Crossing and walking mechanism, multi-degree-of-freedom adjusting underwater screed and construction method

Abstract

The present application relates to underwater screed technology field, especially in kind of horizontal and vertical step walk walking mechanism, multi-degree-of-freedom adjustment underwater screed and construction method.Horizontal and vertical step walk walking mechanism, including end structure, first hole is opened through;End structure first hole is opened through;Horizontal shift frame is at least partially located in the first hole, the horizontal shift frame is along the first hole radial and the end structure sliding fit;Step longitudinal beam is along the first hole length direction and is through the horizontal shift frame, and is connected with the horizontal shift frame sliding fit;First vertical lifting support leg is connected with the end structure;Second vertical lifting support leg is connected with the step longitudinal beam.The horizontal and vertical step walk walking mechanism of the application, the step longitudinal beam is provided with the horizontal shift frame, the horizontal shift frame is provided with the end structure, and the horizontal shift frame is used to replace the transition frame of the existing step type screed, so that the overall weight of the horizontal and vertical step walk walking mechanism is effectively reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of underwater leveling machine, in particular to a transverse and longitudinal step walking mechanism, a multi-degree-of-freedom adjusting underwater leveling machine and a construction method. BACKGROUND

[0002] The underwater leveling machine is a mechanical equipment specially used for underwater earthwork leveling operation, and is widely used in fields of ocean engineering, water conservancy engineering and the like. The underwater leveling machine can effectively perform soil leveling work under water through its special design and structure, so as to achieve the expected flatness.

[0003] In order to reduce the cost, the researchers in the field have developed a step walking underwater leveling machine. A patent (application number 201310080642.2) wireless remote control underwater step walking leveling machine discloses a step walking underwater leveling machine, which comprises a leveling frame and a moving frame, which constitute the main structure of the leveling machine, a transition frame arranged in the upper frame of the leveling frame, the transition frame can freely slide on the guide sliding surface in the upper frame, the support arm of the moving frame penetrates through the connecting hole of the transition frame and is arranged on the transition frame, the moving frame and the leveling frame are cross arranged, each support leg on the leveling frame and the moving frame is provided with a support angle oil cylinder for respectively supporting and adjusting the leveling frame and the moving frame, a hydraulic system for driving all oil cylinders in the wireless remote control underwater step walking leveling machine to realize the requirements of wireless remote control underwater step walking leveling machine standing, leveling and deepening, a tower arranged on the vertical leveling frame, and two layers of electric control rooms arranged on the top platform of the tower, which replace manual work to complete the riprap bed leveling operation under water, not only eliminating the labor of workers working under water for a long time, but also improving the operation quality and efficiency.

[0004] However, in the use process, the structure needs three layers of frame bodies, i.e. the leveling frame, the moving frame and the transition frame, to realize the bidirectional step walking movement. The whole underwater leveling machine often weighs 150t-200t (for example, the journal: development of step walking underwater bed leveling machine and construction technology, water transport engineering, December 2006, No. 12, total No. 397, which introduces that the whole machine weighs 185t), and the self weight causes great difficulty in hoisting and working under water, so how to further reduce the self weight of the step walking leveling machine becomes one of the problems to be solved in the field. SUMMARY

[0005] The present application aims to overcome the deficiency that the step walking underwater leveling machine in the prior art is generally composed of a leveling frame, a moving frame and a transition frame, and to provide a transverse and longitudinal step walking mechanism, a multi-degree-of-freedom adjusting underwater leveling machine and a construction method.

[0006] In a first aspect, the present application provides a transverse and longitudinal step walking mechanism, comprising:

[0007] The end structure is provided with a first hole;

[0008] The transverse frame is at least partially located in the first hole and is in sliding fit with the end structure along the radial direction of the first hole;

[0009] The walking longitudinal beam penetrates the transverse frame along the length direction of the first hole and is in sliding fit with the transverse frame;

[0010] The first vertical lifting leg is connected with the end structure;

[0011] The second vertical lifting leg is connected with the walking longitudinal beam.

[0012] The transverse-longitudinal walking mechanism provided in the application is used to realize the relative movement of the walking longitudinal beam and the end structure along the length direction of the first hole by setting the transverse frame between the end structure and the walking longitudinal beam and based on the sliding fit of the walking longitudinal beam and the transverse frame along the length direction of the first hole, so as to achieve the purpose of the walking movement of the first vertical lifting leg and the second vertical lifting leg along the length direction of the first hole.

[0013] Moreover, the relative movement of the walking longitudinal beam and the end structure along the radial direction of the first hole is realized based on the sliding fit of the walking longitudinal beam and the end structure along the radial direction of the first hole, so as to achieve the purpose of the walking movement or deviation correction of the first vertical lifting leg and the second vertical lifting leg along the length direction of the first hole.

[0014] The transverse-longitudinal walking mechanism provided in the application uses the transverse frame to replace the transition frame of the existing walking type screed machine, and uses the sleeving and bidirectional sliding fit among the end structure, the transverse frame and the walking longitudinal beam to replace the walking movement fit among the screed frame, the moving frame and the transition frame of the existing walking type screed machine, so as to effectively reduce the overall weight of the transverse-longitudinal walking mechanism.

[0015] Preferably, the second hole matched with the walking longitudinal beam is provided on the transverse frame along the direction in which the first hole is provided, the walking longitudinal beam penetrates the second hole and is in sliding fit with the second hole. The relative movement of the walking longitudinal beam and the transverse frame along the direction in which the first hole is provided is realized, and the second hole matches with the walking longitudinal beam along the radial direction of the first hole, so that the second hole limits the walking longitudinal beam along the radial direction of the first hole.

[0016] Preferably, one side of the first hole has a first side wall, and a first gap is formed between the lateral moving frame and the first side wall, and the lateral moving frame is moved relative to the end structure to move away from or close to the first side wall, so that the lateral moving frame is in sliding fit with the end structure along the radial direction of the first hole, and meanwhile, the opposite side walls of the first hole, one of which is the first side wall, also limit the lateral moving frame.

[0017] Preferably, a limiting structure is formed between the lateral moving frame and the end structure, which limits the relative sliding of the lateral moving frame along the length direction of the first hole relative to the end structure, and does not limit the relative sliding of the lateral moving frame along the radial direction of the first hole relative to the end structure.

[0018] Preferably, the first hole is a rectangular hole, and the end structure further comprises a bottom side wall, a second side wall and a top side wall, and the first side wall, the bottom side wall, the second side wall and the top side wall enclose the first hole.

[0019] Preferably, the net height of the first hole is matched with the height of the lateral moving frame, so as to increase the stability of the relative movement of the lateral moving frame and the end structure.

[0020] Preferably, the horizontal and vertical walking mechanism further comprises a lateral telescopic mechanism connected between the end structure and the lateral moving frame, and the lateral telescopic mechanism can drive the lateral moving frame to move away from or close to the first side wall.

[0021] A first lateral through hole is formed in the first side wall, and a first lateral support gantry is arranged outside the first lateral through hole, one end of the lateral telescopic mechanism is connected to the root of the first lateral support gantry, and the other end passes through the first lateral through hole and is connected to the lateral moving frame. By arranging the first lateral support gantry outside the first lateral through hole, the lateral telescopic mechanism is used as a telescopic support force component between the lateral moving frame and the end structure, compared with directly arranging the lateral telescopic mechanism between the lateral moving frame and the end structure, the size of the end structure along the telescopic direction of the lateral telescopic mechanism is effectively reduced, and the overall weight of the horizontal and vertical walking mechanism is effectively reduced.

[0022] Preferably, the first lateral support gantry is detachably connected to the outer wall of the end structure, so as to facilitate installation and transportation.

[0023] Preferably, a first lateral support is connected to the lateral moving frame, and the first lateral support is located in the first gap, and the lateral telescopic mechanism is connected to the first lateral support.

[0024] Preferably, the transverse-longitudinal walking mechanism further comprises a longitudinal telescopic mechanism connected between the walking longitudinal beam and the transverse frame, and the longitudinal telescopic mechanism is capable of telescoping along the length direction of the walking longitudinal beam.

[0025] Preferably, the transverse frame is connected with a first longitudinal support, and the walking longitudinal beam is connected with a second longitudinal support, and the first longitudinal support is located in the first gap, and the longitudinal telescopic mechanism is connected between the first longitudinal support and the second longitudinal support.

[0026] Preferably, the transverse frame is entirely located in the first hole.

[0027] Preferably, the walking longitudinal beam is provided with a first vertical through hole, and the upper portion of the first vertical through hole is provided with a first vertical support gantry, and one end of the second vertical lifting leg is connected to the first vertical support gantry, and the other end penetrates through the first vertical through hole and vertically slides with the first vertical through hole. By providing the first vertical support gantry on the upper portion of the first vertical through hole, the telescopic support force element between the second vertical lifting leg and the walking longitudinal beam is formed, compared with the direct connection between the second vertical lifting leg and the walking longitudinal beam, the gravity center of the walking longitudinal beam can be effectively reduced on the basis of less increase in structural weight, and the gravity center of the whole formed by the end structure, the transverse frame and the walking longitudinal beam can be effectively reduced, so that the transverse-longitudinal walking mechanism has better stability.

[0028] In the second aspect, the application provides a multi-degree-of-freedom adjustable underwater screed machine comprising four transverse-longitudinal walking mechanisms as described in the application, and the four transverse-longitudinal walking mechanisms are arranged in an array, and adjacent end structures are connected, and adjacent walking longitudinal beams are connected.

[0029] Preferably, a distribution longitudinal beam is connected between adjacent end structures along the opening direction of the first hole, the distribution longitudinal beam is provided with a first through hole corresponding to the first hole, and one end of the walking longitudinal beam penetrates into the first through hole. On the basis of the transverse frame sliding with the end structure along the radial direction of the first hole, the walking longitudinal beam is arranged in the distribution longitudinal beam, so that the walking longitudinal beam and the distribution longitudinal beam form a nested relationship, and the horizontal arrangement space of the whole formed by the walking longitudinal beam and the distribution longitudinal beam is effectively reduced, so that the transverse dimension specification of the multi-degree-of-freedom adjustable underwater screed machine can be smaller.

