An automated tube magazine method and apparatus

Abstract

The application discloses an automatic pipe storage method and device, and relates to the technical field of oil and gas exploitation supporting equipment. The automatic pipe storage method comprises the following steps: step 1, two storage racks are horizontally moved to a working position with a certain distance; step 2, the storage racks are rotated so that the continuous feeding storage mechanisms on the two storage racks are turned to the inner side and oppositely arranged; step 3, a manipulator carries a pipe column to the continuous feeding storage mechanism; step 4, the continuous feeding storage mechanism transports the pipe column from one side of the storage rack to the other side; step 5, steps 3 and 4 are repeated until the pipe column is placed or the oil pipe is fully placed in the pipe storage mechanism; and step 6, after the oil pipes on the pipe storage mechanism are all removed, the storage racks are rotated to be parallel to the bottom frame, and the distance between the two is reset to the storage position. The application is convenient for storage and transportation of pipe columns with different sizes, and the cooperation of the carrying manipulator and the continuous feeding storage mechanism improves the continuity and operation efficiency of the automatic pipe storage operation.

Description

Technical Field

[0001] This invention relates to the field of oil and gas extraction equipment technology, particularly to downhole operation equipment, and more specifically to an automated pipe rack method and device. Background Technology

[0002] In the entire process of oil and gas extraction, including drilling, well completion, production, well workover, and pressurized operations, tubing (mainly including drill pipe, drill collars, casing, and tubing) is an indispensable basic material for carrying out operations. Each operational stage involves frequent handling, placement, connection, and disconnection of large quantities of tubing. To facilitate the stacking and retrieval of tubing, and to ensure operational efficiency and reduce labor intensity, well sites typically require the installation of corresponding tubing racks, loading devices, or storage assemblies.

[0003] However, existing well sites generally use simple steel-structured pipe racks or flat stacking methods to store tubing strings, which have significant drawbacks: firstly, the tubing strings are stacked haphazardly, occupy a large area, and have low space utilization; secondly, storing and retrieving tubing strings relies on a combination of cranes and manual labor, which is inefficient and poses high safety risks; and thirdly, collisions and friction between tubing strings can easily occur, leading to damage to the tubing. These problems are becoming increasingly prominent in modern oil and gas field operations that strive for high efficiency, safety, and automation.

[0004] Currently, there are still shortcomings in the automated storage and transport of tubing. For example, the invention patent with publication number CN112814584A discloses an automated processing device for oil drilling tubing and its working method. The automated processing device includes a surface tubing automated conveying unit, a surface-to-drilling-platform tubing automated conveying unit, a drilling-platform column automated processing unit, and a column storage unit. The above units work together to realize the automated operation of drilling tubing drilling.

[0005] The existing patent uses a rotating support storage bin to store the tubing columns. The spacing between the fixed columns is determined by the slots in the disc and is not adjustable. It can only store tubing columns within a specific length range, resulting in poor adaptability to tubing columns of different lengths. At the same time, it lacks the ability to actively and continuously feed materials, relying entirely on an automatic tubing column storage and retrieval robotic arm. Furthermore, the entire process must be reversed when retrieving tubing columns, leading to low operational efficiency.

[0006] For example, the invention patent with publication number CN119664254A discloses an automatic tubing transfer system and method. By adjusting the support legs of the tubing bin, the tubing string can be rolled to the tubing string baffle. Then, the control system starts the lifting mechanism of the storage and retrieval manipulator to complete the transfer of the tubing string between the tubing bin and the luffing arm. Driven by the positioning device, the luffing arm changes from a horizontal state to a vertical state and hands over the tubing string to the second manipulator of the lifting manipulator. Driven by the lifting mechanism, the lifting manipulator is vertically lifted to a preset position and then rotated horizontally under the drive of the horizontal rotation drive mechanism, thus moving the tubing string to the wellhead.

[0007] The existing patent's tube bin is just an inclined tube rack with tubes placed in a single layer, resulting in extremely low storage capacity. Furthermore, the width of the tube rack is fixed, making it impossible to flexibly adjust the support spacing according to the length of the tubes. At the same time, the tube bin does not have the ability to actively and continuously feed materials, relying on gravity to make the tubes roll on the inclined tube rack for discharge, which has poor controllability. In addition, the entire process needs to be reversed when recovering tubes, resulting in low operating efficiency.

[0008] In summary, current solutions for automated tubing storage and handling suffer from drawbacks such as low storage capacity, poor adaptability to tubing of different sizes, and lack of active, continuous feeding capabilities. The continuity of downhole automated operations is limited, creating a gap between tubing storage and transport, making it impossible to support fully automated operations and resulting in low efficiency. Therefore, there is an urgent need to develop a tubing storage device capable of automated storage and orderly transport of tubing to overcome the shortcomings of existing technologies in the storage stage, enabling collaborative operation with downhole equipment and achieving fully automated tubing storage operations. Summary of the Invention

[0009] To overcome the shortcomings of the prior art, this invention provides an automated pipe storage method and apparatus. This invention realizes automatic adjustment of the spacing and rotation of the storage racks, which facilitates the storage and transportation of pipes of different sizes, as well as the flexible adjustment of transportation, relocation and well site space. Furthermore, the cooperation between the automatic handling by the handling robot and the automatic delivery of pipes by the continuous feeding storage mechanism improves the continuity and efficiency of the automated pipe storage operation.

[0010] This invention is achieved through the following technical solution: An automated warehouse management method includes the following steps: Step 1: The drive shaft of the storage mechanism drives the lead screw to rotate, and the two storage racks in the same storage mechanism move in opposite directions until the distance between the two storage racks reaches the working position. Step 2: Rotate the two storage racks on the bottom frame of the storage tube respectively, so that the continuous feeding storage mechanism on the two storage racks turns inward and faces each other. After rotating into place, lock the two storage racks. Step 3: The handling robot in the storage mechanism works to move the tube column from the previous working position to the continuous feeding storage mechanism of the storage rack; Step 4: The continuous feeding and storage mechanism rotates, conveying the tubular column supported on it from one side of the storage rack to the other. Step 5: Repeat steps 3 and 4 until the tubing is placed or the storage mechanism is full of tubing. Step 6: After all the tubes on the storage mechanism have been moved out of the continuous feeding storage mechanism, the storage rack rotates to be parallel to the bottom frame of the storage tube. The drive shaft of the storage mechanism drives the lead screw to rotate, and the two storage racks in the same storage mechanism move towards each other until the distance between the two storage racks reaches the retracted position.

[0011] The progressive conveying column refers to the internally stored column that is moved and conveyed from the feed side to the discharge side.

[0012] The storage rack is used to support the continuous feeding and storage mechanism.

[0013] The bottom frame of the storage tube is used to support the installation components of the whole machine.

