Floating underwater gravel bed leveling vessel

Abstract

The present invention provides a floating underwater gravel bed leveling ship, including a hull, a plurality of arranging piles that can be raised and lowered around the hull, and a transport trolley that is driven by a driving device to slide along the hull, a slide pipe that is provided on the transport trolley, a feeding port that is provided at the top of the slide pipe, and a bottom end of the slide pipe that is close to the river bottom; and at least one conveyor belt that feeds the transport trolley. The slide pipe is a first slide pipe and a second slide pipe that are mutually sleeved; the first slide pipe and the second slide pipe are arrangable and connected, and a discharge port adjustment device is provided at the bottom of the second slide pipe; a plurality of winches are provided on the hull, and the wire rope ends of the winches are connected to the second slide pipe. By adopting a movable slide pipe and cooperating with arranging piles that can be raised and lowered, high-precision construction can be achieved, and the slide pipe can be repeatedly moved back and forth to sprinkle stones after one stationary operation; and by cooperating with the structure of the telescopic slide pipe, the length of the entire slide pipe can be conveniently adjusted to accurately control the thickness of the gravel bed.

Description

Technical Field

[0001] The invention relates to the field of underwater engineering construction, in particular to a floating underwater gravel bed leveling vessel. Background Art

[0002] The immersed tube method is a construction method for underwater tunnels. An immersed tube tunnel is an underwater tunnel built by floating several prefabricated sections to the sea surface (river surface) and sinking them one by one in a dredged foundation trench. In order to avoid local high points in the foundation, the bottom plate of the immersed tube is evenly stressed, and a high-precision leveled gravel cushion is designed between the bottom plate and the foundation as the base bed. A special gravel cushion laying ship with high leveling accuracy is required for construction.

[0003] A representative ship is the dynamic positioning vertical drop tube riprap ship "FLINTSTONE" under the DEME Group, which is the largest riprap ship in the world. The ship adopts DP / DT dynamic positioning and does not require the assistance of tugboats. It can operate within 500 meters of the adjacent platform structure and the operating water depth can reach 2000m. Its riprap tube system has a measurement system of active heave compensation ROV, including multi-beam, echo sounder and online processing system, which is considered to be the most advanced in the industry. However, the positioning accuracy of the floating dynamic riprap ship is difficult to reach the cm level, and it is difficult to accurately form a Z-shaped cushion layer in the direction of the ship's travel and the lateral movement of the riprap tube. It is usually only suitable for projects with low surface accuracy requirements such as the protection of oil platforms, large offshore wind power foundations and riprap protection of submarine cables, and is not suitable for the laying of immersed tube foundations.

[0004] A more advanced supporting platform-type riprap and leveling vessel "KUS-ISLAND" was used in the construction of the Busan-Geoje Tunnel in South Korea. [This leveling vessel integrates the functions of gravel throwing, leveling and detection. It essentially integrates the supporting platform structure and the riprap pipe system with compensation devices, and a supporting construction management system is developed. Since the platform of the platform-type laying vessel is lifted off the water surface, the hull is basically not affected by waves, currents, and currents during operation; when the sea conditions are good, it can also be leveled in a floating state, and has a strong ability to adapt to the working environment. The riprap pipe management system can accurately detect and control the elevation and position of the material distribution pipe outlet, and has high leveling accuracy. "KUS-ISLAND" measured the comprehensive laying accuracy of the Busan Tunnel, and the accumulated elevation and flatness reached ±40mm. The disadvantage of this method is that the cost is extremely expensive, and the pile legs need to be inserted into the tunnel bed groove range, which has a certain destructive effect on the foundation.

[0005] Chinese patent document CN107489154A records a deep-sea bed leveling construction method, which realizes stone dumping by moving the hull. However, the problem is that the hull is affected by the waves during the movement, and the construction accuracy is not high. Summary of the invention

[0006] The technical problem to be solved by the present invention is to provide a floating underwater gravel bed leveling vessel, which can replace traditional construction equipment and achieve higher efficiency and more precise construction than the existing technology, especially capable of achieving "Z"-shaped paving.

