Self-propelled double-tube prefabrication device and method

Abstract

The present invention relates to a self-propelled double-tube prefabrication device, comprising a retractable, self-leveling crawler chassis system that acts as a vehicle carrier, automatically traveling during transfers and automatically leveling and unfolding to serve as a work platform during operation; a pipe assembly system that is disposed on the retractable, self-leveling crawler chassis system and carries a first steel pipe and a second steel pipe and assembles the pipe ends of the first steel pipe with the pipe ends of the second steel pipe to form a weld; a pipe rotation system that is disposed above the pipe assembly system and rotates the assembled first and second steel pipes; and a welding system that performs a bottom weld on the weld and welds the entire weld as the assembled first and second steel pipes rotate. The present invention can realize large-diameter double-tube welding prefabrication within a construction operation zone, and can complete the mutual conversion between the working state and the transportation state in a short period of time, and can autonomously complete the transfer of large-diameter double-tube prefabrication equipment within the operation zone by self-propelled movement.

Description

Technical Field

[0001] The present invention relates to the technical field of oil and gas pipeline installation and construction, and is mainly applied to mobile double-connected pipe prefabrication within a long-distance pipeline construction operation zone, and more specifically to a self-propelled double-connected pipe prefabrication device and method. Background Art

[0002] The trend of long-distance pipelines developing towards larger diameters and thicker walls is becoming increasingly prominent. Due to the diameter-to-thickness ratio, the larger the pipe diameter, the thicker the wall thickness. The thicker the wall, the longer the welding time and the higher the welding difficulty.

[0003] Using the most advanced fully automatic pipeline welding equipment, it takes 2.5 hours to complete a D1422×30.8mm girth weld. The average daily weld efficiency of a fully automatic welding unit is only 12 welds. The low welding efficiency of large-diameter, thick-walled pipelines is hindering project progress.

[0004] Prefabricated double-jointed pipes are often used abroad to improve the efficiency of large-diameter pipeline construction. However, due to the limitations of road and vehicle conditions on the transportation of 24m double-jointed pipes in China, this construction method has not been widely adopted in China. Summary of the Invention

[0005] To address the inconvenience of long-distance transport of double-jointed pipes, this inventor has developed a self-propelled large-diameter double-jointed pipe prefabrication system. This system utilizes a retractable, self-leveling crawler vehicle as its chassis, with a miniaturized, integrated pipe assembly, rotation, and welding system installed on top. This system facilitates assembly, rotation, welding, and transport of steel pipes. The retractable, self-leveling crawler vehicle serves as the system's carrier, operating as a self-propelled mechanism during transport and unfolding as a work platform during operation.

[0006] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0007] According to one aspect of the present invention, there is provided a self-propelled double-tube prefabrication device, comprising:

[0008] A retractable, self-leveling crawler chassis system acts as a carrier and automatically moves during transfers and automatically levels and unfolds as a working platform during operation.

[0009] A pipe assembly system is provided on a retractable, self-leveling crawler chassis system, the pipe assembly system carries a first steel pipe and a second steel pipe opposite to the first steel pipe, and assembles the pipe opening of the first steel pipe with the pipe opening of the second steel pipe to form a weld;

[0010] a pipe rotating system disposed above the pipe pairing system and carrying the first steel pipe and the second steel pipe, and rotating the first and second steel pipes of the pair; and

[0011] The welding system is installed on the chassis system of a telescopic automatic leveling crawler vehicle, performs bottom welding on the weld seam and welds the entire weld seam as the first steel pipe and the second steel pipe of the pair rotate.

[0012] In one embodiment of the present invention, the retractable automatic leveling crawler vehicle chassis system is controlled by a remote control device.

[0013] In one embodiment of the present invention, the retractable self-leveling crawler chassis system comprises:

[0014] crawler tracks, which are in contact with the ground and are used to walk on the ground;

[0015] A main platform, which is carried on top of the crawler tracks;

[0016] A main platform leveling cylinder mechanism is installed below the main platform;

[0017] A power module, which is mounted on the main platform;

[0018] A leveling outrigger oil cylinder capable of contracting and extending in the vertical direction;

[0019] A front telescopic platform, one end of which is connected to one end surface of the main platform and the other end of which is equipped with a leveling leg cylinder;

[0020] A rear telescopic platform, one end of which is connected to the other end surface of the main platform and the other end of which is equipped with a leveling leg cylinder;

[0021] Angle sensor, which is installed on the main platform

[0022] a first control module, the first control module being mounted on the main platform;

[0023] a chassis remote control receiver, the chassis remote control receiver being disposed in the first control module;

[0024] a chassis remote controller that communicates with the chassis remote control receiver; and

[0025] The automatic leveling controller is provided in the first control module and is configured to control the action of the main platform leveling cylinder mechanism in response to a signal from the angle sensor so as to level the main platform.

