Dragging walking type underwater seabed leveling device and method

Abstract

The invention relates to the technical field of seabed leveling devices, in particular to a dragging walking type underwater seabed leveling device and method. Comprising a truss type machine body, a leveling mechanism capable of being unfolded and closed, a self-adaptive sliding shoe mechanism, a rolling walking mechanism, a leveling mechanism and a signal transmission mechanism. The flattening mechanism capable of being unfolded and closed can do linear motion along the truss type machine body, the included angle between the flattening mechanism capable of being unfolded and closed and the truss type machine body is a variable included angle, and the range of the variable included angle is 0-90 degrees. The self-adaptive sliding shoe mechanism is arranged at the front end of the truss type fuselage and conducts posture adjustment according to the fluctuating state of the seabed. And the leveling mechanisms are triangularly distributed at the bottom of the truss type machine body. The signal transmission mechanism is arranged on the truss type fuselage, and the signal transmission mechanism is provided with an RTK and a working state, and the RTK extends out of the sea surface. The structure is simple, large-range leveling operation is achieved through the leveling mechanism capable of being unfolded and closed, the leveling efficiency is high, and the leveling requirement of a complex seabed can be met.

Description

Technical Field

[0001] The present invention relates to the technical field of seabed leveling devices, and in particular to a towing underwater seabed leveling device and method. Background Art

[0002] With the acceleration of global marine resource development and the advancement of marine engineering technology, marine engineering has become an important part of modern infrastructure construction. Subsea operations have gradually become a key means to solve energy needs, communication needs, disaster prevention and mitigation and other problems. Among them, marine energy development, submarine pipeline and cable laying, offshore wind farm infrastructure construction, submarine mineral mining and other projects have increasingly stringent requirements for the marine bottom environment. In order to ensure smooth construction of the project, it is particularly important to level the seabed surface or gravel bed.

[0003] However, the types of seabed environments are complex and diverse, including sandy seabeds, silt seabeds, gravel seabeds, etc. Each type of seabed has different requirements for leveling technology. For example, the leveling of sandy seabeds needs to ensure a high degree of flatness to avoid local settlement or sand flow. The leveling equipment needs to have strong balance and stability to prevent the equipment from tilting or sinking on the loose sand bed. In addition, excessive compaction should be avoided during the leveling of sandy seabeds to avoid affecting the quality of subsequent construction projects. Commonly used sandy seabed leveling technologies include bulldozer leveling and scraper leveling. The silt seabed has a viscous and dense texture. During the leveling process, it is necessary to overcome a large viscous friction force to avoid excessive sinking of the equipment or dragging of the silt layer. Therefore, the adaptability of the leveling machine to leveling operations on different types of seabeds is more prominent. At the same time, the terrain of the seabed is complex and changeable, especially the ups and downs of the seabed terrain are large, which may contain rocks, sediment accumulation, natural obstacles, etc. The adaptability of the leveling machine to different terrains during underwater operations is particularly critical. In addition, the underwater environment also brings huge challenges to the equipment's communication and positioning. Common underwater positioning technologies include sonar positioning, lidar positioning, underwater visual positioning, etc., but these positioning methods are limited by underwater turbidity and visibility, and cannot guarantee the positioning accuracy before and after the leveling machine operation.

[0004] At present, the construction scope and scale of the foundation leveling work of marine engineering projects such as cross-sea bridges and offshore wind farms are wide and large, which are typical large-scale engineering projects. Such projects often have the following characteristics: (1) High-density construction tasks: The construction tasks are densely distributed and the work intensity is high, requiring the construction team to have a high work density and efficient work arrangement; (2) The need for optimizing construction efficiency: Faced with a huge workload and a limited construction period, improving construction efficiency has become the key to project success; (3) Cross-scale resource coordination and scheduling: Large-scale construction tasks require refined, cross-scale resource scheduling and management at multiple levels and dimensions (such as equipment, personnel, and materials).

[0005] However, at present, there is a lack of underwater seabed leveling machines on the market or in the invention patents disclosed that can cope with complex seabed conditions and meet the needs of different operation scales, especially large-scale seabed leveling projects. Summary of the invention

[0006] In order to solve the shortcomings of the prior art, the present invention provides a towing underwater seabed leveling device and method. The device and method can cope with complex seabed conditions, are easy to transport, and are efficient in operation. They can meet the needs of operations of different scales and provide an efficient underwater operation device and method for large-scale leveling operations.

[0007] The technical solution of the present invention is:

[0008] A towing and walking underwater seabed leveling device comprises a truss fuselage, an expandable and closed leveling mechanism, an adaptive sliding shoe mechanism, a rolling parallel walking mechanism and a leveling mechanism. The expandable and closed leveling mechanism is arranged on both sides of the truss fuselage and is arranged as two symmetrical ones. The two expandable and closed leveling mechanisms can make linear motion along the truss fuselage. The angle between the expandable and closed leveling mechanism and the truss fuselage is a variable angle, and the range of the variable angle is 0 to 90 degrees. The expandable and closed leveling mechanism comprises a crane, a crane drive assembly, a fuselage bottom leveling assembly, a seabed leveling assembly and an expandable and closed drive assembly. The crane is connected to the truss fuselage, and is driven by the crane drive assembly to make linear motion along the truss fuselage; the fuselage bottom leveling assembly is arranged at the bottom of the crane, and the seabed leveling assembly is hinged to the crane through the expandable and closed drive assembly. The adaptive sliding shoe mechanism is arranged at the front end of the truss fuselage, and the adaptive sliding shoe mechanism adjusts the posture up and down and / or left and right according to the ups and downs of the seabed; the rolling parallel walking mechanism is arranged at the tail of the truss fuselage and can move up and down on the truss fuselage. The leveling mechanism is arranged at the bottom of the truss fuselage in a triangular distribution.