[0014] The continuous feeding and storage mechanism is used to store and transport tubing columns to cooperate with the handling robot in moving tubing columns up and down, i.e., removing tubing columns from or into the storage mechanism. The continuous feeding and storage mechanism has two operating directions: it can move from the infeed side to the discharge side, or from the discharge side to the infeed side; that is, the continuous feeding and storage mechanism can move in either the forward or reverse direction.

[0015] Regardless of whether the continuous feeding and storage mechanism moves forward or backward, it can transport the tubular column from one side of the feeding mounting frame to the other, achieving flexible switching between bidirectional transportation and feeding / discharging directions. The handling robot is used to handle the tubular column.

[0016] An automated storage and silo device includes a storage tube mechanism and a connecting frame. The storage tube mechanism comprises multiple units arranged side by side along the direction of movement of the storage tube column. Any two adjacent storage tube mechanisms are connected by the connecting frame. Each storage tube mechanism includes a bottom frame, a storage rack, and a base frame. The base frame is disposed between the bottom frame and the storage rack and is slidably connected to the bottom frame. The storage rack is rotatably mounted on the base frame.

[0017] The base frame includes a frame body, a raised connecting plate, and a slewing bearing. The slewing bearing is installed on the upper surface of the frame body, and the raised connecting plate is installed on the lower surface of the frame body. The base frame is connected to the storage rack via the slewing bearing. The base frame is provided with a locking pin and a locking pin seat for locking the storage rack. The storage rack has a corresponding locking hole for engaging the locking pin. When the storage rack rotates to its position, the locking pin passes through the locking hole on the storage rack and inserts into the locking pin seat, thereby locking the storage rack.

[0018] The bottom frame of the storage tube is equipped with a frame spacing adjustment mechanism for adjusting the distance between the two storage racks. The frame spacing adjustment mechanism includes a bearing seat, a lead screw, a reducer and a drive shaft. The lead screw is connected to the bottom frame of the storage tube through the bearing seat. The input end of the reducer is connected to the drive shaft and the output end of the reducer is connected to the lead screw.

[0019] The bottom frame of the storage tube is equipped with ball bearing rollers, which are used to guide the storage rack when it moves in opposite directions or towards each other.

[0020] The protruding connecting plate of the base frame is connected to the lead screw of the frame spacing adjustment mechanism by a thread.

[0021] A connecting block is provided on the lead screw, and the connecting block is connected to the lead screw by a thread. The connecting block is fixedly connected to the base frame.

[0022] The storage rack includes a back frame and a feeding mounting frame. The back frame is rotatably connected to the base frame. There are multiple feeding mounting frames, which are stacked sequentially on the back frame along the height direction. Each feeding mounting frame is equipped with a continuous feeding and storage mechanism.

[0023] The continuous feeding and storage mechanism is any one of the following: chain feeding and storage mechanism, belt feeding and storage mechanism, and chain plate feeding and storage mechanism.

[0024] The storage rack is equipped with a handling robot, which includes a fixed end, a fixed column, a guide column, and a robotic arm. The fixed end is fixedly connected to the back frame of the storage rack, the fixed column is located on one side of the fixed end, the guide column is slidably connected to the fixed column, and the robotic arm is located on the guide column.

[0025] A vertical drive motor is provided on the fixed end, and a first drive gear is sleeved on the output shaft of the vertical drive motor.

[0026] The fixed column is provided with a first guide rail and a first movable rack. The first movable rack meshes with a first drive gear, and the fixed column is slidably mounted on the fixed end via the first guide rail.

[0027] A horizontal drive motor is installed on the fixed column, and a second drive gear is sleeved on the output shaft of the horizontal drive motor.

[0028] The guide column is provided with a second guide rail and a second movable rack. The second movable rack meshes with a second drive gear. The guide column is slidably mounted on the fixed column via the second guide rail.

[0029] The chain feeding and storage mechanism includes a mounting base, sprockets, chains, and a sprocket drive motor. Sprockets are installed at both ends of the working surface of the mounting base, and the sprockets at both ends are connected by a chain. A sprocket drive motor is installed at one end of the non-working surface of the mounting base, and one of the sprockets is sleeved on the output shaft of the sprocket drive motor.

[0030] The chain is evenly distributed with several limiting members, which are hinged to the chain. A receiving area for placing the end of the tubing is formed between any two adjacent limiting members. The end of the tubing stored in the storage mechanism is supported on the chain and located in the receiving area.

[0031] The beneficial effects of this invention are mainly reflected in the following aspects: 1. This invention enables automatic adjustment of the distance and rotation of the two storage racks, facilitating the storage and transportation of tubing and the entire storage mechanism. It is compatible with the storage and transfer of oil tubing of various lengths. Furthermore, through the cooperation of a handling robot automatically handling tubing and a continuous feeding storage mechanism continuously conveying tubing, automated storage and orderly transportation of tubing are achieved. The storage and transportation functions are integrated into the same storage rack. The continuous feeding storage mechanism is both a storage mechanism and a transportation mechanism, which can actively transport tubing from the infeed side to the discharge side, achieving continuous and controllable feeding. The handling robot only needs to perform simple gripping actions, resulting in a short path, high speed, and fewer handovers, thus improving the continuity and efficiency of automated tubing storage operations. 2. The storage device of the present invention adopts multiple storage tube mechanisms arranged in parallel, which improves the storage capacity and layout flexibility of the tube column. Furthermore, through the cooperation of the frame spacing adjustment mechanism and the slewing bearing, the working position and the retracted position of the storage rack can be quickly switched, saving space. It is especially suitable for use in scenarios where the work site is limited. 3. The slewing bearing provided in this invention makes the storage rack rotate more smoothly and improves rotational reliability. The raised connecting plate facilitates the connection between the base frame and the frame spacing adjustment mechanism, enhancing the overall structural integrity. 4. The bottom frame of the storage tube in this invention is equipped with a rack spacing adjustment mechanism. This mechanism includes a bearing housing, a lead screw, a reducer, and a drive shaft. The lead screw is connected to the bottom frame of the storage tube via the bearing housing. The input end of the reducer is connected to the drive shaft, and the output end of the reducer is connected to the lead screw. Synchronous back-to-back or front-to-back movement of the two storage racks is achieved through lead screw transmission, resulting in high adjustment precision. The use of a reducer and drive shaft ensures a smooth and controllable adjustment process. Furthermore, the bottom frame of the storage tube is equipped with a ball bearing slide rail, which provides stable guidance for the storage racks during rack spacing adjustment, effectively reducing frictional resistance and offset swaying during rack movement, ensuring smooth and reliable rack movement.

[0032] 5. In this invention, the protruding connecting plate of the base frame is connected to the lead screw of the frame spacing adjustment mechanism by a thread, which converts the rotational motion into the linear movement of the base frame. The transmission is simple and reliable, and the threaded connection method facilitates installation and maintenance, thus improving the service life.

[0033] 6. The lead screw of the present invention is provided with a connecting block, which is connected to the lead screw by a thread. The connecting block is fixedly connected to the base frame. The connecting block strengthens the connection between the base frame and the lead screw and prevents displacement. The threaded engagement achieves precise position fixation and improves the stability of the spacing adjustment.

