Underwater foundation bed spiral scraper leveling system and leveling method thereof

Abstract

The invention provides an underwater foundation bed spiral scraper leveling system which comprises an underwater leveling frame, the underwater leveling frame comprises a foundation frame, the foundation frame is provided with a movable moving frame in the length direction, and the lower end of the moving frame is provided with a rotatable scraper blade spiral with opposite spiral joints so as to level broken stones in the foundation frame; the automatic leveling device further comprises a lifting frame arranged on the overwater supporting ship, a lifting hook capable of moving up and down is arranged on the lifting frame, a lifting rope is arranged on the lifting hook, the lower end of the lifting rope is connected with the underwater leveling frame, and the problem of automatic leveling of the underwater foundation bed is solved.

Description

Technical Field

[0001] The invention relates to the field of underwater bed leveling, and in particular to an underwater bed spiral scraper leveling system and a leveling method thereof. Background Art

[0002] The laying and leveling of underwater subgrade gravel is a very important part in the construction of breakwaters, bridges and underwater tunnels. In order to make the top elevation of the subgrade meet the design requirements and facilitate the smooth installation of the upper prefabricated components (such as large caisson foundations and immersed tube sections), the top surface of the subgrade needs to be leveled according to the design requirements. The leveling accuracy of the subgrade directly affects the final installation accuracy of the prefabricated components.

[0003] According to the type of leveling equipment, underwater leveling methods include manual leveling, long-arm excavator leveling, and professional leveling ship or self-elevating platform leveling. Manual leveling generally involves laying rails underwater, and then divers use the rails to position the base bed and use scrapers or manual transportation to level the bed; long-arm excavator leveling involves installing an excavator bucket on the ship and using the bucket to scrape the underwater gravel; professional leveling ships or self-elevating platform leveling generally involves hanging a leveling frame under a ship or platform with a moon pool, with a special material distribution pipe installed on the frame and a scraper installed in front of the material distribution pipe. The scraper can scrape away gravel above the target elevation, and fill gravel below the target elevation with material through the material distribution pipe.

[0004] Generally speaking, manual leveling is only applicable to shallow waters, and its leveling is completely manual. Compared with the latter two, its efficiency is lower, but it has cost advantages. Similarly, with the increase of water depth, the arm length of the long-arm excavator required for leveling is gradually limited. This leveling method is also only applicable to shallow waters, and because the relevant controls are all on board, its leveling accuracy is low, and it is generally used in the rough leveling stage. Specialized self-elevating platforms or leveling ships further adapt to deep-water operating conditions. At present, they can generally level underwater bed within 50m water depth. At the same time, they also have the advantages of high precision and high efficiency, but their use cost is much higher than the former two.

[0005] The traditional scraper leveling method will cause excess gravel to accumulate in front of the scraper, resulting in a continuous increase in leveling resistance. Therefore, the thrust of the scraper is generally designed to be as large as possible to cope with this increasing leveling resistance. At the same time, this also limits the single feed depth of the scraper during leveling. Summary of the invention

[0006] The invention provides an underwater bed spiral scraper leveling system and a leveling method thereof, which solve the problem of automatic leveling of the underwater bed.

[0007] In order to solve the above technical problems, the technical solution adopted by the present invention is: an underwater base bed spiral scraper leveling system, including an underwater leveling frame, the underwater leveling frame includes a foundation frame, the foundation frame is provided with a movable frame along the length direction, and a rotatable scraper spiral is provided at the lower end of the movable frame to level the gravel in the foundation frame.

[0008] The preferred solution also includes a hanging frame arranged on the water support vessel, the hanging frame is provided with a hook that can move up and down, the hook is provided with a hanging rope, and the lower end of the hanging rope is connected to the underwater leveling frame.

[0009] In the preferred scheme, a lateral inclinometer and a longitudinal inclinometer are provided on the underwater leveling frame, the base frame is a rectangular structure, at least four corners of the base frame are provided with hydraulic legs that can be extended and retracted up and down, the lower ends of the hydraulic legs are provided with universal feet, the base frame is connected to an upwardly erected truss measuring tower, and an RTK altimeter is provided on the top of the truss measuring tower.

[0010] In a preferred embodiment, the scraper spiral comprises a rotating shaft, and a first spiral blade and a second spiral blade arranged side by side are provided on the outer side of the rotating shaft, and the first spiral blade and the second spiral blade have opposite rotation directions.

[0011] In the preferred scheme, widening frames are provided at both ends of the mobile frame, and a rotatable first running wheel is provided on the lower side of each end of the widening frame. The first running wheel rolls against the upper end surface of the base frame, and a chain linear guide structure is provided on the side of the base frame. A rotatable sprocket is also provided on the mobile frame, and the sprocket is engaged with the chain linear guide structure.