[0009] Furthermore, the deployable and closed leveling mechanism includes a crane, a crane drive assembly, a fuselage bottom leveling assembly, a seabed leveling assembly, and an deployable and closed drive assembly. The crane is connected to the truss fuselage, and the crane drive assembly drives the crane to move linearly along the truss fuselage. The fuselage bottom leveling assembly is arranged at the bottom of the crane, and the seabed leveling assembly is hinged to the crane through the deployable and closed drive assembly.

[0010] Furthermore, the truss-type fuselage includes a lower frame of a rectangular structure and an upper frame of a trapezoidal structure arranged at the upper end of the lower frame. Both sides of the bottom of the front end of the lower frame are provided with towing rings extending outward for towing the seabed leveling device. Lifting rings are respectively provided on the four upper corners of the lower frame for lifting and placing the seabed leveling device.

[0011] Furthermore, a truss type slide rail is arranged on the truss type fuselage, and a traveling wheel matching the truss type slide rail is arranged on the traveling crane. The traveling crane driving assembly includes a driving motor and a gear, and a rack is arranged on the side of the truss type slide rail, and the rack is meshed with the gear.

[0012] Furthermore, the truss-type fuselage includes a lower frame of a rectangular structure and an upper frame of a trapezoidal structure arranged at the upper end of the lower frame. Both sides of the bottom of the front end of the lower frame are provided with towing rings extending outward for towing the seabed leveling device. Lifting rings are respectively provided on the four upper corners of the lower frame for lifting and placing the seabed leveling device.

[0013] Furthermore, the traveling crane is configured as a rectangular frame with an open top, including a first upper frame, a first side frame, a bottom frame, traveling wheels, a second side frame and a second upper frame, the first side frame and the second side frame are vertically arranged on both sides of the bottom frame, the first upper frame is arranged on the top of the first side frame and is arranged parallel to the bottom frame, the second upper frame is arranged on the top of the second side frame and is arranged parallel to the bottom frame, the distance between the first upper frame and the second upper frame is the width of a single side of the truss-type fuselage, and the first upper frame, the second upper frame and the bottom frame are provided with traveling wheels matching the truss-type slide rails.

[0014] Furthermore, the leveling assembly at the bottom of the fuselage is configured as a herringbone scraper, which is tilted at the bottom of the base frame, and a plurality of connecting holes are provided on the base frame, and the herringbone scraper can be selectively connected to the connecting holes to adjust the angle with the horizontal plane; the seabed leveling assembly is configured as a spiral scraper; a plurality of jet nozzle assemblies arranged horizontally at intervals are provided at the upper end of the spiral scraper; the expansion and closing drive assembly is configured as a hydraulic rod, one end of the hydraulic rod is connected to the second upper frame, and the other end of the hydraulic rod is connected to the scraper frame, and the angle of the spiral scraper is adjusted by the extension and retraction of the hydraulic rod.

[0015] Furthermore, a jet nozzle assembly is provided on the seabed leveling assembly to prevent clay, gravel, etc. from blocking the cutter, further improving the seabed leveling device's ability to adapt to different seabeds.

[0016] Furthermore, the adaptive sliding shoe mechanism includes a sliding shoe, a first connecting frame, an adjustment hydraulic rod, a connecting plate, a rotating shaft and a second connecting frame; the sliding shoes are arranged in parallel in two, and the two sliding shoes are welded to the second connecting frame arranged in the middle of the sliding shoe and the first connecting frame arranged at the tail of the sliding shoe; the first connecting frame and the second connecting frame are arranged in parallel and connected by two parallel connecting rods, and the adjustment hydraulic rod is hinged to the second connecting frame; the rotating shaft is hinged to the first connecting frame; one end of the connecting plate is hinged to the rod barrel of the adjustment hydraulic rod, and the other end is welded to the rotating shaft; the extension and retraction of the adjustment hydraulic rod realizes the up and down movement of the sliding shoe to adapt to the sudden protrusion or subsidence of the seabed terrain; the rotating shaft realizes the left and right swing of the sliding shoe to cope with the seabed slope.

[0017] Furthermore, it also includes an integral lifting mechanism for the sliding shoe, which includes a lifting fixing frame, a lifting connecting piece and a first lifting hydraulic cylinder. The lifting fixing frame is horizontally fixedly connected to the truss-type fuselage, the lifting connecting piece is connected to the rotating shaft, one end of the first lifting hydraulic cylinder is connected to the lifting connecting piece, and the other end of the first lifting hydraulic cylinder is connected to the lifting fixing frame. The lifting and lowering of the first lifting hydraulic cylinder drives the lifting and lowering of the lifting connecting piece, thereby driving the lifting and lowering of the rotating shaft, and further driving the entire adaptive sliding shoe mechanism to move up and down.

[0018] Furthermore, the rolling parallel walking mechanism includes a bracket, a rolling wheel, a fuselage fixing frame and a second lifting hydraulic cylinder. The back of the bracket is in contact with the truss fuselage, the rolling wheel is arranged at the bottom of the bracket, the upper end of the bracket is connected to the output end of the second lifting hydraulic cylinder, and the second lifting hydraulic cylinder is connected to the truss fuselage through the fuselage fixing frame; the lifting of the second lifting hydraulic cylinder drives the bracket to move up and down in contact with the truss fuselage, thereby driving the rolling wheel to move up and down.