[0030] Preferably, the distribution longitudinal beam is a truss structure with open ends. In the case that the distribution longitudinal beam meets the design rigidity and strength, the self-weight of the distribution longitudinal beam is further reduced, which contributes to the lightweight of the multi-degree-of-freedom adjustable underwater screed machine.

[0031] Meanwhile, since the cloth longitudinal beam is sleeved outside the walking longitudinal beam, the cloth longitudinal beam has a larger transverse and height dimension than the walking longitudinal beam, so that the cloth longitudinal beam can be made into a truss structure.

[0032] Preferably, a walking transverse beam is connected adjacent to the end of the walking longitudinal beam along the moving direction of the transverse frame relative to the end structure.

[0033] Preferably, a cloth transverse beam is connected between the adjacent end structures along the moving direction of the transverse frame relative to the end structure, and the walking transverse beam is arranged along the length direction of the cloth transverse beam and located outside the cloth transverse beam.

[0034] Preferably, the height of the walking transverse beam is matched with the height of the walking longitudinal beam, the height of the cloth transverse beam is higher than the height of the walking transverse beam, and the height of the cloth longitudinal beam is matched with the height of the cloth transverse beam. Based on the structure of the walking longitudinal beam, the transverse frame and the end structure being sleeved in sequence, the height of the end structure is higher than the height of the walking longitudinal beam. In this case, the height of the walking transverse beam is matched with the height of the cloth transverse beam, so that the walking transverse beam and the walking longitudinal beam form a frame structure in the transverse and longitudinal directions, and the load bearing capacity is more uniform. This can reduce the weight of the multi-degree-of-freedom adjusting underwater screed while still having good transverse and longitudinal stability. Similarly, the height of the cloth longitudinal beam is matched with the height of the cloth transverse beam, so that the cloth longitudinal beam and the cloth transverse beam form a frame structure in the transverse and longitudinal directions, and the load bearing capacity is more uniform. This can reduce the weight of the multi-degree-of-freedom adjusting underwater screed while still having good transverse and longitudinal stability.

[0035] Preferably, a gas compression and drainage cabin is arranged in the cloth transverse beam, which is used for adjusting the multi-degree-of-freedom adjusting underwater screed underwater and controlling the floating and sinking of the multi-degree-of-freedom adjusting underwater screed.

[0036] Preferably, a support beam is protrudingly arranged on one side of the cloth transverse beam close to the walking transverse beam, and the first vertical lifting support leg is connected to the support beam.

[0037] Preferably, a second vertical through hole is arranged on the support beam.

[0038] Preferably, a second vertical support gantry is further arranged on the upper part of the second vertical through hole, the cantilever end of the second vertical support gantry is detachably connected to the support beam, one end of the first vertical lifting support leg is connected to the root of the second vertical support gantry, and the other end passes through the second vertical through hole and is vertically slidably matched with the second vertical through hole.

[0039] Preferably, the step longitudinal beams on the adjacent transverse and longitudinal step walking mechanisms are correspondingly connected and arranged in the length direction of the step longitudinal beams.

[0040] Preferably, the step longitudinal beams on the adjacent transverse and longitudinal step walking mechanisms are coaxially integrally formed in the length direction of the step longitudinal beams.

[0041] Preferably, the multi-degree-of-freedom underwater screed adjusting machine further comprises a material distributing mechanism, which is movable along the length direction of the step longitudinal beam and is movable radially along the first hole.

[0042] Preferably, in a preferred manner, the multi-degree-of-freedom underwater screed adjusting machine further comprises a lower material pipe, which is transversely movable relative to the material distributing beam through a transverse moving mechanism.

[0043] Preferably, the material distributing mechanism comprises a material box, an upper material pipe and a lower material pipe.

[0044] The upper material pipe is connected above the lower material pipe, and a first passage is formed between the upper material pipe and the lower material pipe.

[0045] The material box comprises a hopper, and an opening is formed at the bottom of the hopper, and a material door is arranged at the opening, the material door being closable or openable, and the material door and the upper material pipe being configured such that when the material box vertically presses the upper material pipe downward, the material door can be opened to connect the hopper and the upper material pipe.

[0046] The multi-degree-of-freedom underwater screed adjusting machine is used in construction, the material door can be opened to connect the hopper and the upper material pipe by vertically pressing the upper material pipe downward by the material box, at this time, the stones in the hopper fall into the upper material pipe and then into the lower material pipe, at this time, part of the air or water in the upper material pipe and the lower material pipe is discharged through the first passage between the upper material pipe and the lower material pipe, so that the stones can smoothly reach the lower material pipe from the material box, thereby achieving the purpose of smooth discharging of the screed machine during operation.

[0047] Preferably, the material distributing mechanism is connected with a longitudinal moving mechanism, which can drive the material distributing mechanism to move along the length direction of the step longitudinal beam.

[0048] Preferably, the longitudinal moving mechanism comprises a longitudinal support, a material pipe support and a longitudinal driving mechanism, wherein:

[0049] The material pipe support is connected with the material distributing mechanism.

[0050] The longitudinal support frame comprises two longitudinally parallel arranged longitudinal support rails, and the material pipe support is located between the two longitudinal support rails and is in rolling engagement with the two longitudinal support rails.

[0051] The longitudinal driving mechanism comprises a first driving motor and a first gear and a first rack in engagement, and the first driving motor drives the first gear to rotate. The first driving motor is mounted on the material pipe support, so that the material pipe support moves along the longitudinal support rail relative to the longitudinal support rail in the length direction of the longitudinal support rail.

[0052] Preferably, the multi-degree-of-freedom adjustable underwater screed machine further comprises a transverse moving mechanism, which can drive the longitudinal moving mechanism to move transversely relative to the material distribution beam in the length direction of the material distribution beam.

[0053] Preferably, the transverse moving mechanism comprises a second driving motor, both ends of the second driving motor are drivingly connected with output shafts, the output shafts are drivingly connected with second gears near the end portions of the material distribution beam, and the material distribution beam is provided with a second rack in the length direction.

[0054] Preferably, a transverse rail is further mounted on the material distribution beam, the transverse rail is arranged in the length direction of the material distribution beam, and the end portion of the longitudinal support frame is provided with a second roller in rolling engagement with the transverse rail.

[0055] In a third aspect, the present application provides a multi-degree-of-freedom adjustable underwater screed machine construction method, comprising the following steps:

[0056] S1: the first vertical lifting leg supports the multi-degree-of-freedom adjustable underwater screed machine, and the second vertical lifting leg is separated from the water bottom;

[0057] S2: the walking longitudinal beam is driven to move relative to the end portion structure in the length direction of the walking longitudinal beam;

[0058] S3: the second vertical lifting leg falls and supports the multi-degree-of-freedom adjustable underwater screed machine;

[0059] S4: the first vertical lifting leg rises and is separated from the water bottom;

[0060] S5: the end portion structure is driven to move relative to the walking longitudinal beam in the length direction of the walking longitudinal beam.

[0061] Preferably, the method further comprises the following step of launching the multi-degree-of-freedom adjustable underwater screed machine:

[0062] The multi-degree-of-freedom adjustable underwater screed machine is launched,

[0063] A crane is installed on the seaward side of the multi-degree-of-freedom adjustable underwater leveling machine platform;

[0064] The crane lifts the multi-degree-of-freedom adjustable underwater leveling machine and rotates it to the seaward side of the crane.

[0065] The multi-degree-of-freedom adjustable underwater leveling machine was lowered into the water.

[0066] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0067] The present application describes a transverse and longitudinal walking mechanism that utilizes a walking longitudinal beam with a transverse frame fitted over it, and an end structure fitted over the transverse frame. The transverse frame replaces the transition frame of the existing walking leveling machine, and the end structure, transverse frame, and walking longitudinal beam are connected by a sleeve and bidirectional sliding fit to replace the walking fit between the leveling frame, moving frame, and transition frame of the existing walking leveling machine, thereby effectively reducing the overall weight of the transverse and longitudinal walking mechanism. Attached Figure Description

[0068] Figure 1 This is a schematic diagram of the lateral and longitudinal walking mechanism of this application.

[0069] Figure 2 This is a schematic diagram showing the fit between the end structure and the transverse frame of this application.

[0070] Figure 3 This is a schematic diagram of the main framework structure of the walking mechanism in this application.

[0071] Figure 4 This is a schematic diagram of the fabric chassis structure of this application.

[0072] Figure 5 As an appendix to this application Figure 2 Enlarged schematic diagram of section B in the middle.

[0073] Figure 6 This is a three-dimensional schematic diagram of the multi-degree-of-freedom adjustable underwater leveling machine structure of this application.

[0074] Figure 7 As an appendix to this application Figure 6 Enlarged schematic diagram of section A in the middle.

[0075] Figure 8 This is a schematic diagram of the second vertical lifting outrigger of this application.

[0076] Figure 9 This is a schematic diagram of the fabric mechanism structure of this application.

[0077] Figure 10 This is a schematic diagram of the material box structure of this application.

[0078] Figure 11The initial state schematic diagram of the material box of the present application in contact with the limiting ring.

[0079] Figure 12 The schematic diagram of the limiting ring of the present application in contact with the half door structure.

[0080] Figure 13 The schematic diagram of the upper material pipe structure of the present application.

[0081] Figure 14 The first block arrangement schematic diagram of the present application.

[0082] Figure 15 The schematic diagram of the lower material pipe structure of the present application.

[0083] Figure 16 The schematic diagram of the upper material pipe and the lower material pipe of the present application.

[0084] Figure 17 The top view schematic diagram of a multi-degree of freedom adjusting underwater screed of the present application.

[0085] Figure 18 The schematic diagram of the setting of the measuring tower of the present application

[0086] Figure 19 The schematic diagram of the arrangement of the support unit of the present application.

[0087] Figure 20 The front view schematic diagram of a multi-degree of freedom adjusting underwater screed of the present application.

[0088] Figure 21 The schematic diagram of the construction of the lower step of a multi-degree of freedom adjusting underwater screed of the present application.

[0089] Figure 22 The schematic diagram of the longitudinal section of the material distribution beam of the present application.

[0090] Figure 23 The schematic diagram of the arrangement of the transverse moving mechanism and the longitudinal moving mechanism of the present application. DETAILED DESCRIPTION

[0091] The present application will be further described in connection with specific embodiments. However, it should be understood that the above-mentioned subject matter of the present application is not limited to the following embodiments, and any technology realized based on the content of the present application falls within the scope of the present application.

