Measuring tower for underwater leveling machine and multi-degree-of-freedom adjusting underwater leveling machine

Abstract

The invention relates to the technical field of underwater leveling machines, in particular to a measuring tower for an underwater leveling machine and a multi-degree-of-freedom adjusting underwater leveling machine. The measuring tower comprises a supporting assembly; the measuring tower and the driving mechanism are connected to the supporting assembly, and the driving mechanism can drive the measuring tower to rotate in the vertical direction from the transverse direction. The measuring tower for the underwater leveling machine is installed on the supporting assembly, during transportation, the measuring tower is arranged to be transverse, the influence of gathering of the measuring tower in the transportation process on the gravity center and the eccentric condition of the underwater leveling machine is effectively reduced, then when the measuring tower enters water, the measuring tower is rotated from the transverse direction to the vertical direction, and therefore the measuring tower can be used for measuring the gravity center and the eccentric condition of the underwater leveling machine. The method is suitable for construction conditions. Transverse rotation of the measuring tower is changed into vertical rotation, so that the transportation safety of the underwater leveling machine can be effectively improved under the condition that the measuring tower adapts to construction working conditions.

Description

Technical Field

[0001] The invention relates to the technical field of underwater leveling machines, and in particular to a measuring tower for underwater leveling machines and a multi-degree-of-freedom regulating underwater leveling machine. Background Art

[0002] Underwater leveling machine is a kind of mechanical equipment specially used for underwater earthwork leveling operation. It is widely used in the fields of marine engineering, water conservancy engineering, etc. Underwater leveling machine can effectively level the soil underwater through its unique design and structure to achieve the expected flatness.

[0003] In order to be able to see the position of the underwater leveling machine from the water, a measuring tower is currently installed on the underwater leveling machine, with the top of the measuring tower exposed above the water surface. However, during transportation, the installation of the measuring tower raises the center of gravity of the underwater leveling machine and makes the underwater leveling machine more eccentric, posing a great hidden danger to the transportation safety of the underwater leveling machine. Summary of the invention

[0004] The purpose of the present invention is to overcome the shortcomings of the prior art that during the transportation process, the setting of the measuring tower raises the center of gravity of the underwater leveling machine and makes the underwater leveling machine more eccentric, which poses a great hidden danger to the transportation safety of the underwater leveling machine, and provides a measuring tower for the underwater leveling machine and a multi-degree-of-freedom adjustable underwater leveling machine.

[0005] In a first aspect, the present invention provides a measurement tower for an underwater screed machine, comprising: Support components; It also includes a measuring tower and a driving mechanism connected to the supporting assembly, and the driving mechanism can drive the measuring tower to rotate from a horizontal direction to a vertical direction.

[0006] The measuring tower for an underwater leveler described in the present application is installed on a supporting assembly. During transportation, the measuring tower is arranged in a horizontal direction, which effectively reduces the influence of the measuring tower on the center of gravity and eccentricity of the underwater leveler during transportation. Afterwards, when launching the measuring tower, the measuring tower is rotated from a horizontal direction to a vertical direction to be suitable for construction conditions. By rotating the measuring tower from a horizontal direction to a vertical direction, the safety of the underwater leveler transportation can be effectively improved while adapting to the construction conditions.

[0007] Preferably, the support assembly includes two end structures arranged at intervals, a second longitudinal beam is connected between the two end structures, one of the end structures is installed with a bracket hinged to the measuring tower, one end of the driving mechanism is connected to the second longitudinal beam, and the other end is connected to the measuring tower.

[0008] Preferably, the driving mechanism includes a first telescopic member. During the process of the measuring tower rotating from horizontal to vertical and from vertical to horizontal, the first telescopic member is in tension.

[0009] Thus, a first telescopic member with a smaller diameter specification can be used to achieve the purpose of rotating the measuring tower, reducing the weight of the underwater leveling machine.

[0010] Preferably, the driving mechanism includes a first telescopic member. The bracket includes bracket units arranged at intervals radially along the second longitudinal beam. The bracket units are all installed on the top of the end structure. There is a gap between the two bracket units. A rotating shaft that rotates in cooperation with the measuring tower is connected between the two bracket units. One end of the first telescopic member is hinged to the measuring tower, and the other end of the first telescopic member passes through the gap and is hinged to the second longitudinal beam.

[0011] Preferably, the second longitudinal beam is a truss structure. The second longitudinal beam includes an upper chord, a lower chord, a vertical rod, a first diagonal web member, and a second diagonal web member. A transverse beam is provided at the first node of the upper chord. The vertical rod, the first diagonal web member, and the second diagonal web member converge at the first node. The transverse beam is connected to the first telescopic member.

[0012] By setting the connection position of the first telescopic member and the second longitudinal beam at the first node, and since the vertical rod, the first diagonal web member, and the second diagonal web member converge at the first node, it can be ensured that the second longitudinal beam being a truss structure can still meet the tensile force requirements of the first telescopic member on it. Compared with using the second longitudinal beam as a box girder, the weight of the second longitudinal beam is greatly reduced, thus greatly reducing the weight of the underwater leveling machine.

[0013] Preferably, the bracket unit is a truss structure; the measuring tower is formed by splicing multiple sections of trusses in sequence.

[0014] Preferably, a support frame protrudes upward from the top of the other end structure. When the measuring tower is arranged horizontally, the support frame can support the measuring tower.

[0015] In a second aspect, a multi-degree-of-freedom adjustable underwater leveling machine is disclosed, which includes two measuring towers as described in this application. A second cross beam is connected between the end structures of adjacent support assemblies.

[0016] It further includes a blanking mechanism, and the blanking mechanism can move along the length direction of the second longitudinal beam, and the blanking mechanism can also move along the length direction of the second cross beam.

[0017] Preferably, it further includes a transverse movement frame and a first main frame, where: The first main frame includes two sets of first cross beams and first longitudinal beams arranged oppositely, and the two sets of first cross beams and first longitudinal beams arranged oppositely enclose a frame structure; The end structure is provided with a first hole penetrating along the length direction of the first longitudinal beam; At least part of the transverse movement frame is located in the first hole, and the transverse movement frame is slidably matched with the end structure along the length direction of the first cross beam; The first longitudinal beam penetrates the transverse movement frame and the corresponding second longitudinal beam along the length direction of the first hole, and is slidably matched with the transverse movement frame and the second longitudinal beam; The first vertical lifting leg is connected to the second cross beam; The second vertical lifting leg is connected to the first longitudinal beam.

[0018] When the multi-degree-of-freedom adjustable underwater leveling machine described in the present application is in use, by arranging a transverse movement frame between the end structure and the first longitudinal beam, and based on the sliding fit between the first longitudinal beam and the transverse movement frame along the length direction of the first hole, the relative movement between the first longitudinal beam and the end structure along the length direction of the first hole is realized, 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; Moreover, based on the sliding fit with the end structure along the radial direction of the first hole, the relative movement between the first longitudinal beam and the end structure along the radial direction of the first hole is realized, 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.

[0019] For the transverse and longitudinal walking mechanism described in the present application, by sleeving a transverse movement frame outside the first longitudinal beam and sleeving an end structure outside the transverse movement frame, the transverse movement frame is used to replace the transition frame of the existing walking type leveling machine, thereby effectively reducing the overall weight of the transverse and longitudinal walking mechanism.

[0020] Preferably, a compressed air drainage chamber is arranged in the second cross beam.

[0021] Integrating the second cross beam and the compressed air drainage chamber together to reduce the overall weight of the transverse and longitudinal walking mechanism.