[0019] Furthermore, the leveling mechanism includes a front leveling hydraulic rod and two rear leveling hydraulic rods. The front leveling hydraulic rod is arranged at the center of the front end cross beam of the bottom of the truss fuselage, and the two rear leveling hydraulic rods are arranged at the two ends of the rear end of the bottom surface of the truss fuselage protruding from the cross beam through a leveling bracket. The front leveling hydraulic rod and the rear leveling hydraulic rod respectively include a hydraulic cylinder, a telescopic rod and a chassis. The hydraulic cylinder is fixed on the truss fuselage, and the chassis is connected to the hydraulic cylinder through the telescopic rod. The setting of the chassis increases the force-bearing area of ​​the leveling mechanism, making the entire device more stable.

[0020] Furthermore, the signal transmission mechanism includes a supporting hydraulic rod, a rigid detection rod and an RTK. The RTK is arranged at the top end of the rigid detection rod. The supporting hydraulic rod drives the rigid detection rod to adjust the posture from 0° to 90°, so as to extend the RTK out of the sea surface.

[0021] A seabed leveling method, comprising the above-mentioned seabed leveling device, comprises the following steps:

[0022] The seabed leveling device is hoisted to the designated position on the seabed using lifting equipment.

[0023] The rigid detection rod is supported to 90° by the supporting hydraulic rod in the signal transmission mechanism, and the length of the rigid detection rod is adjusted to make the RTK extend out of the sea surface, so that the seabed leveling device is positioned by RTK.

[0024] By adjusting the leveling mechanism, the body of the seabed leveling device can meet the leveling requirements of large-scale operations.

[0025] After leveling, if the scraper frame is not in contact with the seabed, the adaptive slipper structure and the leveling wheel are lifted through the slipper lifting mechanism and the second lifting hydraulic cylinder. After that, the leveling mechanism is lowered synchronously to lower the scraper frame to the required height for construction.

[0026] Adjust the length of the hydraulic rod to expand the seabed leveling assembly to the leveling width required for engineering construction. Start the drive motor, and through the meshing of the gear and rack, realize the parallel movement of the crane on the truss-type fuselage, driving the seabed leveling group to perform leveling operations; one movement of the crane is one leveling operation.

[0027] After a single leveling operation is completed, the length of the hydraulic rod is adjusted, the seabed leveling assembly is closed, and the crane is restored to its original position through the drive motor.

[0028] The towing equipment is connected to the seabed leveling device, so that the seabed leveling device moves to the next construction site for leveling operations. If the seabed is undulating and the slope is complex during the towing process, the adjustment hydraulic rod and the rotating shaft of the adaptive sliding shoe mechanism can be adjusted to make the sliding shoe adapt to the complex terrain.

[0029] The beneficial effects achieved by the present invention are:

[0030] 1. The seabed leveling device in the present invention is an underwater towed seabed leveling device. The entire device has a simple structure and can achieve large-scale and efficient leveling of the seabed through the deployable and closable leveling mechanisms arranged on both sides of the truss-type fuselage.

[0031] 2. The expandable and closable leveling mechanism in the present invention can move freely, expand and close, and realize flexible control of the seabed leveling range, and its maximum leveling width can reach 22m. At the same time, the maximum leveling length of the seabed leveling assembly in the present invention can reach 16m in one operation, which greatly improves the leveling efficiency and can meet the needs of large-scale operations. The spiral scraper can avoid the accumulation of soil and gravel, and can adapt to the leveling of the seabed in different seabed environments. The "human" shaped scraper ensures the uniformity of the seabed leveling and improves the leveling quality. After the operation is completed, the seabed leveling assembly is closed, which is convenient for the lifting and transportation of the seabed leveling mechanism.

[0032] 3. The present invention realizes that the whole device can adapt to sandy seabeds, silt seabeds, gravel seabeds, etc. through the setting of adaptive sliding shoe mechanism, rolling parallel walking mechanism and leveling mechanism, which is convenient for transportation and can provide a reliable seabed leveling solution for marine projects of different scales and seabeds of different conditions. Specifically, the adaptive sliding shoe mechanism can adapt to complex terrain such as undulating seabeds and slopes, and the sliding shoe adjustment process is simple, which is conducive to rapid construction and improved efficiency. The leveling mechanism is adapted to the shape and size of the leveling machine, suitable for automatic leveling of large marine engineering equipment on the seabed, and the triangular distribution of the leveling mechanism makes the mechanism stable and meets the leveling needs of large seabed leveling devices.

[0033] 4. The blade holder of the spiral scraper in the present invention is provided with a jet nozzle assembly, which can prevent clay from blocking the blade during the leveling process, further improve the operating efficiency, and meet the operating requirements of the seabed leveling device on sand and clay seabeds.

[0034] 5. The signal transmission mechanism of the present invention is equipped with high-precision real-time dynamic positioning (RTK). The detection rod is fully extended to detect the sea surface to receive signals, which is suitable for precise control at a water depth of 20-30m, avoiding underwater interference, ensuring the precise operation of the leveling device at a water depth of 20-30m, and improving operating efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a schematic diagram of the expanded structure of the present invention in working state.

[0036] Figure 2 It is a schematic diagram of the overall structure of the present invention in a closed state.

[0037] Figure 3 It is a schematic diagram of the truss fuselage structure in the present invention.

[0038] Figure 4 It is a schematic diagram of the structure of the expandable, closable and leveling mechanism in the present invention.

[0039] Figure 5 It is a structural schematic diagram of the driving of the present invention.

[0040] Figure 6 It is a structural schematic diagram of the adaptive sliding shoe mechanism in the present invention.

[0041] Figure 7 It is a schematic diagram of the structure of the adaptive sliding shoe mechanism after upward and downward movement adjustment in the present invention.

[0042] Figure 8 It is a schematic diagram of the structure of the adaptive sliding shoe mechanism after left-right swing adjustment in the present invention.