[0012] In the preferred scheme, there are also multiple temporary piles arranged on the bottom of the water, and the multiple temporary piles are in at least two rows. Each row is provided with a base rail frame, and each base rail frame is provided with a movable beam that can move along the length direction of the base rail frame. Both ends of each movable beam are provided with a traction winch, and the traction cable of each traction winch extends to the side close to the underwater leveling frame and is connected to the four corners of the foundation frame. The extension direction of the traction cable is perpendicular to the length direction of the base rail frame, and multiple inflatable air bags are connected to the outside of the foundation frame.

[0013] In a preferred solution, a height-adjusting seat with a variable height is provided at the upper end of the temporary pile, a clamping seat is provided at the upper end of the height-adjusting seat, and the base rail frame is slidably connected to the clamping seat.

[0014] In the preferred solution, a U-shaped groove is provided at the upper end of the height adjusting seat, and a first push rod with a threaded connection is provided on both side walls of the U-shaped groove. One end of the first push rod abuts against the side wall of the clamping seat, and a C-shaped clamping groove space is provided in the clamping seat. The lower end of the base rail frame is arranged in the clamping groove space, and a second push rod with a threaded connection is provided on both side walls of the clamping groove space, and the end of the second push rod abuts against the side wall of the lower end of the base rail frame.

[0015] In a preferred solution, a lift platform which can be raised and lowered is provided at the upper end of the moving beam, and a rotatable guide wheel is provided on the lift platform, and the guide wheel abuts against the traction cable.

[0016] In the preferred embodiment, The water support vessel is in position, and the underwater leveling frame is lowered into position and leveled; The crushed stones are transported from the water support vessel to the bed surface to be leveled through the crushed stone conveying pipe, and the underwater leveling frame is started to start the leveling operation; After the area is leveled, the acoustic measuring equipment on the water support vessel is used to detect the leveling quality of the gravel base bed, and the concave areas below the target elevation are filled with additional materials; Move the underwater leveling frame to the next construction area to start the next round of leveling construction.

[0017] The beneficial effects of the present invention are as follows: the spiral-scraper leveling frame is designed for independent work, does not require a hard connection with the supporting ship, has a simple structure, and greatly reduces the leveling cost; compared with manual work, it can accurately self-position and level, and efficiently spread and scrape, greatly improving the leveling efficiency and accuracy; the scraper spiral adopts a mirrored double helix structure to prevent gravel from piling up to one side; in terms of construction technology, temporary piles are used to install a mobile base rail frame to achieve rapid construction across small and large strip areas without the participation of water vessels; through parallel double traction cables, in conjunction with air bags, the leveling frame can be towed to move and the amount of suspended swing of the leveling frame can be limited, thereby improving the efficiency of construction position migration and increasing the accuracy of construction position repositioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0019] Figure 1 It is a temporary pile arrangement diagram of the present invention.

[0020] Figure 2 It is a schematic diagram of the supporting vessel and the leveling frame of the present invention.

[0021] Figure 3 It is a schematic diagram of the lower side of the leveling frame of the present invention.

[0022] Figure 4 It is a working schematic diagram of the leveling frame of the present invention.

[0023] Figure 5 It is a schematic diagram of the leveling frame of the present invention moving across a large area.

[0024] Figure 6 It is a construction diagram of the leveling frame according to the depth conditions.

[0025] Figure 7 This is the front view of the leveling frame.

[0026] Figure 8 It is a schematic diagram of the leveling frame landing.

[0027] Fig. 9 This is a schematic diagram of lifting the leveling frame.

[0028] Fig.10 This is an enlarged view of the mobile frame walking structure.

[0029] Fig.11 It is a top view of the leveling frame.

[0030] Fig.12 This is an enlarged view of the mobile rack drive structure.

[0031] Fig.13 This is the structural diagram of the temporary pile.

[0032] Fig.14 It is a diagram of the mechanism for lifting and moving temporary piles everywhere.

[0033] Fig.15 It is a schematic diagram of the temporary pile height adjustment and lateral adjustment structure.

[0034] Fig.16 It is a resistance curve diagram measured at different spiral speeds and scraper forward speeds.

[0035] Fig.17 It is a contour cloud map of the base bed surface before leveling in various working conditions.

[0036] Fig.18 It is a contour cloud map of the base bed surface after two cuts and leveling under each working condition.

[0037] In the figure: a water support vessel 1; a lifting frame 2; a hook 201; a lifting rope 202; a winch 203; an underwater leveling frame 3; a lateral inclinometer 301; a longitudinal inclinometer 302; a truss measuring tower 303; an RTK altimeter 304; a foundation frame 4; a hydraulic support leg 401; a universal foot 402; an inflatable airbag 403; an air pipe 404; a moving frame 5; a first traveling wheel 501; a sprocket wheel 502; a chain linear guide structure 503; a limiting wheel 504; a first traveling motor 505; a widening frame 506; a scraper screw 6; a rotating shaft 601; a first screw The rotary blade 602; the second spiral blade 603; the scraper drive motor 604; the speed reduction and torque increase mechanism 605; the temporary pile 7; the height adjustment seat 701; the clamping seat 702; the screw rod 703; the U-shaped groove 704; the first push rod 705; the clamping groove space 706; the second push rod 707; the base rail frame 8; the walking track 801; the rack 802; the second walking motor 803; the gear 804; the moving beam 9; the traction winch 901; the traction cable 902; the guide wheel 903; the lifting cylinder 904; the second walking wheel 905; the lifting platform 906; the gravel conveying pipe 10. DETAILED DESCRIPTION