[0026] In one embodiment of the present invention, the chassis remote control includes a start button, an expansion button, a retraction button and a travel button, the start button is configured to activate the power module; the expansion button is configured to automatically level the main platform and extend the front telescopic platform and the rear telescopic platform respectively; the retraction button is configured to restore the front telescopic platform and the rear telescopic platform to the retracted state respectively; the travel button is configured to control the travel and transition of the retractable automatic leveling crawler vehicle chassis system.

[0027] In one embodiment of the present invention, a pressure sensor is provided on the leveling leg oil cylinder, and the leveling leg oil cylinder controls the extension length of the leveling leg oil cylinder in response to a signal from the pressure sensor.

[0028] In one embodiment of the present invention, the pipeline group controls the system using a remote control device.

[0029] In one embodiment of the present invention, the pipeline pairing system includes:

[0030] a pair of first adjustment mechanisms, one of the pair of first adjustment mechanisms being mounted on the main platform and the other being mounted on the front telescopic platform, the pair of first adjustment mechanisms carrying the first steel pipe after the front telescopic platform is extended and adjusting the first steel pipe left-right and front-back for positioning;

[0031] a pair of second adjustment mechanisms, one of the pair of second adjustment mechanisms being mounted on the main platform and the other being mounted on the rear telescopic platform, the pair of second adjustment mechanisms carrying the second steel pipe after the rear telescopic platform is extended and adjusting the second steel pipe up and down and forward and backward for positioning;

[0032] a second control module, the second control module being mounted on the main platform;

[0033] A pairing remote controller, which sends a pipeline pairing signal;

[0034] A pairing remote control signal receiver is installed in the second control module and is configured to control a pair of first adjustment mechanisms and a pair of second adjustment mechanisms in response to the pipeline pairing signal to adjust the positions of the first steel pipe and the second steel pipe respectively so that the pipe opening of the first steel pipe is paired with the pipe opening of the second steel pipe.

[0035] In one embodiment of the present invention, the pipeline rotation system comprises:

[0036] A pair of first pipe rotating roller mechanisms, the pair of first pipe rotating roller mechanisms are respectively arranged above the pair of first adjustment mechanisms and carry the first steel pipe, and the pair of first pipe rotating roller mechanisms drive the paired first steel pipe to rotate when rotating;

[0037] A pair of second pipe rotating roller mechanisms are respectively arranged above the pair of second adjustment mechanisms and carry the second steel pipes. When the pair of second pipe rotating roller mechanisms rotate, they drive the paired second steel pipes to rotate.

[0038] In one embodiment of the present invention, the welding system comprises:

[0039] a third control module, the third control module being mounted on the main platform;

[0040] A steel pipe welding mechanism master controller, which is installed in the third control module;

[0041] a pipeline external welding mechanism that first performs bottom welding on the weld and then welds the weld on the outside of the pipeline as the paired first and second steel pipes rotate; and

[0042] The internal pipeline welding mechanism welds the weld inside the pipeline as the paired first steel pipe and second steel pipe rotate.

[0043] According to another aspect of the present invention, there is provided a method for prefabricating double-connected pipes using the self-propelled double-connected pipe prefabrication device as described above, comprising:

[0044] Control the retractable self-leveling crawler chassis system to automatically move during transfer, and level and unfold it as a working platform during work;

[0045] controlling a pipe assembling system provided on a retractable automatic leveling crawler vehicle chassis system to assemble a pipe end of a first steel pipe and a pipe end of a second steel pipe carried by the pipe assembling system to form a weld;

[0046] controlling a pipe rotating system disposed above the pipe pairing system to rotate the first and second steel pipes of the pair; and

[0047] The welding system installed on the chassis system of the telescopic automatic leveling crawler vehicle is controlled to perform bottom welding on the weld and to weld the entire weld as the paired first steel pipe and second steel pipe rotate.

