A 3D printed vehicle-mounted continuous pipe storage and transportation system for storing and retrieving pipes

Abstract

The present invention discloses a 3D-printed, vehicle-mounted coiled tubing storage and transportation system for storing and retrieving coiled tubing. The system comprises a tube retrieval unit and an injection unit, both of which include a coiled tubing conveying unit. The coiled tubing conveying unit performs both clamping and conveying of the coiled tubing. First, a clamping drive motor drives a clamping drive screw via a commutator, which in turn drives a conveying motor mounting base threadedly engaged with the clamping drive screw toward each other. This simultaneously drives the conveying motor, conveying sprocket, and conveying chain fixed to the conveying motor mounting base toward each other, thereby clamping the coiled tubing. The conveying motor then drives the conveying sprocket and conveying chain to move, thereby driving the coiled tubing.

Description

Technical Field

[0001] The present invention relates to the field of deep earth, deep sea, deep space and polar exploration and drilling technology, and in particular to a pipe storage and retrieval mechanism of a 3D printing vehicle-mounted continuous pipe storage and transportation system. Background Art

[0002] Exploration and drilling technologies are crucial for obtaining various mineral resources and soil and rock materials from Earth and other planets. Currently, energy transmission for conventional exploration and drilling is primarily achieved through continuous cables and fluid pipelines, while the equipment for storing and transporting these long coiled tubing is primarily a drum winch. However, despite the advantages of drum winches, such as their simple structure and large capacity, they suffer from significant drawbacks, including the high risk of failure of conductive or flow-through slip rings and damage from interlocking and interfering between adjacent layers of tubing, which compromises the proper functioning and safety of the actuators at the coiled tubing transport terminal. To address this issue, the inventors have proposed a "Large-Capacity Coiled Tubing Storage and Transportation Device," detailed in Patent No. CN217327242U, which effectively addresses these challenges.

[0003] The existing coiled tubing storage and transportation system's tubing storage principle dictates, on the one hand, the overall circular design of the storage sleeve, and, on the other hand, the system requires the use of multiple conductive slip rings to transition the power supply circuit from the stationary end to the moving end. This arrangement not only reduces the possibility of increasing storage capacity by optimizing the coiled tubing storage sleeve structure, but also increases the complexity of the system wiring. To effectively address these issues, a 3D-printed, vehicle-mounted coiled tubing storage and transportation system with a coiled tubing storage sleeve and a motion guide mechanism was proposed. Furthermore, to complement this mechanism and achieve continuous storage and retrieval of coiled tubing, a 3D-printed, vehicle-mounted coiled tubing storage and transportation system with a tubing storage and retrieval mechanism was developed. Summary of the Invention

[0004] The present invention aims to provide a tube storage and retrieval mechanism for a 3D-printed, vehicle-mounted coiled tubing storage and transportation system. This mechanism is designed to facilitate the storage and retrieval of coiled tubing. Its specific structure and connection methods are described below:

[0005] A pipe storage and retrieval mechanism for a 3D printing vehicle-mounted continuous pipe storage and transportation system, comprising a pipe retrieval unit, an injection unit, and an auxiliary clamping unit, wherein both the pipe retrieval unit and the injection unit include a continuous pipe conveying unit;

[0006] The pipe retrieval unit includes a guide roller mounting frame, a guide roller, a second plane thrust bearing, a second plane thrust bearing cover, a guide module connector, a continuous pipe conveying unit, a conveying unit connecting frame, a pipe retrieval unit support seat, a third roller, a pipe retrieval unit fixing plate, a first deep groove ball bearing, a first bearing cover, a support seat connecting frame, a fourth plane thrust bearing, a bearing mounting seat, a fixed cover, a movable joint, a second deep groove ball bearing, a second bearing cover, a gooseneck elbow joint, a gooseneck elbow, and a pipe bending roller. The continuous pipe conveying unit includes a conveying unit mounting frame, a third plane thrust bearing, an angle adjustment motor, a driving gear, a driven gear, a rotating support seat, a clamping motor mounting seat, a clamping drive motor, a commutator, a clamping drive screw, a conveying motor mounting seat, a conveying motor, a conveying sprocket, a conveying chain, and a fourth roller.

