The invention belongs to the field of machining equipment and discloses a steel pipe placement and discharge mechanism. The steel pipe placement and discharge mechanism comprises a fixed supporting frame, fixed pipe supporting wheels, a rotating supporting frame, rotating hydraulic cylinders, a translation plate, translation pipe supporting wheels and translation hydraulic cylinders. The fixed pipe supporting wheels are vertically and rotatably connected to one upper side of the fixed supporting frame along the horizontal direction, one side of the rotating supporting frame is hinged to the middle of the upper side of the fixed supporting frame, and the rotating hydraulic cylinders are arranged between two ends of the other side of the rotating supporting frame and the fixed supporting frame respectively. The rotating supporting frame is uniformly provided with a plurality of T-shaped guide grooves, a plurality of T-shaped guide strips matched with the T-shaped guide grooves are arranged on the lower side of the translation plate, the translation hydraulic cylinders parallel to the T-shaped guide grooves are arranged on the rotating supporting frame, and the translation pipe supporting wheels are vertically and rotatably connected to the translation plate along the horizontal direction. The steel pipe placement and discharge mechanism is reasonable in structural design, stable in placement of steel pipes in various dimensions and convenient and quick in discharging of the steel pipes, thereby meeting utilization requirements.