[0092] In the description of the embodiments of the present application, the terms of orientation or positional relationship such as "upper", "lower", "left", "right", "center", "inner", "outer", and the like, are expressed based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product / device / apparatus of the present application is usually used. These terms of orientation or positional relationship are only for the convenience of describing the present application or simplifying the description in the embodiments, and for the convenience of the skilled person to quickly understand the scheme, and do not indicate or imply that a specific device / component / element must have a specific orientation or be constructed and operated in a specific positional relationship, and therefore cannot be understood as a limitation on the present application.

[0093] In addition, the terms "horizontal", "vertical", "suspended", "parallel", and the like, do not mean that the corresponding device / component / element must be absolutely horizontal or vertical or suspended or parallel, but can be slightly inclined or deviated. For example, "horizontal" only means that its direction is more horizontal relative to "vertical", and does not mean that the structure must be completely horizontal, but can be slightly inclined. Alternatively, it can be simplified to understand that the corresponding device / component / element is arranged in the direction of "horizontal", "vertical", "suspended", "parallel", etc., and can have an error / deviation of ±10% relative to the corresponding direction, more preferably an error / deviation of ±8% or less, more preferably an error / deviation of ±6% or less, more preferably an error / deviation of ±5% or less, and more preferably an error / deviation of ±4% or less. As long as the corresponding device / component / element is within the error / deviation range, it can still achieve its role in the scheme of the present application.

[0094] In addition, the terms "first", "second", "third", and the like, are only used to distinguish the same or similar components for description, and should not be understood as emphasizing or implying the relative importance of a specific component.

[0095] In addition, in the description of the embodiments of the present application, "several", "a plurality of", and "several" represent at least 2. It can be 2, 3, 4, 5, 6, 7, 8, 9, etc. in any case, and even more than 9.

[0096] In addition, in the description of the technical scheme of the present application, unless otherwise specified / limited / limited, the terms "arrangement", "installation", "connection", "connection", "provided with", "laid", "arrangement" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected, such as welding, riveting, bolting, screwing, etc. The connection means commonly used in the art. Such connection can be mechanical connection, or electrical connection or communication connection; it can be directly connected, or indirectly connected through an intermediate medium, or the communication between two elements.

[0097] Example 1

[0098] like Figure 1 As shown, the lateral and longitudinal walking mechanism described in this embodiment includes an end structure 13, a lateral frame 33, a walking longitudinal beam 22, a first vertical lifting leg 31, and a second vertical lifting leg 32. The end structure 13 has a first hole 131 extending through it. At least a portion of the lateral frame 33 is located within the first hole 131, and the lateral frame 33 slides radially with the end structure 13 along the first hole 131. The walking longitudinal beam 22 extends through the lateral frame 33 along the length of the first hole 131, and the walking longitudinal beam 22 slides with the lateral frame 33. The first vertical lifting leg 31 is connected to the end structure 13, and the second vertical lifting leg 32 is connected to the walking longitudinal beam 22.

[0099] In use, by setting a transverse frame 33 between the end structure 13 and the walking longitudinal beam 22, the relative movement of the walking longitudinal beam 22 and the end structure 13 along the length direction of the first hole 131 (i.e., the opening direction of the first hole 131) is realized based on the sliding cooperation between the walking longitudinal beam 22 and the transverse frame 33. This achieves the purpose of walking movement of the first vertical lifting leg 31 and the second vertical lifting leg 32 along the length direction of the first hole 131.

[0100] Furthermore, based on the radial sliding engagement with the end structure 13 along the first hole 131, the relative movement of the walking longitudinal beam 22 and the end structure 13 along the radial (i.e., transverse) direction of the first hole 131 is achieved, thereby achieving the purpose of walking movement or correction of the first vertical lifting leg 31 and the second vertical lifting leg 32 along the length direction of the first hole 131.

[0101] Therefore, the lateral and longitudinal walking mechanism described in this embodiment utilizes the walking longitudinal beam 22 with a lateral frame 33, and the lateral frame 33 with an end structure 13, to replace the transition frame of the existing walking leveling machine, thereby effectively reducing the overall weight of the lateral and longitudinal walking mechanism.

[0102] like Figure 2As shown, in a preferred manner, the transverse moving frame 33 is provided with a second hole 331 through the transverse moving frame 33, the second hole 331 is adapted to the cross section of the walking longitudinal beam 22, and the second hole 331 is provided in the same direction as the first hole 131. The walking longitudinal beam 22 passes through the second hole 331 and is in sliding fit with the second hole 331, so as to realize the relative movement of the walking longitudinal beam 22 and the transverse moving frame 33 along the direction in which the first hole 131 is provided. At the same time, the walking longitudinal beam 22 is adapted to the second hole 331, so that the second hole 331 limits the walking longitudinal beam 22 along the radial direction of the first hole 131, and the transverse moving frame 33 can move together with the walking longitudinal beam 22.

[0103] In a specific preferred manner, the part of the end structure 13 located outside the first hole 131 is a first side wall 132, the part of the end structure 13 located inside the first hole 131 is a second side wall 134, the transverse moving frame 33 is located between the first side wall 132 and the second side wall 134, the transverse moving frame 33 and the first side wall 132 have a first gap 114 therebetween, the transverse moving frame 33 and the second side wall 134 have a second gap 111 therebetween, and the transverse moving frame 33 moves relative to the end structure 13 to move away from or close to the first side wall 132, so as to realize the sliding fit of the transverse moving frame 33 and the end structure 13 along the radial direction of the first hole 131. At the same time, the opposite side walls of the first hole 131

one of which is the first side wall 132, and the other of which is the second side wall 134

[0104] In a preferred manner, the transverse moving frame 33 and the end structure 13 have a limiting structure therebetween, which limits the relative sliding of the transverse moving frame 33 and the end structure 13 along the direction in which the first hole 131 is provided, and does not limit the relative sliding of the transverse moving frame 33 and the end structure 13 along the radial direction of the first hole 131. However, when the walking longitudinal beam 22 moves relative to the transverse moving frame 33 along the length direction of the first hole 131, the transverse moving frame 33 and the end structure 13 do not move relative to each other, or the displacement amount of the relative movement is very small

which is caused by assembly and manufacturing errors

[0105] In a specific preferred manner, the first hole 131 is a rectangular hole, and the end structure 13 further comprises oppositely arranged bottom side wall 133 and top side wall 135, and the first side wall 132, the bottom side wall 133, the second side wall 134 and the top side wall 135 surround the first hole 131, facilitating manufacturing and installation.

[0106] In a preferred manner, the first hole 131 has a height that is adapted to the height of the lateral moving frame 33, so as to increase the stability of the lateral moving frame 33 when moving relative to the end structure 13.

[0107] In a preferred manner, the horizontal and vertical walking mechanism further comprises a lateral telescopic mechanism 4 connected between the end structure 13 and the lateral moving frame 33, and the lateral telescopic mechanism 4 can drive the lateral moving frame 33 to move away from or close to the first side wall 132. The lateral telescopic mechanism 4 is preferably a telescopic oil cylinder or a telescopic air cylinder.

[0108] The lateral telescopic mechanism 4 can drive the lateral moving frame 33 to reciprocate relative to the end structure 13.

[0109] In a preferred manner, the first lateral support door frame 42 is detachably connected to the outer wall of the end structure 13, so as to facilitate installation and transportation.

[0110] In a preferred manner, a first lateral through hole 136 is formed in the first side wall 132, and a first lateral support door frame 42 is arranged outside the first lateral through hole 136. One end of the lateral telescopic mechanism 4 is connected to the root of the first lateral support door frame 42, and the other end of the lateral telescopic mechanism 4 passes through the first lateral through hole 136 and is connected to the lateral moving frame 33. By arranging the first lateral support door frame 42 outside the first lateral through hole 136, the first lateral support door frame 42 serves as a telescopic support force element between the lateral moving frame 33 and the end structure 13. Compared with directly arranging the lateral telescopic mechanism 4 between the lateral moving frame 33 and the end structure 13, the size of the end structure 13 in the telescopic direction of the lateral telescopic mechanism 4 is effectively reduced, and the overall weight of the horizontal and vertical walking mechanism is effectively reduced.

[0111] In a preferred manner, the lateral moving frame 33 is connected with a first lateral support 41, and the first lateral support 41 is located in the first gap 114. The lateral telescopic mechanism 4 is connected to the first lateral support 41.

[0112] Further preferably, the first lateral support door frame 42 is connected to the outer wall of the end structure 13.

[0113] Further preferably, the first lateral support door frame 42 is detachably connected to the outer wall of the end structure 13, so as to facilitate installation and debugging of the lateral telescopic mechanism 4.

[0114] In a specific preferred manner, the first lateral support door frame 42 is connected to the outer wall of the end structure 13 by bolts or pins.

[0115] Specifically preferably, the transverse moving frame 33 is connected with a first transverse support 41, the first transverse support 41 is located in the first gap 114, and the transverse telescopic mechanism 4 is connected with the first transverse support 41.

[0116] The transverse and longitudinal walking mechanism described in the present application further comprises a longitudinal telescopic mechanism 5, the longitudinal telescopic mechanism 5 is connected between the walking longitudinal beam 22 and the transverse moving frame 33, and the longitudinal telescopic mechanism 5 can be telescoped along the length direction of the walking longitudinal beam 22. The walking longitudinal beam 22 is driven by the longitudinal telescopic mechanism 5 to slide along the length direction of the first hole 131 and the transverse moving frame 33. The longitudinal telescopic mechanism 5 is preferably a telescopic oil cylinder or a telescopic air cylinder.

[0117] In a preferred manner, the transverse moving frame 33 is connected with a first longitudinal support 51, the walking longitudinal beam 22 is connected with a second longitudinal support 52, the first longitudinal support 51 is located in the first gap 114, and the longitudinal telescopic mechanism 5 is connected between the first longitudinal support 51 and the second longitudinal support 52.

[0118] In a preferred manner, the transverse moving frame 33 is entirely located in the first hole 131.

