Automatic filling system for underwater leveling machine and underwater leveling machine

Abstract

The invention relates to the technical field of underwater leveling machine construction, in particular to an automatic filling system for an underwater leveling machine and the underwater leveling machine. Comprising a material distribution pipe, a base and a material conveying mechanism. The top and the bottom of the material distribution pipe are open, and the material distribution pipe can move transversely and longitudinally along the underwater leveling machine. The material conveying mechanism comprises at least two material conveying sections which are connected and can move relatively, the root material conveying section is connected with the base, a feeding port is formed in the root material conveying section, and the material falling position of the front end of the end material conveying section vertically corresponds to the top of the material distribution pipe. According to the automatic filling system for the underwater leveling machine, in the whole process, the material falling position of the front end of the end conveying section is vertically and correspondingly arranged with the top of the material distribution pipe all the time, so that in the transverse and longitudinal movement process of the material distribution pipe along the underwater leveling machine, the conveying and conveying mechanism can continuously convey stone into the material distribution pipe, and the material distribution pipe is prevented from being damaged. Therefore, the stone conveying speed is effectively increased, and meanwhile the labor cost is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater leveling machine construction, and in particular to an automatic filling system for an underwater leveling machine and the underwater leveling machine. Background Art

[0002] At present, during the underwater operation of the underwater leveling machine, the distribution pipe used for dropping stones needs to move horizontally and vertically, which makes it difficult to transport stones into the distribution pipe. At present, feeding is generally carried out through a feeding hopper, such as a feeding hopper for an underwater leveling machine disclosed in patent publication number CN215715327U. Specifically, stones are loaded into the feeding hopper by an excavator, and then the feeding hopper is lifted to the top of the distribution pipe by a crane, and then the bottom of the feeding hopper is opened to allow the stones in the feeding hopper to fall into the distribution pipe of the feeding hopper, and then the feeding hopper is lifted to the vicinity of the excavator by a crane, and the excavator loads the stones into the feeding hopper, and this process is repeated.

[0003] In the above process, the excavator, crane and underwater leveling machine need to cooperate with each other, which is difficult. More importantly, the material can only be fed into the distribution pipe intermittently, which seriously limits the speed of conveying stones. Summary of the Invention

[0004] The purpose of the present invention is to overcome the shortcomings of the background technology that feeding through a feeding hopper requires the cooperation of an excavator, a crane and an underwater leveling machine, which is difficult and seriously limits the speed of conveying stones, and to provide an automatic filling system for an underwater leveling machine and an underwater leveling machine.

[0005] In a first aspect, the present invention provides an automatic filling system for an underwater screed machine, comprising: A material distribution pipe is used to be installed on the underwater leveling machine. The top and bottom of the material distribution pipe are both open, and the material distribution pipe can move horizontally and vertically along the underwater leveling machine. base, The material conveying mechanism includes at least two connected and relatively movable material conveying sections. The material conveying section located at the root is defined as the root material conveying section. The root material conveying section is connected to the base. A feed port is provided on the root material conveying section. The material conveying section located at the front end is defined as the end material conveying section. The material dropping position at the front end of the end material conveying section is vertically corresponding to the top of the material distribution pipe.

[0006] The automatic filling system for an underwater leveling machine described in the present application has a material feeding and conveying mechanism comprising at least two material feeding sections that are connected and capable of relative movement, and the material dropping position at the front end of the end material feeding section is always arranged vertically corresponding to the top of the material distribution pipe during the entire process. As a result, during the horizontal and vertical movement of the material distribution pipe along the underwater leveling machine, the material feeding and conveying mechanism can continuously transport stones into the material distribution pipe, thereby effectively increasing the speed of transporting stones and reducing labor costs.

[0007] Preferably, the end feeding section is connected to the adjacent feeding section in a pitching and rotating manner.

[0008] Preferably, the end conveying section is hinged to the adjacent conveying section, and the end conveying section is connected to the adjacent conveying section in pitch and rotation via a telescopic bracket, the telescopic bracket includes a hinged connecting frame and a telescopic member, the connecting frame is fixedly connected to one of the end conveying section and the adjacent conveying section, and the telescopic member is hinged to the other.

[0009] Preferably, the end feeding section is telescopically arranged relative to the adjacent feeding section.

[0010] Preferably, the end conveying section includes a first conveyor belt, and the conveying section adjacent to the end conveying section includes a second conveyor belt. A second conveying bracket is provided under the second conveyor belt, and a first space is provided in the second conveying bracket. At least part of the first conveyor belt can slide into the first space.

[0011] Preferably, the root feeding section is connected to the base in a pitching and rotating manner.

[0012] Preferably, it further comprises a telescopic mechanism, the base is hinged to the end of the root feeding section away from the end feeding section, and the telescopic mechanism is hinged between the base and the root feeding section.

[0013] Preferably, it further comprises a front wheel group and a rear wheel group, wherein the front wheel group is connected to the front side of the bottom of the base; and the rear wheel group is connected to the rear side of the bottom of the base.

[0014] Preferably, the front wheel set is rotatable relative to the base.

[0015] Preferably, the rear wheel set is rotatably arranged relative to the base.

[0016] Preferably, the material distribution pipe includes an upper material pipe and a lower material pipe: the upper material pipe is connected above the lower material pipe, and a first channel is defined between the upper material pipe and the lower material pipe.

[0017] Preferably, a limiting structure is provided at the front end of the end feeding section, the limiting structure cooperates with the horizontal limiting of the distribution pipe, and a pressure sensor is horizontally provided between the limiting structure and the distribution pipe.