[0007] In order to solve the above technical problems, the technical solution adopted by the present invention is: a floating underwater gravel bed leveling ship, comprising a hull, a plurality of liftable positioning piles are arranged around the hull, and a transport trolley is also arranged, the transport trolley is driven by a driving device to slide along the hull, a slide pipe is arranged on the transport trolley, a feeding port is arranged at the top of the slide pipe, and the bottom end of the slide pipe is close to the river bottom;

[0008] At least one conveyor belt is also provided for feeding the transport trolley.

[0009] In a preferred solution, the slide pipe is a first slide pipe and a second slide pipe which are sleeved together;

[0010] The first slide pipe is connected to the second slide pipe in a liftable manner, and a discharge port adjustment device is provided at the bottom of the second slide pipe;

[0011] A plurality of hoisting devices are arranged on the hull, and the ends of the steel wire ropes of the hoisting devices are connected with the second slide pipe.

[0012] In a preferred solution, in the discharge port adjustment device, the discharge port sleeve is movably connected with the second slide pipe, a plurality of upper fixing frames extending outward are provided on the outer wall of the second slide pipe, a plurality of lower fixing frames extending outward are correspondingly provided on the outer wall of the discharge port sleeve, and an inclination adjustment cylinder is provided between the upper fixing frames and the lower fixing frames;

[0013] A first inclination sensor is also provided on the discharge port sleeve.

[0014] In a preferred solution, a distance sensor is provided at the bottom of the lower fixing frame for detecting the distance from the discharge port sleeve to the bottom of the base bed.

[0015] In the preferred solution, the oil ports at both ends of the tilt angle adjustment cylinder are connected to the tilt angle reversing valve, the tilt angle reversing valve is connected to the oil inlet pipe and the oil return pipe respectively, and the oil inlet pipe is provided with a second flow valve and a second check valve;

[0016] A plurality of oil inlet pipes are connected to a multi-position distribution solenoid valve, and the multi-position distribution solenoid valve is connected to an oil supply pipe;

[0017] The oil supply pipe is also connected to the pressure buffer tank.

[0018] In a preferred solution, a telescopic fixing device is fixedly provided on the second slide pipe, a fixing bracket of the telescopic fixing device is fixedly connected to the second slide pipe, one or more fixing cylinders are fixedly provided on the fixing bracket, a clip is provided at the front end of the piston rod of the fixing cylinder, the clip passes through the second slide pipe and contacts the outer wall of the first slide pipe, and is used to fix the second slide pipe.

[0019] In the preferred solution, a return spring is provided in the fixed cylinder, the oil port of the fixed cylinder is connected to the oil inlet pipe and the first oil return pipe through a pipeline, the oil inlet pipe and the oil return pipe are connected to the reversing solenoid valve, and the reversing solenoid valve is connected to the oil supply pipe and the second oil return pipe;

[0020] A first flow valve and a first check valve are provided on the oil inlet pipe;

[0021] A pressure sensor is provided on the pipeline;

[0022] The reversing solenoid valve has two positions, each position has a connecting passage and a cut-off position, and the connecting passage and the cut-off position in the two positions are opposite.

[0023] In a preferred solution, a stone detection device is also provided on the first slide pipe to detect the loading height of the stone;

[0024] A GPS positioning device is also provided on the first slide pipe;

[0025] A total station prism is also provided on the outer wall of the first slide pipe.

[0026] In a preferred solution, a track is provided along the length or width direction of the hull, the transport trolley is slidably mounted on the track, and winches are provided at both ends of the track for driving the transport trolley to slide along the track;

[0027] A first conveyor belt is arranged parallel to the track, and a second conveyor belt is arranged on the transport trolley. The inlet end of the second conveyor belt is located below the first conveyor belt, and the outlet end of the second conveyor belt is located above the feeding port.

[0028] In a preferred solution, positioning pile locking devices are provided near the four corners of the hull, and the positioning piles pass through the positioning pile locking devices and are inserted into the bottom of the water;

[0029] The positioning pile locking device is provided with a locking cylinder, which is connected to the pressing block.