[0034] 7. The storage rack of this invention is equipped with a multi-layer feeding and installation rack. This multi-layer feeding and installation rack increases the number of storage layers for tubing, enabling multi-layer storage and improving space utilization. Compared to traditional single-layer flat tubing racks, it improves space utilization, saves well site operating space, and significantly increases the storage capacity of tubing within the same floor area. Furthermore, the continuous feeding and storage mechanism on each feeding and installation rack enables automatic and orderly conveying of tubing from the inlet to the outlet side. Combined with a handling robot, it achieves fully automated operation of the entire process of moving tubing into and out of the storage mechanism, realizing automatic storage and supply of tubing. This completely replaces the manual operation mode, reducing labor intensity and improving operational safety. Simultaneously, the automated tubing transport process ensures continuous, precise, and sequential storage and supply, efficiently matching the operating rhythm of main equipment such as live-line drilling rigs and drilling workover rigs, significantly reducing auxiliary operation time and improving overall operational efficiency.

[0035] 8. The storage rack of the present invention is equipped with a handling robot, which includes a fixed end, a fixed column, a guide column and a robotic arm. The fixed end is fixedly connected to the storage rack, the fixed column is set on one side of the fixed end, the guide column is slidably connected to the fixed column, and the robotic arm is set on the guide column. This realizes the automatic gripping and placement of the pipe column, reduces manual operation, and through the cooperation of the fixed column and the guide column, the handling robot can move flexibly in the horizontal and vertical directions.

[0036] 9. The fixed end of the present invention is provided with a vertical drive motor, and a first drive gear is sleeved on the output shaft of the vertical drive motor, which can provide vertical driving power for the handling robot, with precise lifting control, smooth operation of the gear and rack transmission method, and strong load-bearing capacity.

[0037] 10. The fixed column of the present invention is provided with a first guide rail and a first movable rack. The first movable rack meshes with a first drive gear. The fixed column is slidably mounted on the fixed end through the first guide rail. The first guide rail ensures the straightness of vertical movement and prevents swaying. The rack meshes with the gear to drive the motor to convert the rotational motion of the motor into linear movement.

[0038] 11. The fixed column of the present invention is equipped with a horizontal drive motor, and a second drive gear is sleeved on the output shaft of the horizontal drive motor, which can provide horizontal driving power for the handling robot, expand the working range, and the gear and rack transmission structure is simple and has a fast response speed.

[0039] 12. The guide column of the present invention is provided with a second guide rail and a second movable rack. The second movable rack meshes with a second drive gear. The guide column is slidably mounted on the fixed column through the second guide rail. The second guide rail ensures smooth horizontal movement and reduces shaking. The second movable rack meshes with the second drive gear to achieve precise horizontal positioning.

[0040] 13. This invention features a plurality of limiting members evenly distributed on the chain. These limiting members are hinged to the chain, and a receiving area is formed between any two adjacent limiting members to accommodate the end of the tube column. This receiving area securely holds the end of the tube column, preventing it from rolling or slipping during transport. The hinged design allows the limiting members to adapt to different tube diameters, providing strong versatility. Furthermore, the limiting members separate adjacent tube columns, facilitating the gripping of a single tube column from the discharge side.

[0041] 14. The positioning accuracy of the tubing in the automated transport process of this invention is strictly controllable, avoiding violent collisions, friction, and improper squeezing between tubing columns, effectively reducing the risk of tubing deformation. Specifically, the continuous feeding and storage mechanism actively controls the conveying speed of the tubing, eliminating interference from external factors such as oil, mud, coupling protrusions, and ambient temperature on the rolling speed, ensuring that the tubing maintains stable operation during transport and avoiding jamming or derailment caused by speed fluctuations. Furthermore, the controllable conveying speed of the continuous feeding and storage mechanism not only prevents high-speed impacts with baffles or adjacent tubing columns, significantly reducing equipment damage and safety risks to on-site personnel, but also allows for flexible adjustment of the conveying speed according to operational needs, achieving precise matching with upstream and downstream processes, avoiding waiting or backlog caused by discontinuous conveying, and improving overall operational efficiency. Attached Figure Description

[0042] The present invention will now be further described in detail with reference to the accompanying drawings and specific embodiments: Figure 1 This is a schematic diagram of the automated storage and warehousing device of the present invention; Figure 2 This is a schematic diagram of the working position of the storage mechanism of the present invention, showing the distance between the two storage racks. Figure 3 This is a schematic diagram of the storage mechanism of the present invention with the distance between the two storage racks in the retracted position. Figure 4 This is a schematic diagram of the structure of the base frame of the present invention; Figure 5 This is a schematic diagram of the bottom frame of the storage tube of the present invention; Figure 6 This is a schematic diagram of the frame spacing adjustment mechanism of the present invention; Figure 7 This is a schematic diagram of the structure of the storage rack of the present invention; Figure 8 This is a schematic diagram of the chain feeding and storage mechanism of the present invention; Figure 9 This is a schematic diagram of the handling robot of the present invention; The diagram shows the following components: 1. Storage tube mechanism; 2. Drive shaft; 3. Lead screw; 4. Storage rack; 5. Bottom frame of storage tube; 6. Continuous feeding and storage mechanism; 7. Handling robot; 8. Chain; 9. Connecting frame; 10. Base frame; 11. Frame body; 12. Protruding connecting plate; 13. Slewing bearing; 14. Frame body spacing adjustment mechanism; 15. Bearing seat; 17. Reducer; 18. Connecting block; 19. Back frame; 20. Feeding mounting frame; 21. Fixed end; 22. Fixed column; 23. Guide column; 24. Robotic arm; 25. Vertical drive motor; 26. First guide rail; 27. First moving rack; 28. Horizontal drive motor; 29. ​​Second guide rail; 30. Second moving rack; 31. Mounting base plate; 32. Sprocket drive motor; 33. Limiting component; 34. Receiving area; 35. Locking pin; 36. Rolling guide rail. Detailed Implementation

[0043] Example 1 This embodiment discloses an automated tubing storage method, applicable to all downhole operations in oil and gas exploration and development, including drilling, well completion, production, well workover, and pressurized operations. It enables the orderly storage and automated supply of oilfield-specific tubing strings such as tubing, casing, and drill pipe. This solves problems such as cluttered tubing string stacking at existing well sites, large footprint of existing tubing racks, and inconvenience caused by reliance on manual and mechanical coordination for tubing string retrieval. The automated tubing storage method proposed in this invention is adaptable to various well site operating conditions. The following section will provide a detailed explanation and description of the automated tubing storage method in the context of pressurized operations during well workover.

[0044] Before conducting live-line operations, the tubing required for the live-line operations is transported in batches to the well site operation area by transport vehicles. After the transportation is completed, the tubing is stored in an orderly manner based on the automated tubing storage method proposed in this embodiment of the invention. After the live-line operation process is started, the stored tubing is automatically and orderly removed one by one. The removed tubing is then slowly lowered into the oil and gas well one by one by special equipment. Adjacent tubing in the well is connected by special tools such as pipe wrenches to ensure a tight connection and reliable sealing, thus completing the tubing insertion operation.