[0048] By adopting the above technical solution, the present invention has the following advantages compared with the prior art:

[0049] This invention enables the welding and prefabrication of large-diameter twin-tube pipes within a construction zone, quickly transitioning between working and transport modes, and autonomously moving large-diameter twin-tube prefabrication equipment within the zone. This invention surpasses traditional fixed-site prefabrication in terms of efficiency and welding quality, generating significant economic benefits.

[0050] The present invention can be used for on-site construction of long-distance pipelines, especially in inland areas where the conditions for double-connected pipe transportation are not available. It effectively solves the problem that double-connected pipes cannot be transported over long distances and widely used. It has the following advantages:

[0051] (1) Compared with the traditional fixed double-tube operation method, it solves the problem that double-tubes are not suitable for long-distance transportation.

[0052] (2) The device of the present invention has a crawler chassis, which can realize self-propelled movement, facilitates frequent transfer of equipment, and is more suitable for prefabricated double-connected pipes in the working zone.

[0053] (3) The volume and scale of the device of the present invention are smaller than those of a fixed double-tube prefabrication site, and the cost is low.

[0054] (4) During the assembly process, the present invention can realize free adjustment up, down, left and right through the hydraulic system of the device, thereby improving the flexibility of the assembly operation and the stability of the welding process.

[0055] (5) The device structure of the present invention is designed to be detachable, which is convenient for transportation and storage, easy to assemble and flexible to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] Figure 1 A schematic structural diagram of a self-propelled double-tube prefabrication device in a retracted state or during a transition period provided by an embodiment of the present invention is shown;

[0057] Figure 2 Shown Figure 1 Side view of;

[0058] Figure 3 A schematic structural diagram of a self-propelled double-tube prefabrication device in an expanded state or in operation according to an embodiment of the present invention is shown;

[0059] Figure 4 Shown Figure 3 Side view of;

[0060] Figure 5 The figure shows the on-site operation layout of the self-propelled double-connected pipe prefabrication device provided by the embodiment of the present invention;

[0061] Figure 6 The flowchart of the method for prefabricating double-connected pipes using a self-propelled double-connected pipe prefabrication device provided by an embodiment of the present invention is shown.

[0062] Reference Signs List

[0063] 1 Power module, 2 Tracks, 3 Chassis remote control receiver, 4 Chassis remote control, 5 Main platform, 6 Front telescopic platform, 7 Rear telescopic platform, 8 Main platform leveling cylinder mechanism, 9 Leveling leg cylinder, 10 Automatic leveling controller, 11 Angle sensor, 12 First adjustment mechanism, 13 Second adjustment mechanism, 14 Paired remote control signal receiver, 15 Paired remote control, 16 First pipe rotating roller mechanism, 16' Second pipe rotating roller mechanism, 17 Pipe internal welding mechanism, 18 Pipe external welding mechanism, 19 Steel pipe welding mechanism master controller, 20 First control module, 21 Second control module, 22 Third control module, 23 Beveling machine, 24 Small pipe stack, 25 Prefabrication vehicle, 26 Pipe laying machine, Steps S601, S602, S603, and S604. DETAILED DESCRIPTION

[0064] It should be understood that the embodiments of the present invention shown in the exemplary embodiments are merely illustrative. Although only a few embodiments have been described in detail in the present invention, it is readily apparent to those skilled in the art that various modifications are feasible without departing substantially from the teachings of the subject matter of the present invention. Accordingly, all such modifications should be included within the scope of the present invention. Without departing from the gist of the present invention, other replacements, modifications, variations, and deletions may be made to the design, operating conditions, and parameters of the following exemplary embodiments.

[0065] like Figure 1-4 As shown, a self-propelled double-tube prefabrication device includes:

[0066] A retractable automatic leveling crawler chassis system acts as a carrier and automatically walks during transfer and automatically levels and unfolds as a working platform during work, wherein the retractable automatic leveling crawler chassis system includes: a crawler 2, which contacts the ground and is used for walking on the ground 5; a main platform, which is carried on the top of the crawler 2; a main platform leveling cylinder mechanism 8, which is installed below the main platform 5; a power module 1, which is installed on the main platform 5; a leveling leg cylinder 9, which can retract and extend in the vertical direction; a front telescopic platform 6, one end of which is connected to one end face of the main platform 5 and a leveling leg cylinder 9 is installed on the other end; a rear end telescopic platform 7, one end of which is connected to the other end surface of the main platform 5 and a leveling leg cylinder 9 is installed on the other end; an angle sensor 11, which is installed on the main platform 5; a first control module 20, which is installed on the main platform 5; a chassis remote control receiver 3, which is arranged in the first control module 20; a chassis remote control 4, which communicates with the chassis remote control receiver 3; an automatic leveling controller 10, which is arranged in the first control module 20 and is configured to control the action of the main platform leveling cylinder mechanism 8 in response to a signal from the angle sensor 11 to level the main platform 5;

[0067] A pipe assembly system is provided on a retractable automatic leveling crawler chassis system, the pipe assembly system carries a first steel pipe and a second steel pipe opposite to the first steel pipe and assembles the pipe mouth of the first steel pipe with the pipe mouth of the second steel pipe to form a weld, wherein the pipe assembly system includes: a pair of first adjustment mechanisms 12, one of the pair of first adjustment mechanisms 12 is installed on the main platform 5 and the other is installed on the front telescopic platform 6, the pair of first adjustment mechanisms 12 carries the first steel pipe after the front telescopic platform 6 is extended and adjusts the first steel pipe left and right and front and back for positioning; a pair of second adjustment mechanisms 13, one of the pair of second adjustment mechanisms 13 is installed on the main platform 5 and and the other is mounted on the rear telescopic platform 7. The pair of second adjustment mechanisms 13 carry the second steel pipe and adjust the second steel pipe up and down and forward and backward to position it after the rear telescopic platform 7 is extended; a second control module 21, which is mounted on the main platform; a pairing remote controller 15, which sends a pipe pairing signal; a pairing remote control signal receiver 14, which is mounted in the second control module 21 and is configured to control the pair of first adjustment mechanisms 12 and the pair of second adjustment mechanisms 13 in response to the pipe pairing signal to adjust the positions of the first steel pipe and the second steel pipe respectively so that the pipe opening of the first steel pipe is paired with the pipe opening of the second steel pipe;

[0068] A pipe rotation system is provided above the pipe assembly system and carries the first and second steel pipes, thereby rotating the first and second steel pipes. The pipe rotation system includes: a pair of first pipe rotation roller mechanisms 16, each of which is provided above the pair of first adjustment mechanisms 12 and carries the first steel pipe. When the first pipe rotation roller mechanisms 16 rotate, they drive the first steel pipe to rotate; a pair of second pipe rotation roller mechanisms 16', each of which is provided above the pair of second adjustment mechanisms 13 and carries the second steel pipe. When the second pipe rotation roller mechanisms 16' rotate, they drive the second steel pipe to rotate;

[0069] A welding system is installed on a retractable automatic leveling crawler chassis system, and performs bottom welding on the weld and welds the entire weld as the first steel pipe and the second steel pipe of the pair rotate, wherein the welding system includes: a third control module 22, which is installed on the main platform 5; a steel pipe welding mechanism master controller 19, which is installed in the third control module 22; a pipeline external welding mechanism 18, which first performs bottom welding on the weld and then welds the weld on the outside of the pipeline as the first steel pipe and the second steel pipe of the pair rotate; a pipeline internal welding mechanism 17, which welds the weld inside the pipeline as the first steel pipe and the second steel pipe of the pair rotate.

[0070] In the above device, the chassis remote control 4 includes a start button, an expansion button, a retraction button and a travel button. The start button is configured to activate the power module 1; the expansion button is configured to automatically level the main platform 5 and extend the front telescopic platform 6 and the rear telescopic platform 7 respectively; the retraction button is configured to restore the front telescopic platform 6 and the rear telescopic platform 7 to the retracted state respectively; the travel button is configured to control the travel and transition of the retractable automatic leveling crawler chassis system.

[0071] In the above device, a pressure sensor is provided on the leveling leg oil cylinder 9, and the leveling leg oil cylinder 9 controls the extension length of the leveling leg oil cylinder 9 in response to the signal of the pressure sensor.