[0022] Compared with the prior art, the beneficial effects of the present invention: A measuring tower for an underwater leveling machine described in the present application is installed on a support assembly. During transportation, the measuring tower is set horizontally, effectively reducing the influence of the measuring tower on the center of gravity and eccentricity of the underwater leveling machine during transportation. Then, when launching, the measuring tower is rotated from horizontal to vertical to adapt to the construction conditions. By rotating the measuring tower from horizontal to vertical, it can effectively improve the transportation safety of the underwater leveling machine while adapting to the construction conditions. Description of the Drawings

[0023] Figure 1 This is the front view schematic diagram of a measurement tower structure for an underwater leveling machine in this application.

[0024] Figure 2 This is the left view schematic diagram of a measurement tower structure for an underwater leveling machine in this application.

[0025] Figure 3 This is the schematic diagram of the measurement tower setting during the construction of a two-way walking underwater leveling machine in this application.

[0026] Figure 4 This is the schematic diagram of the first main frame structure in this application.

[0027] Figure 5 This is the schematic diagram of the second main frame structure in this application.

[0028] Figure 6 This is the attachment of this application Figure 5 Enlarged schematic diagram of part B in

[0029] Figure 7 This is the schematic diagram of a two-way walking underwater leveling machine structure in this application.

[0030] Figure 8 This is the attachment of this application Figure 7 Enlarged schematic diagram of part A in

[0031] Figure 9 This is the schematic diagram of the setting of the second vertical lifting leg in this application.

[0032] Figure 10 This is the schematic diagram of the blanking mechanism structure in this application.

[0033] Figure 11 This is the schematic diagram of the structure of the material box in this application.

[0034] Figure 12 This is the schematic diagram of the initial state where the material box in this application contacts the limit ring.

[0035] Figure 13 This is the schematic diagram of the state where the limit ring in this application pushes open the half-door structure.

[0036] Figure 14 This is the schematic diagram of the structure of the upper blanking pipe in this application.

[0037] Figure 15 This is the first layout schematic diagram in this application.

[0038] Figure 16 This is the schematic diagram of the structure of the lower blanking pipe in this application.

[0039] Figure 17Schematic diagram of the cooperation between the upper and lower blanking pipes of this application.

[0040] Figure 18 Top view schematic diagram of a two-way walking underwater leveling machine of this application.

[0041] Figure 19 Longitudinal section schematic diagram of the cloth cross beam of this application.

[0042] Figure 20 Schematic diagram of the cooperation between the blanking mechanism, longitudinal movement mechanism and transverse movement mechanism of this application. Specific embodiments

[0043] The present invention will be further described in detail below in conjunction with specific embodiments. However, this should not be construed as limiting the scope of the above-mentioned subject matter of the present invention to the following embodiments. Any technology implemented based on the content of the present invention belongs to the scope of the present invention.

[0044] In the description of the specific embodiments of the present invention, without special instructions, the expression terms of orientation or position relationship such as "upper", "lower", "left", "right", "center", "inner", "outer", etc. are all based on the orientation or position relationship shown in the drawings, or the orientation or position relationship when the invention product / device / installation is commonly used. These terms of orientation or position relationship are only for the convenience of describing the solution of the present invention or simplifying the description in the specific embodiments, so as to facilitate technicians to quickly understand the solution, rather than indicating or implying that a specific device / component / element must have a specific orientation, or be constructed and operated in a specific position relationship. Therefore, it should not be construed as a limitation to the present invention.

[0045] In addition, if terms such as "horizontal", "vertical", "hanging", "parallel" etc. appear, it does not mean that the corresponding device / component / element is required to be absolutely horizontal or vertical or hanging 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. Or, it can be simply understood that the corresponding device / component / element is arranged in the directions of "horizontal", "vertical", "hanging", "parallel", etc., and can have an error / deviation of ±10% relative to the corresponding direction setting, more preferably within ±8% of the error / deviation, more preferably within ±6% of the error / deviation, more preferably within ±5% of the error / deviation, more preferably within ±4% of the error / deviation. As long as the corresponding device / component / element is within the error / deviation range, it can still play its role in the solution of the present invention.

[0046] In addition, the expressions such as "first", "second", "third", etc. in the terms are only used to distinguish the description of the same or similar components, and should not be construed as emphasizing or implying the relative importance of specific components.

[0047] In addition, in the description of the embodiments of the present invention, "several", "plurality" and "a number" represent at least 2. It can be any number such as 2, 3, 4, 5, 6, 7, 8, 9, and even more than 9.

[0048] In addition, in the description of the technical solution of the present invention, unless otherwise clearly specified / defined / restricted, the terms "set", "install", "connect", "connected", "provided with", "laid", and "arranged" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection, and can be welding, riveting, bolting, threading, and other commonly used connection means in the field. This connection can be a mechanical connection, an electrical connection, or a communication connection; it can be a direct connection, or an indirect connection through an intermediate medium, and it can be the internal connection of two elements.

[0049] Example 1 like Figure 1-7 As shown, a measuring tower for an underwater leveling machine described in this embodiment includes: a support assembly; and also includes a measuring tower 6 and a driving mechanism 61 connected to the supporting assembly, wherein the driving mechanism 61 can drive the measuring tower 6 to rotate from horizontal to vertical.

[0050] The measuring tower for an underwater leveling machine described in the present application is installed on a supporting assembly. During transportation or launching, the measuring tower 6 is set to be horizontal, which effectively reduces the influence of the measuring tower 6 on the center of gravity and eccentricity of the underwater leveling machine during transportation. Afterwards, during launching, the measuring tower is rotated from horizontal to vertical to be suitable for construction conditions. By rotating the measuring tower from horizontal to vertical, the safety of underwater leveling machine transportation can be effectively improved while adapting to construction conditions.

[0051] In a preferred manner, the support assembly includes two end structures 13 arranged at intervals, a second longitudinal beam 12 is connected between the two end structures 13 on the same side of the two support assemblies, one of the end structures 13 is installed with a bracket 62 hinged to the measuring tower 6, one end of the driving mechanism 61 is connected to the second longitudinal beam 12, and the other end is connected to the measuring tower 6.

[0052] In a preferred embodiment, the driving mechanism 61 includes a first telescopic member, and the first telescopic member is pulled during the process of the measurement tower 6 rotating from horizontal to vertical and from vertical to horizontal. The first telescopic member is preferably a telescopic oil cylinder or a gas cylinder.

[0053] Therefore, the first telescopic member with a smaller diameter can be used to achieve the purpose of rotating the measuring tower 6, thereby reducing the weight of the underwater leveling machine.

[0054] Preferably, the driving mechanism 61 includes a first telescopic member. The bracket 62 includes bracket units 621 arranged radially at intervals along the second longitudinal beam 12. The bracket units 621 are all mounted on the top of the end structure 13. There is a gap 622 between the two bracket units 621. A rotating shaft 63 that is rotationally matched with the measuring tower 6 is connected between the two bracket units 621. One end of the first telescopic member is hinged to the measuring tower 6, and the other end of the first telescopic member passes through the gap and is hinged to the second longitudinal beam 12.

[0055] Preferably, the second longitudinal beam 12 is a truss structure. The second longitudinal beam 12 includes an upper chord 122, a lower chord 123, vertical rods 124, first diagonal web members 125 and second diagonal web members 126. A transverse beam 127 is provided at the first node 128 of the upper chord 122. The vertical rod 124, the first diagonal web member 125 and the second diagonal web member 126 converge at the first node 128. The transverse beam 127 is connected to the first telescopic member.