[0030] The present invention provides a floating underwater gravel bed leveling ship, which can realize high-precision construction by adopting a movable slide pipe and cooperating with a liftable positioning pile, and realizes one-time stationing. The slide pipe can throw stones back and forth multiple times; in the preferred scheme, by adopting a structure in which the first slide pipe and the second slide pipe are sleeved, in conjunction with a telescopic fixing device, the length of the entire slide pipe can be conveniently adjusted to accurately control the thickness of the gravel bed. The discharge port adjustment device set at the lower end of the slide pipe can conveniently adjust the angle of the discharge port in conjunction with the inclination sensor. When the slide pipe is tilted, the angle of the discharge port can be adjusted to ensure that the discharge port is flush with the mud surface and the distance between the discharge port and the mud surface is kept at a fixed value, thereby ensuring the accuracy of stone paving. The mobile conveyor belt feeding can realize continuous feeding, ensuring that stones can be continuously supplied to the material pipe. A stone detection device is set in the slide pipe to ensure that the amount of stone is constant, thereby ensuring that the pressure of the stone at the discharge port on the ground is consistent, and the accuracy of stone paving can be ensured. The slide pipe can be controlled to extend and retract by a winch device and can be adjusted at any time according to the change of water depth. Through the above method, the device of the present invention can be constructed continuously, which improves the laying speed of the gravel base bed and also improves the laying accuracy of the gravel base bed. The flatness error of the laid gravel base bed can be controlled within 40mm. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The present invention will be further described below in conjunction with the accompanying drawings and embodiments:

[0032] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0033] Figure 2 It is a schematic top view of the overall structure of the present invention.

[0034] Figure 3 It is a side view structural schematic diagram of the present invention.

[0035] Figure 4 It is a structural schematic diagram of the slide pipe and the discharge port regulating device in the present invention.

[0036] Figure 5 It is a top view of the discharge port adjusting device in the present invention.

[0037] Figure 6 It is a top view of the telescopic fixing device in the present invention.

[0038] Figure 7 It is a schematic diagram of the hydraulic drive structure of the fixed cylinder in the present invention.

[0039] Figure 8 It is a schematic diagram of the hydraulic drive structure of the fixed cylinder in the present invention.

[0040] In the figure: a first slide pipe 1, a stone detection device 101, a total station prism 102, a GPS positioning device 103, a second slide pipe 2, a hull 3, a track 31, a driving device 32, a discharge port adjustment device 4, an upper fixed frame 41, an inclination adjustment cylinder 42, an inclination reversing valve 421, a second flow valve 422, a second non-return valve 423, a multi-position distribution solenoid valve 424, a pressure buffer tank 425, a lower fixed frame 43, a distance sensor 44, a first inclination sensor 45, a discharge port sleeve 46, a positioning pile 5, a positioning pile locking device 51, a telescopic fixing device 6, a fixing bracket 61, a fixing cylinder 62, a pressure sensor 621, a first flow valve 622, a first non-return valve 623, a reversing solenoid valve 624, a gravel bed 7, a feeding port 8, a second conveyor belt 9, a winch 10, a wire rope 11 of a hoisting device, a first conveyor belt 12, a transport trolley 13, and a hoisting device 14. DETAILED DESCRIPTION

[0041] like Figures 1 to 3 In the present invention, a floating underwater gravel base bed leveling vessel is provided, including a hull 3, a plurality of liftable positioning piles 5 are arranged around the hull 3, and a transport trolley 13 is also provided. The transport trolley 13 is driven by a driving device to slide along the hull 3, a slide pipe is provided on the transport trolley 13, a feeding port 8 is provided at the top of the slide pipe, and the bottom of the slide pipe is close to the riverbed; the movement of the transport trolley 13 drives the slide pipe to slide, and within a construction section, the hull can be kept unchanged, and the reciprocating movement of the slide pipe can realize the high-efficiency and high-precision laying construction of the gravel base bed 7.

[0042] Also provided with at least one conveyor belt for feeding the transport trolley 13. Preferably, there are two conveyor belts, which can realize continuous feeding.