[0043] Fig. 9 It is a schematic diagram of the connection between the integral lifting mechanism of the sliding shoe and the truss-type fuselage and the adaptive sliding shoe mechanism in the present invention.

[0044] Fig.10 It is a schematic diagram of the connection between the integral sliding shoe lifting mechanism and the adaptive sliding shoe mechanism of the present invention.

[0045] Fig.11 It is a structural schematic diagram of the roller parallel walking mechanism in the present invention.

[0046] Fig.12 It is a structural schematic diagram of the leveling mechanism in the present invention.

[0047] Fig.13It is a schematic diagram of the connection between the tail adjustment hydraulic rod and the truss fuselage in the present invention.

[0048] Fig.14 It is a structural schematic diagram of the signal transmission mechanism in the present invention.

[0049] In the figure, 1, truss fuselage; 11, lifting ring; 12, towing ring; 13, displacement limiting plate; 14, truss slide rail; 15, rack; 2, expandable and closable leveling mechanism; 21, traveling crane; 211, first upper frame; 212, first side frame; 213, bottom frame; 214, traveling wheel; 215, second side frame; 216, second upper frame; 22, gear; 23, underwater variable frequency motor; 24, hydraulic rod; 25, scraper frame; 26, jet nozzle; 27, spiral scraper; 28, "human" shaped scraper; 3, adaptive sliding shoe mechanism; 31, sliding shoe ; 32. First connecting frame; 33. Rotating axis; 34. Connecting plate; 35. Adjusting hydraulic rod; 36. Second connecting frame; 4. Rolling parallel walking mechanism; 41. Bracket; 42. Rolling wheel; 43. Fuselage fixing frame; 44. Second lifting hydraulic cylinder; 5. Leveling mechanism; 51. Front end leveling hydraulic rod; 52. Tail end leveling hydraulic rod; 53. Leveling bracket; 6. Signal transmission mechanism; 61. Support hydraulic rod; 62. Rigid detection rod; 63. RTK; 7. Shoe lifting mechanism; 71. Lifting fixing frame; 72. First lifting hydraulic cylinder; 73. Lifting connecting piece. DETAILED DESCRIPTION

[0050] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0051] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents the preferred embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0052] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0053] In the description of the present invention, it should be noted that the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or are the positions or positional relationships in which the inventive product is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0054] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "disposed" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0055] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0056] Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0057] like Figures 1 to 14As shown, the present invention provides a towing and walking underwater seabed leveling device. In this embodiment, the device is suitable for working at a water depth of 20-30m. It includes a truss fuselage 1, an expandable and closed leveling mechanism 2, an adaptive sliding shoe mechanism 3, a rolling parallel walking mechanism 4, a leveling mechanism 5 and a signal transmission mechanism 6. The expandable and closed leveling mechanism 2 is arranged on both sides of the truss fuselage 1, and is arranged as two symmetrical ones. The two expandable and closed leveling mechanisms 2 can move linearly along the truss fuselage 1. The angle between the expandable and closed leveling mechanism 2 and the truss fuselage 1 is a variable angle, and the range of the variable angle is 0-90°. The angle can be flexibly adjusted according to different working requirements.

[0058] The adaptive sliding shoe mechanism 3 is arranged at the front end of the truss fuselage 1, and the adaptive sliding shoe mechanism 3 adjusts the posture up and down and left and right following the undulation of the seabed. The rolling parallel walking mechanism 4 is arranged at the tail of the truss fuselage 1, and the leveling mechanism 5 is arranged at the bottom of the truss fuselage 1 in a triangular distribution. The signal transmission mechanism 6 is arranged on the truss fuselage 1, and the signal transmission mechanism is provided with RTK 63. In the working state, RTK 63 extends out of the sea surface to ensure accurate positioning. Specifically, RTK achieves centimeter-level positioning accuracy through carrier phase measurement. Ground RTK uses differential signals between multiple base stations and mobile stations to obtain high-precision positions, but underwater, since GPS signals cannot be directly transmitted, the RTK base station extends out of the water surface, and the RTK base station located on the water surface provides differential correction data. These RTK base stations receive signals through satellites and transmit differential data to underwater receiving devices in real time. Ensure the accuracy of signal reception and improve work efficiency.

[0059] The entire device has a simple structure. The adaptive sliding shoe mechanism 3 arranged on the truss fuselage 1 can adapt to complex terrain such as seabed undulations and slopes, and the sliding shoe adjustment process is simple, which is conducive to rapid construction and improved efficiency. The entire truss fuselage 1 adopts a frame-type structure with a simple structure and a lightweight design. The expandable and closable leveling mechanism 2 arranged on both sides of the truss fuselage 1 can realize a large-scale leveling operation of the device after one leveling, which is convenient for underwater small-scale leveling construction.