[0056] By setting the connection position of the first telescopic member and the second longitudinal beam 12 at the first node 128, and since the vertical rod 124, the first diagonal web member 125 and the second diagonal web member 126 converge at the first node 128, it can be ensured that the second longitudinal beam 12 being a truss structure can still meet the tensile force bearing requirements of the first telescopic member on it. Compared with using the second longitudinal beam 12 as a box girder, the weight of the second longitudinal beam 12 is greatly reduced, thereby greatly reducing the weight of the underwater leveling machine.

[0057] Preferably, the bracket unit 621 is a truss structure; the measuring tower 6 is formed by splicing multiple sections of trusses in sequence.

[0058] Preferably, a support frame 64 protrudes upward from the top of the other end structure 13. When the measuring tower 6 is arranged horizontally, the support frame 64 can support the measuring tower 6.

[0059] Embodiment 2 As Figure 1-20 shown, a multi-degree-of-freedom adjustable underwater leveling machine described in this embodiment includes two measuring towers as described in Embodiment 1. Two second cross beams 11 are connected between the end structures 13 of adjacent support assemblies. The two second cross beams 11 are arranged at intervals along the length direction of the second longitudinal beam 12; It further includes a blanking mechanism 7. The blanking mechanism 7 can move along the length direction of the second longitudinal beam 12, and the blanking mechanism 7 can also move along the length direction of the second cross beam 11.

[0060] A preferred embodiment of the multi-degree-of-freedom adjustable underwater leveling machine described in this embodiment further includes a transverse movement frame 33 and a first main frame 2, where: The first main frame 2 includes two sets of relatively arranged first cross beams 21 and first longitudinal beams 22, and the two sets of relatively arranged first cross beams 21 and first longitudinal beams 22 enclose a frame structure; The end structure 13 is provided with a first hole 131 along the length direction of the first longitudinal beam 22; At least a part of the transverse movement frame 33 is located in the first hole 131, and the transverse movement frame 33 is slidably matched with the end structure 13 along the length direction of the first cross beam 21; The first longitudinal beam 22 penetrates through the transverse movement frame 33 and the corresponding second longitudinal beam 12 along the length direction of the first hole 131, and is slidably matched with the transverse movement frame 33 and the second longitudinal beam 12; The first vertical lifting leg 31 is connected to the second cross beam 11; The second vertical lifting leg 32 is connected to the first longitudinal beam 22.

[0061] When the multi-degree-of-freedom adjustable underwater leveling machine described in this application is in use, by arranging a transverse movement frame 33 between the end structure 13 and the first longitudinal beam 22, based on the sliding fit between the first longitudinal beam 22 and the transverse movement frame 33 along the length direction of the first hole 131, the relative movement between the first 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 the 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; Moreover, based on the sliding fit with the end structure 13 along the radial direction of the first hole 131, the relative movement between the first 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 the 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.

[0062] For the transverse and longitudinal walking mechanism described in this application, by sleeving a transverse movement frame 33 outside the first longitudinal beam 22 and sleeving an end structure 13 outside the transverse movement frame 33, the transverse movement frame 33 is used to replace the transition frame of the existing walking type leveling machine, thereby effectively reducing the overall weight of the transverse and longitudinal walking mechanism.

[0063] A preferred embodiment is that an air-pressure drainage chamber 112 is arranged in the second cross beam 11. Integrating the second cross beam 11 with the air-pressure drainage chamber 112 to reduce the overall weight of the transverse and longitudinal walking mechanism.

[0064] The end structure 13, the transverse movement frame 33, the first longitudinal beam 22, the first vertical lifting leg 31 and the second vertical lifting leg 32 form a transverse and longitudinal walking mechanism, and specifically preferably includes: The end structure 13 is provided with a first hole 131 penetrating therethrough; At least a part of the transverse movement frame 33 is located in the first hole 131, and the transverse movement frame 33 is slidably engaged with the end structure 13 along the radial direction of the first hole 131; The first longitudinal beam 22 penetrates through the transverse movement frame 33 along the length direction of the first hole 131 and is slidably engaged with the transverse movement frame 33; The first vertical lifting leg 31 is connected to the end structure 13; The second vertical lifting leg 32 is connected to the first longitudinal beam 22.

[0065] For the transverse and longitudinal walking mechanism described in the present application, during use, by arranging the transverse movement frame 33 between the end structure 13 and the first longitudinal beam 22, based on the sliding fit between the first longitudinal beam 22 and the transverse movement frame 33 along the length direction of the first hole 131, the relative movement between the first 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 the 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; Moreover, based on the sliding fit with the end structure 13 along the radial direction of the first hole 131, the relative movement between the first 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 the 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.

[0066] By sleeving the transverse movement frame 33 outside the first longitudinal beam 22 and sleeving the end structure 13 outside the transverse movement frame 33, the transverse movement frame 33 is used to replace the transition frame of the existing walking type leveling machine, thereby effectively reducing the overall weight of the transverse and longitudinal walking mechanism.

[0067] Specifically preferably, along the opening direction of the first hole 131, a second longitudinal beam 12 is connected to one side of the end structure 13. A first through hole 121 corresponding to the first hole 131 is provided on the second longitudinal beam 12, and one end of the first longitudinal beam 22 extends into the first through hole 121.

[0068] In a preferred manner, a first cross beam 21 is connected to the end of the first longitudinal beam 22. The first cross beam 21 is arranged along the length direction of the second cross beam 11, and the first cross beam 21 is located outside the second cross beam 11.

[0069] In a preferred embodiment, a support beam 14 protrudes from one side of the second cross beam 11 adjacent to the first cross beam 21, and the first vertical lifting leg 31 is connected to the support beam 14.

[0070] In a preferred embodiment, a second vertical through hole 141 is provided on the support beam 14; The first vertical lifting leg 31 includes a first vertical support gantry 223 disposed above the first vertical through hole 221. Both ends of the first vertical support gantry 223 are detachably connected to 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 in vertical sliding fit with the first vertical through hole 221.

[0071] In a preferred embodiment, the two-way walking underwater leveling machine of the present application includes four of the transverse and longitudinal walking mechanisms, and the four transverse and longitudinal walking mechanisms are arranged in a row.

[0072] In a preferred embodiment, along the length direction of the second cross beam 11, adjacent two of the end structures 13 are connected by the second cross beam 11.

[0073] In a preferred embodiment, along the length direction of the first longitudinal beam 22, adjacent two of the end structures 13 are connected by the second longitudinal beam 12, and the first longitudinal beams 22 on adjacent transverse and longitudinal walking mechanisms are correspondingly connected and arranged.

[0074] In a preferred embodiment, along the length direction of the first longitudinal beam 22, the first longitudinal beams 22 on adjacent transverse and longitudinal walking mechanisms are integrally formed coaxially.

[0075] In a preferred embodiment, the second longitudinal beam 12 is a truss structure.

[0076] In a preferred embodiment, the two-way walking underwater leveling machine of the present application further includes a connected measuring tower 6 and a driving mechanism 61, and the driving mechanism 61 can drive the measuring tower 6 to rotate.

[0077] In a preferred embodiment, the driving mechanism 61 can drive the measuring tower 6 to rotate around the length direction of the second cross beam 11.

[0078] In a preferred embodiment, the two-way walking underwater leveling machine of the present application further includes spaced-apart brackets 62. There is a gap between the two brackets 62. A rotating shaft 63 is connected between the brackets 62. The measuring tower 6 is rotationally matched with the rotating shaft 63. One end of the driving mechanism 61 is connected to the measuring tower 6, and the other end of the driving mechanism 61 passes through the gap and is connected to the second longitudinal beam 12.

[0079] In a preferred manner, the driving mechanism 61 can drive the measuring tower 6 to rotate around the length direction of the second longitudinal beam 12.