[0018] In a second aspect, the present invention provides an underwater leveling machine, including an automatic filling system for an underwater leveling machine as described in the present application, and also including a first main frame and a second main frame, wherein: the first main frame includes two first longitudinal beams arranged at intervals, a first cross beam is connected between the ends on the same side of the two first longitudinal beams, and at least four second vertical lifting legs are supported and connected on the first main frame; the second main frame includes four end structures arranged in an array, second longitudinal beams are connected between adjacent end structures in the longitudinal direction, and second cross beams are connected between adjacent end structures in the transverse direction, the second longitudinal beams are sleeved on the outside of the first longitudinal beams on the corresponding side, and the first longitudinal beams can move relative to the second longitudinal beams in the length direction; the second cross beam is located at the first longitudinal beam. On the inner side of a beam, at least four first vertical lifting legs are supported and connected on the second main frame; a first hole is opened through the end structure along the length direction of the first longitudinal beam, and a transverse frame is provided in the first hole. The transverse frame is sleeved on the first longitudinal beam and slides with the first longitudinal beam through a longitudinal telescopic mechanism. The transverse frame slides with the end structure along the length direction of the second beam through a transverse telescopic mechanism, and the transverse frame and the end structure are relatively fixed along the direction of the first longitudinal beam; a transverse moving mechanism is provided between adjacent second beams, and a longitudinal moving mechanism is provided on the transverse moving mechanism. The transverse moving mechanism is used to drive the cloth pipe to move transversely, and the longitudinal moving mechanism is used to drive the cloth pipe to move longitudinally.

[0019] The underwater leveling machine described in the present application realizes relative movement of the first longitudinal beam and the end structure in the longitudinal direction by arranging a transverse frame between the end structure and the first longitudinal beam based on the sliding cooperation between the first longitudinal beam and the transverse frame along the length direction of the first longitudinal beam, thereby achieving the purpose of walking-like movement of the first vertical lifting leg and the second vertical lifting leg; and, based on the sliding cooperation with the end structure along the radial direction of the first hole, realizes relative movement of the first longitudinal beam and the end structure along the radial direction of the first hole, thereby achieving the purpose of walking-like movement or correction of the first vertical lifting leg and the second vertical lifting leg along the length direction of the first hole, and by arranging a transverse frame outside the first longitudinal beam and an end structure outside the transverse frame, the transverse 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] Compared with the prior art, the present invention has the following beneficial effects: The automatic filling system for an underwater leveling machine described in this application has a material conveying mechanism comprising at least two connected and relatively movable material conveying sections, and the material drop position of the front end of the end material conveying section is always arranged vertically corresponding to the top of the material distribution pipe during the entire process. As a result, the material conveying mechanism can continuously convey stones into the material distribution pipe during the horizontal and vertical movement of the material distribution pipe along the underwater leveling machine, thereby effectively increasing the speed of stone transportation and reducing labor costs. Figure 1 This is a schematic diagram of the arrangement of the automatic filling system for the underwater leveling machine of the present application on the underwater leveling machine (telescopic).

[0021] Figure 2 This is a schematic front view (telescopic) of an automatic filling system for an underwater leveling machine of the present application.

[0022] Figure 3 This is a schematic diagram of the traction winch mechanism of this application (telescopic).

[0023] Figure 4 This is a schematic top view of an automatic filling system for an underwater leveling machine according to the present application.

[0024] Figure 5 This is a schematic diagram of the arrangement of the automatic filling system for the underwater leveling machine of the present application on the underwater leveling machine (variable amplitude).

[0025] Figure 6 This is a schematic diagram of the rear wheel assembly structure of this application.

[0026] Figure 7 Attached to this application Figure 6 Enlarged schematic diagram of part A in the middle.

[0027] Figure 8 This is a schematic diagram of the front wheel assembly structure of this application.

[0028] Figure 9 This is a schematic diagram of the first main frame structure of this application.

[0029] Figure 10 This is a schematic diagram of the second main frame structure of this application.

[0030] Figure 11 Attached to this application Figure 10 Enlarged schematic diagram of part B in the middle.

[0031] Figure 12 This is a schematic structural diagram of a bidirectional walking underwater leveling machine for this application.

[0032] Figure 13 Attached to this application Figure 12 Enlarged schematic diagram of part A in the middle.

[0033] Figure 14 This is a schematic diagram of the arrangement of the second vertical lifting leg of this application.

[0034] Figure 15 This is a schematic diagram of the arrangement of the first vertical lifting leg of this application.

[0035] Figure 16 This is a schematic diagram of the main view of the measurement tower structure of this application.

[0036] Figure 17 This is a schematic left view of the measurement tower structure of this application.

[0037] Figure 18 This is a schematic diagram of the measurement tower setup during the construction of the underwater leveling machine in this application.

[0038] Figure 19 This is a schematic diagram of the first layout of this application.

[0039] Figure 20 This is a schematic structural diagram of the lower discharge pipe of this application.

[0040] Figure 21 This is a schematic diagram of the coordination of the upper discharge pipe and the lower discharge pipe of this application.

[0041] Figure 22 This is a schematic longitudinal section of the second crossbeam of this application.

[0042] Figure 23 This is a schematic top view of an underwater leveling machine of the present application.

[0043] Figure 24 This is a schematic diagram of the coordination between the blanking mechanism, the longitudinal moving mechanism and the transverse moving mechanism of this application. DETAILED DESCRIPTION

[0044] The present invention will be further described in detail below with reference to specific embodiments. However, this should not be construed as limiting the scope of the present invention to the following embodiments, as all technologies implemented based on the present invention fall within the scope of the present invention.

[0045] Unless otherwise specified, in the description of the specific embodiments of the present invention, the terms indicating the orientation or positional relationship, such as "upper", "lower", "left", "right", "center", "inside", and "outside", are based on the expressions of the orientation or positional relationship shown in the accompanying drawings, or are the orientation or positional relationship in which the invented product / device / apparatus is placed when it is conventionally used. These terms of orientation or positional relationship are merely for the purpose of facilitating the description of the scheme of the present invention or simplifying the description of the specific embodiments to facilitate the rapid understanding of the scheme by technicians, 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 should not be understood as limiting the present invention.