[0045] After the tubing is removed from the well, it is stored in an orderly manner using the automated tubing storage method proposed in this embodiment of the invention.

[0046] Specifically, see Figures 2-3 as well as Figure 7 The automated storage and warehousing method proposed in this embodiment, in conjunction with a corresponding storage and warehousing mechanism 1, includes the following steps: Step 1: The drive shaft 2 of the storage mechanism 1 drives the lead screw 3 to rotate. The two storage racks 4 in the same storage mechanism 1 move back to back along the length of the bottom frame 5 of the storage tube until the distance between the two storage racks 4 reaches the working position. Step 2: The two storage racks 4 rotate on the bottom frame 5 of the storage tube respectively, so that the continuous feeding storage mechanism 6 on the two storage racks 4 turns inward until the continuous feeding storage mechanism 6 on the two storage racks 4 is set to face each other. After the rotation is completed, the storage racks 4 are locked. Step 3: The handling robot 7 of the storage mechanism 1 works to transport the oil pipe to be stored to the continuous feeding storage mechanism 6 of the storage mechanism 1. The two ends of the oil pipe are respectively supported on the two oppositely arranged continuous feeding storage mechanisms 6. Step 4: The transmission components on the continuous feeding and storage mechanism 6 rotate to transport the oil pipe from the inlet side to the outlet side; Step 5: Repeat steps 3 and 4 until all the oil pipes to be stored are placed and moved into storage mechanism 1, or the continuous feeding storage mechanism 6 of storage mechanism 1 is filled with oil pipes. Step 6: After all the oil pipes on the storage mechanism 1 have been moved out, the storage rack 4 is rotated to be parallel to the bottom frame 5 of the storage pipe. The drive shaft 2 of the storage mechanism 1 drives the lead screw 3 to rotate. The two storage racks 4 in the same storage mechanism 1 move towards each other until the distance between the two storage racks 4 is reduced to the folded position to reduce the volume and facilitate transportation.

[0047] The storage rack 4 is used to support the continuous feeding and storage mechanism 6. The storage rack 4 is provided with multiple layers of continuous feeding and storage mechanisms 6 along the height direction. When storing oil pipes, two continuous feeding and storage mechanisms 6 located at the same height cooperate to support and progressively transport the oil pipes, so as to realize the storage and orderly transportation of the oil pipes.

[0048] The bottom frame 5 of the storage tube is used to support the installation components of the whole machine.

[0049] The continuous feeding and storage mechanism 6 is used to store oil pipes and to progressively transport oil pipes to cooperate with the handling robot 7 to move oil pipes into or out of the storage mechanism 1.

[0050] The transport robot 7 is used to transport oil pipes; specifically, it transports the oil pipes to be stored to the feeding side of the storage mechanism 1, and the feeding side sends the oil pipes into two opposing continuous feeding storage mechanisms 6 for storage, or it takes out the oil pipes from the discharge side of the storage mechanism 1 and transports them to a designated location for operation.

[0051] In the embodiments described in this invention, the continuous feeding and storage mechanism 6 can move in the forward or reverse direction to move the conveying oil pipe, transporting the oil pipe from one side of the storage rack 4 to the other side, thereby realizing the orderly conveying of the oil pipe.

[0052] This embodiment is the most basic implementation method. Compared with the prior art, it realizes automatic adjustment of the spacing and rotation of the storage rack 4, which facilitates the storage and transportation of oil pipes and the handling and transport of the entire pipe storage mechanism. Through the automatic handling of the handling robot 7 and the continuous feeding of the continuous feeding storage mechanism, the continuity and efficiency of the automated operation of the pipe storage are improved. Furthermore, it completely replaces the traditional human-machine cooperative operation mode that relies on cranes and manual hooking, handling, and placement, and transforms it into a human-machine separation operation mode. This fundamentally avoids the safety risks of personnel working near heavy pipes, greatly reduces the possibility of personal injury accidents, and reduces the labor intensity of operators.

[0053] At work, such as Figure 2 As shown, two storage racks 4 are located at both ends of the bottom frame 5 of the storage pipe, and the storage racks 4 are rotated to be perpendicular to the bottom frame 5 of the storage pipe (the long side of the storage rack 4 and the long side of the bottom frame 5 of the storage pipe are perpendicular to each other in the horizontal plane), and the continuous feeding storage mechanisms 6 on the two storage racks 4 are arranged facing each other. The continuous feeding storage mechanism 6 is installed along the long side of the storage rack 4, and its direction of moving the conveying oil pipe is also along the long side of the storage rack 4.

[0054] When collapsing, such as Figure 3As shown, the two storage racks 4 are reset, and the length direction of the storage racks 4 is consistent with the length direction of the bottom frame 5 of the storage tube. They are placed along the length direction of the bottom frame 5 of the storage tube to reduce the volume and facilitate transportation.

[0055] The automated tubing storage method proposed in the above embodiments is not only suitable for tubing storage in pressurized operations, but also applicable to the automated storage of other oilfield-specific tubing strings such as drill pipe, drill collar, and casing in drilling, well completion, and production operations. The above process can be followed.

[0056] Example 2 This embodiment discloses an automated storage and warehousing device, which is used to implement the automated storage and warehousing method of Embodiment 1, such as... Figures 1-3 As shown, it includes a storage tube mechanism 1 and a connecting frame 9. There are multiple storage tube mechanisms 1, which are arranged side by side along the direction of movement of the oil pipe during storage. Any two adjacent storage tube mechanisms 1 are connected by the connecting frame 9. The storage tube mechanism 1 includes a storage tube bottom frame 5, a storage rack 4 and a base frame 10. The base frame 10 is located between the storage tube bottom frame 5 and the storage rack 4. The base frame 10 is slidably connected to the storage tube bottom frame 5, and the storage rack 4 is rotatably mounted on the base frame 10.

[0057] This embodiment is a preferred implementation. When there are many oil pipes involved, multiple storage pipe mechanisms 1 arranged side by side are used to improve the storage capacity and layout flexibility of the oil pipes. Each storage pipe mechanism 1 can quickly switch between working position and retracted position through the frame spacing adjustment mechanism 14 and the rotating storage rack 4, thus saving space.

[0058] During operation, when the oil pipe is transported to the first storage unit 1, it is sequentially transferred to the next storage unit 1 for storage through the cooperation of the continuous feeding and storage mechanism 6 on the corresponding storage unit 1 and the handling robot 7. A certain distance is left between two adjacent storage units 1 on the left and right. Furthermore, in order to improve the operating efficiency of the pipe storage device, multiple pipe storage mechanisms 1 are arranged side by side. Each pipe storage mechanism 1 is equipped with at least one handling robot 7. When the oil pipe is moved to the first pipe storage mechanism 1 by the handling robot 7, it is gradually transferred to the next pipe storage mechanism 1 through the cooperation of the continuous feeding and storage mechanism 6 on the pipe storage mechanism 1 and the handling robot 7 on the adjacent pipe storage mechanism 1, so as to realize the smooth handover of the oil pipe between the adjacent continuous feeding and storage mechanisms 6 on the left and right sides.