[0080] A specific preferred manner: A two-way walking underwater leveling machine, comprising: A second main frame 1, the second main frame 1 includes two second cross beams 11 and a second longitudinal beam 12 arranged at intervals, both ends of the second cross beam 11 are provided with first holes 131 penetrating along the length direction of the second longitudinal beam 12, the second longitudinal beam 12 is provided with a first through hole 121 penetrating along the length direction of the second longitudinal beam 12, and the first holes 131 are correspondingly arranged with the first through holes 121 on the corresponding side; A first main frame 2; the first main frame 2 includes two first cross beams 21 and a first longitudinal beam 22 arranged at intervals, the first cross beam 21 is located outside the second cross beam 11, and the first longitudinal beam 22 penetrates the first holes 131 and the first through holes 121 on the corresponding side; A transverse movement frame 33, sleeved on the first longitudinal beam 22, at least part of the transverse movement frame 33 is located in the first holes 131, the transverse movement frame 33 is slidably matched with the first longitudinal beam 22 along the length direction of the first longitudinal beam 22, and the transverse movement frame 33 is slidably matched with the second cross beam 11 along the length direction of the second cross beam 11; A transverse telescopic mechanism 4, connected between the second cross beam 11 and the transverse movement frame 33, the transverse telescopic mechanism 4 can telescopically move along the length direction of the second cross beam 11; the transverse telescopic mechanism 4 is preferably a telescopic oil cylinder or a cylinder.

[0081] A longitudinal telescopic mechanism 5, connected between the second main frame 1 and the transverse movement frame 33, the longitudinal telescopic mechanism 5 can telescopically move along the length direction of the first longitudinal beam 22; the longitudinal telescopic mechanism 5 is preferably a telescopic oil cylinder or a cylinder.

[0082] At least four first vertical lifting legs 31, the first vertical lifting legs 31 are supported and connected to the second main frame 1; At least four second vertical lifting legs 32, the second vertical lifting legs 32 are supported and connected to the first main frame 2.

[0083] A first transverse through hole 136 is provided on one side of the first hole 131 close to the first cross beam 21, a first transverse support gantry 42 is arranged outside the first transverse through hole 136, one end of the transverse telescopic mechanism 4 is connected to the first transverse support gantry 42, and the other end passes through the first through hole 211 and is connected to the transverse movement frame 33.

[0084] The second cross beam 11 includes a compressed air drainage chamber 112 and end structures 13 connected to both ends of the compressed air drainage chamber 112, and the first hole 131 is penetrated through the end structure 13.

[0085] The compressed air drainage chamber 112 is detachably connected to the end structure 13.

[0086] The first cross beam 21 is located outside the second cross beam 11; a support beam 14 is prominently provided on one side of the second cross beam 11 adjacent to the first cross beam 21, and the first vertical lifting leg 31 is connected to the support beam 14.

[0087] A second vertical through hole 141 is provided on the support beam 14; The first vertical lifting leg 31 includes a first vertical support gantry 223 provided at the upper part of the first vertical through hole 221. Both ends of the first vertical support gantry 223 are detachably connected to 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 slidably engaged with the first vertical through hole 221.

[0088] A first vertical through hole 221 is provided on the first longitudinal beam 22. A first vertical support gantry 223 is provided at 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 slidably engaged with the first vertical through hole 221.

[0089] The second longitudinal beam 12 is a truss structure.

[0090] It further includes a connected measuring tower 6 and a driving mechanism 61, and the driving mechanism 61 can drive the measuring tower 6 to rotate.

[0091] The driving mechanism 61 can drive the measuring tower 6 to rotate around the length direction of the second cross beam 11; It further includes spaced-apart brackets 62 with a gap therebetween. A rotating shaft 63 is connected between the two brackets 62. The measuring tower 6 is rotationally engaged with the rotating shaft 63. One end of the driving mechanism 61 is connected to the measuring tower 6, and the other end of the driving mechanism 61 passes through the gap and is connected to the second longitudinal beam 12. The driving mechanism 61 can drive the measuring tower 6 to rotate around the length direction of the second longitudinal beam 12.

[0092] In a preferred manner, a second hole 331 adapted to the first longitudinal beam 22 is provided on the transverse movement frame 33 along the opening direction of the first hole 131. The first longitudinal beam 22 passes through the second hole 331 and is slidably engaged with the second hole 331. To achieve the relative movement between the first longitudinal beam 22 and the transverse movement frame 33 along the opening direction of the first hole 131. At the same time, the first longitudinal beam 22 is adapted to the second hole 331, so that the second hole 331 has a limiting effect on the first longitudinal beam 22 in the radial direction of the first hole 131.

[0093] In a preferred manner, one side of the first hole 131 has a first side wall 132. There is a first gap 114 between the transverse movement frame 33 and the first side wall 132. The transverse movement frame 33 moves relative to the end structure 13 to move away from or close to the first side wall 132. To achieve the purpose of the transverse movement frame 33 slidingly cooperating with the end structure 13 in the radial direction of the first hole 131. At the same time, the opposite side walls on both sides of the first hole 131 [one side of which is the first side wall 132] also have a limiting effect on the transverse movement frame 33.

[0094] In a preferred manner, a limiting structure is provided between the transverse movement frame 33 and the end structure 13. The limiting structure restricts the relative sliding of the transverse movement frame 33 along the length direction of the first hole 131 with respect to the end structure 13, and the limiting structure does not restrict the relative sliding of the transverse movement frame 33 along the radial direction of the first hole 131 with respect to the end structure 13. However, when the first longitudinal beam 22 moves relative to the transverse movement frame 33 along the length direction of the first hole 131, there is no relative movement or the relative movement displacement is very small [caused by assembly and manufacturing errors] between the transverse movement frame 33 and the end structure 13.

[0095] In a preferred manner, the first hole 131 is a rectangular cavity. The end structure 13 further includes a bottom side wall 133, a second side wall 134, and a top side wall 135. The first side wall 132, the bottom side wall 133, the second side wall 134, and the top side wall 135 enclose the first hole 131, which is convenient for manufacturing and installation.

[0096] In a preferred manner, the net height of the first hole 131 is adapted to the height of the transverse movement frame 33. To increase the stability when the transverse movement frame 33 moves relative to the end structure 13.

[0097] In a preferred manner, a transverse telescopic mechanism 4 is further included in the transverse and longitudinal walking mechanism of the present application. The transverse telescopic mechanism 4 is connected between the end structure 13 and the transverse movement frame 33. The transverse telescopic mechanism 4 can drive the transverse movement frame 33 to move away from or close to the first side wall 132.

[0098] The transverse telescopic mechanism 4 can drive the transverse movement frame 33 to reciprocate relative to the end structure 13.

[0099] Further preferably, the transverse telescopic mechanism 4 can drive the transverse movement frame 33 to move away from or close to the first side wall 132.

[0100] In a preferred manner, the first transverse support gantry 42 is detachably connected to the outer wall of the end structure 13 for convenient installation and transportation.

[0101] In a preferred manner, a first transverse through hole 136 is formed in the first side wall 132, and a first transverse support gantry 42 is arranged outside the first transverse through hole 136. One end of the transverse telescopic mechanism 4 is connected to the root of the first transverse support gantry 42, and the other end passes through the first through hole 211 and then is connected to the transverse movement frame 33. By using the method of arranging the first transverse support gantry 42 outside the first transverse through hole 136 as the telescopic support stress-bearing member between the transverse movement frame 33 and the end structure 13, compared with directly arranging the transverse telescopic mechanism 4 between the transverse movement frame 33 and the end structure 13, the size of the end structure 13 in the telescopic direction of the transverse telescopic mechanism 4 is effectively reduced, and thus the overall self-weight of the transverse and longitudinal walking mechanisms is effectively reduced.