[0072] In addition, if Figure 6 As shown, the present invention also provides a method for prefabricating double-connected pipes using the self-propelled double-connected pipe prefabrication device as described above, comprising:

[0073] Step S601: Controlling the retractable automatic leveling crawler chassis system to automatically move during the transition, and to level and unfold it as a working platform during the work;

[0074] Step S602: controlling a pipe assembly system provided on the retractable automatic leveling crawler vehicle chassis system to assemble the pipe ends of the first steel pipe and the pipe ends of the second steel pipe carried by the pipe assembly system to form a weld;

[0075] Step S603: controlling the pipe rotation system disposed above the pipe pairing system to rotate the first steel pipe and the second steel pipe of the pair;

[0076] Step S604: Control the welding system installed on the retractable automatic leveling crawler vehicle chassis system to perform bottom welding on the weld and weld the entire weld as the paired first steel pipe and second steel pipe rotate.

[0077] The above-mentioned device and method described in this application are described in detail below through specific embodiments.

[0078] The present invention is implemented as follows: it consists of a retractable automatic leveling crawler vehicle chassis system, a pipeline assembly system, a pipeline rotation system, a welding system and other functional systems. On the device, the chassis system, the pipeline assembly system, the pipeline rotation system, the welding system and the like are organically connected in sequence.

[0079] Welding operations require an absolutely stable platform. To minimize misoperation, the device uses two remote control system designs, one for controlling the chassis and the other for the assembly system.

[0080] like Figure 1-4 As shown, the retractable automatic leveling crawler vehicle chassis system includes a power module 1, a crawler 2, a chassis remote control receiver 3, a chassis remote control 4, a main platform 5, a front telescopic platform 6, a rear telescopic platform 7, a main platform leveling cylinder mechanism 8, a leveling leg cylinder with a pressure sensor 9, an automatic leveling controller 10 and an angle sensor 11.

[0081] The pipeline pairing system includes a pair of first adjustment mechanisms 12 , a pair of second adjustment mechanisms 13 , a pairing remote control signal receiver 14 and a pairing remote control 15 .

[0082] The pipe rotating system includes a pair of first pipe rotating roller mechanisms 16 located above the pair of first adjusting mechanisms 12 and a pair of second pipe rotating roller mechanisms 16 ′ located above the pair of second adjusting mechanisms 13 .

[0083] The welding system includes a pipeline internal welding mechanism 17, a pipeline external welding mechanism 18 and a steel pipe welding mechanism master controller 19.

[0084] When the above device is in operation, the start button of the chassis remote controller 4 is operated, the chassis remote control receiver 3 receives the start signal, the power module 1 starts to work, and the chassis power system is started.

[0085] When the chassis remote controller 4's deploy button is pressed, the chassis remote controller receiver 3 receives the deploy signal. The automatic leveling controller 10 then activates the main platform leveling cylinder mechanism 8, and the angle sensor 11 begins transmitting the main platform angle signal to the automatic leveling controller 10. The automatic leveling controller 10 then levels the main platform 5. Once the main platform 5 is leveled, the device completes leveling, automatically extending the front and rear telescopic platforms 6 and 7 to their furthest ends. The device also automatically extends the pressure-sensored leveling leg cylinders 9 downward. The pressure sensors on the leveling leg cylinders 9 sense the force applied to the cylinders and control their extension length. Once the above process is complete, the deployment is complete.

[0086] Then, auxiliary equipment is used to place the first steel pipe on the pair of first adjustment mechanisms 12 and the second steel pipe on the pair of second adjustment mechanisms 13. The corresponding buttons on the pairing remote controller 15 are operated. After receiving the corresponding signals, the pairing remote controller signal receiver 14 controls the pair of adjustment mechanisms 12 to adjust the left and right and up and down positions of the first steel pipe, and controls the pair of second adjustment mechanisms 13 to adjust the front and back and up and down positions of the second steel pipe, completing the pairing process of the first steel pipe's nozzle and the second steel pipe's nozzle.

[0087] Next, the welding system is activated. The steel pipe welding mechanism master controller 19 controls the pipe external welding mechanism 18 to complete the bottom seal (positioning) welding. The first pipe rotating roller mechanism 16 and the second pipe rotating roller mechanism 16' are then controlled to begin rotating, thereby driving the first and second steel pipes. At this point, the steel pipe welding mechanism master controller 19 sequentially controls the pipe internal welding mechanism 17 and the pipe external welding mechanism 18 to complete the pipe butt girth weld.

[0088] Finally, after welding is completed, auxiliary equipment is used to connect the steel pipes into the prefabricated equipment, and subsequent welding operations of the steel pipes are carried out in a continuous manner.