[0038] Embodiment 1: like Figure 1-15In the invention, an underwater bed spiral scraper leveling system comprises an underwater leveling frame 3, wherein the underwater leveling frame 3 comprises a base frame 4, wherein the base frame 4 is provided with a movable moving frame 5 along the length direction, and a rotatable scraper spiral 6 is provided at the lower end of the moving frame 5 to level the gravel in the base frame 4.

[0039] The preferred solution further comprises a hanging frame 2 arranged on the water support vessel 1 , the hanging frame 2 is provided with a hook 201 which can move up and down, the hook 201 is provided with a hanging rope 202 , and the lower end of the hanging rope 202 is connected to the underwater leveling frame 3 .

[0040] The hanging frame 2 is a frame body similar to a parallelogram structure, and one corner thereof extends outward to support the edge of the ship 1 above water.

[0041] A winch 203 is provided on the water support vessel 1, and a pulley mechanism is provided on the hanging frame 2. The traction rope of the winch 203 is connected to the hook 201 through the pulley mechanism on the hanging frame 2. The hook 201 moves downward and the underwater leveling frame 3 is placed on the bottom of the water.

[0042] A secondary hook is also provided next to the hook 201 of the hanging frame 2 to assist in hanging the gravel conveying pipe 10 .

[0043] In the preferred scheme, a lateral inclinometer 301 and a longitudinal inclinometer 302 are provided on the underwater leveling frame 3, the base frame 4 is a rectangular structure, and at least four corners of the base frame 4 are provided with hydraulic legs 401 that can be extended and retracted up and down, and the lower ends of the hydraulic legs 401 are provided with universal feet 402. The base frame 4 is connected to an upwardly erected truss measuring tower 303, and an RTK altimeter 304 is provided on the top of the truss measuring tower 303.

[0044] A flexible gravel conveying pipe 10 is provided on the water support vessel 1 , and the lower end of the gravel conveying pipe 10 is connected to the underwater leveling frame 3 to convey gravel into the foundation frame 4 .

[0045] The basic frame 4 and the square frame-shaped welded frame, the hydraulic support legs 401 are installed at the four corners of the frame structure, the cylinder body of the hydraulic support legs 401 is embedded in the basic frame 4, the telescopic cylinder rod is downward, the end of the telescopic cylinder rod is a ball joint structure and is hinged to the universal foot 402, so that the universal foot 402 can swing in a small range.

[0046] Under the monitoring of the RTK altimeter 304, the lateral inclinometer 301 can be guided to extend to a set length so that the base frame 4 reaches a predetermined height. The lateral inclinometer 301 and the longitudinal inclinometer 302 can cooperate to guide the relative difference in the extension length of the four hydraulic legs 401 and adjust the inclination of the base frame 4 to keep it level.

[0047] In a preferred embodiment, the scraper spiral 6 includes a rotating shaft 601 , and a first spiral blade 602 and a second spiral blade 603 arranged side by side are provided on the outer side of the rotating shaft 601 , and the first spiral blade 602 and the second spiral blade 603 rotate in opposite directions.

[0048] A scraper driving motor 604 fixed to the lower end of the moving frame 5 is disposed at one end of the rotating shaft 601 , and a speed reducing and torque increasing mechanism 605 is disposed at the shaft end of the scraper driving motor 604 and is connected to the shaft end of the rotating shaft 601 .

[0049] The first spiral blade 602 and the second spiral blade 603 are of the same length and rotate in opposite directions, which can prevent the broken stones from gathering on one side and affecting the flatness.

[0050] In the preferred solution, widening frames 506 are provided at both ends of the mobile frame 5, and a rotatable first running wheel 501 is provided on the lower side of each end of the widening frame 506. The first running wheel 501 rolls against the upper end surface of the base frame 4, and a chain linear guide structure 503 is provided on the side of the base frame 4. A rotatable sprocket 502 is also provided on the mobile frame 5, and the sprocket 502 is engaged with the chain linear guide structure 503.

[0051] The moving frame 5 is provided with a first travel motor 505 , and the shaft end of the first travel motor 505 is connected to the sprocket 502 .

[0052] A protruding structure is provided on the inner side of the base frame 4 along the length direction, and a limiting wheel 504 is provided at the lower end of the movable frame 5. The limiting wheel 504 rolls against the lower end of the protruding structure of the base frame 4 to prevent the movable frame 5 from slipping out upward.