[0102] In a preferred manner, a first transverse support 41 is connected to the transverse movement frame 33. The first transverse support 41 is located in the first gap 114, and the transverse telescopic mechanism 4 is connected to the first transverse support 41.

[0103] Further preferably, the first transverse support gantry 42 is connected to the outer wall of the end structure 13.

[0104] Further preferably, the first transverse support gantry 42 is detachably connected to the outer wall of the end structure 13 for convenient installation and debugging of the transverse telescopic mechanism 4.

[0105] In a specific preferred manner, the first transverse support gantry 42 is connected to the outer wall of the end structure 13 by bolts or pins.

[0106] In a specific preferred manner, a first transverse support 41 is connected to the transverse movement frame 33. The first transverse support 41 is located in the first gap 114, and the transverse telescopic mechanism 4 is connected to the first transverse support 41.

[0107] A transverse and longitudinal walking mechanism described in this application further includes a longitudinal telescopic mechanism 5, which is connected between the first longitudinal beam 22 and the transverse movement frame 33. The longitudinal telescopic mechanism 5 can telescopically move along the length direction of the first longitudinal beam 22. The longitudinal telescopic mechanism 5 is used to drive the first longitudinal beam 22 to slide and cooperate with the transverse movement frame 33 along the length direction of the first hole 131.

[0108] In a preferred manner, a first longitudinal support 51 is connected to the transverse movement frame 33, and a second longitudinal support 52 is connected to the first longitudinal beam 22. The first longitudinal support 51 is located within the first gap 114, and the longitudinal telescopic mechanism 5 is connected between the first longitudinal support 51 and the second longitudinal support 52.

[0109] In a preferred manner, the entire transverse movement frame 33 is located within the first hole 131.

[0110] In a preferred manner, a first vertical through hole 221 is provided on the first longitudinal beam 22. A first vertical support gantry 223 is provided at 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 in vertical sliding cooperation with the first vertical through hole 221. By providing the first vertical support gantry 223 at the upper part of the first vertical through hole 221 as a telescopic support and stress-bearing member between the second vertical lifting leg 32 and the first longitudinal beam 22, compared with directly connecting the second vertical lifting leg 32 and the first longitudinal beam 22, on the basis of slightly increasing the structural weight, the center of gravity of the first longitudinal beam 22 can be effectively reduced, and further the center of gravity of the overall structure formed by the end structure 13, the transverse movement frame 33, and the first longitudinal beam 22 can be effectively reduced, making the transverse and longitudinal walking mechanism more stable.

[0111] The structures of the second vertical lifting leg 32 and the first vertical lifting leg 31 are preferably the same.

[0112] The following is a preferred manner of the two-way walking type underwater leveling machine in this embodiment, including: four transverse and longitudinal walking mechanisms as described in Embodiment 1; the four transverse and longitudinal walking mechanisms are arranged in an array, adjacent end structures 13 are connected, and adjacent first longitudinal beams 22 are connected.

[0113] In a preferred manner, along the opening direction of the first hole 131, a second longitudinal beam 12 is connected between adjacent end structures 13. A first through hole 121 corresponding to the first hole 131 is formed in the second longitudinal beam 12, and one end of the first longitudinal beam 22 extends into the first through hole 121. On the basis that the transverse movement frame 33 is in sliding fit with the end structure 13 along the radial direction of the first hole 131, the first longitudinal beam 22 is inserted into the second longitudinal beam 12, so that the first longitudinal beam 22 and the second longitudinal beam 12 are sleeved with each other inside and outside, effectively reducing the horizontal layout space of the whole formed by the first longitudinal beam 22 and the second longitudinal beam 12, and enabling the transverse dimension specification of the two-way walking type underwater leveling machine to be smaller.

[0114] In a preferred manner, the second longitudinal beam 12 is a truss structure with open ends at both ends. When the second longitudinal beam 12 meets the design stiffness and strength, the self-weight of the second longitudinal beam 12 is further reduced, contributing to the lightweight of the two-way walking type underwater leveling machine of the present application. At the same time, since the second longitudinal beam 12 is sleeved outside the first longitudinal beam 22, the transverse and height dimensions of the second longitudinal beam 12 are larger than those of the first longitudinal beam 22. In this way, the second longitudinal beam 12 can be made into a truss structure.

[0115] In a preferred manner, a first cross beam 21 is connected to the end of adjacent first longitudinal beams 22 along the moving direction of the transverse movement frame 33 relative to the end structure 13. Preferably, the first cross beam 21 and the first longitudinal beam 22 form a frame structure.

[0116] In a preferred manner, a support telescopic structure is arranged between the second longitudinal beam 12 and the first longitudinal beam 22. The support telescopic structure is located in the middle of the second longitudinal beam 12. When the first longitudinal beam 22 and the second longitudinal beam 12 move relative to each other, the support telescopic structure is separated from one of the second longitudinal beam 12 and the first longitudinal beam 22, so as not to interfere with the relative movement between the first longitudinal beam 22 and the second longitudinal beam 12. When the second longitudinal beam 12 and the first longitudinal beam 22 are relatively stationary, the support telescopic structure expands and contracts to support between the first longitudinal beam 22 and the second longitudinal beam 12, so that the second longitudinal beam 12 and the first longitudinal beam 22 bear force with each other in the transverse and vertical directions and are integrated with each other. It cooperates with the transverse telescopic mechanism 4 and the longitudinal telescopic mechanism 5 to jointly increase the stability of the two-way walking type underwater leveling machine.

[0117] A preferred method is that the height of the first cross beam 21 is adapted to the height of the first longitudinal beam 22; the height of the second cross beam 11 is higher than that of the first cross beam 21; the height of the second longitudinal beam 12 is adapted to the height of the second cross beam 11. Based on the structure where the first longitudinal beam 22, the transverse movement frame 33, and the end structure 13 are sleeved in sequence, the height of the end structure 13 is higher than that of the first longitudinal beam 22. In this case, making the height of the first cross beam 21 adapted to the height of the second cross beam 11 enables the first cross beam 21 and the first longitudinal beam 22 to form a frame structure with more uniform transverse and longitudinal forces, stiffness, and load-bearing capacity, and can still have good transverse and longitudinal stability on the basis of reducing the weight of the two-way walking underwater leveling machine; similarly, the height of the second longitudinal beam 12 is adapted to the height of the second cross beam 11, enabling the second longitudinal beam 12 and the second cross beam 11 to form a frame structure with more uniform transverse and longitudinal forces, stiffness, and load-bearing capacity, and can still have good transverse and longitudinal stability on the basis of reducing the weight of the two-way walking underwater leveling machine.

[0118] A preferred method is that a compressed air drainage chamber 112 is arranged inside the second cross beam 11 for leveling the two-way walking underwater leveling machine underwater and controlling the floating and sinking of the two-way walking underwater leveling machine.

[0119] A preferred method is that a support beam 14 protrudes from the side of the second cross beam 11 close to the first cross beam 21, and the first vertical lifting leg 31 is connected to the support beam 14.

[0120] A preferred method is that a second vertical through hole 141 is arranged on the support beam 14.

[0121] In the two-way walking underwater leveling machine of this embodiment, it further includes a second vertical support gantry 142 arranged above 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 in vertical sliding fit with the second vertical through hole 141.

[0122] A preferred method is that along the length direction of the first longitudinal beam 22, the corresponding first longitudinal beams 22 on adjacent transverse and longitudinal walking mechanisms are connected.

[0123] A preferred method is that along the length direction of the first longitudinal beam 22, the first longitudinal beams 22 on adjacent transverse and longitudinal walking mechanisms are integrally formed coaxially.

