The lifting robot according to claim 4, characterized in that, The motor (571) is connected to the output sprocket (572) through a speed reducer (574).

6. The lifting robot according to claim 4, characterized in that, An encoder (575) for recording the number of rotation turns of the output sprocket (572) is arranged on the tilting frame (53).

7. The lifting robot according to any one of claims 1 to 6, characterized in that, The gripper assembly (54) includes a gripper frame (541), the gripper frame (541) is movably arranged on the tilting frame (53), two gripper sliders (542) are movably arranged on the gripper frame (541), and the two gripper sliders (542) are arranged in relative dislocation.

8. The lifting robot according to claim 7, characterized in that, Two lifting frames (543) are symmetrically and fixedly arranged on the gripper frame (541), and the tilting frame (53) is located between the two lifting frames (543), so that the two lifting frames (543) play a guiding role.

9. The lifting robot according to claim 8, characterized in that, A plurality of traveling wheels (545) are rotatably arranged on the lifting frame (543), and the traveling wheels (545) are in rolling contact with the tilting frame (53).

10. The lifting robot according to any one of claims 1 to 9, characterized in that, Leveling legs (58) are arranged on both the total base (51) and the tilting base (52).

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