[0060] Specifically, the lower end of the truss fuselage 1 is set as a rectangular frame, and the upper end of the truss fuselage 1 is set as a trapezoidal frame. The truss fuselage 1 includes a truss rail 14, a lifting ring 11, a towing ring 12, and a displacement limiting plate 13. The bottom sides of the front end of the lower frame are provided with towing rings 12 extending outward for towing the seabed leveling device, and the four corners of the upper part of the lower frame are respectively provided with lifting rings 11 for hanging and placing the seabed leveling device. In this embodiment, the truss rail 14 is 16m long and provides a motion track for the movement of the deployable and closed leveling mechanism 2. The side of the truss rail 14 has a rack 15 structure to cooperate with the deployable and closed leveling mechanism 2 to realize the drive of the gear 22. The lifting ring 11 facilitates the lowering of the seabed leveling device from the sea surface to the seabed. The towing ring 12 is connected to the sea surface navigation equipment to realize the walking and movement of the seabed leveling device. The displacement limiting plate 13 cooperates with the rotating shaft 33 of the adaptive sliding shoe mechanism 3, so that the sliding shoe 31 can rotate freely in structure, which is convenient for adjusting to different terrains. Figure 4 As shown, the expandable and closed leveling mechanism 2 includes a crane 21, a hydraulic rod 24, a scraper frame 25, a spiral scraper 27, a herringbone scraper 28, an underwater variable frequency motor 23 and a gear 22. Figure 5 As shown, the upper and lower sides of the trolley 21 are provided with running wheels 214, so that the trolley 21 can move along the slide rail of the truss-type fuselage 1. An underwater variable frequency motor 23 is fixed on the trolley 21, and a gear 22 is provided on the rotating shaft of the underwater variable frequency motor 23. The gear 22 is driven by meshing with the rack 15 of the truss-type fuselage 1, thereby providing power for the movement of the trolley 21. Specifically, the traveling vehicle 21 is configured as a rectangular frame with an open top, including a first upper frame 211, a first side frame 212, a bottom frame 213, traveling wheels 214, a second side frame 215 and a second upper frame 216. The first side frame 212 and the second side frame 214 are vertically arranged on both sides of the bottom frame 213. The first upper frame 211 is arranged on the top of the first side frame 212 and is arranged parallel to the bottom frame 213. The second upper frame 215 is arranged on the top of the second side frame 214 and is arranged parallel to the bottom frame 213. The distance between the first upper frame 211 and the second upper frame 216 is the width of a single side of the truss-type fuselage 1. The first upper frame 211, the second upper frame 216 and the bottom frame 213 are provided with traveling wheels 214 matching the truss-type slide rail 14. The herringbone scraper 28 is tiltedly arranged at the bottom of the base frame 213, and a plurality of connection holes are arranged on the base frame 213. The herringbone scraper 28 can be selectively connected to the connection holes to adjust the angle with the horizontal plane to meet the leveling requirements of different seabeds. The expansion and closing drive assembly is set as a hydraulic rod 24, one end of the hydraulic rod 24 is connected to the second upper frame 216, and the other end of the hydraulic rod 24 is connected to the scraper frame 25. The angle of the spiral scraper 27 is adjusted by the extension and retraction of the hydraulic rod 24.

[0061] In this embodiment, the scraper frame 25 is 10m long and is hinged to the trolley 21, so that the scraper frame 25 can rotate freely. One end of the hydraulic rod 24 is hinged to the trolley 21, and the other end is hinged to the center of the scraper frame 25. Through the extension and retraction of the hydraulic rod 24, the scraper frame 25 can be freely expanded or closed to the side of the trolley 21. The length of the hydraulic rod 24 can make the scraper frame 25 expand to a maximum of 90 degrees. Through the expansion adjustment of the scraper frame 25, the width of the leveling range can be freely controlled, and the maximum leveling width is 22m.

[0062] The spiral scraper 27 is connected to the scraper frame 25 through the scraper shaft. The spiral scraper 27 can rotate around the scraper shaft. When the trolley 21 moves forward, the soil leveled by the spiral scraper 27 can be discharged outside the leveling range along the spiral line direction of the spiral scraper 27, avoiding the accumulation of soil, gravel, etc. The "human" shaped scraper 28 is located at the bottom of the trolley 21, and can scrape the soil and gravel at the bottom of the truss fuselage 1 horizontally to the working area of ​​the scraper frame 25, so that the bottom of the truss fuselage 1 can also be smoothly leveled, ensuring the uniformity of the seabed leveling. In addition, a number of jet nozzles 26 are arranged on the scraper frame 25 for spraying operations to prevent clay, gravel, etc. from blocking the scraper, further improving the seabed leveling device's ability to adapt to different seabeds.

[0063] like Figure 6-Figure 8 As shown, the adaptive sliding shoe mechanism 3 includes a sliding shoe 31, a first connecting frame 32, an adjusting hydraulic rod 35, a connecting plate 34, a rotating shaft 33 and a second connecting frame 36. The sliding shoes 31 are arranged in parallel in two numbers, and the two sliding shoes 31 are welded to a second connecting frame 36 arranged in the middle of the sliding shoe 31 and a first connecting frame 32 arranged at the tail of the sliding shoe 31. The first connecting frame 32 and the second connecting frame 36 are arranged in parallel and connected by two connecting rods 37 arranged in parallel, and the adjusting hydraulic rod 35 is hinged to the second connecting frame 36. The rotating shaft 33 is hinged to the first connecting frame 32; one end of the connecting plate 34 is hinged to the rod barrel of the adjusting hydraulic rod 35, and the other end is welded to the rotating shaft 33. The extension and retraction of the adjusting hydraulic rod 35 realizes the up and down movement of the sliding shoe 31 to adapt to the sudden protrusion or subsidence of the seabed terrain; the rotating shaft 33 realizes the left and right swing of the sliding shoe 31 to cope with the seabed slope. As shown Figure 7 The sliding shoe 31 can be swung left and right by rotating the rotating shaft 33. Figure 8 As shown, in order to cope with seabed slopes or other complex terrains. The rotating shaft 33 is connected to a driving motor arranged on the truss-type fuselage 1.

[0064] like Fig. 9 and 10As shown, the sliding shoe integral lifting mechanism is also included, and the sliding shoe integral lifting mechanism includes a lifting fixing frame 71, a lifting connection member 73 and a first lifting hydraulic cylinder 72. The lifting fixing frame 71 is horizontally welded to the truss fuselage 1, and the lifting connection member 73 is relatively fixedly connected to the rotating shaft 33, and the rotating shaft 33 can rotate around the lifting connection member 73. One end of the first lifting hydraulic cylinder 72 is connected to the lifting connection member 73, and the other end of the first lifting hydraulic cylinder 72 is connected to the lifting fixing frame 71. The lifting and lowering of the first lifting hydraulic cylinder 72 drives the lifting and lowering of the lifting connection member 73, thereby driving the lifting and lowering of the rotating shaft 33, and further driving the entire adaptive sliding shoe mechanism 3 to move up and down.