[0119] In a preferred manner, the walking longitudinal beam 22 is provided with a first vertical through hole 221, the first vertical through hole 221 is provided with a first vertical support gantry 223 at the upper portion, one end of the second vertical lifting leg 32 is connected to the first vertical support gantry 223, the other end passes through the first vertical through hole 221 and vertically slides with the first vertical through hole 221. By providing the first vertical support gantry 223 at the upper portion of the first vertical through hole 221, the telescopic support force element between the second vertical lifting leg 32 and the walking longitudinal beam 22 is used, compared with the direct connection between the second vertical lifting leg 32 and the walking longitudinal beam 22, the center of gravity of the walking longitudinal beam 22 can be effectively reduced on the basis of less increase in structural weight, thereby effectively reducing the center of gravity of the whole formed by the end structure 13, the transverse moving frame 33 and the walking longitudinal beam 22, so that the stability of the transverse and longitudinal walking mechanism is better.

[0120] Embodiment 2

[0121] As shown in Figures 1-23 The multi-degree-of-freedom adjustable underwater screed described in the present embodiment comprises: four transverse and longitudinal walking mechanisms as described in Embodiment 1; the four transverse and longitudinal walking mechanisms are arrayed and arranged at the positions of the four corners of the mouth shape, the adjacent end structures 13 are connected, and the adjacent walking longitudinal beams 22 are connected.

[0122] In a preferred mode, a cloth longitudinal beam 12 is connected between the adjacent end structures 13 along the opening direction of the first hole 131, and a first through hole 121 corresponding to the first hole 131 is formed in the cloth longitudinal beam 12, and one end of the walking longitudinal beam 22 extends into the first through hole 121. On the basis of the sliding fit of the transverse moving frame 33 along the first hole 131 with the end structure 13, the walking longitudinal beam 22 is arranged in the cloth longitudinal beam 12, so that the walking longitudinal beam 22 and the cloth longitudinal beam 12 form an inside-outside sleeving relationship, effectively reducing the horizontal arrangement space of the whole formed by the walking longitudinal beam 22 and the cloth longitudinal beam 12, so that the transverse size specification of the multi-degree-of-freedom adjusting underwater screed machine can be smaller.

[0123] In a preferred mode, the cloth longitudinal beam 12 is a truss structure with both ends open. In the case that the cloth longitudinal beam 12 meets the design rigidity and strength, the self-weight of the cloth longitudinal beam 12 is further reduced, which contributes to the lightweight of the multi-degree-of-freedom adjusting underwater screed machine. At the same time, since the cloth longitudinal beam 12 is sleeved outside the walking longitudinal beam 22, the cloth longitudinal beam 12 is larger in transverse and height dimensions than the walking longitudinal beam 22, so that the cloth longitudinal beam 12 can be made into a truss structure.

[0124] In a preferred mode, a walking transverse beam 21 is connected between the adjacent ends of the walking longitudinal beam 22 along the moving direction of the transverse moving frame 33 relative to the end structure 13. Preferably, the walking transverse beam 21 and the walking longitudinal beam 22 form a frame structure.

[0125] In a preferred mode, a supporting telescopic structure is arranged between the cloth longitudinal beam 12 and the walking longitudinal beam 22. The supporting telescopic structure is located in the middle of the cloth longitudinal beam 12. When the walking longitudinal beam 22 and the cloth longitudinal beam 12 move relative to each other, the supporting telescopic structure is separated from one of the cloth longitudinal beam 12 and the walking longitudinal beam 22, so as not to interfere with the relative movement between the walking longitudinal beam 22 and the cloth longitudinal beam 12. When the cloth longitudinal beam 12 and the walking longitudinal beam 22 are relatively stationary, the supporting telescopic structure is supported between the walking longitudinal beam 22 and the cloth longitudinal beam 12 through telescoping, so that the cloth longitudinal beam 12 and the walking longitudinal beam 22 are in force bearing and integrated with each other in the transverse and vertical directions. Together with the transverse telescopic mechanism 4 and the longitudinal telescopic mechanism 5, the supporting telescopic structure cooperates to increase the stability of the multi-degree-of-freedom adjusting underwater screed machine. The supporting telescopic structure is preferably a pneumatic cylinder or a telescopic oil cylinder.

[0126] In a preferred manner, the height of the step cross beam 21 is adapted to the height of the step longitudinal beam 22; the height of the cloth cross beam 11 is higher than the height of the step cross beam 21; and the height of the cloth longitudinal beam 12 is adapted to the height of the cloth cross beam 11. Based on the sequentially sleeved structure of the step longitudinal beam 22, the horizontal and vertical moving frame 33 and the end structure 13, the height of the end structure 13 is higher than the height of the step longitudinal beam 22. In this case, the height of the step cross beam 21 is adapted to the height of the cloth cross beam 11, so that the step cross beam 21 and the step longitudinal beam 22 form a frame structure in the horizontal and vertical directions, and the load bearing capacity is more uniform, which can still have better horizontal and vertical stability on the basis of reducing the multi-degree-of-freedom adjustment underwater screed machine and lightening. Similarly, the height of the cloth longitudinal beam 12 is adapted to the height of the cloth cross beam 11, so that the cloth longitudinal beam 12 and the cloth cross beam 11 form a frame structure in the horizontal and vertical directions, and the load bearing capacity is more uniform, which can still have better horizontal and vertical stability on the basis of reducing the multi-degree-of-freedom adjustment underwater screed machine and lightening.

[0127] In a preferred manner, the cloth cross beam 11 is provided with a compressed air drainage cabin 112, which is used for underwater leveling of the multi-degree-of-freedom adjustment underwater screed machine and controls the multi-degree-of-freedom adjustment underwater screed machine to rise and sink.

[0128] In a preferred manner, the cloth cross beam 11 is provided with a support beam 14 on one side close to the step cross beam 21, and the first vertical lifting leg 31 is connected to the support beam 14.

[0129] In a preferred manner, the support beam 14 is provided with a second vertical through hole 141.

[0130] The multi-degree-of-freedom adjustment underwater screed machine described in the embodiment further comprises a second vertical support gantry 142 arranged on the upper part of the second vertical through hole 141, the cantilever end of the second vertical support gantry 142 is detachably connected to the support beam 14, one end of the first vertical lifting leg 31 is connected to the root of the second vertical support gantry 142, and the other end passes through the second vertical through hole 141 and is vertically slidably connected to the second vertical through hole 141.

[0131] In a preferred manner, the step longitudinal beams 22 on adjacent horizontal and vertical step walking mechanisms are correspondingly connected along the length direction of the step longitudinal beam 22.

[0132] In a preferred manner, the step longitudinal beams 22 on adjacent horizontal and vertical step walking mechanisms are coaxially and integrally formed along the length direction of the step longitudinal beam 22.

[0133] One end of the cloth cross beam 11 is connected to the end structure 13 in the moving direction of the horizontal and vertical moving frame 33 relative to the end structure 13.

[0134] Along the opening direction of the first hole 131, one side of the end structure 13 is connected with a cloth longitudinal beam 12, the cloth longitudinal beam 12 is provided with a first through hole 121 corresponding to the first hole 131, and one end of the walking longitudinal beam 22 extends into the first through hole 121.

[0135] In an optimal mode, one end of the walking longitudinal beam 22 is connected with a walking cross beam 21, the walking cross beam 21 is arranged along the length direction of the cloth cross beam 11, and the walking cross beam 21 is located outside the cloth cross beam 11.

[0136] In an optimal mode, the cloth cross beam 11 protrudes from one side of the walking cross beam 21 and is provided with a support beam 14, and the first vertical lifting leg 31 is connected to the support beam 14.

[0137] In an optimal mode, the support beam 14 is provided with a second vertical through hole 141.

[0138] The first vertical lifting leg 31 comprises a first vertical support gantry 223 arranged at the upper part of the first vertical through hole 221, the two ends of the first vertical support gantry 223 are detachably connected with the support beam 14, one end of the first vertical lifting leg 31 is connected to the first vertical support gantry 223, the other end passes through the first vertical through hole 221 and is in vertical sliding fit with the first vertical through hole 221.

[0139] In an optimal mode, the multi-degree-of-freedom underwater leveling machine comprises four horizontal and vertical walking mechanisms.

[0140] In an optimal mode, along the length direction of the cloth cross beam 11, two adjacent end structures 13 are connected through the cloth cross beam 11.

[0141] In an optimal mode, along the length direction of the walking longitudinal beam 22, two adjacent end structures 13 are connected through the cloth longitudinal beam 12, and the walking longitudinal beams 22 of adjacent horizontal and vertical walking mechanisms are correspondingly connected.

[0142] In an optimal mode, along the length direction of the walking longitudinal beam 22, the walking longitudinal beams 22 of adjacent horizontal and vertical walking mechanisms are coaxially and integrally formed.

[0143] In an optimal mode, the cloth cross beam 11 is provided with a gas compression drainage cabin 112.

[0144] In an optimal mode, the cloth longitudinal beam 12 is a truss structure.

[0145] A specific preferred mode: a multi-degree-of-freedom adjustable underwater screed, comprising:

[0146] A cloth chassis 1, comprising two spaced cloth cross beams 11 and cloth longitudinal beams 12, both ends of the cloth cross beams 11 are provided with first holes 131 along the length direction of the cloth longitudinal beams 12, the cloth longitudinal beams 12 are provided with first through holes 121 along the length direction of the cloth longitudinal beams 12, and the first holes 131 are correspondingly arranged with the first through holes 121 on the corresponding side.

[0147] A walking main frame 2, comprising two spaced walking cross beams 21 and walking longitudinal beams 22, the walking cross beams 21 are located outside the cloth cross beams 11, and the walking longitudinal beams 22 pass through the first holes 131 and the first through holes 121 on the corresponding side.

[0148] A transverse moving frame 33, which is sleeved on the walking longitudinal beams 22, at least partially located in the first holes 131, and slidably connected with the walking longitudinal beams 22 along the length direction of the walking longitudinal beams 22, and slidably connected with the cloth cross beams 11 along the length direction of the cloth cross beams 11.

[0149] A transverse telescopic mechanism 4, connected between the cloth cross beams 11 and the transverse moving frame 33, which can be telescoped along the length direction of the cloth cross beams 11.

[0150] A longitudinal telescopic mechanism 5, connected between the cloth chassis 1 and the transverse moving frame 33, which can be telescoped along the length direction of the walking longitudinal beams 22.