[0046] If the terms "horizontal", "vertical", "overhanging", "parallel" and the like appear, it does not mean that the corresponding devices / components / elements are required to be absolutely horizontal or vertical or overhanging or parallel, but may be slightly tilted or have deviations. 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 may be slightly tilted. Alternatively, it can be simply understood that the corresponding devices / components / elements are set in directions such as "horizontal", "vertical", "overhanging", "parallel", etc., and can have an error / deviation of ±10% relative to the corresponding direction setting, more preferably an error / deviation within ±8%, more preferably an error / deviation within ±6%, more preferably an error / deviation within ±5%, and more preferably an error / deviation within ±4%. As long as the corresponding device / component / element is within the error / deviation range, it can still achieve its role in the solution of the present invention.

[0047] In addition, the expressions “first”, “second”, “third”, etc. in the terms are merely used to distinguish the description of the same or similar components, and should not be understood as emphasizing or implying the relative importance of specific components.

[0048] In addition, in the description of the embodiments of the present invention, "several," "plurality," and "a number" represent at least two. It can also be any number such as two, three, four, five, six, seven, eight, nine, or even more than nine.

[0049] Furthermore, in the description of the technical solution of the present invention, unless otherwise expressly specified, defined, or limited, the terms "disposed," "installed," "connected," "connected," "provided with," "laid," and "arranged" should be understood broadly. For example, they may refer to fixed connections, detachable connections, or integral connections. They may be welded, riveted, bolted, threaded, or other commonly used connection methods in the art. Such connections may be mechanical, electrical, or communicative; they may be direct, indirect via an intermediate medium, or internally connected between two components.

[0050] Example 1 like Figures 1-8 As shown, the automatic filling system for an underwater leveling machine described in this embodiment includes a base 71, a material distribution pipe 7 and a material feeding and conveying mechanism 75.

[0051] In a preferred solution, the fabric pipe 7 is used to be installed on an underwater leveling machine. The top and bottom of the fabric pipe 7 are both open, and the fabric pipe 7 can move laterally and longitudinally along the underwater leveling machine.

[0052] like Figure 1 and Figure 2As shown, the feeding conveying mechanism 75 includes at least two feeding sections that are connected and can move relative to each other. The feeding section located at the root is defined as a root feeding section 751, and the root feeding section 751 is connected to the base 71. The root feeding section 751 is provided with a feeding port 753. The feeding section located at the front end is defined as an end feeding section 752. The front end drop position of the end feeding section 752 is vertically corresponding to the top of the distribution pipe 7. When the distribution pipe 7 moves, the front end drop position of the end feeding section 752 will also move synchronously, so that the front end drop position of the end feeding section 752 is always within the range of receiving materials directly above the distribution pipe 7.

[0053] The automatic filling system for an underwater leveling machine described in this embodiment has a material conveying mechanism 75 comprising at least two material conveying sections that are connected and capable of relative movement, and the front end drop position of the end material conveying section 752 is always arranged vertically corresponding to the top of the material distribution pipe 7 during the entire process. As a result, when the material distribution pipe 7 moves horizontally and vertically along the underwater leveling machine, the material conveying mechanism 75 can continuously convey stones into the material distribution pipe 7, thereby effectively increasing the speed of conveying stones and reducing labor costs.

[0054] like Figure 5 As shown, in a preferred embodiment, the end feeding section 752 is connected to the adjacent feeding section in a pitching and rotating manner.

[0055] like Figure 5 As shown, in a preferred embodiment, the end feed section 752 is hinged to the adjacent feed section, and the end feed section 752 and the adjacent feed section are pitched and rotated relative to each other through a telescopic bracket 76. The telescopic bracket 76 includes a hinged connecting frame 761 and a telescopic member 762. The connecting frame 761 is fixedly connected to the end feed section 752 and one of the adjacent feed sections, and the telescopic member 762 is hinged to the other.

[0056] In a preferred embodiment, the end feeding section 752 is hinged to the adjacent feeding section via a first hinge shaft 754 .

[0057] In a preferred embodiment, the connecting frame 761 is fixedly connected to the feed section adjacent to the end feed section 752, one end of the telescopic member 762 is hinged to the connecting frame 761 through a second hinge shaft 763, and the other end of the telescopic member 762 is hinged to the end feed section 752 through a third hinge shaft 764; the connecting frame 761 is located below the above-mentioned feed section.

[0058] In a preferred embodiment, the end conveying section 752 is a pipe structure, which is higher at the end close to the adjacent conveying section and lower at the end close to the distribution pipe 7, so that the stones can move in the end conveying section 752.

[0059] The remaining feeding sections are preferably belt feeders. Wherein, at least one end of the root feeding section 751 is lower than one end thereof near the end feeding section 752, so that the stone can be transported obliquely upward by the root feeding section 751.

[0060] Preferably, the first hinge axis 754 , the second hinge axis 763 and the third hinge axis 764 are arranged in parallel.

[0061] In a preferred embodiment, the end feeding section 752 is telescopically arranged relative to the adjacent feeding section.

[0062] In a preferred embodiment, the end conveying section 752 includes a first conveyor belt 755 and a first conveying bracket 758 supported and connected to the lower part of the first conveyor belt 755. The conveying section adjacent to the end conveying section 752 includes a second conveyor belt 756. A second conveying bracket 757 is supported and connected below the second conveyor belt 756. A first space 759 is provided in the second conveying bracket 757. At least part of the first conveyor belt 755 can slide into the first space 759.

[0063] The adjacent feeding sections are extended and retracted by setting telescopic rods between the adjacent feeding sections, or by cooperating with a traction trolley and a steel wire rope to adjust the front end drop position of the end feeding section 752.

[0064] In a specific preferred embodiment, adjacent feeding sections are extended and retracted relative to each other through a telescopic mechanism, such as a hydraulic cylinder or a linear module, and rollers are used to reduce the friction between adjacent feeding sections when they move relative to each other.