[0065] The setting of the overall lifting mechanism of the sliding shoe facilitates the leveling machine to lift the adaptive sliding shoe mechanism before the leveling operation.

[0066] like Fig.11 As shown, the roller parallel walking mechanism 4 includes a bracket 41, a roller wheel 42, a fuselage fixing frame 43 and a second lifting hydraulic cylinder 44. The back of the bracket 41 is in contact with the truss fuselage 1. The roller wheel 42 is arranged at the bottom of the bracket 41. The upper end of the bracket 41 is connected to the output end of the second lifting hydraulic cylinder 44. The second lifting hydraulic cylinder 44 is connected to the truss fuselage 1 through the fuselage fixing frame 43. The lifting of the second lifting hydraulic cylinder 44 drives the bracket 41 to move up and down in contact with the truss fuselage 1, thereby driving the roller wheel 42 to move up and down. This lifting operation facilitates the roller wheel to be lifted before the leveling operation of the leveling machine.

[0067] The adaptive sliding shoe 31 is connected to a self-propelled device such as a tugboat, and cooperates with the leveling wheel 42 to realize the walking movement of the leveling machine.

[0068] like Fig.12 and Fig.13 As shown, the leveling mechanism 5 includes a front leveling hydraulic rod 51 and two rear leveling hydraulic rods 52. The front leveling hydraulic rod 51 is arranged at the center position of the front end cross beam of the bottom of the truss fuselage 1. The two rear leveling hydraulic rods 52 are arranged at the two ends of the rear end of the bottom surface of the truss fuselage 1 protruding from the cross beam through a leveling bracket 53. The front leveling hydraulic rod 51 and the rear leveling hydraulic rod 52 respectively include a hydraulic cylinder, a telescopic rod and a chassis. The hydraulic cylinder is fixed on the truss fuselage 1, and the chassis is connected to the hydraulic cylinder through the telescopic rod. The supporting foundation fully considers the overall shape and size of the seabed leveling mechanism and is distributed in a triangular shape to meet the fuselage leveling requirements during large-scale seabed operations.

[0069] like Fig.14As shown, the signal transmission mechanism 6 includes a hinge support, a support hydraulic rod 61, a rigid detection rod 62, and an RTK 63. The support hydraulic rod 61 and the rigid detection rod 62 are connected to the truss fuselage 1 through the hinge support, the support hydraulic rod 61 and the rigid detection rod 62 are hingedly connected, and the RTK 63 is installed on the top of the detection rod. After the seabed leveling device is hoisted to the seabed, the rigid detection rod 62 is raised by the support hydraulic rod 61, and the length of the rigid detection rod 62 is adjusted according to the depth of the sea area so that it protrudes out of the sea surface, reducing the influence of the sea conditions on the RTK 63, and realizing the precise control of the seabed leveling device.

[0070] A seabed leveling method includes the above-mentioned seabed leveling device, in which a truss-type fuselage 1 is equipped with an electromechanical box and a hydraulic box to install an electromechanical control system and a hydraulic control system to achieve electromechanical and hydraulic integration of the seabed leveling device. The method includes the following steps:

[0071] (1) After confirming the construction location during the preliminary survey, the seabed leveling device is hoisted to the designated location on the seabed by the hoisting equipment. The seabed leveling device is towed forward or backward by the traction device on the sea surface.

[0072] (2) The rigid detection rod 62 is supported to 90° by the supporting hydraulic rod 61 in the signal transmission mechanism 6, and the length of the rigid detection rod 62 is adjusted to make the RTK 63 extend out of the sea surface. The RTK 63 on the water surface exchanges signals with the ultra-short baseline on the underwater leveling device to ensure accurate signal transmission.

[0073] (3) By adjusting the leveling mechanism 5, the body of the seabed leveling device meets the leveling requirements of large-scale operations. In the specific leveling process, the front leveling hydraulic rod 51 and the rear leveling hydraulic rod 52 are first extended to contact the seabed, and the main body of the seabed leveling device is separated from the seabed. The rear leveling hydraulic rod 52 and the front leveling hydraulic rod 51 are adjusted, and the horizontal inclination angle is monitored in real time through the attitude sensor on the seabed leveling device. When the inclination angle is zero, the adjustment is stopped. When the inclination angle is not zero, the rear leveling hydraulic rod 52 is continuously adjusted until the inclination angle is zero.

[0074] (4) After leveling, if the scraper frame 25 is not in contact with the seabed, the adaptive slipper structure and the leveling wheel 42 are lifted through the slipper lifting mechanism 7 and the second lifting hydraulic cylinder 44. After that, the leveling mechanism 5 is lowered synchronously to lower the scraper frame 25 to the required height for construction.

[0075] (5) Adjust the length of the hydraulic rod 24 to expand the seabed leveling assembly to the required leveling width for the engineering construction. The width can be determined based on the construction scope determined in the early engineering survey process to determine the stroke of the crane 21 and the expansion angle of the spiral scraper 27. Start the drive motor, and through the meshing action of the gear 22 and the rack 15, realize the parallel movement of the crane 21 on the truss fuselage 1, driving the seabed leveling assembly to perform leveling operations; one movement of the crane 21 is one leveling operation.

[0076] (6) After a single leveling operation is completed, the length of the hydraulic rod 34 is adjusted, the seabed leveling assembly is closed, and the driving motor is used to restore the crane 21 to its original position.