[0089] After the prefabrication task of this section is completed, the retraction button of the chassis remote controller 4 is operated, and the chassis remote controller receiver 3 receives the retraction signal, and the corresponding mechanism automatically returns to the retracted state. The movement button of the chassis remote controller 4 is operated, and the chassis remote controller receiver 3 receives the movement signal, controls the crawler 2 to operate, and completes the self-propelled transfer of the entire device.

[0090] This device determines the distance between construction sections according to the specific conditions on site. Figure 5 As shown, taking a 500-meter construction section as an example, a beveling machine 23 stacks steel pipes at the middle of the 500-meter section to form a small pipe stack 24. A prefabrication vehicle 25, powered by the aforementioned device, then arrives at this location to perform welding and prefabrication of the double-jointed pipes. The welded double-jointed pipes are then laid out by a pipelayer 26 according to conventional pipeline construction procedures, preparing for subsequent welding of the larger unit.

[0091] This demonstrates that the present invention enables the welding and prefabrication of large-diameter twin-tube pipes within a construction zone, quickly transitioning between working and transport modes, and autonomously moving large-diameter twin-tube prefabrication equipment within the zone. This invention surpasses traditional fixed-site prefabrication in terms of efficiency and welding quality, generating significant economic benefits.

[0092] In addition, the present invention can be used for on-site construction of long-distance pipelines, especially long-distance pipeline construction sites in inland areas that do not have the conditions for double-connected pipe transportation, which effectively solves the problem that double-connected pipes cannot be transported over long distances and widely used. Compared with the traditional fixed double-connected pipe operation method, the present invention solves the problem that double-connected pipes are not suitable for long-distance transportation; the device of the present invention itself has a crawler chassis, which can realize self-propelled movement, facilitates frequent equipment transfers, and is more suitable for mobile prefabrication of double-connected pipes within the operation zone; the volume and scale of the device of the present invention are smaller than the fixed double-connected pipe prefabrication site, and the cost is low; during the assembly process, the present invention can realize free adjustment up and down and left and right through the hydraulic system of the device itself, which improves the flexibility of the assembly operation and the stability of the welding process; the device structure of the present invention is designed to be detachable, which is convenient for transportation and storage, easy to assemble, and flexible to use.

[0093] The above description is only a preferred embodiment of the present invention and is not intended to limit the scope of implementation of the present invention. If the present invention is modified or replaced with equivalents without departing from the spirit and scope of the present invention, it should be included in the scope of protection of the claims of the present invention.

Claims

1. A self-propelled double-tube prefabrication device, characterized in that: include: A retractable, self-leveling crawler chassis system, which acts as a carrier and automatically moves during transfers and automatically levels and unfolds to serve as a working platform during operation; a pipe assembling system, the pipe assembling system being disposed on the retractable self-leveling crawler chassis system, the pipe assembling system carrying a first steel pipe and a second steel pipe opposite to the first steel pipe, and assembling the pipe opening of the first steel pipe with the pipe opening of the second steel pipe to form a weld; a pipe rotating system, the pipe rotating system being arranged above the pipe pairing system and carrying the first steel pipe and the second steel pipe, and rotating the paired first steel pipe and the second steel pipe; as well as A welding system is installed on the retractable automatic leveling crawler chassis system, and performs bottom welding on the weld and welds the entire weld as the paired first and second steel pipes rotate.

2. The self-propelled double-tube prefabrication device according to claim 1 is characterized in that: The retractable automatic leveling crawler vehicle chassis system is controlled by a remote control device.

3. The self-propelled double-tube prefabrication device according to claim 1 is characterized in that: The retractable automatic leveling crawler vehicle chassis system comprises: crawler tracks, the crawler tracks being in contact with the ground and used for walking on the ground; a main platform, the main platform being carried above the crawler; A main platform leveling cylinder mechanism, wherein the main platform leveling cylinder mechanism is installed below the main platform; a power module, the power module being mounted on the main platform; A leveling outrigger oil cylinder capable of contracting and extending in the vertical direction; A front telescopic platform, one end of which is connected to one end surface of the main platform and the other end of which is equipped with the leveling leg cylinder; A rear telescopic platform, one end of which is connected to the other end surface of the main platform and the other end of which is equipped with the leveling leg cylinder; An angle sensor, the angle sensor is mounted on the main platform; a first control module, the first control module being mounted on the main platform; a chassis remote control receiver, the chassis remote control receiver being disposed in the first control module; a chassis remote controller that communicates with the chassis remote control receiver; and An automatic leveling controller is provided in the first control module and is configured to control the action of the main platform leveling cylinder mechanism in response to a signal from an angle sensor so as to level the main platform.