[0151] At least four first vertical lifting legs 31, which are supported and connected with the cloth chassis 1.

[0152] At least four second vertical lifting legs 32, which are supported and connected with the walking main frame 2.

[0153] The first holes 131 are provided with first transverse through holes 136 on one side of the walking cross beams 21, the first transverse through holes 136 are provided with first transverse support gantries 42 on the outside, one end of the transverse telescopic mechanism 4 is connected to the first transverse support gantries 42, and the other end passes through the first transverse through holes 136 and is connected with the transverse moving frame 33.

[0154] The cloth cross beams 11 comprise air pressure drainage compartments 112 and end structures 13 connected to both ends of the air pressure drainage compartments 112, and the first holes 131 are provided through the end structures 13.

[0155] The compressed air drainage chamber 112 is detachably connected with the end structure 13.

[0156] The walking cross beam 21 is located outside the cloth cross beam 11; the cloth cross beam 11 is protrusively provided with a support beam 14 on one side of the walking cross beam 21, and the first vertical lifting leg 31 is connected to the support beam 14.

[0157] The support beam 14 is provided with a second vertical through hole 141;

[0158] The first vertical lifting leg 31 comprises a first vertical support gantry 223 provided on the upper part of the first vertical through hole 221; the two ends of the first vertical support gantry 223 are detachably connected with the support beam 14; one end of the first vertical lifting leg 31 is connected to the first vertical support gantry 223, and the other end passes through the first vertical through hole 221 and is vertically slidingly matched with the first vertical through hole 221.

[0159] The walking longitudinal beam 22 is provided with a first vertical through hole 221, and a first vertical support gantry 223 is provided on the upper part of the first vertical through hole 221; one end of the second vertical lifting leg 32 is connected to the first vertical support gantry 223, and the other end passes through the first vertical through hole 221 and is vertically slidingly matched with the first vertical through hole 221.

[0160] The cloth longitudinal beam 12 is a truss structure.

[0161] The cloth mechanism 7 can move along the length direction of the cloth longitudinal beam 12, and the cloth mechanism 7 can also move along the length direction of the cloth cross beam 11.

[0162] The two oppositely arranged cloth cross beams 11, the two oppositely arranged cloth longitudinal beams 12, and the end structure 13 connected between the cloth cross beam 11 and the cloth longitudinal beam 12 form the cloth chassis 1.

[0163] The two oppositely arranged walking cross beams 21 and the two oppositely arranged walking longitudinal beams 22 form a frame structure.

[0164] In a preferred mode, the first vertical lifting leg 31 is connected with the cloth cross beam 11.

[0165] In a preferred mode, the second vertical lifting leg 32 is connected with the walking longitudinal beam 22.

[0166] In use, by setting the transverse frame 33 between the end structure 13 and the walking longitudinal beam 22, based on the sliding fit between the walking longitudinal beam 22 and the transverse frame 33 along the length direction of the first hole 131, the relative movement between the walking longitudinal beam 22 and the end structure 13 along the length direction of the first hole 131 is realized, so as to achieve the purpose of walking movement of the first vertical lifting leg 31 and the second vertical lifting leg 32 along the length direction of the first hole 131.

[0167] Furthermore, based on the sliding fit between the walking longitudinal beam 22 and the end structure 13 along the radial direction of the first hole 131, the relative movement between the walking longitudinal beam 22 and the end structure 13 along the radial direction of the first hole 131 is realized, so as to achieve the purpose of walking movement or deviation correction of the first vertical lifting leg 31 and the second vertical lifting leg 32 along the length direction of the first hole 131.

[0168] By sleeving the walking longitudinal beam 22 with the transverse frame 33, and sleeving the end structure 13 with the transverse frame 33, the transverse frame 33 is used to replace the transition frame of the existing walking type leveling machine, so as to effectively reduce the overall weight of the transverse and longitudinal walking mechanism.

[0169] Preferably, the cloth beam 11 is provided with a pressurized drainage cabin 112.

[0170] The cloth beam 11 and the pressurized drainage cabin 112 are integrated together to reduce the overall weight of the transverse and longitudinal walking mechanism. The lower material pipe 73 is transversely moved by the transverse moving mechanism 8 and the cloth beam 11.

[0171] Preferably, the transverse moving mechanism 8 comprises a second gear 82 and a second rack 83 engaged with each other, and two transverse rails 81 installed on the cloth beam 11 in parallel, the second rack 83 and the transverse rail 81 are both installed on the cloth beam 11, and further comprising a second driving motor 84, which drives the second gear 82 to rotate in engagement with the second rack 83.

[0172] Preferably, the transverse moving mechanism 8 further comprises a longitudinal support 91, which comprises two longitudinally spaced longitudinal support rails 911, the lower material pipe 73 is supported between the two longitudinal support rails 911, and the lower material pipe 73 can move relative to the longitudinal support rails 911 along the length direction of the longitudinal support rails 911; the second gear 82 is connected to the end of the longitudinal support rails 911 along the length direction of the longitudinal support rails 911.

[0173] Further preferably, the material pipe support 92 is provided with a longitudinal roller 920, which is in rolling fit with the longitudinal support rail 911.

[0174] Preferably, at least two said ballast drainage tanks 112 are arranged in said first beam 11, adjacent said ballast drainage tanks 112 are provided with a partition 1121, said partition 1121 is provided with a water passing through hole 1122, the bottom of said ballast drainage tank 112 is provided with a water inlet and outlet 1123, preferably a door can be arranged at said water inlet and outlet 1123, the door can be controlled to open or close the water inlet and outlet 1123, for example, a waterproof electric control switch. The water inlet and outlet 1123 can also be selected not to be provided with a door.

[0175] The multi-degree-of-freedom adjusting underwater screed machine described in the embodiment is provided with a measuring tower 6 on the end structure 13.

[0176] The following is the weight comparison between the screed machine of the present application and the existing step-type screed machine: under the conditions that the effective screeding size reaches 18m*10m, the screeding speed reaches 2m / min, and the working water depth reaches 19m, the total weight of the multi-degree-of-freedom adjusting underwater screed machine described in the present application is 75t-85t, which is far less than the total weight of 185t of the existing step-type screed machine.

[0177] Buoyancy explanation: six air pressure drainage tanks 112 are arranged on each of the two material beams 11, that is, a total of 12 air pressure drainage tanks 112 are arranged on the whole machine; the maximum buoyancy generated by the two material beams 11 is about 50t; the step longitudinal beam 22 and the step transverse beam 21 are both provided with sealed cabins, so that the step longitudinal beam 22 and the step transverse beam 21 can be used as floating boxes, each generating a buoyancy of about 20t, and the total buoyancy generated by the material beam 11, the step longitudinal beam 22 and the step transverse beam 21 is greater than the total weight of the multi-degree-of-freedom adjusting underwater screed machine, and the total buoyancy generated by the step longitudinal beam 22 and the step transverse beam 21 is less than the total weight of the multi-degree-of-freedom adjusting underwater screed machine.

[0178] In the above case, the explanation of the sinking of the whole machine and the floating out of the water is as follows:

[0179] 1. Before lifting and launching, the state of the whole machine: the measuring tower 6 is laid down, the step longitudinal beam 22, the material mechanism 7, the transverse moving mechanism 8, the longitudinal moving mechanism 9 are all in the centering position, four lifting points on the two material beams 11 are hung with the main hook of the crane, the material mechanism 7 is hung with the auxiliary hook of the crane, the whole machine is lifted to the designated position and laid on the water surface, the lifting rope is loosened, at this time the buoyancy of the whole machine is greater than the weight, and the whole machine is in a floating state, at the same time, the air exhaust valve of one air pressure drainage tank 112 of each material beam 11 is symmetrically opened, the sinking state of the whole machine is observed, the air exhaust valve is closed when the screed machine sinks, the crane is slowly loosened until the screed machine sinks to the bottom, after all the air exhaust valves are opened to make the air pressure drainage tanks 112 fill with water, the operator controls the vertical rising of the measuring tower 6 through the control box to perform subsequent measurement and positioning screeding operation.

[0180] 2. When the whole machine needs to be drained, the measuring tower 6 is lowered. First, the upper material pipe 72 and the lower material pipe 73 of the material placing mechanism 7 are lifted away separately. Then, the hook is attached to the lifting slings of the four lifting points of the leveling machine. At the same time, the air inlet valve of one compressed air drainage chamber 112 of each material placing beam 11 is opened symmetrically to compress air. After the water in one chamber is drained, the current valve is closed. Then, the air inlet valve of the next compressed air drainage chamber 112 of each beam is opened symmetrically. The operation is repeated. During the drainage process, the crane's lifting weight display screen is observed. When the displayed lifting weight drops to the target value range, the exhaust valve is closed. The hook is raised until the whole machine floats out of the water.

[0181] Example 4

[0182] like Figure 6 , Figure 7 , Figure 18 and Figure 19 As shown, the multi-degree-of-freedom adjustable underwater leveling machine described in this embodiment differs from that in embodiment 3 from embodiment 2 in that: a measuring tower 6 is installed on the end structure 13, and a drive mechanism 61 is also included, which can drive the measuring tower 6 to swing.

[0183] The measuring tower 6 described in this embodiment is installed on the end structure 13. During transportation, the measuring tower 6 is positioned horizontally, effectively reducing its impact on the center of gravity and eccentricity of the underwater screed during transport. Then, during launching, the measuring tower is rotated from horizontal to vertical to suit the construction conditions. By rotating the measuring tower from horizontal to vertical, the safety of transporting the underwater screed is effectively improved while adapting to the construction conditions. Simultaneously, during transportation or launching, the slight oscillation of the measuring tower 6 can be used to fine-tune the center of gravity of the underwater screed using multiple degrees of freedom, making construction safer.

[0184] The drive mechanism 61 can drive the measuring tower 6 to rotate from horizontal to vertical, and can also drive the measuring tower 6 to rotate from vertical to horizontal.

[0185] In a preferred embodiment, the measuring tower 6 is arranged along the length of the fabric longitudinal beam 12, and when the measuring tower 6 is arranged in a transverse (i.e., horizontal) direction, the measuring tower 6 is located directly above the fabric longitudinal beam 12.

[0186] In a preferred embodiment, the multi-degree-of-freedom adjustable underwater leveling machine further includes a support 62, which is mounted on the end structure 13 and is hinged to the measuring tower 6 via a rotating shaft 63.