[0124] A preferred method is that for the two-way walking underwater leveling machine of this embodiment, A preferred embodiment of the bidirectional walking underwater leveling machine described in the present application further includes a measurement tower 6 and a driving mechanism 61 connected thereto, and the driving mechanism 61 can drive the measurement tower 6 to rotate.

[0125] In a preferred embodiment, the driving mechanism 61 can drive the measurement tower 6 to rotate around the length direction of the second cross beam 11.

[0126] A preferred embodiment of the bidirectional walking underwater leveling machine described in the present application further includes brackets 62 arranged at intervals. There is a gap between the two brackets 62. A rotating shaft 63 is connected between the brackets 62. The measurement tower 6 is rotationally matched with the rotating shaft 63. One end of the driving mechanism 61 is connected to the measurement tower 6, and the other end of the driving mechanism 61 passes through the gap and is connected to the second longitudinal beam 12.

[0127] In a preferred embodiment, the driving mechanism 61 can drive the measurement tower 6 to rotate around the length direction of the second longitudinal beam 12.

[0128] A preferred embodiment of the discharging mechanism 7 includes a material box 71, an upper discharging pipe 72, and a lower discharging pipe 73: The upper discharging pipe 72 is connected above the lower discharging pipe 73, and there is a first channel 74 between the upper discharging pipe 72 and the lower discharging pipe 73; The material box 71 includes a hopper 711. An opening 712 is provided at the bottom of the hopper 711. A material door 713 is arranged at the opening 712. The material door 713 can be closed or opened. The material door 713 and the upper discharging pipe 72 are configured such that when the material box 71 vertically presses down the upper discharging pipe 72, the material door 713 can be opened to connect the hopper 711 with the upper discharging pipe 72.

[0129] When the bidirectional walking underwater leveling machine described in the present application is under construction, by vertically pressing down the upper discharging pipe 72 with the material box 71, the material door 713 can be opened to connect the hopper 711 with the upper discharging pipe 72. At this time, the stones in the hopper 711 fall into the upper discharging pipe 72 and then into the lower discharging pipe 73. At this time, a part of the air or water in the upper discharging pipe 72 and the lower discharging pipe 73 is discharged through the first channel 74 between the upper discharging pipe 72 and the lower discharging pipe 73, achieving the purpose of smoothly discharging the stones from the material box 71 to the lower discharging pipe 73, and thus achieving the purpose of smooth discharging during the operation of the leveling machine.

[0130] In a preferred embodiment, the upper discharging pipe 72 is inserted into the lower discharging pipe 73.

[0131] A preferred manner, the lower blanking pipe 73 includes a bottom pipe structure 731 and a first funnel structure 732 connected to the top of the bottom pipe structure 731, and the large end of the first funnel structure 732 faces the upper blanking pipe 72; The upper blanking pipe 72 includes an upper pipe structure 721. A plurality of bumps 722 are circumferentially arranged on the outer wall of the upper pipe structure 721. There is a first gap 723 between adjacent bumps 722. The outer side surface of the bump 722 is an inclined surface 724 corresponding to the first funnel structure 732. The lower part of the upper pipe structure 721 is inserted into the bottom pipe structure 731, and there is a second gap 725 communicating with the first gap 723 between the outer wall of the upper pipe structure 721 and the inner wall of the bottom pipe structure 731.

[0132] The bottom pipe structure 731 and the first funnel structure 732 are welded, and a first connecting rib plate 733 is welded between the outer walls of the bottom pipe structure 731 and the first funnel structure 732. A plurality of lower lifting lugs 734 are connected to the outer wall of the top of the first funnel structure 732, and all the lower lifting lugs 734 are arranged circumferentially along the first funnel structure 732.

[0133] All the lower lifting lugs 734 are close to the large end of the first funnel structure 732.

[0134] A preferred manner, the upper blanking pipe 72 further includes a second funnel structure 726 sleeved outside the upper pipe structure 721. The second funnel structure 726 faces the first funnel structure 732 and can cover the large end of the first funnel structure 732. There is a third gap 741 communicating with the first gap 723 between the first funnel structure 732 and the second funnel structure 726. The third gap 741, the first gap 723 and the second gap 725 form the first channel 74.

[0135] A first block 720 is arranged on the outer side of the part of the upper pipe structure 721 located below the first funnel structure 732. At least one side of the first block 720 can be laterally abutted against the inner wall of the bottom pipe structure 731, so as to increase the connection stability between the upper pipe structure 721 and the lower blanking pipe 73.

[0136] A preferred manner, the upper pipe structure 721 further includes at least two upper pipe sections 727 detachably connected in sequence along the length direction of the upper pipe structure 721, and the second funnel structure 726 is located on the lowermost upper pipe section 727.

[0137] In a preferred manner, the upper pipe structure 721 further includes a third funnel structure 728 connected to the top of the upper pipe structure 721, and the large-mouth end of the third funnel structure 728 is arranged upward.

[0138] In a preferred manner, the feed bin 71 further includes a hopper 711. An opening 712 is formed at the bottom of the hopper 711, and a feed door 713 is arranged at the opening 712. The feed door 713 can be closed or opened, and the feed door 713 and the third funnel structure 728 are configured such that when the feed door 713 vertically presses down on the third funnel structure 728, the feed door 713 can be opened.

[0139] Specifically, when the feed door 713 vertically presses down on the large-mouth end of the third funnel structure 728, the feed door 713 can be opened.

[0140] In a preferred manner, a limiting ring 729 protrudes upward from the top of the third funnel structure 728; the limiting ring 729 can be in vertical abutting cooperation with the feed door 713.

[0141] Preferably, the feed door 713 includes two relatively arranged half-door structures 714. The half-door structures 714 and the hopper 711 are hinged by a first hinge shaft 716. When the feed door 713 vertically presses down on the large-mouth end of the third funnel structure 728, the two half-door structures 714 rotate away from each other to form an opening 715 communicating the hopper 711 and the first funnel structure 732.

[0142] In a preferred manner, the two first hinge shafts 716 are arranged in parallel, and the half-door structures 714 and the hopper 711 are eccentrically hinged in the direction towards the other half-door structure 714.

[0143] In a preferred manner, a contact leg 717 protrudes outward from the outside of the half-door structure 714. When the contact leg 717 vertically presses down on the large-mouth end of the third funnel structure 728, the feed door 713 can be opened.

[0144] In a preferred manner, a limiting structure 718 capable of abutting against the contact leg 717 is further arranged on the hopper 711, and the limiting structure 718 is located on the rotation path of the contact leg 717.

[0145] In a preferred manner, a hopper support leg 719 for supporting the hopper 711 is arranged at the lower part of the hopper 711, and the bottom of the hopper support leg 719 is lower than the bottom of the contact leg 717.

[0146] A spiral structure is provided inside the hopper 711. The spiral structure is vertically arranged and leads to the opening 712. The spiral structure is detachably connected to the hopper 711. It is used to reduce the impact force of the material on the half-door structure 714 and prevent the half-door structure 714 from being deformed too much and unable to be opened.

[0147] In a preferred manner, the feeding mechanism 7 can move along the length direction of the first longitudinal beam 22 and can also move along the length of the first cross beam 21. Specifically, the preference is as follows: The feeding mechanism 7 is connected with a longitudinal moving mechanism 9. The longitudinal moving mechanism 9 can drive the feeding mechanism 7 to move along the length direction of the first longitudinal beam 22. More specifically and preferably, the lower feeding pipe 73 is connected with the longitudinal moving mechanism 9.