4. The self-propelled double-tube prefabrication device according to claim 3 is characterized in that: The chassis remote control includes a start button, an expansion button, a retraction button and a travel button, wherein the start button is configured to activate the power module; the expansion button is configured to automatically level the main platform and extend the front telescopic platform and the rear telescopic platform respectively; the retraction button is configured to restore the front telescopic platform and the rear telescopic platform to the retracted state respectively; and the travel button is configured to control the travel and transition of the retractable automatic leveling crawler vehicle chassis system.

5. The self-propelled double-tube prefabrication device according to claim 3 is characterized in that: The leveling leg oil cylinder is provided with a pressure sensor, and the leveling leg oil cylinder controls the extension length of the leveling leg oil cylinder in response to a signal from the pressure sensor.

6. The self-propelled double-tube prefabrication device according to claim 1 is characterized in that: The pipeline group controls the system using a remote control device.

7. The self-propelled double-tube prefabrication device according to claim 3 is characterized in that: The pipeline pairing system includes: a pair of first adjustment mechanisms, one of the pair of first adjustment mechanisms being mounted on the main platform and the other being mounted on the front telescopic platform, the pair of first adjustment mechanisms carrying the first steel pipe after the front telescopic platform is extended and adjusting the first steel pipe left-right and front-back for positioning; a pair of second adjustment mechanisms, one of the pair of second adjustment mechanisms being mounted on the main platform and the other being mounted on the rear telescopic platform, the pair of second adjustment mechanisms carrying the second steel pipe after the rear telescopic platform is extended and adjusting the second steel pipe up and down and forward and backward for positioning; a second control module, the second control module being mounted on the main platform; A pairing remote controller, wherein the pairing remote controller sends a pipeline pairing signal; A pairing remote control signal receiver is installed in the second control module and is configured to control the pair of first adjustment mechanisms and the pair of second adjustment mechanisms in response to the pipeline pairing signal to adjust the positions of the first steel pipe and the second steel pipe respectively so that the pipe opening of the first steel pipe is paired with the pipe opening of the second steel pipe.

8. The self-propelled double-tube prefabrication device according to claim 7, characterized in that: The pipe rotation system includes: a pair of first pipe rotating roller mechanisms, the pair of first pipe rotating roller mechanisms being respectively arranged above the pair of first adjustment mechanisms and carrying the first steel pipe, and the pair of first pipe rotating roller mechanisms driving the paired first steel pipe to rotate when rotating; A pair of second pipe rotating roller mechanisms are respectively arranged above the pair of second adjustment mechanisms and carry the second steel pipes. When the pair of second pipe rotating roller mechanisms rotate, they drive the paired second steel pipes to rotate.

9. The self-propelled double-tube prefabrication device according to claim 3, characterized in that: The welding system comprises: a third control module, the third control module being mounted on the main platform; a steel pipe welding mechanism master controller, the steel pipe welding mechanism master controller being installed in the third control module; a pipeline external welding mechanism that first performs bottom welding on the weld and then welds the weld on the outside of the pipeline as the paired first and second steel pipes rotate; and The internal pipeline welding mechanism welds the weld inside the pipeline as the paired first steel pipe and second steel pipe rotate.

10. A method for prefabricating double-connected pipes using the self-propelled double-connected pipe prefabrication device according to any one of claims 1 to 9, characterized in that: include: Control the retractable self-leveling crawler chassis system to automatically move during transfer, and level and unfold it as a working platform during work; controlling a pipe assembling system provided on the retractable automatic leveling crawler vehicle chassis system to assemble a pipe opening of a first steel pipe and a pipe opening of a second steel pipe carried by the pipe assembling system to form a weld; Controlling a pipe rotation system disposed above the pipe pairing system to rotate the first and second steel pipes of the pair; as well as The welding system installed on the retractable automatic leveling crawler vehicle chassis system is controlled to perform bottom welding on the weld and weld the entire weld as the paired first and second steel pipes rotate.

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