[0007] The guide module connector is fixedly connected to the conveying unit mounting frame, the second plane thrust bearing cover is fixedly connected to the guide roller mounting frame, two sets of second plane thrust bearings are arranged in the cavity formed by the second plane thrust bearing cover and the guide roller mounting frame, and are movably connected to the lower end step of the guide module connector, the guide roller is rotatably connected to the guide roller mounting frame, and multiple guide rollers are symmetrically distributed, and the continuous pipe passes through the channel formed by the guide rollers on both sides;

[0008] The third plane thrust bearing is fixedly connected to the conveying unit mounting frame, the angle adjustment motor is fixedly connected to the conveying unit mounting frame, the driven gear is rotatably connected to the third plane thrust bearing, the driving gear is fixedly connected to the output shaft of the angle adjustment motor, the driving gear is meshed with the driven gear, a block is provided on the driven gear, a first notch is provided on the rotating support seat, the driven gear and the rotating support seat are matched and connected through the block and the first notch, the clamping motor mounting seat is fixedly connected to the rotating support seat, the clamping drive motor and the commutator are fixedly connected to the clamping motor mounting seat, and a fourth roller slide groove is provided on the clamping motor mounting seat. The head end of the clamping drive screw is rotatably connected to the clamping motor mounting seat, the end of the clamping drive screw is fixedly connected coaxially with the commutator, and the clamping drive screw is provided with a thread with its middle position as the boundary and opposite rotation directions on the left and right; the conveying motor mounting seat is threadedly connected to the clamping drive screw, and two groups are symmetrically distributed on the left and right, the fourth roller is rotatably connected to the conveying motor mounting seat, the fourth roller is in contact with the fourth roller slide groove, the conveying motor is fixedly connected to the conveying sprocket, the conveying chain is meshed with the conveying sprocket, the conveying motor, the conveying sprocket and the conveying chain are all symmetrically distributed in two groups on the left and right, and the continuous tube is located between the left and right conveying sprockets;

[0009] The lower end of the conveying unit connecting frame is fixedly connected to the conveying unit mounting frame, the upper end of the conveying unit connecting frame is fixedly connected to the pipe-taking unit support seat, the torsion isolation roller is rotatably connected to the conveying unit connecting frame, and multiple groups are provided. The pipe-taking unit fixing plate is fixedly connected to the pipe-taking unit support seat, the third roller is rotatably connected to the pipe-taking unit support seat, a second lead screw through hole is provided on the pipe-taking unit support seat, and cooperates with the second lead screw thread in the motion guide rail mechanism, the first bearing cover is fixedly connected to the pipe-taking unit support seat, and a total of two sets of first deep groove ball bearings are provided, one set is provided in the space formed by the pipe-taking unit support seat and the conveying unit connecting frame, and the other set is provided by In the space formed by the pipe-taking unit support seat and the first bearing cover, the first bearing cover is fixedly connected to the support seat connecting frame, the support seat connecting frame is fixedly connected to the bearing mounting seat, the bearing mounting seat is fixedly connected to the fixed cover, and two sets of fourth plane thrust bearings are both arranged in the cavity formed by the bearing mounting seat and the fixed cover, and are movably connected to the lower end connecting step of the movable joint, the upper and lower ends of the movable joint are cooperatively connected with the second deep groove ball bearing, and are positioned by the second bearing cover, the gooseneck elbow joint is fixedly connected to the upper end connecting step of the movable joint, the gooseneck elbow joint is fixedly connected to the gooseneck elbow, and multiple sets of bending rollers are distributed on the gooseneck elbow;