[0059] For the transportation of the storage unit, after removing the connecting frame 9 installed between two adjacent storage units 1, each storage unit 1 is disassembled into an independent unit. After the storage rack 4 on the storage unit 1 is reset to the retracted position, each storage unit 1 can be transported separately.

[0060] This invention integrates functions such as tubing lifting, lateral movement, and clamping. Combined with program control, it achieves fully automated operation of the entire process: automatically moving the tubing into the designated receiving area of ​​the storage mechanism 1, transporting it from the feeding side to the discharging side, and removing the tubing from the discharging side. This completely replaces the traditional operation mode that relies on cranes and manual hooking, handling, and placement. The aforementioned human-machine separation operation mode fundamentally avoids the safety risks of personnel working near heavy tubing, greatly reduces the possibility of personal injury accidents, and alleviates the labor intensity of operators.

[0061] Example 3 This embodiment discloses an automated storage and warehousing device, which is based on Embodiment 2, such as... Figure 4 As shown, the base frame 10 includes a frame body 11, a raised connecting plate 12, and a slewing bearing 13. The slewing bearing 13 is mounted on the upper surface of the frame body 11, and the raised connecting plate 12 is mounted on the lower surface of the frame body 11. The base frame 10 is connected to the storage rack 4 via the slewing bearing 13. Rollers or balls are provided between the upper and lower end faces of the slewing bearing 13. Its lower end face is fixedly connected to the upper surface of the base frame 10, and its upper end face is fixedly connected to the bottom surface of the storage rack 4, thereby enabling the storage rack 4 to rotate within the base frame 10.

[0062] In addition, in order to fix the storage rack 4 and prevent the storage rack 4 from rotating accidentally, the base frame 10 is provided with a locking pin 35 and a locking pin seat for locking the storage rack, and the storage rack 4 is provided with a corresponding locking hole to cooperate with the locking pin; when the two storage racks 4 are rotated to face each other or rotated to be parallel to the bottom frame 5 of the storage tube, the locking pin 35 is passed through the locking hole on the storage rack 4 and inserted into the locking pin seat to lock the storage rack 4.

[0063] Furthermore, such as Figure 5 and Figure 6 As shown, a frame spacing adjustment mechanism 14 is installed on the bottom frame 5 of the storage tube. The frame spacing adjustment mechanism 14 includes a bearing seat 15, a lead screw 3, a reducer 17, and a drive shaft 2. The lead screw 3 is connected to the bottom frame 5 of the storage tube through the bearing seat 15. The input end of the reducer 17 is connected to the drive shaft 2, and the output end of the reducer 17 is connected to the lead screw 3. A connecting block 18 is sleeved on the lead screw 3, and the connecting block 18 is threadedly connected to the lead screw 3. The protruding connecting plate 12 of the base frame 10 is fixedly connected to the connecting block 18. When the lead screw 3 rotates, the connecting block 18 will move along the length direction of the lead screw 3. The connecting block 18 moving along the length direction of the lead screw 3 will drive the base frame 10 and the storage rack 4 on the base frame 10 to move together along the length direction of the lead screw 3. The length direction of the lead screw 3 is consistent with the length direction of the bottom frame 5 of the storage tube, thus realizing the movement of the storage rack 4 along the length direction of the bottom frame 5 of the storage tube.

[0064] This embodiment is another preferred implementation. The slewing bearing 13 makes the rotation of the storage rack 4 more stable, improving rotational reliability. The protruding connecting plate 12 facilitates the connection between the base frame 10 and the frame spacing adjustment mechanism 14, enhancing the overall structural integrity. For the frame spacing adjustment mechanism 14, the synchronous back-to-back or front-to-back movement of the two storage racks 4 in the storage tube mechanism 1 is achieved through the lead screw 3 transmission, adjusting the spacing between the two storage racks 4 with high precision. The use of a reducer 17 and drive shaft 2 ensures the smoothness and controllability of the adjustment process. Furthermore, the protruding connecting plate 12 of the base frame 10 and the lead screw 3 of the frame spacing adjustment mechanism 14 are connected by threads, converting rotational motion into linear movement of the base frame 10. The transmission is simple and reliable, and the threaded connection facilitates installation and maintenance, improving service life.

[0065] A connecting block 18 is provided on the lead screw 3. The connecting block 18 is connected to the lead screw 3 by a thread. The connecting block 18 is fixedly connected to the base frame 10. The connecting block 18 strengthens the connection between the base frame 10 and the lead screw 3 and prevents displacement. The threaded engagement achieves precise position fixation and improves the stability of the spacing adjustment.

[0066] In this embodiment, the synchronous back-to-back or front-to-back movement of the two storage racks 4 is along the length of the bottom frame 5 of the storage tube. To ensure the stability and reliability of the movement of the two storage racks 4 along the length of the bottom frame 5, a rolling guide rail 36 is installed on the bottom frame 5. The guide rail seat of the rolling guide rail 36 is mounted on the bottom frame 5, and the guide rollers on the guide rail seat are connected to the base frame 10. When the base frame 10 moves along the bottom frame 5 with the storage racks 4, the rolling guide rail 36 guides them, reducing frictional resistance and offset swaying during movement, ensuring smooth and reliable movement of the storage racks 4.

[0067] Example 4 This embodiment discloses an automated storage and warehousing device, which is based on embodiment 2 or embodiment 3, such as... Figure 7 As shown, the storage rack 4 includes a back frame 19 and a feeding mounting frame 20. The back frame 19 is rotatably connected to the base frame 10 via a slewing bearing 13. Multiple feeding mounting frames 20 are stacked sequentially on the back frame 19 along its height. Each layer of the feeding mounting frame 20 supports and is equipped with a continuous feeding and storage mechanism 6, thus forming a multi-layer storage rack 4 with multiple storage areas. In the storage rack 4, the continuous feeding and storage mechanism 6 on each layer of the feeding mounting frame 20 enables the automatic and orderly conveying of the oil pipes stored in that layer. In this embodiment, the multi-layer feeding and mounting rack 20 arranged along the height direction of the back frame 19 increases the number of storage layers for oil pipes, changing the traditional single-layer storage to multi-layer three-dimensional storage. It makes full use of the height space of the back frame 19, and can significantly increase the number of oil pipes stored under the same floor area, effectively improving the storage capacity of the storage device.

[0068] In addition, in some embodiments, the feeding mounting rack 20 is typically detachably mounted on the back frame 19 using bolts or other structures, so as to flexibly adjust the number of layers of the feeding mounting rack 20 or the spacing between adjacent upper and lower layers of the feeding mounting rack 20 on the back frame 19, to adapt to different storage needs and the storage of pipes of different sizes.