[0065] like Figure 3As shown, another specific preferred embodiment, taking two-section feeding sections as an example, a traction winch 714 is set at a position near the rear end of the root feeding section 751, and a steering pulley 715 is set at a position near the front end of the root feeding section 751. A first rope 718 and a second rope 717 are led out from the traction winch 714. The first rope 718 passes around the steering pulley 715 and is connected to the end of the end feeding section 752 near the root feeding section 751. The second rope 717 passes around the rope pulley 716 and is connected to the end of the end feeding section 752 near the root feeding section 751. The end feeding section 752 partially extends into the first space 759. When the traction winch 714 is When rotating, the first rope 718 is reeled in and the second rope 717 is released. The first rope 718 pulls the end feeding section 752 in a direction away from the traction winch 714, so that the feeding and conveying mechanism 75 is extended as a whole. When the traction winch 714 reverses, the first rope 718 is released and the second rope 717 is reeled in. The first rope 718 pulls the end feeding section 752 in a direction close to the traction winch 714, so that the feeding and conveying mechanism 75 is shortened as a whole to adjust the front end drop position of the end feeding section 752, thereby effectively ensuring that the front end drop position of the end feeding section 752 is always within the range of receiving the material directly above the distribution pipe 7.

[0066] In a preferred embodiment, the root feeding section 751 is connected to the base 71 in a pitching and rotating manner.

[0067] In a further preferred embodiment, a telescopic mechanism 711 is further included, wherein the base 71 is hinged to the end of the root feed section 751 away from the end feed section 752 , and the telescopic mechanism 711 is hinged between the base 71 and the root feed section 751 .

[0068] Preferably, it further includes a front wheel set 712 and a rear wheel set 713 , wherein the front wheel set 712 is connected to the front side of the bottom of the base 71 ; and the rear wheel set 713 is connected to the rear side of the bottom of the base 71 .

[0069] like Figure 6 and Figure 7 As shown, preferably, the front wheel assembly 712 is rotatably arranged relative to the base 71. Further preferably, the front wheel assembly 712 rotates relative to the base 71 via a first rotating gear ring 761. The first rotating gear ring 761 includes a slewing bearing. The outer ring of the slewing bearing is provided with teeth on the outer wall thereof, so that the outer ring of the slewing bearing becomes an external gear. The first rotating gear ring 761 can be driven by a motor to mesh with the teeth of the first rotating gear ring 761, thereby driving the front wheel assembly 712 to rotate relative to the base 71.

[0070] like Figure 8As shown, preferably, the rear wheel assembly 713 is rotatably arranged relative to the base 71. Further preferably, the rear wheel assembly 713 rotates relative to the base 71 via a second rotating gear ring 762. The second rotating gear ring 762 includes a slewing bearing. The outer ring of the slewing bearing is provided with teeth on the outer wall thereof, so that the outer ring of the slewing bearing becomes an external gear. The second slewing gear ring 762 can be driven by a motor to mesh with the teeth of the second slewing gear ring 762, thereby driving the rear wheel assembly 713 to rotate relative to the base 71.

[0071] By rotating the front wheel group 712 and the rear wheel group 713 relative to the base 71, the material conveying mechanism 75 can move both horizontally and vertically, so as to achieve the purpose of conveying stones when the material pipe 7 can move horizontally and vertically along the underwater leveling machine.

[0072] Preferably, a limiting structure is provided at the front end of the end material conveying section 752, and the limiting structure cooperates with the horizontal limiting function of the material distribution pipe 7. A pressure sensor is provided horizontally between the limiting structure and the material distribution pipe 7. When the material drop position at the front end of the end material conveying section 752 deviates from the material receiving range directly above the material distribution pipe 7, the limiting structure and the material distribution pipe 7 are in contact via the pressure sensor, which feeds back a pressure signal. Based on the pressure signal, the relative position of the end material conveying section 752 and the material distribution pipe 7 is adjusted to ensure that the material drop position at the front end of the end material conveying section 752 is always within the material receiving range directly above the material distribution pipe 7.

[0073] In a preferred embodiment, the material distribution pipe 7 includes 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 defined between the upper material pipe 72 and the lower material pipe 73 .

[0074] In a further preferred embodiment, the upper discharge pipe 72 and the lower discharge pipe 73 are plug-fitted together, and a first channel 74 is defined between the upper discharge pipe 72 and the lower discharge pipe 73 .

[0075] In a preferred embodiment, the lower feeding 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 first funnel structure 732 is arranged with its large mouth facing upward; the upper feeding pipe 72 includes an upper pipe structure 721 and a second funnel structure 726 sleeved on the outer side of the upper pipe structure 721, and a plurality of protrusions 722 are arranged circumferentially on the outer wall of the upper pipe structure 721, and a first gap 723 is formed between adjacent protrusions 722, and the outer side surface of the protrusion 722 is an inclined surface corresponding to the first funnel structure 732. 724, the lower part of the upper tube structure 721 is inserted into the bottom tube structure 731, and a second gap 725 is provided between the outer wall of the upper tube structure 721 and the inner wall of the bottom tube structure 731; the second funnel structure 726 has its large mouth facing the first funnel structure 732 and can cover the large mouth of the first funnel structure 732, and a third gap 741 is provided between the first funnel structure 732 and the second funnel structure 726, and the third gap 741, the first gap 723 and the second gap 725 are interconnected to form the first channel 74.

[0076] In a preferred embodiment, a distance sensor 8 is installed in the fabric tube 7, and the distance sensor 8 measures the distance downward; an anti-collision box 81 is also installed on the inner wall of the fabric tube 7, and the anti-collision box 81 is at least partially located above the distance sensor 8.

[0077] In a preferred embodiment, the distance measuring sensor 8 is connected to a first line; the first line includes a power line and a signal line, and the power line and the signal line extend from the outside of the fabric tube 7 into the inside of the fabric tube 7 through the first channel 74 .