[0043] The preferred solution is Figure 1 , 4 In the embodiment, the slide pipe is a first slide pipe 1 and a second slide pipe 2 which are connected to each other;

[0044] The first slide pipe 1 is connected to the second slide pipe 2 in a liftable manner, and a discharge port adjustment device 4 is provided at the bottom of the second slide pipe 2;

[0045] A plurality of hoisting devices 14 are provided on the hull 3, and the ends of the steel wire ropes of the hoisting devices 14 are connected to the second slide pipe 2. Through the hoisting devices, the height of the bottom of the second slide pipe 2 from the mud can be conveniently adjusted. Preferably, the hoisting device 14 is arranged on the transport trolley 13 and slides with the slide pipe.

[0046] The preferred solution is Figure 4 , 5In the discharge port adjustment device 4, the discharge port sleeve 46 is movably connected with the second slide pipe 2, a plurality of upper fixing frames 41 extending outward are provided on the outer wall of the second slide pipe 2, a plurality of lower fixing frames 43 extending outward are correspondingly provided on the outer wall of the discharge port sleeve 46, and an inclination adjustment cylinder 42 is provided between the upper fixing frames 41 and the lower fixing frames 43;

[0047] In a preferred embodiment, a first inclination sensor 45 is further provided on the discharge port sleeve 46. According to the feedback of the first inclination sensor 45, the inclination angle of the bottom of the discharge port sleeve 46 is adjusted so that the bottom of the discharge port sleeve 46 is parallel to the bottom of the bed.

[0048] In the preferred solution, a distance sensor 44 is provided at the bottom of the lower fixing frame 43 to detect the distance from the discharge port sleeve 46 to the bottom of the base bed. In this example, there are four upper fixing frames 41 and four lower fixing frames 43. There are also four corresponding distance sensors 44. The distance sensor 44 in this example adopts an ultrasonic or sonar sensor. With this solution, the flatness error of the gravel base bed 7 can be controlled within 40 mm. The accuracy of the ultrasonic or sonar sensor in this example is 2 mm, which meets the accuracy requirements of monitoring.

[0049] Four distance sensors 44 are provided in the present invention. Usually, during the paving process, at least one distance sensor 44 will detect the distance to the muddy ground, and at least one will detect the distance to the gravel bed 7. In this state, the data of the two will be subtracted to obtain the paving height data of the gravel bed 7, so as to make fine adjustments by controlling the extension and contraction of the inclination adjustment cylinder 42. The chute usually adopts a "Z"-shaped walking mode and reciprocates for paving. After paving at least one row of gravel bed 7, at this time, the two distance sensors 44 will detect the distance to the muddy ground. The obtained data will be subtracted to obtain data on whether the discharge port is tilted, and then further verified by the first inclination sensor 45, and fine adjustments will be made by controlling the extension and contraction of the inclination adjustment cylinder 42. The other two distance sensors 44 will detect the distance between the gravel beds 7. The obtained data will be subtracted to determine whether the leveling operation needs to be started. If so, the vibration device 47 will be started to level the surface of the gravel bed 7 until it meets the design requirements.

[0050] The preferred solution is Figure 8 In the embodiment, the oil ports at both ends of the tilt angle adjustment cylinder 42 are connected to the tilt angle reversing valve 421, and the tilt angle reversing valve 421 is connected to the oil inlet pipe and the oil return pipe respectively. The oil inlet pipe is provided with a second flow valve 422 and a second check valve 423;

[0051] Multiple oil inlet pipes are connected to the multi-position distribution solenoid valve 424, and the multi-position distribution solenoid valve 424 is connected to the oil supply pipe; in this example, a multi-position distribution solenoid valve 424 is used to control four tilt adjustment cylinders 42. To adapt to deep water conditions and reduce pipelines. The specific operation steps are to switch the multi-position distribution solenoid valve 424 to supply oil to one of the four tilt adjustment cylinders 42, and control the telescopic action of the piston rod of the tilt adjustment cylinder 42 by switching the tilt reversing valve 421. By adjusting the four tilt adjustment cylinders 42 in turn, the bottom of the discharge port sleeve 46 is made parallel to the bottom of the base bed. Then, according to the feedback of the distance sensor 44, the bottom of the discharge port sleeve 46 is adjusted to an appropriate height in coordination with the action of the winch device 14 to control the thickness of the gravel base bed 7.