[0053] In the preferred embodiment, a plurality of temporary piles 7 are arranged at the bottom of the water, and the plurality of temporary piles 7 are arranged in at least two rows. A base rail frame 8 is provided on each row, and each base rail frame 8 is provided with a movable beam 9 which can move along the length direction of the base rail frame 8. A traction winch 901 is provided at both ends of each movable beam 9. A traction cable 902 of each traction winch 901 extends toward a side close to the underwater leveling frame 3 and is connected to the four corners of the foundation frame 4. The extension direction of the traction cable 902 is perpendicular to the length direction of the base rail frame 8. A plurality of inflatable air bags 403 are connected to the outside of the foundation frame 4.

[0054] A rotatable second traveling wheel 905 is provided at the lower end of the moving beam 9, a traveling track 801 is provided on the base rail frame 8, the second traveling wheel 905 rolls against the traveling track 801, a second traveling motor 803 is provided at one side of the moving beam 9, a gear 804 is provided at the shaft end of the second traveling motor 803, a rack 802 is provided at the side end of the base rail frame 8, and the gear 804 is meshed with the rack 802.

[0055] The base rail frames 8 on two adjacent rows of temporary piles 7 are parallel, and the movable beams 9 thereon are respectively on both sides of the underwater leveling frame 3 . A total of four traction winches 901 pull the underwater leveling frame 3 .

[0056] The inflatable airbags 403 are fixed to the outer wall of the base frame 4 through connectors, and the inflatable airbags 403 are connected in series through pipelines.

[0057] After the underwater leveling frame 3 is constructed in a strip area, it needs to be moved to the next position. At this time, the inflation system on the water support vessel 1 inflates the inflatable airbag 403 through the air pipe 404, so that the volume of the inflatable airbag 403 increases, the buoyancy increases, and the underwater leveling frame 3 is against its own weight. The pulling rope point can be set higher than the underwater leveling frame 3. When the four traction cables 902 are tightened, the underwater leveling frame 3 can be pulled up to make the underwater leveling frame 3 leave the bottom of the water. The traction winches 901 on the two moving beams 9, one group of traction and winding, and the other group of unwinding follow to drive the underwater leveling frame 3 to the next position.

[0058] When moving in the opposite direction, the traction group and the winding group are swapped.

[0059] When the construction of one strip area is completed, two adjacent moving beams 9 can be synchronously moved in one direction along the base rail frame 8 to pull the underwater leveling frame 3 to the next adjacent strip area for construction.

[0060] Another way is as follows Figure 6 , follow the high priority model and construct from low to high.

[0061] In a preferred solution, a height-adjusting seat 701 with a variable height is provided at the upper end of the temporary pile 7 , a clamping seat 702 is provided at the upper end of the height-adjusting seat 701 , and the base rail frame 8 is slidably connected to the clamping seat 702 .

[0062] Due to the height difference of the underwater foundation, the pile surface height will also be different when piling, so a height adjustment mechanism is required. A plurality of screws 703 are provided at the lower end of the height adjustment seat 701, the lower end of the screw 703 is threadedly connected to the upper flange of the temporary pile 7, the upper end of the screw 703 passes through the through hole at the lower end of the height adjustment seat 701, and the upper end of the screw 703 is sleeved with a plurality of threaded height adjustment nuts to adjust and lock the height of the height adjustment seat 701.

[0063] Each temporary pile 7 can be pre-installed with a height adjustment seat 701 and a clamping seat 702. After the construction of a large area is completed, the base rail frame 8 can be slid to the next position and clamped in the clamping seat 702 at the next position to achieve rapid transfer of the construction position of a large area.

[0064] In the preferred scheme, a U-shaped groove 704 is provided at the upper end of the height adjustment seat 701, and a first push rod 705 with a threaded connection is provided on both side walls of the U-shaped groove 704. One end of the first push rod 705 abuts against the side wall of the clamping seat 702. A C-shaped clamping groove space 706 is provided in the clamping seat 702. The lower end of the base rail frame 8 is arranged in the clamping groove space 706. A second push rod 707 with a threaded connection is provided on both side walls of the clamping groove 706, and the end of the second push rod 707 abuts against the side wall of the lower end of the base rail frame 8.

[0065] The lateral position of the clamping seat 702 can be adjusted by rotating the two first push rods 705 to align with the base rail frame 8.

[0066] After the construction of a large area is completed, the second push rod 707 can be loosened, and the base rail frame 8 can slide into the next clamping seat 702, and then the second push rod 707 of the clamping seat 702 is clamped to fix the base rail frame 8.

[0067] The width of the embedded structure at the lower end of the base rail frame 8 is smaller than the width of the slot space 706. There are at least four second push rods 707, close to the four corners. The orientation angle of the base rail frame 8 can be fine-tuned by adjusting the extension length of the four second push rods 707 to prevent the base rail frame 8 from being aligned with another card seat 702.

[0068] In a preferred solution, a lift platform 906 that can be raised and lowered is provided at the upper end of the moving beam 9 , and a rotatable guide wheel 903 is provided on the lift platform 906 , and the guide wheel 903 rests on the traction cable 902 .