[0078] like Figure 21 As shown, a threading hole 83 is provided on the side wall of the upper tube structure 721 , the threading hole 83 corresponds to the height of the anti-collision box 81 , and the threading hole 83 is communicated with the internal cavity of the anti-collision box 81 .

[0079] The first wire passes through the third gap 741 and the wire hole 83 in sequence and then extends into the anti-collision box 81 to connect with the distance measuring sensor 8, effectively avoiding direct contact between the power line and the signal line and the stone, and effectively ensuring the service life of the power line and the signal line.

[0080] The integral body formed by the distance measuring sensor 8 and the anti-collision box 81 can move radially along the material distribution pipe 7 .

[0081] During the initial distance measurement, the distance sensor 8 and the anti-collision box 81 are inserted into the material distribution pipe 7 for measurement. During the subsequent filling operation, the distance sensor 8 and the anti-collision box 81 are moved radially along the material distribution pipe 7 to the outside of the upper tube structure 721 and inside the first funnel structure 732, thereby more effectively reducing the obstruction of the distance sensor 8 and the anti-collision box 81 to the stone and further increasing the service life of the distance sensor 8 and the anti-collision box 81. Preferably, the distance sensor 8 and the anti-collision box 81 are driven to move radially along the material distribution pipe 7 by a gear rack. The rack is connected to the distance measuring sensor 8 and the anti-collision box 81 through a cylindrical support. The rack is arranged radially along the cloth pipe 7. The gear is driven to rotate by a motor that can work underwater, driving the gear and the rack to cooperate. A hole is opened on the side wall of the cloth pipe 7, and a pipe structure 87 that is adapted to the hole diameter is welded on the outside of the hole. The gear and the rack can drive the cylindrical support to move radially along the cloth pipe 7 relative to the pipe structure 87 through the cooperation of the gear and the rack, so that the distance measuring sensor 8 and the anti-collision box 81 can both move radially along the cloth pipe 7.

[0082] An opening is made on the side wall at the lower part of the fabric pipe 7 and an anti-collision box 81 is installed. A ranging sensor 8 with an underwater ranging function is installed in the anti-collision box 81, preferably an acoustic sensor. The power line and signal line connected to the acoustic sensor are led out of the fabric pipe 7, and the power line and signal line are led out of the water along the fabric pipe 7 and connected to the signal receiver on the work platform.

[0083] After the leveling machine completes underwater positioning, it is adjusted to the appropriate elevation, and then the material distribution pipe 7 moves. The underwater ranging sensor 8 measures the water depth data in real time and sends the data signal back to the signal receiver at the surface end of the leveling machine, and displays it through the operation interface. By walking, the water depth information is continuously collected, and finally a chart with position and water depth information is formed. The thickness of the underwater leveling layer can be mastered to guide the control of stone volume and the selection of specifications during subsequent leveling and distribution.

[0084] Example 2 like Figure 1-24 As shown, the multi-degree-of-freedom adjustable underwater leveling machine described in this embodiment includes the underwater leveling layer thickness monitoring and recording device described in Example 1, and the material distribution pipe 7 can move horizontally and vertically.

[0085] In a preferred embodiment, a multi-degree-of-freedom adjustable underwater leveling machine described in this embodiment includes a first main frame 2 and a second main frame 1. The first main frame 2 and the second main frame 1 realize the walking-type movement of the underwater leveling machine through at least four first vertical lifting legs 31 and at least four second vertical lifting legs 32, wherein: The first main frame 2 includes two first longitudinal beams 22 spaced apart from each other, a first cross beam 21 is connected between the ends of the two first longitudinal beams 22 on the same side, and the first cross beam 21 and the first longitudinal beams 22 form a circle; The second main frame 1 includes four end structures 13 arranged in an array, and second longitudinal beams 12 are connected between adjacent end structures 13 along the longitudinal direction, and second cross beams 11 are connected between adjacent end structures 13 along the transverse direction. The second longitudinal beams 12 are mounted on the outside of the first longitudinal beams 22 on the corresponding side, and the first longitudinal beams 22 can move relative to the second longitudinal beams 12 along the length direction; the first cross beam 21 is located on the outside of the second cross beam 11, and is preferably arranged in parallel.

[0086] The end structure 13 is provided with a first hole 131 along the length direction of the first longitudinal beam 22. A transverse frame 33 is provided in the first hole 131 and is sleeved on the first longitudinal beam 22. The transverse frame 33 can slide with the first longitudinal beam 22 through the longitudinal telescopic mechanism 5. The transverse frame 33 slides with the end structure 13 along the length direction of the second transverse beam 11 through the transverse telescopic mechanism 4. The transverse frame 33 and the end structure 13 are relatively limited along the direction of the first longitudinal beam 22, preferably by key and groove cooperation.

[0087] At least four first vertical lifting legs 31 are supported and connected to the second main frame 1; At least four second vertical lifting legs 32 are supported and connected to the first main frame 2 .

[0088] The multi-degree-of-freedom adjustable underwater leveling machine described in the present application, when in use, is provided with a transverse movement frame 33 between the end structure 13 and the first longitudinal beam 22. Based on the sliding cooperation between the first longitudinal beam 22 and the transverse movement frame 33 along the length direction of the first longitudinal beam 22, the first longitudinal beam 22 and the end structure 13 are realized in the longitudinal direction, thereby achieving the purpose of walking-like movement of the first vertical lifting leg 31 and the second vertical lifting leg 32. Moreover, based on the sliding cooperation with the end structure 13 along the radial direction of the first hole 131, the relative movement of the first longitudinal beam 22 and the end structure 13 along the radial direction of the first hole 131 is realized, thereby achieving the purpose of step-by-step 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.

[0089] By disposing a transverse frame 33 on the outer surface of the first longitudinal beam 22 and an end structure 13 on the outer surface of the transverse frame 33, the transverse frame 33 is used to replace the transition frame of the existing walking leveler, thereby effectively reducing the overall weight of the transverse and longitudinal walking mechanism.