[0187] Along the length of the measuring tower 6, the measuring tower 6 is divided into a long arm section 65 and a short arm section 66 based on the position of the pivot 63. The long arm section 65 is longer than the short arm section 66, and the weight of the long arm section 65 is greater than the weight of the short arm section 66. More preferably, the length of the long arm section 65 is preferably 10-25 times the length of the short arm section 66, and the weight of the long arm section 65 is preferably 5-25 times the weight of the short arm section 66.

[0188] In a preferred embodiment, the rotating shaft 63 is arranged along the length direction of the fabric beam 11.

[0189] In a preferred embodiment, both ends of the fabric longitudinal beam 12 are connected to the end structure 13. One of the two end structures 13 has the bracket 62 mounted on its top, and the other has a support frame 64 protruding upwards from its top. When the measuring tower 6 is arranged laterally, the support frame 64 can support the long arm section 65 of the measuring tower 6.

[0190] In a preferred embodiment, the support 62 has a third gap 622, one end of the drive mechanism 61 is connected to the measuring tower 6, and the other end of the drive mechanism 61 passes through the third gap 622 and is connected to the fabric longitudinal beam 12.

[0191] More specifically and preferably, the drive mechanism 61 is connected to the short arm segment 66.

[0192] Based on the above scheme, in a preferred embodiment, the drive mechanism 61 includes a first telescopic member. During the rotation of the measuring tower 6 from horizontal to vertical and from vertical to horizontal, the first telescopic member is under tension. This allows for the use of a first telescopic member with a smaller diameter to achieve the swinging purpose of the measuring tower 6, reducing the weight of the underwater leveling machine. The first telescopic member is preferably a pneumatic cylinder or a telescopic hydraulic cylinder.

[0193] In a preferred embodiment, the support 62 includes support units 621 spaced apart along the length of the fabric beam 11. Each support unit 621 is mounted on the top of the end structure 13. The third gap 622 is located between two support units 621. A pivot 63 connects the two support units 621. One end of the first telescopic member is hinged to the end of the short arm segment 66 of the measuring tower 6 away from the pivot 63. The other end of the first telescopic member passes through the third gap 622 and is hinged to the fabric longitudinal beam 12. The support unit 621 is preferably a truss structure.

[0194] In a preferred embodiment, the fabric longitudinal beam 12 is a truss structure, comprising an upper chord 122, a lower chord 123, a vertical member 124, a first diagonal web member 125, and a second diagonal web member 126. A transverse beam 127 is provided at the first node 128 of the upper chord 122, where the vertical member 124, the first diagonal web member 125, and the second diagonal web member 126 converge. The transverse beam 127 is connected to the first telescopic member. By setting the connection point between the first telescopic member and the fabric longitudinal beam 12 at the first node 128, and by having the vertical member 124, the first diagonal web member 125, and the second diagonal web member 126 converge at the first node 128, the truss structure of the fabric longitudinal beam 12 can still meet the tensile strength requirements of the first telescopic member. Compared to using the fabric longitudinal beam 12 as a box girder, this significantly reduces the weight of the fabric longitudinal beam 12, thereby greatly reducing the weight of the underwater leveling machine.

[0195] In a preferred embodiment, the measuring tower 6 is composed of multiple truss sections assembled sequentially.

[0196] In a preferred embodiment, the top of the measuring tower 6 is connected to a measuring instrument for measuring the position of a multi-degree-of-freedom adjustable underwater leveling machine. More preferably, the top of the measuring tower 6 is provided with a telescopic device, which drives the measuring instrument to rise and fall. The telescopic device is preferably an air cylinder or a hydraulic cylinder.

[0197] The underwater leveling machine includes two measuring towers 6, which are installed on the end structures 13 at both ends of the same fabric beam 11.

[0198] Example 5

[0199] like Figure 6 , Figure 7 , Figure 18 and Figure 19 As shown, the multi-degree-of-freedom adjustable underwater leveling machine described in this embodiment differs from embodiments 3 or 4 in that: the material distribution mechanism 7 includes a material box 71, an upper material pipe 72, and a lower material pipe 73; the upper material pipe 72 is connected above the lower material pipe 73, and a first channel 74 is provided between the upper material pipe 72 and the lower material pipe 73; the material box 71 includes a hopper 711, the bottom of the hopper 711 has an opening 712, and a material gate 713 is provided at the opening 712. The material gate 713 can be closed or opened, and the material gate 713 and the upper material pipe 72 are configured such that: when the material box 71 presses the upper material pipe 72 vertically downward, the material gate 713 can be opened, so that the hopper 711 and the upper material pipe 72 are connected.

[0200] During construction, the upper material pipe 72 is pressed vertically downward by the material box 71, which opens the material gate 713, connecting the hopper 711 to the upper material pipe 72. At this time, the stone in the hopper 711 falls into the upper material pipe 72 and then into the lower material pipe 73. Meanwhile, some air or water in the upper material pipe 72 and the lower material pipe 73 is discharged through the first channel 74 between the upper material pipe 72 and the lower material pipe 73, so that the stone can smoothly move from the material box 71 to the lower material pipe 73, thereby achieving the purpose of smooth material feeding during the operation of the leveling machine.

[0201] In a preferred embodiment, the upper feed tube 72 is inserted into the lower feed tube 73.

[0202] In a preferred embodiment, the lower material pipe 73 includes a bottom pipe structure 731 and a first funnel structure 732 connected to the top of the bottom pipe structure 731, wherein the large end of the first funnel structure 732 is disposed facing the upper material pipe 72.

[0203] The upper tube 72 includes an upper tube structure 721. A plurality of protrusions 722 are arranged circumferentially on the outer wall of the upper tube structure 721. There is a first gap 723 between adjacent protrusions 722. The outer surface of the protrusions 722 is an inclined surface 724 corresponding to the first funnel structure 732. The lower part of the upper tube structure 721 is inserted into the bottom tube structure 731, and there is a second gap 725 between the outer wall of the upper tube structure 721 and the inner wall of the bottom tube structure 731 that communicates with the first gap 723.

[0204] The bottom tube structure 731 and the first funnel structure 732 are welded together, and a first connecting rib plate 733 is welded between the outer wall of the bottom tube structure 731 and the outer wall of the first funnel structure 732. A plurality of lower lifting lugs 734 are connected to the top outer wall of the first funnel structure 732, and all the lower lifting lugs 734 are arranged around the first funnel structure 732.

[0205] All of the lower lugs 734 are located near the large opening end of the first funnel structure 732.

[0206] In a preferred embodiment, the upper material pipe 72 further includes a second funnel structure 726 sleeved on the outside of the upper pipe structure 721. The second funnel structure 726 faces the first funnel structure 732 and can cover the large opening end of the first funnel structure 732. A third gap 741 is connected between the first funnel structure 732 and the second funnel structure 726 through the first gap 723. The third gap 741, the first gap 723 and the second gap 725 form the first channel 74.

[0207] The upper tube structure 721 has a first block 720 disposed on the outer side of the portion below the first funnel structure 732, and at least one side of the first block 720 can laterally abut against the inner wall of the bottom tube structure 731. This is to increase the connection stability between the upper tube structure 721 and the lower material tube 73.

[0208] In a preferred embodiment, the upper tube structure 721 further includes at least two upper tube sections 727 that are detachably connected in sequence along the length of the upper tube structure 721, and the second funnel structure 726 is located on the lowermost upper tube section 727.

[0209] In a preferred embodiment, the upper tube structure 721 further includes a third funnel structure 728 connected to the top of the upper tube structure 721, with the larger end of the third funnel structure 728 facing upwards.

[0210] In a preferred embodiment, the material box 71 further includes a hopper 711, the bottom of which has an opening 712, and a material gate 713 is provided at the opening 712. The material gate 713 can be closed or opened, and the material gate 713 and the third funnel structure 728 are configured such that when the material gate 713 presses the third funnel structure 728 vertically downward, the material gate 713 can be opened.

[0211] Specifically, when the material gate 713 presses vertically downwards against the large opening end of the third funnel structure 728, the material gate 713 can be opened.

[0212] In a preferred embodiment, the top of the third funnel structure 728 is provided with a limiting ring 729 protruding upward; the limiting ring 729 can vertically abut against the material gate 713.

[0213] In a preferred embodiment, the material gate 713 includes two opposing half-gate structures 714, which are hinged to the hopper 711 via a first hinge shaft 716. When the material gate 713 presses down vertically on the large end of the third funnel structure 728, the two half-gate structures 714 rotate in opposite directions to form an opening 715 connecting the hopper 711 and the first funnel structure 732.

[0214] In a preferred embodiment, the two first hinge shafts 716 are arranged in parallel, and the half-door structure 714 is eccentrically hinged to the hopper 711 in a direction toward the other half-door structure 714.

[0215] In a preferred embodiment, the outer side of the half-door structure 714 is provided with an abutment leg 717, which can open the material gate 713 when the abutment leg 717 presses vertically downward against the large opening end of the third funnel structure 728.

[0216] In a preferred embodiment, the hopper 711 is further provided with a limiting structure 718 that can abut against the abutting leg 717, and the limiting structure 718 is located on the rotation path of the abutting leg 717.

[0217] In a preferred embodiment, the lower part of the hopper 711 is provided with a hopper support leg 719 for supporting the hopper 711, and the bottom of the hopper support leg 719 is lower than the bottom of the abutment leg 717.

[0218] In a preferred embodiment, the fabric-making mechanism 7 is connected to a longitudinal moving mechanism 9, which can drive the fabric-making mechanism 7 to move along the length direction of the walking beam 22.

[0219] In a preferred embodiment, the lower material tube 73 is connected to a longitudinal moving mechanism 9, which can drive the lower material tube 73 to move along the length direction of the walking longitudinal beam 22.

[0220] In a preferred embodiment, the longitudinal moving mechanism 9 includes a longitudinal support 91, a material tube support 92, and a longitudinal driving mechanism 93, wherein: the material tube support 92 is connected to the fabric spreading mechanism 7; the longitudinal support 91 includes two parallel longitudinal support rails 911 spaced apart, the material tube support 92 is located between the two longitudinal support rails 911, and the material tube support 92 rolls with the two longitudinal support rails 911; the longitudinal driving mechanism 93 includes a first driving motor 931 and a meshing first gear 932 and a first rack 933, the first driving motor 931 driving the first gear 932 to rotate, thereby enabling the material tube support 92 to move relative to the longitudinal support rails 911 along the length direction of the longitudinal support rails 911.