[0052] In a preferred solution, a vibration device is provided on the outer wall of the discharge port sleeve 46. The structure of the vibration device is as follows: a hydraulic motor is provided on the outer wall of the discharge port sleeve 46, and the hydraulic motor is connected to the eccentric block, so as to better level the gravel bed 7 by vibration. Further preferably, the vibration device is arranged 90 degrees apart along the circumference of the outer wall of the discharge port sleeve 46, so as to achieve circular, elliptical or linear vibration by control, and further improve the leveling efficiency. The vibration device 47 is provided so that the leveling of the gravel bed 7 does not need to rely on the rigidity of the chute itself, especially when the chute adopts a retractable structure and there is a large gap between the first chute 1 and the second chute 2, the solution of the present invention has greater advantages.

[0053] The oil supply pipe is also connected to the pressure buffer tank 425. By this scheme, the output oil pressure is balanced.

[0054] The preferred solution is Figure 1 , 6 In the embodiment, a telescopic fixing device 6 is fixedly provided on the second slide pipe 2, a fixing bracket 61 of the telescopic fixing device 6 is fixedly connected to the second slide pipe 2, one or more fixing cylinders 62 are fixedly provided on the fixing bracket 61, and a clip is provided at the front end of the piston rod of the fixing cylinder 62, which passes through the second slide pipe 2 and contacts the outer wall of the first slide pipe 1 to fix the second slide pipe 2. With this structure, the winch device 14 is prevented from continuously holding force, especially in deep water conditions, and the influence of the elastic expansion and contraction of the wire rope on the height position of the second slide pipe 2 is avoided.

[0055] The preferred solution is Figure 7 In the embodiment, a return spring is arranged in the fixed cylinder 62, the oil port of the fixed cylinder 62 is connected to the oil inlet pipe and the first oil return pipe through a pipeline, the oil inlet pipe and the oil return pipe are connected to the reversing solenoid valve 624, and the reversing solenoid valve 624 is connected to the oil supply pipe and the second oil return pipe;

[0056] A first flow valve 622 and a first check valve 623 are provided on the oil inlet pipe;

[0057] A pressure sensor 621 is provided on the pipeline;

[0058] The reversing solenoid valve 624 has two positions, each position has a connecting passage and a cut-off position, and the connecting passage and the cut-off position in the two positions are opposite. With this structure, by locking and loosening the reversing solenoid valve 624, and the oil circuit is simple, the pipeline can be greatly reduced and the probability of failure can be reduced.

[0059] In the preferred solution, a stone detection device 101 is further provided on the first chute 1 for detecting the loading height of the stone to ensure a certain amount of stone, thereby ensuring a consistent pressure of the stone on the ground at the discharge port to ensure the accuracy of stone paving.

[0060] A GPS positioning device 103 is also provided on the first slide pipe 1; this solution is used to determine the spatial position of the first slide pipe 1 on the horizontal plane.

[0061] A total station prism 102 is also provided on the outer wall of the first slide pipe 1. This solution is used to determine the spatial position of the first slide pipe 1 with higher accuracy.

[0062] In a preferred embodiment, a track 31 is provided along the length or width direction of the hull 3, and the transport trolley 13 is slidably mounted on the track 31. A winch 10 is provided at both ends of the track 31 to drive the transport trolley 13 to slide along the track 31.

[0063] A first conveyor belt 12 is provided parallel to the track 31, and a second conveyor belt 9 is provided on the transport trolley 13. The inlet end of the second conveyor belt 9 is located below the first conveyor belt 12, and the outlet end of the second conveyor belt 9 is located above the feeding port 8. A discharge hopper is provided on the first conveyor belt 12, which moves with the second conveyor belt 9 and supplies the second conveyor belt 9 with materials.