[0090] The second longitudinal beam 12 is provided with a first through hole 121 corresponding to the first hole 131, and the first longitudinal beam 22 extends through the first hole 131 and the first through hole 121 on the corresponding side. The first longitudinal beam 22 is inserted into the second longitudinal beam 12 on the basis of the lateral movement frame 33 slidingly cooperating with the end structure 13 along the radial direction of the first hole 131, so that the first longitudinal beam 22 and the second longitudinal beam 12 form an inner-outer nesting relationship, effectively reducing the overall horizontal arrangement space formed by the first longitudinal beam 22 and the second longitudinal beam 12, thereby enabling the lateral dimensions of the bidirectional walking underwater leveling machine to be smaller.

[0091] In a specific preferred embodiment, the second longitudinal beam 12 is preferably a truss structure with open ends. While the second longitudinal beam 12 meets the designed stiffness and strength, the weight of the second longitudinal beam 12 is further reduced, contributing to the lightweighting of the bidirectional walking underwater leveling machine of this application. Furthermore, because the second longitudinal beam 12 is sleeved outside the first longitudinal beam 22, the second longitudinal beam 12 has larger lateral and height dimensions than the first longitudinal beam 22, thus enabling the second longitudinal beam 12 to be constructed as a truss structure.

[0092] A specific preferred manner is that the second cross beam 11 and the end structure 13 are detachably connected via a bolt group.

[0093] In one preferred embodiment, the transverse frame 33 is provided with a second hole 331 along the direction in which the first hole 131 is opened, which is adapted to the first longitudinal beam 22. The first longitudinal beam 22 passes through the second hole 331 and slides with the second hole 331. This allows the first longitudinal beam 22 and the transverse frame 33 to move relative to each other along the direction in which the first hole 131 is opened. Furthermore, the first longitudinal beam 22 is adapted to the second hole 331, so that the second hole 331 limits the first longitudinal beam 22 in the radial direction of the first hole 131.

[0094] In one preferred embodiment, a limiting structure is provided between the transverse frame 33 and the end structure 13. The limiting structure restricts relative sliding of the transverse frame 33 with respect to the end structure 13 along the length of the first hole 131, but does not restrict relative sliding of the transverse frame 33 with respect to the end structure 13 along the radial direction of the first hole 131. However, when the first longitudinal beam 22 moves relative to the transverse frame 33 along the length of the first hole 131, relative movement between the transverse frame 33 and the end structure 13 does not occur, or the relative movement is very small (caused by assembly and manufacturing errors).

[0095] In a preferred embodiment, a first side wall 132 is provided on one side of the first hole 131, and a first gap 114 is provided between the transverse moving frame 33 and the first side wall 132. The transverse telescopic mechanism 4 can drive the transverse moving frame 33 away from or close to the first side wall 132, so as to achieve the purpose of the transverse moving frame 33 slidingly cooperating with the end structure 13 along 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 of which is the first side wall 132] also have a limiting effect on the transverse moving frame 33.

[0096] In a preferred embodiment, the first hole 131 is a rectangular hole, and 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 surround the first hole 131, which is convenient for manufacturing and installation.

[0097] In a preferred embodiment, the net height of the first hole 131 matches the height of the transverse frame 33 , so as to increase the stability of the transverse frame 33 and the end structure 13 when they move relative to each other.

[0098] The transverse telescopic mechanism 4 is connected between the end structure 13 and the transverse frame 33, and the transverse telescopic mechanism 4 can be telescopic along the length direction of the second beam 11; the transverse telescopic mechanism 4 is preferably a telescopic oil cylinder or a pneumatic cylinder; the transverse telescopic mechanism 4 can drive the transverse frame 33 to move back and forth relative to the end structure 13.

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

[0100] In a preferred embodiment, a first transverse support portal 42 is disposed outside the first transverse through hole 136. One end of the transverse telescopic mechanism 4 is connected to the base of the first transverse support portal 42, and the other end passes through the first through hole 211 and is connected to the transverse moving frame 33. By disposing the first transverse support portal 42 outside the first transverse through hole 136 as a telescopic support and force-bearing member between the transverse moving frame 33 and the end structure 13, the size of the end structure 13 along the telescopic direction of the transverse telescopic mechanism 4 is effectively reduced, compared to disposing the transverse telescopic mechanism 4 directly between the transverse moving frame 33 and the end structure 13, thereby effectively reducing the overall deadweight of the transverse and longitudinal walking mechanism.

[0101] In a preferred embodiment, the first transverse support door frame 42 is detachably connected to the outer wall of the end structure 13 via a pin and / or a bolt assembly, so as to facilitate installation and transportation, as well as installation and commissioning of the transverse telescopic mechanism 4.

[0102] In a preferred embodiment, a first transverse support 41 is connected to the transverse moving 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] The longitudinal telescopic mechanism 5 is connected between the second main frame 1 and the transverse frame 33. The longitudinal telescopic mechanism 5 can be telescoped 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 with the transverse frame 33 along the length direction of the first hole 131. The longitudinal telescopic mechanism 5 is preferably a telescopic oil cylinder or a pneumatic cylinder.

[0104] In a preferred manner, a first longitudinal support 51 is connected to the transverse frame 33, a second longitudinal support 52 is connected to the first longitudinal beam 22, and the longitudinal telescopic mechanism 5 is connected between the first longitudinal support 51 and the second longitudinal support 52. The first longitudinal support 51 is preferably located in the first gap 114.

[0105] A first transverse through hole 136 is provided on the side wall of the first hole 131 away from the first crossbeam 21, and a first transverse support door 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 first transverse support door frame 42, and the other end passes through the first through hole 211 and is connected to the transverse moving frame 33.