[0069] A lifting cylinder 904 is installed on the moving beam 9, and the cylinder rod end of the lifting cylinder 904 lifts the lifting platform 906. In order to prevent the cylinder rod from being subjected to excessive lateral force, the lifting platform 906 is also provided with a guide rod, which is slidably connected to the moving beam 9.

[0070] The leveling plan is: Temporary piles 7 are inserted in advance in the underwater construction area and arranged in a matrix; Water support vessel 1 is in position; Install a height adjustment seat 701 and a clamping seat 702 on each temporary pile 7, and install two base rail frames 8; Adjust the horizontality of the single base rail frame 8 and the parallelism of the two base rail frames 8; Install the moving beam 9 and the traction winch 901 on the base rail frame 8; In the figure: a water support vessel 1; a lifting frame 2; a hook 201; a lifting rope 202; a winch 203; an underwater leveling frame 3; a lateral inclinometer 301; a longitudinal inclinometer 302; a truss measuring tower 303; an RTK altimeter 304; a foundation frame 4; a hydraulic support leg 401; a universal foot 402; an inflatable airbag 403; an air pipe 404; a moving frame 5; a first traveling wheel 501; a sprocket wheel 502; a chain linear guide structure 503; a limiting wheel 504; a first traveling motor 505; a widening frame 506; a scraper screw 6; a rotating shaft 601; a first screw The rotary blade 602; the second spiral blade 603; the scraper drive motor 604; the speed reduction and torque increase mechanism 605; the temporary pile 7; the height adjustment seat 701; the clamping seat 702; the screw rod 703; the U-shaped groove 704; the first push rod 705; the clamping groove space 706; the second push rod 707; the base rail frame 8; the walking track 801; the rack 802; the second walking motor 803; the gear 804; the moving beam 9; the traction winch 901; the traction cable 902; the guide wheel 903; the lifting cylinder 904; the second walking wheel 905; the lifting platform 906; the gravel conveying pipe 10.

[0071] Using the acoustic measuring equipment on the water support vessel 1, the original height of the underwater bed is detected; The underwater leveling frame 3 is lowered, and the traction cable 902 is connected to the foundation frame 4; Underwater leveling frame 3 for leveling; The crushed stones are transported from the water support vessel 1 to the bed surface to be leveled through the crushed stone transport pipe 10, and the underwater leveling frame 3 is started to start the leveling operation of the strip area; like Figure 6 , the traction cable 902 and the two moving beams 9 cooperate to drive the underwater leveling frame 3 to the lowest position area of ​​the bed, and then construct the second lowest area, and so on until the construction of the large area is completed; After the large area is leveled, the acoustic measuring equipment on the water support vessel 1 is used to detect the leveling quality of the gravel base bed, and the concave areas below the target elevation are filled with additional materials; The base rail frame 8 is slid onto the clamping seat 702 of the next large area, and the underwater leveling frame 3 is moved to the next large area to start the next round of leveling construction.

[0072] Embodiment 2: A barge-lifted underwater leveling equipment based on spiral-scraper gravel bed leveling includes: an above-water support vessel, a lifting frame, a lifting rope, an underwater leveling frame, a hydraulic pump station, a winch, a spiral, a scraper, a truss-type measuring tower, a leveling frame main frame, hydraulic legs, tracks, a lifting frame traveling trolley, a trolley main hook, a trolley auxiliary hook, a leveling frame traveling trolley pin wheel pin gear transmission mechanism, a limit wheel, a guide wheel, a lateral inclinometer, a longitudinal inclinometer, and a base bed to be leveled.

[0073] The prototype of the water support vessel is a barge of appropriate specifications, on which are arranged a gravel storage and launching area, an underwater leveling frame hoisting frame, a leveling frame storage and maintenance area, various power stations and pipelines, providing a carrier for gravel throwing, power transmission, leveling frame operation support, and maintenance and inspection.

[0074] The lifting frame is a lifting device that supports the side arrangement of the barge. It is responsible for the overall movement of the leveling frame's lifting, lowering and lateral movement. Its width is slightly wider than that of the leveling frame.

[0075] The lifting rope is responsible for connecting the leveling frame and the crane, supporting the ship, and bearing the force of the leveling frame and hydraulic oil pipe during lifting and lowering.

[0076] The underwater leveling frame is the core content of this patent. It is responsible for underwater leveling work. The overall structure is a rectangular frame with measuring towers at the two corners of the frame. Spiral and scraper trolleys are arranged in the horizontal frame, and tracks and moving trolleys are arranged along the longitudinal direction of the frame, as well as connections and limiters between the horizontal and vertical equipment and the trusses.

[0077] The hydraulic pump station is the power source of the hydraulic system. It converts mechanical energy into the pressure energy of hydraulic oil, and controls the hydraulic drive motors of the cylinder, screw and scraper trolley to achieve the target movement by adjusting the direction, pressure and flow of the hydraulic oil.