[0010] A third trapezoidal protrusion is provided on the fixing plate of the tube taking unit, which cooperates and connects with the third trapezoidal slide provided on the first sprocket in the first motion unit; the third roller contacts the third roller slide groove provided on the first sprocket in the first motion unit, and the tube taking unit is connected to the first sprocket in the motion guide rail mechanism. The second drive motor drives the second lead screw to rotate, thereby driving the tube taking unit to reciprocate on the first sprocket;

[0011] The second gooseneck bend and the second gooseneck bend joint in the injection unit are fixedly connected, the support column is fixedly connected to the conveying unit mounting frame, and there are 4 groups evenly distributed around the circumference, the straightening plate is fixedly connected to the support column, the fifth planar thrust bearing is arranged in the space formed by the straightening plate and the second gooseneck bend joint, the rotating joint is fixedly connected to the second gooseneck bend joint, a spring paddle is provided on the rotating joint, the spring mounting seat is fixedly connected to the conveying unit mounting frame, and a spring mounting groove is provided on it, the sixth planar thrust bearing is arranged in the cavity formed by the rotating joint and the spring mounting seat, the spring is installed in the spring mounting groove, and it is connected with the spring mounting seat and the rotating joint, the third deep groove ball bearing is connected with the spring mounting seat, and is positioned by the third bearing cover.

[0012] Furthermore, a twist-isolating roller with an anti-slip pattern is provided on the conveying unit connecting frame.

[0013] Beneficial effects of the present invention:

[0014] By setting up a pipe storage and retrieval mechanism, the continuous pipe can be stably clamped and continuously transported;

[0015] In the pipe storage and retrieval mechanism, multiple sets of planar thrust bearings and springs are provided to enable the mechanism to adaptively adjust its posture as the coiled tubing changes during operation, achieving optimal working conditions and minimizing damage to the mechanism and the coiled tubing.

[0016] In the present invention, by innovating a structural form in which multiple groups of trapezoidal protrusions cooperate with trapezoidal slides and multiple groups of rollers contact roller slide grooves, the tube storage and retrieval mechanism is movably connected to the motion guide rail mechanism to achieve the purposes of guiding, fixing and supporting, so that the driving screw is only subjected to the rotational torque and will not be damaged due to bending under load. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a three-dimensional schematic diagram of the present invention installed on a 3D printing vehicle-mounted coiled tubing storage and transportation system;

[0018] Figure 2 It is a partial three-dimensional schematic diagram of the first gantry of the motion guide mechanism;

[0019] Figure 3 for Figure 2 A partial enlarged schematic diagram of the M in the middle;

[0020] Figure 4 It is a three-dimensional schematic diagram of the present invention;

[0021] Figure 5 is a three-dimensional schematic diagram of the pipe extraction unit of the present invention;

[0022] Figure 6 is a cross-sectional view of the pipe unit of the present invention;

[0023] Figure 7 for Figure 6 A partial enlarged schematic diagram of point P in the middle;

[0024] Figure 8 This is a three-dimensional schematic diagram of a continuous tubing conveying unit with a concealed conveying unit mounting frame according to the present invention;

[0025] Figure 9 It is a three-dimensional schematic diagram of the driven gear and the rotating support seat of the present invention;

[0026] Figure 10 This is a second perspective schematic diagram of the continuous tubing conveying unit with the conveying unit mounting frame hidden according to the present invention;

[0027] Figure 11 This is a schematic diagram of the thread rotation direction of the clamping drive screw of the present invention;

[0028] Figure 12 This is a schematic diagram of the installation of the torsion isolation roller of the present invention;

[0029] Figure 13 for Figure 6 A partial enlarged schematic diagram of the middle Q;

[0030] Figure 14 is a three-dimensional schematic diagram of the movable joint of the present invention;

[0031] Figure 15 is a three-dimensional schematic diagram of the injection unit of the present invention;

[0032] Figure 16 for Figure 15 A partially enlarged schematic diagram of the cross-sectional view at point R in the middle;

[0033] Figure 17 It is a three-dimensional schematic diagram of the spring mounting seat and the rotary joint of the present invention;