[0069] Furthermore, each layer of the feeding mounting frame 20 has an infeed side and an outfeed side (one side of the feeding mounting frame 20 along its length is the infeed side, and the opposite side is the outfeed side); the continuous feeding and storage mechanism 6 receives the oil pipe fed into the feeding mounting frame 20 from the infeed side (the end of the oil pipe is supported on the continuous feeding and storage mechanism 6), and transports the oil pipe along a preset path to the outfeed side of the feeding mounting frame 20.

[0070] It is understood that the preset path is the running direction of the continuous feeding and storage mechanism 6. The continuous feeding and storage mechanism 6 has two running directions: one is that it can run from the feeding side to the discharging side, and the other is that it can run from the discharging side to the feeding side. That is, the continuous feeding and storage mechanism 6 can move in the forward or reverse direction.

[0071] When the continuous feeding and storage mechanism 6 moves in the forward direction, the oil pipe is transported from the feeding side to the discharging side; when the continuous feeding and storage mechanism 6 moves in the reverse direction, the oil pipe is transported from the discharging side to the feeding side (at this time, the original discharging side is converted to the feeding side, and the original feeding side is converted to the discharging side).

[0072] Regardless of whether the continuous feeding and storage mechanism 6 moves in the forward or reverse direction, it can transport the oil pipe from one side of the feeding mounting frame to the other side, aiming to achieve flexible switching between bidirectional transportation and feeding / discharging directions.

[0073] For the above-mentioned multi-layer structure storage rack 4, when multiple storage pipe mechanisms 1 are arranged side by side and connected as a whole by the connecting frame 9, in the working state, there is a certain distance between two adjacent storage pipe mechanisms 1 and the continuous feeding storage mechanisms 6 in the two storage pipe mechanisms 1 are staggered, so that the oil pipe can move from the continuous feeding storage mechanism 6 of one storage pipe mechanism 1 to the continuous feeding storage mechanism 6 of another storage pipe mechanism 1, so as to realize the smooth handover of the oil pipe between two adjacent storage pipe mechanisms 1, that is, the oil pipe can move from the continuous feeding storage mechanism 6 of one storage rack 4 to the continuous feeding storage mechanism 6 of another adjacent storage pipe mechanism 1 storage rack 4.

[0074] In the embodiments described in this invention, the continuous feeding and storage mechanism 6 is any one of a chain feeding and storage mechanism, a belt feeding and storage mechanism, and a chain plate feeding and storage mechanism. When the continuous feeding and storage mechanism is a chain feeding and storage mechanism, the end of the oil pipe is supported on the chain, and the oil pipe is automatically fed from the feed side to the discharge side by the rotation of the chain.

[0075] If a belt-type feeding and storage mechanism is selected as the continuous feeding and storage mechanism, the end of the oil pipe is supported on the conveyor belt, and the conveyor belt drives it to move along the route from the feed side to the discharge side to achieve automatic feeding.

[0076] Similarly, in the case of a chain plate feeding and storage mechanism, the end of the oil pipe is supported on the chain plate, and the rotation of the chain plate drives the oil pipe to move from the feeding side to the discharging side.

[0077] To achieve a reliable connection between tubular sections, the very ends of both tubular sections are typically machined with threads (male or female). Therefore, when the ends of the tubular sections are supported by the continuous feeding and storage mechanisms 6 on both sides, the contact point (support point or support area) between the tubular sections and the continuous feeding and storage mechanisms 6 is usually located inside the threads at the ends (i.e., the continuous feeding and storage mechanisms 6 are supported on the inner non-threaded ends of the tubular sections). This ensures that the threads do not come into contact with the continuous feeding and storage mechanisms 6 during the support and conveying process, preventing damage to the tubular threads. Furthermore, when using the handling robot 7 to grasp the tubular sections, it is also necessary to avoid the machined threads at the ends.

[0078] Preferably, in this embodiment, a chain-type feeding and storage mechanism is preferred as the continuous feeding and storage mechanism 6. Specifically, as shown in the figure... Figure 8 As shown, the chain feeding and storage mechanism includes a mounting base plate 31, sprockets, a chain 8, and a sprocket drive motor 32. Sprockets are installed at both ends of the working surface of the mounting base plate 31 (i.e., the side closest to another chain feeding and storage mechanism), and the sprockets at both ends are connected by the chain 8. The sprocket drive motor 32 is installed at one end of the non-working surface of the mounting base plate 31. One of the sprockets is sleeved on the output shaft of the sprocket drive motor 32 and is driven to rotate by the motor. The rotating sprocket will drive the chain 8 to rotate through the chain 8 and the other sprocket. When the oil pipe is placed on the chain 8, the rotating chain 8 will drive the oil pipe to move to the other side.

[0079] The chain 8 is evenly distributed with several limiting members 33, which are hinged to the chain 8 using existing hinge shafts. Between any two adjacent limiting members 33, a receiving area 34 is formed for placing the end of the oil pipe. In use, the oil pipe is placed on the chain 8, with both ends of the oil pipe correspondingly placed in the receiving areas 34 of two opposing chains 8 at the same height on both sides. The limiting members 33 restrict the movement of the oil pipe along the chain 8. The chain 8 acts as a transmission component; its rotation drives the oil pipe supported on it to gradually move from the infeed side to the discharge side of the feeding mounting frame 20, achieving automatic oil pipe delivery with high conveying efficiency. The sprocket drive motor 32 provides stable power and reliable operation.

[0080] In this embodiment, the receiving area 34 formed by the upper limit member 33 of the chain 8 can securely hold the end of the oil pipe, preventing it from rolling or slipping during transportation and from slipping on the chain 8, ensuring that the oil pipe moves with the chain 8. At the same time, the hinged design allows the limit member 33 to adapt to different pipe diameters, making it highly versatile. Furthermore, the limit member also separates two adjacent oil pipes on the chain 8, making it easier to grip a single oil pipe.

[0081] Compared to belt or chain-plate continuous feeding and storage mechanisms, the chain drive of the chain mechanism is less prone to slippage and cooperates better with the limiting component 33. When the limiting component 33 presses against the oil pipe, it is equivalent to short-term rigid braking. The chain drive can more effectively withstand this instantaneous impact load, avoiding the delays caused by elastic tension / slippage in belt drive structures, ensuring accurate positioning of the tubing and reliable transportation.

[0082] Furthermore, the chain-type feeding and storage mechanism has the following characteristics: 1) Under the same external dimensions, chain drive allows for higher tension and torque output, meeting the operational needs of heavy-duty tubing or simultaneous multi-tube conveying, thus improving the applicability and operational efficiency of the device. 2) Chain drive is insensitive to oil, temperature, and sediment, overcoming the shortcomings of belt drive mechanisms such as slippage in oily environments, making it more suitable for continuous feeding operations in harsh conditions such as oilfields. 3) Compared to chain plate drive, chain drive has better precision and meshing efficiency, and its structure is more compact and lighter, which helps to reduce the overall size of the device and facilitates transportation.