[0078] The winch is the part of the crane where the lifting rope is wound, and it controls the lifting and lowering of the leveling frame by winding in and out the wire rope.

[0079] The spiral is arranged in a horizontally symmetrical manner and is responsible for the main function of leveling, spreading the aggregated gravel horizontally in a spiral manner.

[0080] The scraper is located behind the spiral. After the spiral spreads the gravel, it will scrape the remaining gravel above the leveling elevation and add it to the depression below the base bed elevation to a certain extent.

[0081] Two truss-type measuring towers are respectively arranged at the two vertices of the leveling frame away from the rectangular frame supporting the ship. An RTK positioning device is arranged on the top of the tower to measure and calculate the plane position and elevation of the underwater leveling frame. When the leveling frame is located underwater in the operating waters, the top of the measuring tower is exposed above the water surface and is wirelessly connected with the base station in real time to measure and control the elevation of the leveling frame.

[0082] The main frame of the leveling frame is a rectangular hollow truss structure, which is a carrier for components such as the spiral-scraper track walking trolley and hydraulic legs.

[0083] The hydraulic legs support the leveling frame at the bottom of the leveling water area and are responsible for adjusting the elevation and inclination of the leveling frame to meet the target requirements.

[0084] The track is arranged on the long side of the rectangular frame of the leveling frame as a whole, and is the travel path of the traveling trolley. Meanwhile, the direction of the track is the travel direction of the spiral scraper.

[0085] The traveling trolley of the hanging frame is located on the crossbeam track of the hanging frame and can move along the crossbeam direction of the hanging frame. It is used to move the leveling frame horizontally and is responsible for moving it from the ship to the water surface and retrieving it from the water to the deck of the supporting ship.

[0086] The main hook of the trolley is used for raising and lowering the leveling frame.

[0087] The trolley auxiliary hook is used for synchronously lifting and placing pipelines such as the leveling frame hydraulic oil pipeline.

[0088] The leveling frame trolley is symmetrically arranged with the tracks on both sides, and the spiral-scraper leveling device is connected in the middle, which is responsible for the movement of the spiral-scraper.

[0089] In the pin wheel and pin tooth transmission mechanism, the pin wheel is located at the lower part of the trolley, the pin tooth is located at the center of the track, and the pin wheel and pin tooth meshing transmission provides the traveling mode of the trolley.

[0090] The limiting wheel is located at the lower inner side of the gear rack track to limit the vertical movement of the trolley. Due to the accumulation of gravel in front of the scraper during the leveling process, the spiral and the scraper may be subjected to an upward lifting force. In order to avoid the spiral and the scraper being lifted up during the leveling process, the bottom elevation may deviate from the target elevation.

[0091] The guide wheel is located above the track of the main frame of the leveling frame, assisting and guiding the movement of the walking trolley on the track.

[0092] The lateral inclinometer is located at the midpoint of the short side of the rectangular frame of the leveling frame, and is used to measure and control the lateral tilt angle of the leveling frame underwater.

[0093] The longitudinal inclinometer is located at the midpoint of the long side of the rectangular frame of the leveling frame, and measures and controls the longitudinal tilt angle of the leveling frame underwater.

[0094] The base bed that needs to be leveled is the part of the base bed after the leveling frame reaches the designated leveling position and the riprap operation is completed.

[0095] Underwater leveling construction methods include: 1. Preparation of the leveling frame: The leveling frame is installed on the water support vessel, including the spiral, scraper, truss measuring tower, overall frame of the leveling frame, hydraulic legs, lateral inclinometer, longitudinal inclinometer, track, pin wheel pin gear transmission mechanism, hydraulic oil pipe, etc., and then the hydraulic pump station and other power equipment are installed, and the leveling frame is debugged. Finally, the hydraulic legs are in the retracted state, and the scraper and spiral are moved to the end of the leveling frame.

[0096] 2. Put the leveling support vessel into position: With manual assistance, the leveling frame is connected to the main hook of the trolley by a lifting rope, and the hydraulic oil pipe is connected to the auxiliary hook of the trolley. At the same time, the water support vessel carries the leveling frame to the target waters and accurately positions it on the bed to be leveled through anchoring positioning.

[0097] 3. The leveling frame is in place: the leveling frame is lowered into the water steadily by the crane on the leveling support ship, and the hydraulic oil pipes are lowered into the water at the same time. The leveling frame is positioned underwater with the assistance of divers until the hydraulic legs touch the bottom surface and are completely on the bottom. At this time, the crane is still connected to the leveling frame through the lifting rope, but no pulling force is generated.

[0098] 4. Leveling of the leveling frame: Adjust the hydraulic system, accurately control the extension and retraction of the hydraulic leg cylinder, and coordinate with the elevation and horizontal and vertical tilt angles monitored by the truss measuring tower, transverse inclinometer, and longitudinal inclinometer to adjust the overall frame plane of the leveling frame to the target leveling plane elevation.