[0221] Preferably, the material pipe support 92 is connected to the lower material pipe 73.

[0222] In a preferred embodiment, the hopper is provided with a spiral structure, which is vertically arranged and leads to the opening. The spiral structure is detachably connected to the hopper. This is used to reduce the impact force of materials on the half-door structure and prevent the half-door structure from deforming excessively and becoming unable to open.

[0223] In a preferred embodiment, the lower material tube 73 moves laterally relative to the fabric beam 11 via a lateral moving mechanism 8.

[0224] In a preferred embodiment, the lateral movement mechanism 8 includes a meshing second gear 82 and a second rack 83, and two parallel lateral rails 81 mounted on the fabric beam 11. The second rack 83 and the lateral rails 81 are both mounted on the fabric beam 11. The mechanism also includes a second drive motor 84, which drives the second gear 82 to mesh with the second rack 83 and rotate.

[0225] In a preferred embodiment, the longitudinal support 91 includes two spaced longitudinal support rails 911, the lower material tube 73 is supported between the two longitudinal support rails 911, and the lower material tube 73 is movable relative to the longitudinal support rails 911 along the length of the longitudinal support rails 911; the end of the longitudinal support 91 along the length of the longitudinal support rails 911 is connected to the second gear 82.

[0226] In a preferred embodiment, the multi-degree-of-freedom adjustable underwater leveling machine described in this application further includes an upper material pipe 72, which is inserted into the lower material pipe 73, and there is a gap between the upper material pipe 72 and the lower material pipe 73.

[0227] In a preferred embodiment, the multi-degree-of-freedom adjustable underwater leveling machine of this application further includes a material box 71. The material box 71 has an opening at its bottom and a material gate 713 at the opening. A limiting ring 74 is provided at the top of the upper material pipe 72. The material gate 713 and the limiting ring 74 are configured such that when the material gate 713 presses against the limiting ring 74, the sealing door at the opening is opened.

[0228] The elevation of the bottom of the lower material pipe 73 can be controlled by the lifting height of the first vertical lifting leg 31 and the second vertical lifting leg 32, thereby controlling the elevation of the entire bottom plane.

[0229] Example 3

[0230] like Figures 1-6 As shown in this embodiment, a construction method for a multi-degree-of-freedom adjustable underwater leveling machine includes the following steps:

[0231] S1: The first vertical lifting outrigger 31 supports the multi-degree-of-freedom adjustable underwater leveling machine, and the second vertical lifting outrigger 32 is separated from the bottom of the water;

[0232] S2: Drive the walking longitudinal beam 22 to move relative to the end structure 13 along the length direction of the walking longitudinal beam 22;

[0233] S3: The second vertical lifting outrigger 32 descends and supports the multi-degree-of-freedom adjustable underwater leveling machine;

[0234] S4: The first vertical lifting outrigger 31 rises and separates from the bottom of the water;

[0235] S5: Drive the end structure 13 to move relative to the walking longitudinal beam 22 along the length direction of the walking longitudinal beam 22.

[0236] A preferred method 1: further includes a step of launching a multi-degree-of-freedom adjustable underwater leveling machine:

[0237] Install a multi-degree-of-freedom adjustable underwater leveling machine.

[0238] A crane is installed on the seaward side of the multi-degree-of-freedom adjustable underwater leveling machine platform;

[0239] The crane lifts the multi-degree-of-freedom adjustable underwater leveling machine and rotates it to the seaward side of the crane.

[0240] The multi-degree-of-freedom adjustable underwater leveling machine was lowered into the water.

[0241] A preferred method 2: further includes a multi-degree-of-freedom adjustable underwater leveling machine launching step:

[0242] Based on the first platform 10 and a slope disposed on one side of the first platform 10, the slope extends to the bottom of the water:

[0243] A multi-degree-of-freedom adjustable underwater leveling machine was installed on the first platform 10.

[0244] The multi-degree-of-freedom adjustable underwater leveling machine descends the slope using the methods described in steps S1-S5 until it reaches the construction position.

[0245] The slope is provided with steps 101, and the first vertical lifting leg 31 and the second vertical lifting leg 32 can be supported on the steps 101. In this way, when the multi-degree-of-freedom adjustable underwater leveler is in the water on the slope, the first vertical lifting leg 31 and the second vertical lifting leg 32 can still be set vertically, avoiding the first vertical lifting leg 31 and the second vertical lifting leg 32 tilting to support the multi-degree-of-freedom adjustable underwater leveler, thereby effectively optimizing the stress on the first vertical lifting leg 31 and the second vertical lifting leg 32 and extending their service life.

[0246] In a preferred embodiment, prior to construction, the process further includes the installation of a multi-degree-of-freedom adjustable underwater screed.

[0247] B1. Organize the site and prepare for assembly; transfer the components of the walking underwater leveler to the installation site, and at the same time, take into account the working conditions of the installation site to avoid the hydraulic system and electrical control system being soaked in seawater due to the rise and fall of the tide.

[0248] B2. Assemble a fabric beam 11, and install end structures 13 and transverse frames 33, as well as first vertical lifting legs 31 and transverse telescopic mechanisms 4 at both ends of the fabric beam 11.

[0249] B3. Install the fabric longitudinal beam 12, so that both ends of the fabric longitudinal beam 12 are connected to the end structure 13;

[0250] B4. Install the walking longitudinal beam 22, which passes through the fabric longitudinal beam 12 and the end structure 13 on the same side, and install the second vertical lifting support leg 32 on the walking longitudinal beam 22.

[0251] B5. Install a walking crossbeam 21 between adjacent walking longitudinal beams 22, the walking crossbeam 21 being located outside the fabric crossbeam 11;

[0252] B6. A fabric-making mechanism 7, a longitudinal moving mechanism 9, and a transverse moving mechanism 8 are installed between the two fabric beams 11. The longitudinal moving mechanism 9 can drive the fabric-making mechanism 7 to move along the length direction of the walking longitudinal beam 22; the transverse moving mechanism 8 can drive the longitudinal moving mechanism 9 to move laterally relative to the fabric beam 11 along the length direction of the fabric beam 11.

[0253] B7. Install the measuring tower 6 on the top of the end structure 13;

[0254] B8. Install the hydraulic and electrical systems of the entire machine, then debug the entire machine and conduct land simulation experiments.

[0255] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A lateral and longitudinal walking mechanism, characterized in that, include: The end structure (13) has a first hole (131) through it; The transverse frame (33) is at least partially located within the first hole (131), and the transverse frame (33) slides in a radial engagement with the end structure (13) along the first hole (131); The walking longitudinal beam (22) passes through the transverse frame (33) along the length direction of the first hole (131) and slides with the transverse frame (33); The first vertical lifting support leg (31) is connected to the end structure (13); The second vertical lifting support leg (32) is connected to the walking longitudinal beam (22); The transverse frame (33) is provided with a second hole (331) that is adapted to the walking longitudinal beam (22) along the opening direction of the first hole (131). The walking longitudinal beam (22) passes through the second hole (331) and slides with the second hole (331). The first hole (131) has a first sidewall (132) on one side, and the transverse frame (33) has a first gap (114) between it and the first sidewall (132). The transverse frame (33) moves relative to the end structure (13) to move away from or closer to the first sidewall (132). It also includes a lateral telescopic mechanism (4), which is connected between the end structure (13) and the transverse frame (33). The lateral telescopic mechanism (4) can drive the transverse frame (33) away from or closer to the first side wall (132). A first transverse through hole (136) is provided on the first side wall (132). A first transverse support frame (42) is provided on the outside of the first transverse through hole (136). One end of the transverse telescopic mechanism (4) is connected to the root of the first transverse support frame (42), and the other end passes through the first transverse through hole (136) and is connected to the transverse frame (33).

2. The lateral and longitudinal walking mechanism according to claim 1, characterized in that, There is a limiting structure between the transverse frame (33) and the end structure (13). The limiting structure restricts the transverse frame (33) from sliding relative to the end structure (13) along the length direction of the first hole (131), and the limiting structure does not restrict the transverse frame (33) from sliding relative to the end structure (13) along the radial direction of the first hole (131).

3. The lateral and longitudinal walking mechanism according to claim 1, characterized in that, The first hole (131) is a rectangular cavity. The end structure (13) also includes a bottom sidewall (133), a second sidewall (134) and a top sidewall (135). The first sidewall (132), the bottom sidewall (133), the second sidewall (134) and the top sidewall (135) form the first hole (131).

4. The lateral and longitudinal walking mechanism according to claim 1, characterized in that, The net height of the first hole (131) is adapted to the height of the transverse frame (33).

5. A lateral and longitudinal walking mechanism according to claim 4, characterized in that, The first transverse support gantry (42) is detachably connected to the outer wall of the end structure (13).

6. The lateral and longitudinal walking mechanism according to claim 4, characterized in that, The transverse frame (33) is connected to a first transverse support (41), which is located in the first gap (114). The transverse telescopic mechanism (4) is connected to the first transverse support (41).

7. The lateral and longitudinal walking mechanism according to claim 1, characterized in that, It also includes a longitudinal telescopic mechanism (5), which is connected between the walking longitudinal beam (22) and the transverse frame (33), and the longitudinal telescopic mechanism (5) can extend and retract along the length direction of the walking longitudinal beam (22).

8. A lateral and longitudinal walking mechanism according to claim 7, characterized in that, The transverse frame (33) is connected to a first longitudinal support (51), and the walking longitudinal beam (22) is connected to a second longitudinal support (52). The first longitudinal support (51) is located in the first gap (114), and the longitudinal telescopic mechanism (5) is connected between the first longitudinal support (51) and the second longitudinal support (52).

9. A lateral and longitudinal walking mechanism according to claim 1, characterized in that, The entire transverse frame (33) is located within the first hole (131).

10. A lateral and longitudinal walking mechanism according to claim 1, characterized in that, The walking longitudinal beam (22) is provided with a first vertical through hole (221), and a first vertical support gantry (223) is provided on the upper part of the first vertical through hole (221). One end of the second vertical lifting leg (32) is connected to the first vertical support gantry (223), and the other end passes through the first vertical through hole (221) and slides vertically with the first vertical through hole (221).