[0077] (7) The towing equipment is connected to the seabed leveling device so that the seabed leveling device moves to the next construction site for leveling operations. If the towing process encounters undulating seabed and complex slope terrain, the adjustment hydraulic rod 35 and the rotating shaft 33 of the adaptive sliding shoe mechanism 3 can be adjusted to make the sliding shoe 31 adapt to the complex terrain. Specifically, by adjusting the extension and retraction of the hydraulic rod 35, the sliding shoe 31 can be moved up and down to adapt to the sudden protrusion or depression of the seabed terrain. The rotating shaft 33 is rotated to achieve the left and right swing of the sliding shoe 31 to cope with the seabed slope or other complex terrain. The rotating shaft 33 is connected to the drive motor set on the truss fuselage 1. The undulating state of the corresponding terrain can be detected, and the real-time environment can be photographed by an underwater high-definition camera, and the corresponding posture can be further adjusted.

[0078] The above embodiments of the present invention do not constitute a limitation on the protection scope of the present invention. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention shall be included in the protection scope of the claims of the present invention.

Claims

1. A dragging underwater seabed leveling device, characterized in that: The invention comprises a truss-type fuselage (1), an expandable and closed leveling mechanism (2), an adaptive sliding shoe mechanism (3), a rolling parallel walking mechanism (4) and a leveling mechanism (5); the expandable and closed leveling mechanism (2) is arranged on both sides of the truss-type fuselage (1) and is arranged as two symmetrical ones; the two expandable and closed leveling mechanisms (2) can move linearly along the truss-type fuselage (1); the angle between the expandable and closed leveling mechanism (2) and the truss-type fuselage (1) is a variable angle, and the range of the variable angle is 0 to 90 degrees; the expandable and closed leveling mechanism (2) comprises a crane (21), a crane drive assembly, a fuselage bottom leveling assembly, a seabed leveling assembly and an expandable and closed drive assembly; the crane (21) is connected to the truss fuselage (1), and the trolley (21) is driven by the trolley drive assembly to make linear motion along the truss fuselage (1); the fuselage bottom leveling assembly is arranged at the bottom of the trolley (21), and the seabed leveling assembly is hinged to the trolley (21) through the expansion and closing drive assembly; the adaptive sliding shoe mechanism (3) is arranged at the front end of the truss fuselage (1), and the adaptive sliding shoe mechanism (3) adjusts its posture up and down and / or left and right according to the undulating state of the seabed; the roller parallel walking mechanism (4) is arranged at the tail of the truss fuselage (1), and can move up and down on the truss fuselage (1); the leveling mechanism (5) is arranged at the bottom of the truss fuselage (1) in a triangular distribution.

2. The dragging and walking underwater seabed leveling device according to claim 1 is characterized in that: The truss-type fuselage (1) comprises a lower frame body of a rectangular structure and an upper frame body of a trapezoidal structure arranged at the upper end of the lower frame body; both sides of the bottom of the front end of the lower frame body are provided with towing rings (12) extending outwards for towing a seabed leveling device; four corners of the upper part of the lower frame body are respectively provided with lifting rings (11) for hanging and placing the seabed leveling device; a truss-type slide rail (14) is arranged on the truss-type fuselage (1), and a traveling wheel (214) matching the truss-type slide rail (14) is arranged on the traveling crane (21); the traveling crane driving assembly comprises a driving motor and a gear (22); a rack (15) is arranged on the side of the truss-type slide rail (14), and the rack (15) is meshed with the gear (22).

3. The dragging and walking underwater seabed leveling device according to claim 2 is characterized in that: The traveling vehicle (21) is configured as a rectangular frame with an open top, comprising a first upper frame (211), a first side frame (212), a bottom frame (213), traveling wheels (214), a second side frame (215) and a second upper frame (216); the first side frame (212) and the second side frame (214) are vertically arranged on both sides of the bottom frame (213); the first upper frame (211) is arranged on the top of the first side frame (212) and is arranged parallel to the bottom frame (213); the second upper frame (215) is arranged on the top of the second side frame (214) and is arranged parallel to the bottom frame (213); the distance between the first upper frame (211) and the second upper frame (216) is the width of a single side of the truss-type fuselage (1); and the first upper frame (211), the second upper frame (216) and the bottom frame (213) are respectively provided with traveling wheels (214) matching the truss-type slide rail (14).

4. The dragging and walking underwater seabed leveling device according to claim 3 is characterized in that: The fuselage bottom leveling component is configured as a herringbone scraper (28), the herringbone scraper (28) is tiltedly arranged at the bottom of the base frame (213), the base frame (213) is provided with a plurality of connection holes, the herringbone scraper (28) can be selectively connected to the connection holes to adjust the angle with the horizontal plane; the seabed leveling component is configured as a spiral scraper (27); the upper end of the spiral scraper (27) is provided with a plurality of jet nozzle (26) components arranged horizontally at intervals; the expansion and closing drive component is configured as a hydraulic rod (24), one end of the hydraulic rod (24) is connected to the second upper frame (216), and the other end of the hydraulic rod (24) is connected to the scraper frame (25), and the angle of the spiral scraper (27) is adjusted by extending and retracting the hydraulic rod (24).