[0106] In a preferred embodiment, a first vertical through hole 221 is provided on the first longitudinal beam 22, and the second vertical lifting leg 32 includes a second vertical telescopic mechanism 321 and a second vertical support gantry 223 provided on the upper part of the first vertical through hole 221, and the second vertical support gantry 223 is detachably connected to the first longitudinal beam 22 through a pin shaft or a bolt group, the upper end of the second vertical telescopic mechanism 321 is connected to the second vertical support gantry 223, and the first vertical through hole 221 at the lower end is vertically slidably fitted, and the second vertical telescopic mechanism 321 is preferably a hydraulic cylinder.

[0107] In a preferred manner, a second vertical support gantry 223 is provided on the upper part of the first vertical through hole 221 to serve as a telescopic support force-bearing member between the second vertical lifting leg 32 and the first longitudinal beam 22. Compared with the direct connection between the second vertical lifting leg 32 and the first longitudinal beam 22, the center of gravity of the first longitudinal beam 22 can be effectively lowered with less increase in structural weight, thereby effectively lowering the center of gravity of the whole formed by the end structure 13, the transverse frame 33 and the first longitudinal beam 22, so that the stability of the transverse and longitudinal walking mechanism is better.

[0108] In one preferred embodiment, a support beam 14 is protruding from one side of the second crossbeam 11 adjacent to the first crossbeam 21. The support beam 14 is provided with a second vertical through-hole 141. A first vertical lifting leg 31 is connected to the support beam 14. The first vertical lifting leg 31 includes a first vertical telescopic mechanism 311 and a first vertical support gantry 312 disposed above the second vertical through-hole 141. Both ends of the first vertical support gantry 312 are detachably connected to the support beam 14 via pins. The upper end of the first vertical telescopic mechanism 311 is connected to the first vertical support gantry 312, while the lower end vertically slides in engagement with the second vertical through-hole 141. The first vertical telescopic mechanism 311 is preferably a hydraulic cylinder.

[0109] The second vertical lifting leg 32 and the first vertical lifting leg 31 preferably have the same structure.

[0110] Preferably, a supporting telescopic structure is provided between the second longitudinal beam 12 and the first longitudinal beam 22, and the supporting 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 supporting 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 supporting telescopic structure is extended and retracted 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 mutual force in the horizontal and vertical directions and are integrated with each other. The supporting telescopic structure cooperates with the horizontal telescopic mechanism 4 and the vertical telescopic mechanism 5 to jointly increase the stability of the bidirectional walking underwater leveling machine. The supporting telescopic structure includes hydraulic cylinders connected along the circumference of the first longitudinal beam 22 and evenly arranged on the outer wall of the first longitudinal beam 22.

[0111] In a preferred embodiment, the height of the first crossbeam 21 matches the height of the first longitudinal beam 22; the height of the second crossbeam 11 is higher than the first crossbeam 21; and the height of the second longitudinal beam 12 matches the height of the second crossbeam 11. Based on the structural arrangement in which the first longitudinal beam 22, the transverse frame 33, and the end structure 13 are sequentially arranged, the height of the end structure 13 is higher than the first longitudinal beam 22. In this case, the height of the first crossbeam 21 is matched with the height of the second crossbeam 11, so that the first crossbeam 21 and the first longitudinal beam 22 form a frame-type structure with more uniform transverse and longitudinal forces and stiffness, as well as bearing capacity, so that the bidirectional walking underwater leveling machine can still have good transverse and longitudinal stability while reducing the weight. Similarly, the height of the second longitudinal beam 12 matches the height of the second crossbeam 11, so that the second longitudinal beam 12 and the second crossbeam 11 form a frame-type structure with more uniform transverse and longitudinal forces and stiffness, as well as bearing capacity, so that the bidirectional walking underwater leveling machine can still have good transverse and longitudinal stability while reducing the weight.

[0112] The bidirectional walking underwater leveling machine described in this embodiment also includes a second vertical support gantry 142 arranged on the upper part of the second vertical through hole 141, and the cantilever end of the second vertical support gantry 142 is detachably connected to the support beam 14, and 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 vertically slides with the second vertical through hole 141.

[0113] In a preferred embodiment, the material distributing pipe 7 includes an upper material distributing pipe 72 and a lower material distributing pipe 73: The upper discharge pipe 72 is connected to the upper portion of the lower discharge pipe 73 , and a first channel 74 is defined between the upper discharge pipe 72 and the lower discharge pipe 73 ; In a preferred embodiment, the upper discharge pipe 72 is plugged into the lower discharge pipe 73 .

[0114] In a preferred embodiment, the lower discharge 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 first funnel structure 732 is arranged with its large end facing the upper discharge pipe 72; The upper discharge pipe 72 includes an upper tube structure 721, and a plurality of protrusions 722 are arranged circumferentially on the outer wall of the upper tube structure 721. A first gap 723 is provided between adjacent protrusions 722. The outer side surface of the protrusion 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 a second gap 725 connected to the first gap 723 is provided between the outer wall of the upper tube structure 721 and the inner wall of the bottom tube structure 731.

[0115] The bottom tube structure 731 and the first funnel structure 732 are welded together, and a first connecting rib 733 is welded between the outer wall of the bottom tube structure 731 and the outer wall of the first funnel structure 732. Several lower ears 734 are connected to the top outer wall of the first funnel structure 732, and all of the lower ears 734 are arranged circumferentially along the first funnel structure 732.

[0116] All of the lower lifting ears 734 are close to the large mouth end of the first funnel structure 732 .

[0117] In a preferred embodiment, the upper discharge pipe 72 also includes a second funnel structure 726 that is sleeved on the outside of the upper tube structure 721. The second funnel structure 726 faces the first funnel structure 732 and can cover the large mouth of the first funnel structure 732. There is a third gap 741 connected to 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.

[0118] A first block 720 is provided outside the portion of the upper tube structure 721 below the first funnel structure 732. The first block 720 on at least one side can abut against the inner wall of the bottom tube structure 731 to increase the connection stability between the upper tube structure 721 and the lower discharge tube 73.

[0119] 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 , and the large-mouth end of the third funnel structure 728 is arranged upward.