[0034] Figure 18 It is a schematic diagram of the assembly relationship between the spring mounting seat and the rotary joint of the present invention. DETAILED DESCRIPTION

[0035] Please refer to Figures 1 to 18 As shown, a 3D-printed, vehicle-mounted coiled tubing storage and transportation system includes a tubing retrieval unit 401, an injection unit 402, and an auxiliary gripping unit 403. Both tubing retrieval unit 401 and injection unit 402 include a coiled tubing conveying unit 404. Auxiliary gripping unit 403 utilizes prior art technology and can freely lift and lower larger-diameter terminal equipment and instruments connected to the coiled tubing 104 that need to be transported to the downhole operation area. Auxiliary gripping unit 403 is specifically a combination of a "rotating support mechanism for a large-capacity coiled tubing storage and transportation device" (Patent No. CN217080371U) and an "auxiliary gripping and lifting mechanism for a large-capacity coiled tubing storage and transportation device" (Patent No. CN216767315U).

[0036] The pipe removal unit 401 includes a guide roller mounting frame 405, a guide roller 406, a second plane thrust bearing 407, a second plane thrust bearing cover 408, a guide module connector 409, a continuous pipe conveying unit 404, a conveying unit connecting frame 428, a pipe removal unit support seat 429, a third roller 430, a pipe removal unit fixing plate 431, a first deep groove ball bearing 432, a first bearing cover 433, a support seat connecting frame 435, a fourth plane thrust bearing 436, a bearing mounting seat 437, a fixed cover 438, a movable joint 439, and a second deep groove ball bearing 4 42. Second bearing cover 443, gooseneck elbow joint 444, gooseneck elbow 445, and elbow roller 446. The coiled tubing conveying unit 404 includes: a conveying unit mounting frame 410, a third planar thrust bearing 411, an angle adjustment motor 412, a driving gear 413, a driven gear 414, a rotating support base 415, a clamping motor mounting base 416, a clamping drive motor 417, a commutator 418, a clamping drive screw 419, a conveying motor mounting base 420, a conveying motor 421, a conveying sprocket 422, a conveying chain 423, and a fourth roller 424.

[0037] The guide module connector 409 is fixedly connected to the conveying unit mounting frame 410, the second plane thrust bearing cover 408 is fixedly connected to the guide roller mounting frame 405, two sets of second plane thrust bearings 407 are set in the cavity formed by the second plane thrust bearing cover 408 and the guide roller mounting frame 405, and are movably connected to the lower end step of the guide module connector 409, the guide roller 406 is rotatably connected to the guide roller mounting frame 405, and there are multiple guide rollers 406 symmetrically distributed, and the continuous pipe 104 is connected to the guide rollers 406 on both sides. The guide rollers 406 are provided to significantly reduce the frictional resistance experienced by the coiled tubing 406 when passing through the guide roller mounting frame 405. This straightens the coiled tubing 104, allowing it to enter the coiled tubing conveying unit 404 without bending. Furthermore, the aforementioned arrangement allows the guide roller mounting frame 405 to rotate at any angle, always in line with the bending direction of the coiled tubing 104. This ensures maximum contact between the coiled tubing 104 and the guide rollers 406, thereby minimizing damage to the guide rollers 406 caused by the coiled tubing 104.