[0099] 5. Stone throwing and leveling: Throw the crushed stones from the water support ship to the bed surface to be leveled until the stone throwing amount is reached. Then, the hydraulic system is used to start the track trolley and the spiral. One end of the overall frame of the leveling frame moves forward on the gear rack track at the set lateral speed to start the leveling operation.

[0100] 6. Inspection and leveling of the base bed: After the leveling operation is completed, the quality of the gravel base bed leveling will be tested by using acoustic measuring equipment on the water support vessel. If there are any sunken areas below the target elevation, they will be filled with materials to level them.

[0101] 7. Leveling operation cycle: After the leveling operation of a single target leveling area is completed, the crane will lift the leveling frame and the hydraulic oil pipe synchronously to make the leveling frame leave the water surface, and then repeat steps 2-6 until the leveling work of all the base beds to be leveled is completed.

[0102] 8. Storage and maintenance of the leveling frame: After the underwater leveling work is completed, or the leveling frame fails, the hoisting frame will lift the leveling frame out of the water, move it horizontally to the water support vessel through a mobile trolley, and lower it to the deck of the vessel for storage, maintenance or inspection.

[0103] Embodiment 3: The overall solution of the spiral-scraper combination leveling device has a spiral diameter of 0.6m and a pitch of 0.25m. Its bottom is flush with the scraper behind it. The closest distance between the spiral edge and the scraper is 0.14m, and the angle between the scraper and the forward direction is 100°.

[0104] A leveling test platform was built on the basis of the spiral-scraper combination device: the platform consists of a traction winch, a test bench, a trolley, a return winch, and a pump station. The trolley is equipped with a spiral-scraper leveling device, and the feed depth of the spiral-scraper is controlled by a hydraulic cylinder. The trolley moves back and forth on the test bench track through a pulley. Sand and gravel are laid inside the test bench and its surface is sorted to simulate different leveling conditions. During the experiment, the pump station controls the operation of various cylinders to achieve control of the trolley forward speed, spiral speed, and feed amount. A dynamometer is set at the connection between the traction winch cable and the trolley to record the trolley resistance during the experiment.

[0105] This paper describes the flatness of the base bed surface by using the elevation data of the base bed surface before and after leveling. A laser rangefinder is used to measure the distance l from the base bed surface to the center line of the lower beam in front of the trolley. Assuming the ground height is 0 and the height of the center line of the beam is H, the absolute elevation h of the base bed is calculated as follows, where H=1.17m and h=Hl.

[0106] The relevant working conditions of the resistance experiment and process experiment are summarized in Table 1 below: The resistance experiment explored the influence of spiral speed and scraper forward speed on the leveling resistance. In order to further control the variables, the experiment was carried out on a fully paved and flat base bed, and the feed depth was 5 cm. The leveling effect experiment explored the leveling effect of different structures. In the table, the speed of working condition 9 is 0. This working condition is to explore the leveling performance of a single scraper, working condition 10 is to explore the leveling performance of the spiral-scraper combination device, and working condition 11 is to explore the leveling performance of a single spiral.

[0107]

[0108] Before the experiment, an empty-load test was conducted and the resistance of the trolley when moving forward empty-loaded was measured to be 155N. After excluding the result of the empty-load friction resistance, the resistance curves of each working condition were measured as follows: Fig.16 .

[0109] It can be seen that when the spiral speed is 0, the total resistance of leveling increases continuously with time; when the spiral starts to rotate, the resistance curve rises for a period of time and then stabilizes and fluctuates within a certain range, which indicates that the spiral rotation has achieved a good drag reduction effect on the paving of piled stones.

[0110] Before each leveling, the bed surface was processed by an excavator to simulate the uneven surface after riprap in actual engineering. Before leveling, the elevation data of the bed surface was measured and the contour cloud map of the bed surface was drawn. Fig.17 .

[0111] To control the variables, the surface flatness of the bed (the difference between the maximum and minimum elevation) of the three process experiments was controlled at about 0.16m. In the process experiments, each working condition was leveled twice, and the amount of each feed was 5cm. After two feeds, the elevation of the bed surface was measured. The surface flatness of the bed in working conditions 9-11 was 0.036m, 0.040m, and 0.130m respectively. Based on the measured data, the contour cloud map of the bed surface was drawn as follows Fig.18 .

[0112] From the perspective of the flatness of the base bed surface, when the scraper is used for leveling, the rotation of the spiral has little effect on the flatness of the base bed surface. However, from the perspective of the contour cloud map, the rotation of the spiral is beneficial to the improvement of the leveling performance. The contour cloud map after leveling at a speed of 30rpm is significantly smaller than that at a speed of 0. This is caused by filling the low-lying areas of the base bed during the spiral paving process. The single spiral leveling effect is the worst. Since the direction of friction when the spiral rotates is consistent with the leveling direction, the experiment showed that the spiral rotation drove the entire platform vehicle to move forward, and spiral grooves appeared on the surface of the base bed.