[0064] The preferred solution is Figures 1 to 3 In the embodiment, positioning pile locking devices 51 are provided near the four corners of the hull 3, and the positioning piles 5 pass through the positioning pile locking devices 51 and are inserted into the mud at the bottom of the water to stabilize the hull;

[0065] The positioning pile locking device 51 is provided with a locking cylinder, which is connected to a clamping block. The cross section of the positioning pile locking device 51 is a ring-shaped structure, with an opening on the ring, and a hinged clamping block is provided at the position of the opening. One end of the locking cylinder is hinged to the clamping block, and the other end is connected to the ring structure. The first slide pipe 1 is loosened or clamped by the extension and contraction of the piston rod of the locking cylinder.

[0066] The hull is moved to the designed position by a winch, and the positioning pile 5 is lowered and inserted into the soil. The positioning pile locking device 51 locks the positioning pile 5. The positioning pile improves the stability of the hull during construction and can resist the horizontal force brought by the water flow force and the chute scraper. At the same time, it provides partial supporting force to keep the draft of the hull constant and not be affected by the load, that is, the changes brought by the movement of the transport trolley 13 and the chute.

[0067] Use GPS / Beidou system to locate the position of the slide pipe in the horizontal plane, let the slide pipe accurately reach the starting stone throwing position, adjust the horizontality of the discharge port at the bottom of the slide pipe by controlling the expansion and contraction of the inclination adjustment cylinder 42, and drive the lifting of the second slide pipe 2 by the winch device 14 to ensure that the elevation of the discharge port is accurate and the discharge port is horizontal. After the position is determined, start the telescopic fixing device 6 to fix the second slide pipe 2. Start the first conveyor belt 12 and the second conveyor belt 9, pour a certain amount of stone into the slide pipe, and when the stone reaches the set height, start the winch 10 to drive the transport trolley 13, drive the slide pipe to slide along one side of the hull 3, and make the stone slowly flow out from the bottom of the slide pipe to form a gravel ridge belt, that is, a gravel bed 7. At the same time, during the construction process, if it is found that there is too little stone in the slide pipe through the stone detection device 101, the stone is automatically replenished in time. After the current gravel belt is laid, all four positioning piles 5 are raised, and the ship is moved by anchor cables or tugboats, and the ship keeps moving steadily. After the ship is moved and positioned, the next gravel bed 7 is laid.

[0068] The above-mentioned embodiments are only preferred technical solutions of the present invention and should not be regarded as limitations of the present invention. The embodiments and features in the embodiments of the present application can be arbitrarily combined with each other without conflict. The protection scope of the present invention shall be the technical solutions recorded in the claims, including the equivalent replacement solutions of the technical features in the technical solutions recorded in the claims. That is, equivalent replacement improvements within this scope are also within the protection scope of the present invention.