[0038] The third planar thrust bearing 411 is fixedly connected to the conveying unit mounting frame 410, the angle adjustment motor 412 is fixedly connected to the conveying unit mounting frame 410, the driven gear 414 is rotatably connected to the third planar thrust bearing 411, the driving gear 413 is fixedly connected to the output shaft of the angle adjustment motor 412, the driving gear 413 is meshed with the driven gear 414, a stopper 426 is provided on the driven gear 414, a first notch 427 is provided on the rotating support seat 415, the driven gear 414 and the rotating support seat 415 are matched with the stopper 426 and the first notch 427, the clamping motor mounting seat 416 is fixedly connected to the rotating support seat 415, the clamping drive motor 417 and the commutator 418 are fixedly connected to the clamping motor mounting seat 416, a fourth roller slide groove 425 is provided on the clamping motor mounting seat 416, and the clamping drive screw The head end 419 is rotatably connected to the clamping motor mounting seat 416, and the end of the clamping drive screw 419 is coaxially fixedly connected to the commutator 418, and the clamping drive screw 419 is provided with a thread with its middle position as the boundary, and the left and right rotation directions are opposite; the conveying motor mounting seat 420 is threadedly connected to the clamping drive screw 419, and two groups are symmetrically distributed on the left and right, the fourth roller 424 is rotatably connected to the conveying motor mounting seat 420, and at the same time, the fourth roller 424 contacts the fourth roller slide groove 425, thereby reducing the friction resistance encountered by the conveying motor mounting seat 420 during movement; the conveying motor 421 is fixedly connected to the conveying sprocket 422, and the conveying chain 423 is meshed with the conveying sprocket 422. The conveying motor 421, the conveying sprocket 422 and the conveying chain 423 are all symmetrically distributed in two groups on the left and right, and the continuous tube 104 is located between the left and right conveying sprockets 422.

[0039] To further explain, during operation, the rotation angle adjustment motor 412 drives the driving gear 413, which in turn drives the driven gear 414, which in turn causes all components within the coiled tubing conveying unit 404 located above the driven gear 414 to rotate slightly. This ensures that the conveying chain 423 always faces the coiled tubing 104, ensuring that the contact area between the conveying chain 423 and the coiled tubing 104 is maximized when clamping the coiled tubing 104. This minimizes any damage to the coiled tubing 104 caused by the conveying chain 423 due to deflection of the coiled tubing 104, while ensuring sufficient clamping force to transport the coiled tubing 104.

[0040] To further illustrate, during operation, the clamping drive motor 417 drives the commutator 418, which in turn drives the clamping drive lead screw 419 to rotate, driving the left and right conveying motor mounting blocks 420 to move back and forth toward each other, thereby clamping and releasing the coiled tubing 104. Simultaneously, the conveying motor 421 drives the conveying sprocket 422, which in turn drives the conveying chain 423, moving the coiled tubing 104 up and down, completing the conveying operation of the coiled tubing 104.

[0041] The lower end of the conveying unit connecting frame 428 is fixedly connected to the conveying unit mounting frame 410, and the upper end of the conveying unit connecting frame 428 is fixedly connected to the pipe-taking unit support seat 429. The torsion isolation roller 461 is rotatably connected to the conveying unit connecting frame 428, and multiple groups are provided. The pipe-taking unit fixing plate 431 is fixedly connected to the pipe-taking unit support seat 429, and the third roller 430 is rotatably connected to the pipe-taking unit support seat 429. A second screw through hole 459 is provided on the pipe-taking unit support seat 429, and cooperates with the second screw thread in the motion guide rail mechanism 3. The first bearing cover 433 is fixedly connected to the pipe-taking unit support seat 429. A total of two sets of first deep groove ball bearings 432 are provided, one set is provided in the space formed by the pipe-taking unit support seat 429 and the conveying unit connecting frame 428, and the other set is provided in the space formed by the pipe-taking unit support seat 429 and the first bearing cover 433. The first bearing cover 433 is fixedly connected to the support seat connecting frame 435, the support seat connecting frame 435 is fixedly connected to the bearing mounting seat 437, the bearing mounting seat 437 is fixedly connected to the fixed cover 438, and the two sets of fourth planar thrust bearings 436 are both arranged in the cavity formed by the bearing mounting seat 437 and the fixed cover 438, and are movably connected to the lower end connecting step 440 of the movable joint 439. At the same time, the upper and lower ends of the movable joint 439 are matched with the second deep groove ball bearing 442, and the second bearing cover 443 is used to position it to prevent it from falling off. The gooseneck elbow joint 444 is fixedly connected to the upper end connecting step 441 of the movable joint 439, and the gooseneck elbow joint 444 is fixedly connected to the gooseneck elbow 445. There are multiple sets of elbow rollers 446 distributed on the gooseneck elbow 445, whose function is to reduce the friction resistance encountered by the continuous pipe 104 when passing through;