5. The dragging and walking underwater seabed leveling device according to claim 1 is characterized in that: The adaptive sliding shoe mechanism (3) comprises a sliding shoe (31), a first connecting frame (32), an adjustment hydraulic rod (35), a connecting plate (34), a rotating shaft (33) and a second connecting frame (36); the sliding shoe (31) is arranged in parallel in two pieces, and the two sliding shoes (31) are welded to the second connecting frame (36) arranged in the middle of the sliding shoe (31) and the first connecting frame (32) arranged at the tail of the sliding shoe (31); the first connecting frame (32) and the second connecting frame (36) are arranged in parallel and are connected to the sliding shoe (31) by the two parallel connecting frames. The connecting rod (37) is connected, the adjusting hydraulic rod (35) is hinged with the second connecting frame (36); the rotating shaft (33) is hinged with the first connecting frame (32); one end of the connecting plate (34) is hinged with the rod tube of the adjusting hydraulic rod (35), and the other end is welded with the rotating shaft (33); the telescopic adjustment of the hydraulic rod (35) realizes the up and down movement of the sliding shoe (31) to adapt to the sudden protrusion or depression of the seabed terrain; the rotating shaft (33) realizes the left and right swing of the sliding shoe (31) to cope with the seabed slope.

6. The dragging underwater seabed leveling device according to claim 5 is characterized in that: The invention also includes a sliding shoe integral lifting mechanism, wherein the sliding shoe integral lifting mechanism includes a lifting fixing frame (71), a lifting connecting member (73) and a first lifting hydraulic cylinder (72), wherein the lifting fixing frame (71) is horizontally fixedly connected to the truss-type fuselage (1), the lifting connecting member (73) is connected to the rotating shaft (33), one end of the first lifting hydraulic cylinder (72) is connected to the lifting connecting member (73), and the other end of the first lifting hydraulic cylinder (72) is connected to the lifting fixing frame (71), and the lifting and lowering of the first lifting hydraulic cylinder (72) drives the lifting and lowering of the lifting connecting member (73), thereby driving the lifting and lowering of the rotating shaft (33), and further driving the entire adaptive sliding shoe mechanism (3) to move up and down.

7. The dragging and walking underwater seabed leveling device according to claim 1 is characterized in that: The rolling parallel movement mechanism (4) comprises a bracket (41), a rolling wheel (42), a fuselage fixing frame (43) and a second lifting hydraulic cylinder (44); the back side of the bracket (41) is in contact with the truss fuselage (1); the rolling wheel (42) is arranged at the bottom of the bracket (41); the upper end of the bracket (41) is connected to the output end of the second lifting hydraulic cylinder (44); the second lifting hydraulic cylinder (44) is connected to the truss fuselage (1) through the fuselage fixing frame (43); the lifting of the second lifting hydraulic cylinder (44) drives the bracket (41) to move up and down in contact with the truss fuselage (1), thereby driving the rolling wheel (42) to move up and down.

8. The dragging underwater seabed leveling device according to claim 1 is characterized in that: The leveling mechanism (5) comprises a front leveling hydraulic rod (51) and two rear leveling hydraulic rods (52); the front leveling hydraulic rod (51) is arranged at the center position of the front end cross beam of the bottom of the truss-type fuselage (1); the two rear leveling hydraulic rods (52) are arranged at the rear end of the truss-type fuselage (1) via a leveling bracket (53) and protrude from both ends of the cross beam; the front leveling hydraulic rod (51) and the rear leveling hydraulic rod (52) respectively comprise a hydraulic cylinder, a telescopic rod and a chassis; the hydraulic cylinder is fixed on the truss-type fuselage (1); and the chassis is connected to the hydraulic cylinder via the telescopic rod.

9. The dragging and walking underwater seabed leveling device and method according to claim 1 is characterized in that: The invention also comprises a signal transmission mechanism (6); the signal transmission mechanism (6) is arranged on the truss-type fuselage (1); an RTK (63) is arranged on the signal transmission mechanism; in a working state, the RTK (63) extends out of the sea surface; the signal transmission mechanism (6) comprises a supporting hydraulic rod (61), a rigid detection rod (62) and an RTK (63); the RTK (63) is arranged on the top end of the rigid detection rod (62); the supporting hydraulic rod (61) drives the rigid detection rod (62) to adjust the posture from 0° to 90°, so as to extend the RTK (63) out of the sea surface.

10. A method for leveling a seabed, characterized in that: A seabed leveling device according to any one of claims 1 to 9, comprising the following steps: Use the lifting equipment to lift the seabed leveling device to the designated position on the seabed; The rigid detection rod (62) is supported to 90 degrees by a supporting hydraulic rod (61) in the signal transmission mechanism (6), and the length of the rigid detection rod (62) is adjusted so that the RTK (63) extends out of the sea surface, and the seabed leveling device is positioned by the RTK (63); By adjusting the leveling mechanism (5), the body of the seabed leveling device is made to meet the leveling requirements of the operation; After leveling, if the scraper frame (25) is not in contact with the seabed, the self-adaptive slipper structure and the leveling wheel (42) are lifted through the slipper lifting mechanism (7) and the second lifting hydraulic cylinder (44), and then the leveling mechanism (5) is lowered synchronously to lower the scraper frame (25) to the height required for construction; Adjusting the length of the hydraulic rod (24) so ​​that the seabed leveling assembly can be unfolded to a leveling width required for engineering construction; The driving motor is started, and the parallel movement of the crane (21) on the truss-type fuselage (1) is realized through the meshing action of the gear (22) and the rack (15), thereby driving the seabed leveling group to perform the leveling operation; one movement of the crane (21) is one leveling operation; after the single leveling operation is completed, the seabed leveling assembly is closed by adjusting the length of the hydraulic rod (24), and the driving motor is used to restore the crane (21) to its original position; The towing equipment is connected to the seabed leveling device so that the seabed leveling device moves to the next construction site for leveling operations; if the seabed is undulating or the slope is complex during the towing process, the adjusting hydraulic rod (35) and the rotating shaft (33) of the adaptive sliding shoe mechanism (3) can be adjusted to make the sliding shoe (31) adapt to the complex terrain.

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