[0148] In a preferred manner, the longitudinal moving mechanism 9 includes a longitudinal support 91, a pipe support 92 and a longitudinal driving mechanism 93. Among them: The pipe support 92 is connected with the feeding mechanism 7; The longitudinal support 91 includes two longitudinally supporting tracks 911 arranged in parallel at intervals. The pipe support 92 is located between the two longitudinally supporting tracks 911, and the pipe support 92 is in rolling cooperation with the two longitudinally supporting tracks 911 through longitudinal rollers 920; The feeding mechanism 7 is supported on the pipe support 92. The longitudinal driving mechanism 93 is installed on the pipe support 92. The longitudinal driving mechanism 93 preferably includes a first driving motor 931 and a meshing first gear 932 and first rack 933. The first driving motor 931 drives the first gear 932 to rotate, so that the pipe support 92 can move relative to the longitudinal supporting track 911 along the length direction of the longitudinal supporting track 911. Specifically and preferably, the pipe support 92 is connected with the lower feeding pipe 73.

[0149] Preferably, the pipe support 92 is sleeved and connected to the outside of the feeding mechanism 7.

[0150] In a preferred manner, the lower feeding pipe 73 moves transversely relative to the second cross beam 11 through a transverse moving mechanism.

[0151] A preferred way is that the lateral movement mechanism includes a second drive motor 84, a second gear 82 and a second rack 83 that mesh with each other, and two lateral rails 81 that are installed on the second cross beam 11 and arranged in parallel. The second rack 83 and the lateral rails 81 are both installed on the second cross beam 11 and are both arranged along the length direction of the second cross beam 11. The second drive motor 84 drives the second gear 82 to mesh and rotate with the second rack 83. The second gear 82 is connected to the end of the longitudinal bracket 91 along the length of the longitudinal support rail 911. A lateral roller 86 is provided at the end of the longitudinal bracket 91, and the lateral roller 86 is in rolling cooperation with the lateral rail 81.

[0152] When the longitudinal bracket 91 is provided, the lateral movement mechanism drives the longitudinal bracket 91 to move laterally with respect to the second cross beam 11, so as to achieve the purpose of the lower blanking pipe 73 moving laterally with respect to the second cross beam 11.

[0153] The lateral movement mechanism includes a second gear 82 and a second rack 83 that mesh with each other, and two lateral rails 81 that are installed on the second cross beam 11 and arranged in parallel. It further includes a second drive motor 84, and the second drive motor 84 drives the second gear 82 to mesh and rotate with the second rack 83.

[0154] Preferably, output shafts 85 are drivingly connected to both ends of the second drive motor 84. The end of the output shaft 85 close to the second cross beam 11 is drivingly connected to the second gear 82. A second rack 83 is arranged along the length direction on the second cross beam 11, and the second gear 82 meshes with the second rack 83 on the corresponding side.

[0155] Preferably, at least two ballast drainage bins 112 are arranged in the second cross beam 11. Partition plates 1121 are arranged between adjacent ballast drainage bins 112. Water passing through holes 1122 are arranged on the partition plates 1121. Water inlet and outlet openings 1123 are arranged at the bottom of the ballast drainage bins 112. A sealing door can preferably be arranged at the water inlet and outlet openings 1123, and the sealing door can be controlled to open or close the water inlet and outlet openings 1123, such as an electric control switch that can prevent water leakage. A sealing door can also be optionally not arranged at the water inlet and outlet openings 1123.

[0156] The ballast drainage bins 112 are used to level the multi-degree-of-freedom underwater leveling machine underwater and control the floating and sinking of the multi-degree-of-freedom underwater leveling machine.

[0157] Two second cross beams 11 arranged at intervals, and ballast drainage bins 112 are arranged in the second cross beams 11; since the ballast drainage bins 112 are arranged in the second cross beams 11, the second cross beams 11 and the ballast drainage bins 112 are integrated into one body, so as to achieve the purpose of reducing the weight of the underwater leveling machine.

[0158] The following is the weight comparison between the leveling machine of the present application and the walking type leveling machine in the prior art: when the effective leveling size reaches 18m×10m, the leveling speed reaches 2m / min, and the working water depth reaches 19m, the total weight of the multi-degree-of-freedom adjustable underwater leveling machine described in the present application is 75t - 85t, which is much less than the total weight of 185t of the existing walking type leveling machine.

[0159] Buoyancy description: Six air-compressed drainage chambers 112 are respectively arranged on each of the two second crossbeams 11, that is, there are 12 air-compressed drainage chambers 112 in total for the whole machine; the maximum buoyancy generated by the two second crossbeams 11 is about 50t; sealed chambers are arranged inside both the first longitudinal beam 22 and the first crossbeam 21, so that the first longitudinal beam 22 and the first crossbeam 21 can be used as floating boxes, each generating about 20t of buoyancy. The total buoyancy generated by the second crossbeam 11, the first longitudinal beam 22 and the first crossbeam 21 is greater than the total weight of the multi-degree-of-freedom adjustable underwater leveling machine, and the total buoyancy generated by the first longitudinal beam 22 and the first crossbeam 21 is less than the total weight of the multi-degree-of-freedom adjustable underwater leveling machine.

[0160] In the above situation, the description of the whole machine sinking to the bottom and assisting in floating out of the water is as follows: 1. Before hoisting and launching, the state of the whole machine: the measuring tower 6 is laid down, the first longitudinal beam 22, the blanking mechanism 7, the transverse moving mechanism, and the longitudinal moving mechanism 9 are all in the centering position. The main hooks of the crane are hung on the 4 lifting points on the two second crossbeams 11, and the auxiliary hook of the crane is hung on the blanking mechanism 7. The whole machine is hoisted to the designated position and placed on the water surface, and the sling is relaxed. At this time, the buoyancy of the whole machine > its own weight, and it is in a floating state. At the same time, symmetrically open the exhaust valves of 1 air-compressed drainage chamber 112 on each second crossbeam 11, observe the draft state of the whole machine, close the exhaust valve when the leveling machine sinks, and operate the crane to slowly release the hook until the leveling machine sinks to the bottom. After opening all the exhaust valves to make the air-compressed drainage chambers 112 filled with water, the operator controls the measuring tower 6 to be erected through the control box to perform subsequent measurement, positioning and leveling operations.

[0161] 2. When the whole machine needs to come out of the water, the measuring tower 6 is laid down. First, the upper blanking pipe 72 and the lower blanking pipe 73 of the blanking mechanism 7 are separately lifted away, and then the sling of the crane is hooked on the 4 lifting points of the leveling machine. At the same time, symmetrically open the air inlet valves of 1 air-compressed drainage chamber 112 on each second crossbeam 11 for air compression. After draining the water in one chamber, close the current valve, and then symmetrically open the air inlet valves of the next 1 air-compressed drainage chamber 112 on each crossbeam at the same time, and repeat the operation. During the drainage process, observe the load display screen of the crane. When the displayed load weight drops to the target value range, close the exhaust valve, and operate the hook to rise until the whole machine floats out of the water.

[0162] A GPS or Beidou positioning system is installed on the top of the measuring tower 6.

[0163] The measuring tower 6 described in this embodiment is installed on the end structure 13. During transportation, the measuring tower 6 is set horizontally, effectively reducing the influence of the measuring tower 6 on the center of gravity and eccentricity of the underwater leveling machine during transportation. Then, when launching, the measuring tower is rotated from horizontal to vertical to adapt to the construction conditions. By rotating the measuring tower from horizontal to vertical, the safety of transporting the underwater leveling machine can be effectively improved while adapting to the construction conditions. At the same time, during transportation or launching, the slight swing of the measuring tower 6 can be used to finely adjust the center of gravity of the multi-degree-of-freedom adjustable underwater leveling machine, making the construction safer.