[0042] To further illustrate, during the extraction process of the coiled tubing 104, the coiled tubing 104 itself will experience torsional deformation. Therefore, during the deformation recovery process, the coiled tubing 104 may warp. To limit the rotation of the coiled tubing 104 and prevent the torsional deformation of the coiled tubing 104 from propagating toward the coiled tubing storage sleeve 1, multiple sets of torsion-isolating rollers 461 with anti-slip patterns 462 are provided.

[0043] To further illustrate, a third trapezoidal protrusion 434 is provided on the tube removal unit fixing plate 431, which cooperates and connects with the third trapezoidal slide 316 provided on the first sprocket in the first motion unit; the third roller 430 contacts the third roller slide groove 317 provided on the first sprocket in the first motion unit. Through the above arrangement, the tube removal unit 401 is connected to the first sprocket in the motion guide rail mechanism 3, and the second drive motor 311 drives the second lead screw to rotate, thereby driving the tube removal unit 401 to reciprocate on the first sprocket.

[0044] To further explain, the purpose of providing the first deep groove ball bearing 432 and the second deep groove ball bearing 442 is to reduce the circumferential friction resistance of the coiled tubing 104 to the tubing removal unit 401 when the coiled tubing 104 is being transported.

[0045] Furthermore, the above arrangement allows the gooseneck bend 445 to be always in an active state, thereby reducing the force exerted by the coiled tubing 104 on the gooseneck bend 445 and achieving self-protection of the gooseneck bend 445 when storing and removing the coiled tubing 104.

[0046] The second gooseneck elbow 460 and the second gooseneck elbow joint 447 in the injection unit 402 are fixedly connected, and the support column 448 is fixedly connected to the conveying unit mounting frame 410, and there are four groups of them evenly distributed around the circumference. The centralizing plate 449 is fixedly connected to the support column 448 to stabilize the second gooseneck bend 460 and prevent it from tipping over under the traction of the coiled tubing 104. The fifth planar thrust bearing 450 is disposed in the space formed by the centralizing plate 449 and the second gooseneck bend joint 447. The rotary joint 452 is fixedly connected to the second gooseneck bend joint 447. The rotary joint 452 is provided with a spring paddle 456. The spring mounting seat 453 is fixedly connected to the conveying unit mounting bracket 410 and is provided with a spring mounting groove 457. The sixth planar thrust bearing 451 is disposed in the cavity formed by the rotary joint 452 and the spring mounting seat 453. The spring 458 is mounted in the spring mounting groove 457 and is cooperatively connected with the spring mounting seat 453 and the rotary joint 452. In this way, during operation, the second gooseneck bend 460 can make adaptive adjustments as the posture of the coiled tubing 104 changes. The third deep groove ball bearing 454 is coupled to the spring mounting seat 453 and positioned by the third bearing cover 455 . The third deep groove ball bearing 454 reduces the circumferential frictional resistance of the coiled tubing 104 on the injection unit 402 . The injection unit 402 is fixedly coupled to the auxiliary clamping unit 403 .

[0047] The working principle and use process of the present invention:

[0048] In actual operation, the storage and retrieval mechanism is used to lower and retrieve the coiled tubing 104, specifically encompassing the gripping and conveying processes of the coiled tubing 104. The storage and retrieval mechanism comprises a retrieval unit 401 and an injection unit 402, both of which include a coiled tubing conveying unit 404. The coiled tubing conveying unit 404 performs both gripping and conveying of the coiled tubing 104. Specifically, the gripping drive motor 417 first drives the gripping drive screw 419 via a commutator 418, which in turn drives the conveying motor mounting base 420, which is threadedly engaged with the gripping drive screw 419, toward each other. This, in turn, drives the conveying motor 421, conveying sprocket 422, and conveying chain 423, which are fixed to the conveying motor mounting base 420, toward each other, thereby gripping the coiled tubing 104. The conveying motor 421 then drives the conveying sprocket 422 and conveying chain 423, thereby moving the coiled tubing 104. When the continuous tube 104 is lowered or taken out, it is only necessary to change the rotation direction of the conveying motor 421 .