[0083] Example 5 This embodiment discloses an automated storage and warehousing device, based on any one of embodiments 2-4, such as... Figure 7 and Figure 9As shown, the storage rack 4 is equipped with a handling robot 7. The handling robot 7 includes a fixed end 21, a fixed column 22, a guide column 23, and a robot arm 24. The fixed end 21 is fixedly connected to the back frame 19 of the storage rack 4. The fixed column 22 is located on one side of the fixed end 21. The guide column 23 is slidably connected to the fixed column 22. The robot arm 24 is located on the guide column 23.

[0084] A vertical drive motor 25 is mounted on the fixed end 21, and a first drive gear is sleeved on the output shaft of the vertical drive motor 25. A first guide rail 26 and a first movable rack 27 are mounted on the fixed column 22. The first movable rack 27 meshes with the first drive gear, and the fixed column 22 is slidably mounted on the fixed end 21 via the first guide rail 26. The vertical drive motor 25 drives the first drive gear to rotate, and under the action of the first movable rack 27, the fixed column moves up and down on the fixed end 21.

[0085] The first guide rail 26 ensures the straightness of vertical movement and prevents swaying. The rack and pinion mesh with the gear to convert the rotational motion of the motor into linear movement.

[0086] A horizontal drive motor 28 is mounted on the fixed column 22, and a second drive gear is sleeved on the output shaft of the horizontal drive motor 28. A second guide rail 29 and a second movable rack 30 are mounted on the guide column 23. The second movable rack 30 meshes with the second drive gear, and the guide column 23 is slidably mounted on the fixed column 22 via the second guide rail 29. The horizontal drive motor 28 drives the second drive gear to rotate, and under the action of the second movable rack 30, the guide column 23 moves left and right on the fixed column 22.

[0087] The second guide rail 29 ensures smooth horizontal movement and reduces swaying. Through the engagement of the second moving rack 30 with the second drive gear, precise horizontal positioning is achieved.

[0088] In this embodiment, the vertical drive motor 25 mounted on the fixed end 21 provides the driving power for the vertical lifting and lowering movement of the handling robot 7. The lifting control is precise, the gear and rack transmission ensures smooth operation, and the load-bearing capacity is strong. The horizontal drive motor 28 mounted on the fixed column 22 provides the driving power for the horizontal movement of the handling robot 7, expanding the operating range. Furthermore, the gear and rack transmission structure is simple and has a fast response speed. Specifically, through the cooperation of the fixed column 22 and the guide column 23, the robotic arm 24 of the handling robot 7 can move flexibly in both horizontal and vertical directions, realizing the automatic gripping and placement of oil pipes and reducing manual operation. For tubing to be stored, the robotic arm 24 moves horizontally and vertically to feed the tubing from the feeder side of the feeding frame 20, so that both ends are supported on two opposite continuous feeding and storage mechanisms 6 to achieve storage. For tubing to be retrieved from the storage mechanism 1, the robotic arm 24 moves to the discharge side of the feeding frame 20, grabs the tubing from the discharge side, and then continues to move horizontally and vertically to place the grabbed tubing in a designated position for wellhead operations.

[0089] Of course, a rotary motor can also be installed on the robotic arm 24 so that the robotic arm 24 can also rotate on the guide column 23.

[0090] In addition, the robotic arm 24 for gripping the oil pipe can be equipped with an industrial robotic hand that mimics human hand movements and grips the oil pipe according to a preset program; alternatively, it can be equipped with an electromagnet that uses the property that the electromagnet becomes magnetic when energized and loses its electromagnetic properties when de-energized to grip the oil pipe. These structures are all conventional methods and will not be described in detail further.

[0091] In this embodiment, a handling robot 7 is provided at both ends of the back frame 19, one located at the feeding end of the feeding mounting frame 20 and the other at the discharging end. The handling robot 7 at the feeding end is used to feed the oil pipe to be stored into the continuous feeding storage mechanism 6, and the handling robot 7 at the discharging end grabs the oil pipe located at the discharging side of the feeding mounting frame 20 and moves it out of the pipe storage device for operation.

[0092] The basic principle of this invention is as follows: The core working principle of the automated storage and retrieval system lies in the dynamic adjustment and collaborative operation of the storage rack 4, so as to achieve efficient use of space and automatic storage and retrieval of oil pipes.

[0093] Before operation, the two storage racks 4 within the same storage tube mechanism 1 are first driven by the lead screw 3 to move back to back along the long side of the bottom frame 5 of the storage tube, widening the distance between them to the preset working position to make room for subsequent operations. Then, the storage racks 4 are controlled to rotate as a whole (90 degrees) on the bottom frame 5 of the storage tube, causing the chain feeding storage mechanisms mounted on them to turn inwards to face each other, until the chain feeding storage mechanisms on the two storage racks 4 are set facing each other, forming a storage channel that facilitates the reception of oil pipes.

[0094] During the oil pipe storage and retrieval phase, two handling robots 7 located on the same side of the two storage racks 4 operate. Through the gripping action and horizontal and vertical movement of the handling robots 7, the oil pipes are fed in from the infeed side of the feeding rack 20 and placed one by one on the chain feeding storage mechanism of the corresponding layer of the feeding rack 20 (the two ends of the oil pipe are respectively supported in the receiving area 34 of two sets of chain feeding storage mechanisms of the same height and corresponding position). Then the chain 8 starts to smoothly and gradually transport the oil pipes from the infeed side to the discharge side, realizing orderly storage. After the chain feeding storage mechanism on the feeding rack of this layer is full of oil pipes, the chain feeding storage mechanism stops rotating. The above "handling-transporting" cycle continues to store the oil pipes to be stored into the other layers of the feeding rack 20 until all oil pipes are stored or the chain feeding storage mechanism in each layer of the feeding rack 20 is full of oil pipes.

[0095] When the tubing is moved to the discharge side of the feeding mounting frame 20, two handling robots on the other side of the two storage racks 4 work together to remove the tubing from the discharge side for downhole operations, thus realizing the removal of the tubing.

[0096] When it is necessary to empty or organize the storage space, after all the oil pipes have been removed, the reverse operation is performed: the storage rack 4 rotates back to its initial position parallel to the bottom frame 5 of the storage pipe, and then the screw 3 drives the two storage racks 4 to move towards each other and retract to a compact folded position, thereby greatly saving the space occupied in the non-working state and also facilitating transportation.

[0097] The entire process requires no manual intervention, achieving automated management of storage space and workflow.