[0164] This embodiment also provides a construction method for a multi-degree-of-freedom adjustable underwater leveling machine, including the following steps: S1: The first vertical lifting leg 31 supports the multi-degree-of-freedom adjustable underwater leveling machine, and the second vertical lifting leg 32 is separated from the bottom of the water; S2: Drive the first longitudinal beam 22 to move relative to the end structure 13 along the length direction of the first longitudinal beam 22; S3: The second vertical lifting leg 32 descends and supports the multi-degree-of-freedom adjustable underwater leveling machine; S4: The first vertical lifting leg 31 rises and is separated from the bottom of the water; S5: Drive the end structure 13 to move relative to the first longitudinal beam 22 along the length direction of the first longitudinal beam 22.

[0165] A preferred method 1: It also includes the step of launching the multi-degree-of-freedom adjustable underwater leveling machine: Install the multi-degree-of-freedom adjustable underwater leveling machine; Set a crane on the platform on the sea side of the multi-degree-of-freedom adjustable underwater leveling machine; The crane hoists the multi-degree-of-freedom adjustable underwater leveling machine and rotates the multi-degree-of-freedom adjustable underwater leveling machine to the sea side of the crane; Lower the multi-degree-of-freedom adjustable underwater leveling machine into the water.

[0166] A preferred method 2: It also includes the step of launching the multi-degree-of-freedom adjustable underwater leveling machine: Based on the first platform and the slope provided on one side of the lower discharge pipe 73 below the first platform, the slope extends to the bottom of the water: Install the multi-degree-of-freedom adjustable underwater leveling machine on the lower discharge pipe 73 below the first platform, and the multi-degree-of-freedom adjustable underwater leveling machine uses the method described in steps S1 - S5 to walk down the slope until the construction position. Steps are provided on the slope, and the first vertical lifting leg 31 and the second vertical lifting leg 32 can be supported on the steps. In this way, when the multi-degree-of-freedom adjustable underwater leveling machine launches on the slope, the first vertical lifting leg 31 and the second vertical lifting leg 32 can still be vertically arranged, avoiding the first vertical lifting leg 31 and the second vertical lifting leg 32 from supporting the multi-degree-of-freedom adjustable underwater leveling machine obliquely, thereby effectively optimizing the force on the first vertical lifting leg 31 and the second vertical lifting leg 32 and extending their service life.

[0167] A preferred method further includes the installation steps of a multi-degree-of-freedom adjustable underwater leveling machine before construction: B1. Organize the site and prepare for assembly; transport the components of the walking underwater leveling machine to the installation site, and at the same time, combine the working conditions of the installation site to avoid the hydraulic system and the electrical control system being immersed in seawater due to the ebb and flow of the tide. B2. Assemble the second crossbeam 11 into a shape, and install the end structures 13 and the transverse movement frames 33 at both ends of the second crossbeam 11, as well as the first vertical lifting legs 31 and the transverse telescopic mechanism 4. B3. Install the distribution longitudinal beam 12, and connect both ends of the distribution longitudinal beam 12 to the end structures 13. B4. Install the first longitudinal beam 22, the first longitudinal beam 22 passes through the distribution longitudinal beam 12 and the end structure 13 on the same side, and install the second vertical lifting legs 32 on the first longitudinal beam 22. B5. Install the first crossbeam 21 between adjacent first longitudinal beams 22, and the first crossbeam 21 is located outside the second crossbeam 11. B6. Install the blanking mechanism 7, the longitudinal movement mechanism 9 and the transverse movement mechanism between the two second crossbeams 11, the longitudinal movement mechanism 9 can drive the blanking mechanism 7 to move along the length direction of the first longitudinal beam 22; the transverse movement mechanism can drive the longitudinal movement mechanism 9 to move transversely relative to the second crossbeam 11 along the length direction of the second crossbeam 11. B7. Install the measuring tower 6 on the top of the end structure 13. B8. Install the whole machine hydraulic system and the electrical system, and then debug the whole machine and conduct a land simulation experiment.

[0168] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A measuring tower for an underwater leveling machine, characterized in that, Comprising: A support component; Further comprising a measuring tower (6) and a driving mechanism (61) connected to the support component, wherein the driving mechanism (61) is capable of driving the measuring tower (6) to rotate from a horizontal position to a vertical position.

2. The measuring tower for an underwater leveling machine according to claim 1, characterized in that, The support component includes two end structures (13) arranged at intervals, a second longitudinal beam (12) is connected between the two end structures (13), and a bracket (62) hinged to the measuring tower (6) is installed on one of the end structures (13). One end of the driving mechanism (61) is connected to the second longitudinal beam (12), and the other end is connected to the measuring tower (6).

3. The measuring tower for an underwater leveling machine according to claim 2, characterized in that, The driving mechanism (61) includes a first telescopic member. During the process of the measuring tower (6) rotating from a horizontal position to a vertical position and from a vertical position to a horizontal position, the first telescopic member is in tension.

4. The measuring tower for an underwater leveling machine according to claim 3, characterized in that, The bracket (62) includes bracket units (621) arranged radially at intervals along the second longitudinal beam (12). The bracket units (621) are all installed on the top of the end structure (13). There is a gap (622) between the two bracket units (621). A rotating shaft (63) that is rotationally matched with the measuring tower (6) is connected between the two bracket units (621). One end of the first telescopic member is hinged to the measuring tower (6), and the other end of the first telescopic member passes through the gap and is hinged to the second longitudinal beam (12).

5. The measuring tower for an underwater leveling machine according to claim 4, characterized in that, The second longitudinal beam (12) is a truss structure. The second longitudinal beam (12) includes an upper chord (122), a lower chord (123), a vertical rod (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). The vertical rod (124), the first diagonal web member (125) and the second diagonal web member (126) converge at the first node (128). The transverse beam (127) is connected to the first telescopic member.

6. The measuring tower for an underwater leveling machine according to claim 4, characterized in that, The bracket unit (621) is a truss structure; the measuring tower (6) is formed by splicing multiple sections of trusses in sequence.

7. The measuring tower for an underwater leveling machine according to claim 2, characterized in that, On the top of the other end structure (13), a support frame (64) protrudes upward. When the measuring tower (6) is horizontally arranged, the support frame (64) can support the measuring tower (6).

8. A multi-degree-of-freedom adjustable underwater leveling machine, characterized in that, Comprising two measuring towers as described in any one of claims 2-7, and a second cross beam (11) is connected between the end structures (13) of adjacent support components.

9. The multi-degree-of-freedom adjustable underwater leveling machine according to claim 8, wherein, Further comprising a transverse movement frame (33) and a first main frame (2), wherein: The first main frame (2) includes two groups of relatively arranged first cross beams (21) and first longitudinal beams (22), and the two groups of relatively arranged first cross beams (21) and first longitudinal beams (22) enclose a frame structure; The end structure (13) is provided with a first hole (131) penetrating along the length direction of the first longitudinal beam (22); At least a part of the transverse movement frame (33) is located in the first hole (131), and the transverse movement frame (33) is slidably matched with the end structure (13) along the length direction of the first cross beam (21); The first longitudinal beam (22) penetrates through the transverse movement frame (33) and the corresponding side of the second longitudinal beam (12) along the length direction of the first hole (131), and is in sliding fit with the transverse movement frame (33) and the second longitudinal beam (12); The first vertical lifting leg (31) is connected to the second cross beam (11); The second vertical lifting leg (32) is connected to the first longitudinal beam (22).

10. The multi-degree-of-freedom adjustable underwater leveling machine according to claim 8, characterized in that, A compressed air drainage chamber (112) is arranged in the second cross beam (11).

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