Claims

1. A pipe storage and retrieval mechanism for a 3D-printed vehicle-mounted coiled tubing storage and transportation system, characterized by: It comprises a tube taking unit (401), an injection unit (402) and an auxiliary clamping unit (403), wherein the tube taking unit (401) and the injection unit (402) both comprise a continuous tube conveying unit (404); The pipe taking unit (401) includes a guide roller mounting frame (405), a guide roller (406), a second plane thrust bearing (407), a second plane thrust bearing cover (408), a guide module connector (409), a continuous pipe conveying unit (404), a conveying unit connecting frame (428), a pipe taking unit support seat (429), a third roller (430), a pipe taking unit fixing plate (431), a first deep groove ball bearing (432), a first bearing cover (433), a support seat connecting frame (435), a fourth plane thrust bearing (436), a bearing mounting seat (437), a fixed cover (438), a movable joint (439), a second deep groove ball bearing (4 42), a second bearing cover (443), a gooseneck elbow joint (444), a gooseneck elbow (445) and an elbow roller (446), the continuous tube conveying unit (404) includes a conveying unit mounting frame (410), a third plane thrust bearing (411), an angle adjustment motor (412), a driving gear (413), a driven gear (414), a rotating support seat (415), a clamping motor mounting seat (416), a clamping drive motor (417), a commutator (418), a clamping drive screw (419), a conveying motor mounting seat (420), a conveying motor (421), a conveying sprocket (422), a conveying chain (423) and a fourth roller (424); The guide module connecting piece (409) is fixedly connected to the conveying unit mounting frame (410), the second plane thrust bearing cover (408) is fixedly connected to the guide roller mounting frame (405), two sets of second plane thrust bearings (407) are arranged in a cavity formed by the second plane thrust bearing cover (408) and the guide roller mounting frame (405), and are movably connected to the lower end step of the guide module connecting piece (409), the guide roller (406) is rotatably connected to the guide roller mounting frame (405), and a plurality of guide rollers (406) are symmetrically distributed, and the continuous tube (104) passes through the channel formed by the guide rollers (406) on both sides; The third plane thrust bearing (411) is fixedly connected to the conveying unit mounting frame (410), the rotation angle adjustment motor (412) is fixedly connected to the conveying unit mounting frame (410), the driven gear (414) is rotationally connected to the third plane thrust bearing (411), the driving gear (413) is fixedly connected to the output shaft of the rotation angle adjustment motor (412), the driving gear (413) is meshed with the driven gear (414), and a stopper ( 426), a first notch (427) is provided on the rotating support seat (415), the driven gear (414) and the rotating support seat (415) are connected in cooperation with each other through the stopper (426) and the first notch (427), the clamping motor mounting seat (416) is fixedly connected to the rotating support seat (415), the clamping drive motor (417) and the commutator (418) are fixedly connected to the clamping motor mounting seat (416), and a There is a fourth roller slide groove (425), the head end of the clamping drive screw (419) is rotatably connected to the clamping motor mounting seat (416), the end of the clamping drive screw (419) is coaxially fixedly connected to the commutator (418), and the clamping drive screw (419) is provided with a thread with its middle position as the boundary and opposite left and right rotation directions; the conveying motor mounting seat (420) is threadedly connected to the clamping drive screw (419), and two groups are symmetrically distributed on the left and right. The fourth roller (424 ) is rotatably connected to the conveying motor mounting seat (420), the fourth roller (424) is in contact with the fourth roller slide groove (425), the conveying motor (421) is fixedly connected to the conveying sprocket (422), the conveying chain (423) is meshed with the conveying sprocket (422), the conveying motor (421), the conveying sprocket (422) and the conveying chain (423) are all symmetrically distributed in two groups, and the continuous tube (104) is located between the left and right conveying