11. A multi-degree-of-freedom adjustable underwater leveling machine, characterized in that, include: Four lateral and longitudinal walking mechanisms as described in any one of claims 1-10, the four lateral and longitudinal walking mechanisms are arranged in an array, adjacent end structures (13) are connected, and adjacent walking longitudinal beams (22) are connected; It also includes a fabric-laying mechanism (7), which is capable of moving along the length of the walking beam (22) and is capable of moving radially along the first hole (131).

12. The multi-degree-of-freedom adjustable underwater leveling machine according to claim 11, characterized in that, Along the opening direction of the first hole (131), a fabric longitudinal beam (12) is connected between adjacent end structures (13). The fabric longitudinal beam (12) has a first through hole (121) corresponding to the first hole (131), and one end of the walking longitudinal beam (22) extends into the first through hole (121).

13. A multi-degree-of-freedom adjustable underwater leveling machine according to claim 12, characterized in that, The fabric longitudinal beam (12) is a truss structure with open ends.

14. A multi-degree-of-freedom adjustable underwater leveling machine according to claim 11, characterized in that, Along the moving direction of the transverse frame (33) relative to the end structure (13), the ends of the adjacent longitudinal beams (22) are connected to the transverse beams (21).

15. A multi-degree-of-freedom adjustable underwater leveling machine according to claim 14, characterized in that, Along the moving direction of the transverse frame (33) relative to the end structure (13), a fabric crossbeam (11) is connected between adjacent end structures (13), and the walking crossbeam (21) is arranged along the length direction of the fabric crossbeam (11), and the walking crossbeam (21) is located outside the fabric crossbeam (11).

16. A multi-degree-of-freedom adjustable underwater leveling machine according to claim 11, characterized in that, The height of the walking beam (21) is adapted to the height of the walking longitudinal beam (22); the height of the fabric beam (11) is higher than that of the walking beam (21); the height of the fabric longitudinal beam (12) is adapted to that of the fabric beam (11).

17. A multi-degree-of-freedom adjustable underwater leveling machine according to claim 11, characterized in that, The fabric crossbeam (11) is equipped with a compressed air drainage chamber (112), and the walking longitudinal beam (22) and the walking crossbeam (21) are both equipped with sealed chambers. The total buoyancy generated by the fabric crossbeam (11), the walking longitudinal beam (22) and the walking crossbeam (21) is greater than the total weight of the multi-degree-of-freedom adjustable underwater leveler, and the total buoyancy generated by the walking longitudinal beam (22) and the walking crossbeam (21) is less than the total weight of the multi-degree-of-freedom adjustable underwater leveler.

18. A multi-degree-of-freedom adjustable underwater leveling machine according to claim 11, characterized in that, The fabric beam (11) has a support beam (14) protruding from the side near the walking beam (21), and the first vertical lifting leg (31) is connected to the support beam (14).

19. A multi-degree-of-freedom adjustable underwater leveling machine according to claim 18, characterized in that, The support beam (14) is provided with a second vertical through hole (141). It also includes a second vertical support gantry (142) disposed on the upper part of the second vertical through hole (141), the cantilever end of the second vertical support gantry (142) being detachably connected to the support beam (14), one end of the first vertical lifting leg (31) being connected to the root of the second vertical support gantry (142), and the other end passing through the second vertical through hole (141) and slidingly engaging with the second vertical through hole (141).

20. A multi-degree-of-freedom adjustable underwater leveling machine according to claim 11, characterized in that, Along the length of the walking beam (22), the walking beams (22) on adjacent horizontal and vertical walking mechanisms are coaxially connected.

21. A multi-degree-of-freedom adjustable underwater leveling machine according to claim 11, characterized in that, The fabric feeding mechanism (7) includes a material box (71), an upper material pipe (72), and a lower material pipe (73): The upper material pipe (72) is connected above the lower material pipe (73), and there is a first channel (74) between the upper material pipe (72) and the lower material pipe (73). The material box (71) includes a hopper (711), the bottom of which has an opening (712), and a material gate (713) is provided at the opening (712). The material gate (713) can be closed or opened. The material gate (713) and the upper material pipe (72) are configured such that when the material box (71) presses the upper material pipe (72) vertically downward, the material gate (713) can be opened, so that the hopper (711) and the upper material pipe (72) are connected.

22. The multi-degree-of-freedom adjustable underwater leveling machine according to claim 21, characterized in that, The fabric-making mechanism (7) is connected to a longitudinal moving mechanism (9), which can drive the fabric-making mechanism (7) to move along the length of the walking beam (22).

23. A multi-degree-of-freedom adjustable underwater leveling machine according to claim 22, characterized in that, The longitudinal moving mechanism (9) includes a longitudinal support (91), a material tube support (92), and a longitudinal driving mechanism (93), wherein: The feed tube support (92) is connected to the fabric feeding mechanism (7); The longitudinal support (91) includes two parallel longitudinal support rails (911) spaced apart, and the material tube support (92) is located between the two longitudinal support rails (911), and the material tube support (92) is in rolling cooperation with the two longitudinal support rails (911). The longitudinal drive mechanism (93) includes a first drive motor (931) and a meshing first gear (932) and a first rack (933), wherein the first drive motor (931) drives the first gear (932) to rotate.

24. A multi-degree-of-freedom adjustable underwater leveling machine according to claim 23, characterized in that, It also includes a lateral moving mechanism (8), which can drive the longitudinal moving mechanism (9) to move laterally relative to the fabric beam (11) along the length direction of the fabric beam (11).

25. A multi-degree-of-freedom adjustable underwater leveling machine according to claim 24, characterized in that, The lateral movement mechanism (8) includes a second drive motor (84), both ends of which are driven and connected to an output shaft (85). The output shaft (85) is driven and connected to a second gear (82) at the end near the fabric beam (11). A second rack (83) is provided on the fabric beam (11) along the length direction. The second gear (82) meshes with the second rack (83) on the corresponding side. It also includes a transverse track (81) installed on the fabric beam (11), the transverse track (81) being arranged along the length of the fabric beam (11), and a second roller (86) being provided at the end of the longitudinal support (91), the second roller (86) being in rolling cooperation with the transverse track (81).

26. A multi-degree-of-freedom adjustable underwater leveling machine according to claim 11, characterized in that, A measuring tower (6) is installed on the end structure (13).

27. A construction method, characterized in that, A multi-degree-of-freedom adjustable underwater leveling machine according to any one of claims 11-26 includes a horizontal and vertical walking step and a material placement mechanism (7) for horizontal and vertical material placement, wherein: Horizontal and vertical walking steps: Using at least four of the horizontal and vertical walking mechanisms, the multi-degree-of-freedom adjustable underwater leveling machine moves along the length of the walking longitudinal beam (22) or radially along the first hole (131); The fabric-laying mechanism (7) moves horizontally and vertically in the fabric-laying step, wherein the fabric-laying mechanism (7) moves along the length direction of the walking longitudinal beam (22) or the fabric-laying mechanism (7) moves radially along the first hole (131).

28. A construction method according to claim 27, characterized in that, The traversing steps include longitudinal movement steps and lateral movement steps, wherein: The longitudinal movement steps include: S1: The first vertical lifting outrigger (31) supports the multi-degree-of-freedom adjustable underwater leveling machine, and the second vertical lifting outrigger (32) is separated from the bottom of the water; S2: Drive the walking beam (22) to move relative to the end structure (13) along the length direction of the walking beam (22); S3: The second vertical lifting outrigger (32) descends and supports the multi-degree-of-freedom adjustable underwater leveling machine; S4: The first vertical lifting outrigger (31) rises and separates from the bottom of the water; S5: Drive the end structure (13) to move relative to the walking longitudinal beam (22) along the length direction of the walking longitudinal beam (22); The lateral movement steps include: A1. The first vertical lifting outrigger (31) supports the multi-degree-of-freedom adjustable underwater leveling machine, and the second vertical lifting outrigger (32) is separated from the bottom of the water; A2. The drive transverse frame (33) drives the walking longitudinal beam (22) to move radially relative to the end structure (13) along the first hole (131); A3. The second vertical lifting outrigger (32) descends and supports the multi-degree-of-freedom adjustable underwater leveling machine; A4. The first vertical lifting outrigger (31) rises and separates from the bottom of the water; A5. The drive end structure (13) moves radially relative to the transverse frame (33) along the first hole (131).

29. A construction method according to claim 27, characterized in that, It also includes the launching procedure for a multi-degree-of-freedom adjustable underwater leveler: Install a multi-degree-of-freedom adjustable underwater leveling machine; A crane is installed on the seaward side of the multi-degree-of-freedom adjustable underwater leveling machine platform; The crane lifts the multi-degree-of-freedom adjustable underwater leveling machine and rotates it to the seaward side of the crane. The multi-degree-of-freedom adjustable underwater leveling machine was lowered into the water.

30. A construction method according to any one of claims 27-29, characterized in that, It also includes the installation steps for a multi-degree-of-freedom adjustable underwater leveling machine: B1. Assemble a fabric beam (11), and install end structures (13) and transverse frames (33) at both ends of the fabric beam (11), as well as a first vertical lifting leg (31) and a transverse telescopic mechanism (4). B2. Install the fabric longitudinal beam (12) so that both ends of the fabric longitudinal beam (12) are connected to the end structure (13); B3. Install the walking longitudinal beam (22), which passes through the fabric longitudinal beam (12) and the end structure (13) on the same side, and install the second vertical lifting leg (32) on the walking longitudinal beam (22). B4. Install a walking beam (21) between adjacent walking longitudinal beams (22), the walking beam (21) being located outside the fabric beam (11); B5. A fabric mechanism (7), a longitudinal moving mechanism (9), and a transverse moving mechanism (8) are installed between the two fabric crossbeams (11). The longitudinal moving mechanism (9) can drive the fabric mechanism (7) to move along the length direction of the longitudinal beam (22); the transverse moving mechanism (8) can drive the longitudinal moving mechanism (9) to move laterally relative to the fabric crossbeam (11) along the length direction of the fabric crossbeam (11). B6. Install the measuring tower (6) on top of the end structure (13).

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