Claims

1. A floating underwater gravel bed leveling vessel, comprising a hull (3), characterized in that: A plurality of liftable positioning piles (5) are arranged around the hull (3); positioning pile locking devices (51) are arranged near the four corners of the hull (3); the positioning piles (5) pass through the positioning pile locking devices (51) and are inserted into the bottom of the water; a locking cylinder is arranged in the positioning pile locking device (51), and the locking cylinder is connected to a pressing block; A transport trolley (13) is also provided. The transport trolley (13) is driven by a driving device to slide along the hull (3). A slide pipe is provided on the transport trolley (13). A feeding port (8) is provided at the top of the slide pipe. The bottom of the slide pipe is close to the river bottom. At least one conveyor belt is also provided for feeding the transport trolley (13). A track (31) is provided along the length or width direction of the hull (3), a transport trolley (13) is slidably mounted on the track (31), and winches (10) are provided at both ends of the track (31) for driving the transport trolley (13) to slide along the track (31); a first conveyor belt (12) is provided parallel to the track (31), a second conveyor belt (9) is provided on the transport trolley (13), an inlet end of the second conveyor belt (9) is located below the first conveyor belt (12), and an outlet end of the second conveyor belt (9) is located above the feeding port (8); The slide pipe is a first slide pipe (1) and a second slide pipe (2) which are sleeved together. The first slide pipe (1) is connected to the second slide pipe (2) in a manner that it can be raised or lowered, and a discharge port adjustment device (4) is provided at the bottom of the second slide pipe (2); a plurality of hoisting devices (14) are provided on the hull (3), and the ends of the steel wire ropes of the hoisting devices (14) are connected to the second slide pipe (2); A stone detection device (101) is also provided on the first slide pipe (1) for detecting the loading height of the stone; a GPS positioning device (103) is also provided on the first slide pipe (1); and a total station prism (102) is also provided on the outer wall of the first slide pipe (1); In the discharge port adjustment device (4), the discharge port sleeve (46) is movably connected to the second slide pipe (2), a plurality of upper fixing frames (41) extending outward are provided on the outer wall of the second slide pipe (2), a plurality of lower fixing frames (43) extending outward are correspondingly provided on the outer wall of the discharge port sleeve (46), and an inclination adjustment cylinder (42) is provided between the upper fixing frames (41) and the lower fixing frames (43); a first inclination sensor (45) is also provided on the discharge port sleeve (46); and a distance sensor (44) is provided at the bottom of the lower fixing frame (43) for detecting the distance between the discharge port sleeve (46) and the bottom of the bed; There are four upper fixing frames (41) and four lower fixing frames (43), and four corresponding distance sensors (44). The distance sensors (44) use ultrasonic or sonar sensors to control the flatness error of the gravel base bed (7) within 40 mm. During the paving process, at least one distance sensor (44) detects the distance to the muddy ground, and at least one detects the distance to the gravel base bed (7). In this state, the difference between the two data can be calculated to obtain the paving height data of the gravel base bed (7), so as to perform fine adjustment by controlling the extension and contraction of the inclination adjustment cylinder (42); After paving at least one row of gravel bed (7), the two distance sensors (44) detect the distance to the mud, and by taking the difference of the obtained data, data on whether the discharge port is tilted can be obtained, and then further verified by the first inclination sensor (45), and fine-tuning is performed by controlling the extension and contraction of the inclination adjustment cylinder (42), while the other two distance sensors (44) detect the distance between the gravel bed (7), and by taking the difference of the obtained data, it can be determined whether the leveling operation needs to be started. If so, the vibration device (47) is started to level the surface of the gravel bed (7) until it meets the design requirements; A vibration device is provided on the outer wall of the discharge port sleeve (46), and the vibration device (47) is provided so that the leveling of the gravel bed (7) does not need to rely on the rigidity of the chute itself; A telescopic fixing device (6) is fixedly provided on the second slide pipe (2); a fixing bracket (61) of the telescopic fixing device (6) is fixedly connected to the second slide pipe (2); one or more fixing cylinders (62) are fixedly provided on the fixing bracket (61); a clamp is provided at the front end of a piston rod of the fixing cylinder (62); the clamp passes through the second slide pipe (2) and contacts the outer wall of the first slide pipe (1) for fixing the second slide pipe (2); A return spring is provided in the fixed cylinder (62); the oil port of the fixed cylinder (62) is connected to an oil inlet pipe and a first oil return pipe through a pipeline; the oil inlet pipe and the oil return pipe are connected to a reversing solenoid valve (624); the reversing solenoid valve (624) is connected to an oil supply pipe and a second oil return pipe; a first flow valve (622) and a first check valve (623) are provided on the oil inlet pipe; A pressure sensor (621) is provided on the pipeline; the reversing solenoid valve (624) has two positions, each position having a connecting passage and a cut-off position, and the connecting passage and the cut-off position in the two positions are opposite.

2. A floating underwater gravel bed leveling vessel according to claim 1, characterized in that: The oil ports at both ends of the tilt angle adjustment oil cylinder (42) are connected to the tilt angle reversing valve (421), the tilt angle reversing valve (421) is connected to the oil inlet pipe and the oil return pipe respectively, and the oil inlet pipe is provided with a second flow valve (422) and a second check valve (423); The plurality of oil inlet pipes are connected to the multi-position distribution solenoid valve (424), and the multi-position distribution solenoid valve (424) is connected to the oil supply pipe; the oil supply pipe is also connected to the pressure buffer tank (425).

Images