sprockets (422); The lower end of the conveying unit connecting frame (428) is fixedly connected to the conveying unit mounting frame (410), and the upper end of the conveying unit connecting frame (428) is fixedly connected to the pipe taking unit support seat (429). The torsion isolation roller (461) is rotatably connected to the conveying unit connecting frame (428), and multiple groups are provided. The pipe taking unit fixing plate (431) is fixedly connected to the pipe taking unit support seat (429), and the third roller (430) is rotatably connected to the pipe taking unit support seat (429). The pipe taking unit support seat (429) is provided with a second lead screw through hole (459) and is matched with the second lead screw thread in the motion guide rail mechanism (3). The first bearing cover (433) is fixedly connected to the pipe taking unit support seat (429). A total of two sets of first deep groove ball bearings (432) are provided, one set is provided in the space formed by the pipe taking unit support seat (429) and the conveying unit connecting frame (428), and the other set is provided in the space formed by the pipe taking unit support seat (429) and the third roller (430). In the space formed by a bearing cover (433), the first bearing cover (433) is fixedly connected to the support seat connecting frame (435), the support seat connecting frame (435) is fixedly connected to the bearing mounting seat (437), the bearing mounting seat (437) is fixedly connected to the fixed cover (438), and two sets of fourth plane thrust bearings (436) are both arranged in the cavity formed by the bearing mounting seat (437) and the fixed cover (438), and are movably connected to the movable joint ( 439), the upper and lower ends of the movable joint (439) are matched and connected with a second deep groove ball bearing (442), and a second bearing cover (443) is provided for positioning. The gooseneck elbow joint (444) is fixedly connected to the upper end connecting step (441) of the movable joint (439), and the gooseneck elbow joint (444) is fixedly connected to the gooseneck elbow (445). A plurality of sets of elbow rollers (446) are distributed on the gooseneck elbow (445); A third trapezoidal protrusion (434) is provided on the tube-taking unit fixing plate (431), which cooperates with a third trapezoidal slideway (316) provided on the first quilting frame in the first motion unit; the third roller (430) contacts a third roller slideway (317) provided on the first quilting frame in the first motion unit, and the tube-taking unit (401) is connected to the first quilting frame in the motion guide rail mechanism (3) by movement, and the second lead screw is driven by the second drive motor to rotate, thereby driving the tube-taking unit (401) to reciprocate on the first quilting frame; The second gooseneck elbow (460) in the injection unit (402) is fixedly connected to the second gooseneck elbow joint (447), the support column (448) is fixedly connected to the conveying unit mounting frame (410), and four groups are evenly distributed around the circumference, the centralizing plate (449) is fixedly connected to the support column (448), the fifth plane thrust bearing (450) is arranged in the space formed by the centralizing plate (449) and the second gooseneck elbow joint (447), the rotating joint (452) is fixedly connected to the second gooseneck elbow joint (447), and a spring pick is arranged on the rotating joint (452). (456), the spring mounting seat (453) is fixedly connected to the conveying unit mounting frame (410), and a spring mounting groove (457) is provided on it. The sixth planar thrust bearing (451) is arranged in a cavity formed by the rotating joint (452) and the spring mounting seat (453). The spring (458) is installed in the spring mounting groove (457) and is connected to the spring mounting seat (453) and the rotating joint (452). The third deep groove ball bearing (454) is connected to the spring mounting seat (453) and is positioned by the third bearing cover (455).

2. The pipe storage and retrieval mechanism of the 3D printing vehicle-mounted coiled tubing storage and transportation system according to claim 1, characterized in that: A twist-isolating roller (461) with an anti-slip pattern (462) is provided on the conveying unit connecting frame (428).

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