[0113] The above experiments show that compared with the traditional single scraper process, adding a spiral in front of the scraper will further reduce the leveling resistance during the leveling process and further improve the leveling effect.

[0114] The above embodiments are only preferred technical solutions of the present invention and should not be regarded as limiting the present invention. The protection scope of the present invention shall be the technical solutions recorded in the claims, including 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. An underwater bed spiral scraper leveling system, characterized by: The underwater leveling frame (3) comprises a base frame (4), the base frame (4) is provided with a movable frame (5) along the length direction, and a rotatable scraper spiral (6) is provided at the lower end of the movable frame (5) to level the gravel in the base frame (4).

2. The underwater bed spiral scraper leveling system according to claim 1 is characterized by: It also comprises a hanging frame (2) arranged on the water support vessel (1), the hanging frame (2) being provided with a hanging hook (201) movable up and down, the hanging hook (201) being provided with a hanging rope (202), the lower end of the hanging rope (202) being connected to the underwater leveling frame (3).

3. The underwater bed spiral scraper leveling system according to claim 1 is characterized by: The underwater leveling frame (3) is provided with a transverse inclinometer (301) and a longitudinal inclinometer (302); the base frame (4) is a rectangular structure; at least four corners of the base frame (4) are provided with hydraulic legs (401) that can be telescoped upward and downward; the lower ends of the hydraulic legs (401) are provided with universal feet (402); the base frame (4) is connected to an upwardly erected truss measuring tower (303); and the top of the truss measuring tower (303) is provided with an RTK altimeter (304).

4. The underwater bed spiral scraper leveling system according to claim 1 is characterized by: The scraper spiral (6) comprises a rotating shaft (601), and a first spiral blade (602) and a second spiral blade (603) arranged side by side are provided outside the rotating shaft (601), and the first spiral blade (602) and the second spiral blade (603) have opposite rotation directions.

5. The underwater bed spiral scraper leveling system according to claim 1 is characterized by: Widening frames (506) are provided at both ends of the moving frame (5), and rotatable first running wheels (501) are provided at the lower sides of both ends of the widening frame (506). The first running wheels (501) roll against the upper end surface of the base frame (4), and a chain linear guide structure (503) is provided on the side of the base frame (4). A rotatable sprocket wheel (502) is also provided on the moving frame (5), and the sprocket wheel (502) is meshed with the chain linear guide structure (503).

6. The underwater bed spiral scraper leveling system according to claim 3 is characterized by: A plurality of temporary piles (7) are arranged underwater. The plurality of temporary piles (7) are arranged in at least two rows. A base rail frame (8) is arranged on each row. Each base rail frame (8) is provided with a movable beam (9) movable along the length direction of the base rail frame (8). A traction winch (901) is arranged at both ends of each movable beam (9). A traction cable (902) of each traction winch (901) extends toward a side close to the underwater leveling frame (3) and is connected to four corners of the foundation frame (4). The extension direction of the traction cable (902) is perpendicular to the length direction of the base rail frame (8). A plurality of inflatable air bags (403) are connected to the outside of the foundation frame (4).

7. The underwater bed spiral scraper leveling system according to claim 6 is characterized by: A height-adjusting seat (701) with a variable height is provided at the upper end of the temporary pile (7), a clamping seat (702) is provided at the upper end of the height-adjusting seat (701), and the base rail frame (8) is slidably connected to the clamping seat (702).

8. The underwater bed spiral scraper leveling system according to claim 7 is characterized by: The upper end of the height adjustment seat (701) is provided with a U-shaped groove (704), and both side walls of the U-shaped groove (704) are respectively provided with first push rods (705) connected by threads, one end of the first push rod (705) abuts against the side wall of the clamping seat (702), and a C-shaped clamping groove space (706) is provided in the clamping seat (702), and the lower end of the base rail frame (8) is arranged in the clamping groove space (706), and both side walls of the clamping groove space (706) are provided with second push rods (707) connected by threads, and the end of the second push rod (707) abuts against the lower side wall of the base rail frame (8).

9. The underwater bed spiral scraper leveling system according to claim 6 is characterized by: A lifting platform (906) that can be raised and lowered is provided at the upper end of the moving beam (9), and a rotatable guide wheel (903) is provided on the lifting platform (906), and the guide wheel (903) is against the traction cable (902).

10. The leveling method of the underwater bed spiral scraper leveling system according to claim 1, characterized in that: The water support vessel (1) is in position, and the underwater leveling frame (3) is lowered into position and leveled; The crushed stones are transported from the water support vessel (1) to the bed surface to be leveled through the crushed stone transport pipe (10), and the underwater leveling frame (3) is started to start the leveling operation; After the area is leveled, the acoustic measuring equipment on the water support vessel (1) is used to detect the leveling quality of the gravel base bed, and the concave areas below the target elevation are filled with additional materials; The underwater leveling frame (3) is moved to the next construction area to start the next round of leveling construction.

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