[0098] For the storage mechanism 1 of the present invention, in order to monitor the storage status of the tube columns on the continuous feeding storage mechanism 6 in each layer of the feeding mounting rack 20 during operation, and to avoid accidental falling or collision of the tube columns stored on the discharge side of the continuous feeding storage mechanism 6 due to misoperation, photoelectric sensors, proximity switches, and other monitoring sensors that detect the presence of materials at designated locations can be installed on the discharge side and feed side of each layer of the feeding mounting rack 20, so as to realize the fully automated monitoring and control of the tube column storage and retrieval process. Based on the above monitoring sensors, when a tube column is detected on the discharge side of a certain layer of the feeding mounting rack 20 of the storage mechanism 1, the continuous feeding storage mechanism 6 of that layer is controlled to be in a braking state (cannot rotate). If there are tube columns to be stored, they are placed on the continuous feeding storage mechanism 6 of other layers of the feeding mounting rack 20 for storage.

[0099] In some embodiments, the aforementioned monitoring sensors can also be installed on the feeding side of the feeding mounting frame 20, in conjunction with the monitoring sensors on the discharging side, to flexibly control the operation of the continuous feeding and storage mechanism 6 in the corresponding layer of the feeding mounting frame 20. This can not only free up storage space (accommodation area) on the feeding side to store the tube column, but also prevent the tube column located on the discharging side from falling and causing unnecessary safety accidents.

[0100] In addition, monitoring sensors can be installed in each storage area on chain 8. Based on these monitoring sensors, the storage machine can integrate inventory management and location tracking functions, monitor the storage status of each storage area on chain 8 in real time, realize digital management of tubing storage, and provide a reliable data foundation for the visualization and refined management of well site operations.

[0101] The above monitoring and sensing technologies are all known existing technologies. This invention does not involve any improvement or innovation of the monitoring and sensing technologies, and will not be described in detail here.

[0102] The above description is merely a specific embodiment of the present invention. Any feature disclosed in this specification may be replaced by other equivalent or similar features unless otherwise specified. All features or steps in the disclosed methods or processes may be combined in any way, except for mutually exclusive features and / or steps.

Claims

1. An automated warehouse management method, characterized in that, Includes the following steps: Step 1: The drive shaft (2) of the storage mechanism (1) drives the lead screw (3) to rotate, and the two storage racks (4) in the same storage mechanism (1) move to the working position in opposite directions; Step 2: The storage rack (4) rotates on the bottom frame (5) of the storage tube, causing the continuous feeding storage mechanism (6) on the two storage racks (4) to turn inward and be arranged facing each other; Step 3: The handling robot (7) in the storage mechanism (1) works to transport the tube column to the continuous feeding storage mechanism (6) of the storage mechanism (1). The two ends of the tube column are respectively supported on the two opposing continuous feeding storage mechanisms (6). Step 4: The continuous feeding and storage mechanism (6) rotates to transport the tubular column from one side of the storage rack (4) to the other side; Step 5: Repeat steps 3 and 4 until the tubing is placed or the continuous feeding storage mechanism (6) in each layer of the storage mechanism (1) is filled with tubing. Step 6: The handling robot (7) grabs the tube column on the continuous feeding storage mechanism (6) for operation; after all the tube columns on the storage mechanism (1) are removed, the storage rack (4) rotates to be parallel to the bottom frame (5) of the storage tube, and the drive shaft (2) of the storage mechanism (1) drives the lead screw (3) to rotate, and the two storage racks (4) in the same storage mechanism (1) move towards each other to the retracted position.

2. The automated warehouse management method according to claim 1, characterized in that, The storage rack (4) is used to support the continuous feeding and storage mechanism (6).

3. The automated warehouse management method according to claim 1, characterized in that, The bottom frame (5) of the storage tube is used to support the installation components of the whole machine.

4. The automated warehouse management method according to claim 1, characterized in that, The continuous feeding and storage mechanism (6) is used to store and transport the conveying column to cooperate with the handling robot (7) to move the column in or out.

5. The automated warehouse management method according to claim 1, characterized in that, The handling robot (7) is used to handle oil pipes and move the tubing into or out of the storage mechanism (1).

6. An automated warehouse management device, characterized in that, The automated storage and warehousing method as described in claim 1 includes a storage pipe mechanism (1) and a connecting frame (9). There are multiple storage pipe mechanisms (1), which are arranged side by side along the direction of movement of the pipe column during storage. Any two adjacent storage pipe mechanisms (1) are connected by the connecting frame (9). The storage pipe mechanism (1) includes a storage pipe bottom frame (5), a storage rack (4), and a base frame (10). The base frame (10) is arranged between the storage pipe bottom frame (5) and the storage rack (4). The base frame (10) is slidably connected to the storage pipe bottom frame (5), and the storage rack (4) is rotatably mounted on the base frame (10).

7. An automated warehouse management device according to claim 6, characterized in that, The base frame (10) includes a frame body (11), a raised connecting plate (12), and a slewing bearing (13). The slewing bearing (13) is installed on the upper surface of the frame body (11), and the raised connecting plate (12) is installed on the lower surface of the frame body (11). The base frame (10) is connected to the storage rack (4) through the slewing bearing (13).

8. An automated warehouse management device according to claim 6, characterized in that, The bottom frame (5) of the storage tube is equipped with a frame spacing adjustment mechanism (14) for adjusting the distance between the two storage racks (4). The frame spacing adjustment mechanism (14) includes a bearing seat (15), a lead screw (3), a reducer (17) and a drive shaft (2). The lead screw (3) is connected to the bottom frame (5) of the storage tube through the bearing seat (15). The input end of the reducer (17) is connected to the drive shaft (2), and the output end of the reducer (17) is connected to the lead screw (3).

9. An automated warehouse management device according to claim 6, characterized in that, A rolling guide rail (36) is installed on the bottom frame (5) of the storage tube for guiding when adjusting the distance between the two storage racks (4).

10. An automated warehouse management device according to claim 6, characterized in that, A connecting block (18) is provided on the lead screw (3). The connecting block (18) is connected to the lead screw (3) by a thread, and the connecting block (18) is fixedly connected to the base frame (10).

11. An automated warehouse management device according to claim 6, characterized in that, The storage rack (4) includes a back frame (19) and a feeding mounting rack (20). The back frame (19) is rotatably connected to the base frame (10). There are multiple feeding mounting racks (20). Multiple feeding mounting racks (20) are arranged sequentially on the back frame (19) along the height direction of the back frame (19). Each layer of feeding mounting racks (20) on the back frame (19) is equipped with a continuous feeding storage mechanism (6).

12. An automated warehouse management device according to claim 6, characterized in that, The storage rack (4) is equipped with a handling robot (7). The handling robot (7) includes a fixed end (21), a fixed column (22), a guide column (23), and a robot arm (24). The fixed end (21) is fixedly connected to the storage rack (4). The fixed column (22) is located on one side of the fixed end (21). The guide column (23) is slidably connected to the fixed column (22). The robot arm (24) is located on the guide column (23).

13. An automated warehouse management device according to claim 11, characterized in that, The continuous feeding and storage mechanism (6) is any one of the chain feeding and storage mechanism, belt feeding and storage mechanism and chain plate feeding and storage mechanism.

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