[0120] In a preferred embodiment, the fabric pipe 7 can move along the length direction of the first longitudinal beam 22 and can also move along the length direction of the first transverse beam 21. The specific preferred embodiment is as follows: The lower feeding pipe 73 is connected to a longitudinal moving mechanism 9 , which can drive the feeding pipe 7 to move along the length direction of the first longitudinal beam 22 .

[0121] In a preferred embodiment, the longitudinal movement mechanism 9 includes a longitudinal support 91, a feed pipe support 92, and a longitudinal drive mechanism 93. The feed pipe support 92 is connected to the material distribution pipe 7. The longitudinal support 91 includes two longitudinal support rails 911 spaced apart and arranged in parallel. The feed pipe support 92 is located between the two longitudinal support rails 911 and engages with the two longitudinal support rails 911 via longitudinal rollers 920. The material distribution pipe 7 is supported on the feed pipe support 92. The longitudinal drive mechanism 93 is mounted on the feed pipe support 92 and preferably includes a first drive motor 931 and a meshing first gear 932 and a first rack 933. The first drive motor 931 drives the first gear 932 to rotate, allowing the feed pipe support 92 to move relative to the longitudinal support rails 911 along the length of the longitudinal support rails 911. Specifically, the feed pipe support 92 is preferably connected to the lower feed pipe 73.

[0122] Preferably, the material pipe support 92 is sleeved and connected to the outside of the material distribution pipe 7.

[0123] In a preferred embodiment, the lower discharge pipe 73 moves laterally relative to the second beam 11 via the transverse movement mechanism 8 .

[0124] In a preferred embodiment, the transverse movement mechanism 8 includes a second drive motor 84, a meshing second gear 82 and a second rack 83, and two parallel transverse rails 81 mounted on the second crossbeam 11. The second rack 83 and the transverse rails 81 are both mounted on the second crossbeam 11 and are arranged along the length of the second crossbeam 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. The end of the longitudinal bracket 91 is provided with a transverse roller 86, which rolls with the transverse rail 81.

[0125] When the longitudinal bracket 91 is provided, the transverse movement mechanism 8 drives the longitudinal bracket 91 and the second crossbeam 11 to move transversely, thereby achieving the purpose of transverse movement of the lower discharge pipe 73 relative to the second crossbeam 11 .

[0126] The lateral movement mechanism 8 includes a second gear 82 and a second rack 83 that are meshed with each other, and two parallel lateral rails 81 installed on the second beam 11, and also includes a second drive motor 84, which drives the second gear 82 to mesh with the second rack 83 and rotate.

[0127] Preferably, both ends of the second drive motor 84 are drivenly connected to an output shaft 85, and the end of the output shaft 85 close to the second beam 11 is drivenly connected to the second gear 82. A second rack 83 is provided on the second beam 11 along the length direction, and the second gear 82 is engaged with the second rack 83 on the corresponding side.

[0128] In a preferred embodiment, a compressed air drainage chamber 112 is provided within the second crossbeam 11 for leveling the bidirectional walking underwater screed machine underwater and controlling its buoyancy and sinking. The second crossbeam 11 and the compressed air drainage chamber 112 are integrated together to reduce the overall weight of the horizontal and vertical walking mechanism.

[0129] like Figure 22 As shown, at least two ballast drainage compartments 112 are provided within the second crossbeam 11. A partition 1121 is provided adjacent to the ballast drainage compartment 112. The partition 1121 is provided with a water through hole 1122. A water inlet and outlet 1123 is provided at the bottom of the ballast drainage compartment 112. The water inlet and outlet 1123 may preferably be provided with a sealing door that can be controlled to open or close the water inlet and outlet 1123, such as a waterproof electrically controlled switch. Alternatively, no sealing door may be provided at the water inlet and outlet 1123.

[0130] The ballast and drainage tank 112 is 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.

[0131] Two second cross beams 11 are arranged at intervals, and a ballast drainage tank 112 is provided in the second cross beam 11; since the ballast drainage tank 112 is provided in the second cross beam 11, the second cross beam 11 and the ballast drainage tank 112 are integrated into one, thereby achieving the purpose of reducing the weight of the underwater leveling machine.

[0132] The following is a weight comparison between the leveling machine of this application and the walking 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 this application is 75t-85t, which is much less than the total weight of 185t of the existing walking leveling machine.

[0133] Buoyancy description: 6 compressed air drainage compartments 112 are arranged on the two second cross beams 11 respectively, that is, the whole machine has a total of 12 compressed air drainage compartments 112; the maximum buoyancy generated by the two second cross beams 11 is about 50t of buoyancy; sealed compartments are provided in the first longitudinal beam 22 and the first cross beam 21, so that the first longitudinal beam 22 and the first cross beam 21 can be used as buoyancy boxes, each generating a buoyancy of about 20t. The total buoyancy generated by the second cross beam 11, the first longitudinal beam 22 and the first cross beam 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 cross beam 21 is less than the total weight of the multi-degree-of-freedom adjustable underwater leveling machine.

[0134] In the above situation, the whole machine sinks to the bottom and floats out of the water with assistance: 1. Before lifting and launching, the whole machine is in the following state: the measuring tower 6 is laid down, the first longitudinal beam 22, the material distribution pipe 7, the horizontal moving mechanism 8, and the longitudinal moving mechanism 9 are all in the center position, the four lifting points on the two second beams 11 are hung with the main hook of the crane, and the material distribution pipe 7 is hung with the auxiliary hook of the crane. The whole machine is lifted to the designated position and placed on the water surface, and the lifting rope is relaxed. At this time, the buoyancy of the whole machine is greater than its own weight, and it is in a floating state. At the same time, the exhaust valve of one compressed air drainage tank 112 of each second beam 11 is symmetrically opened, and the draft of the whole machine is observed. When the leveling machine sinks, the exhaust valve is closed, and the crane is operated to slowly loosen the hook until the leveling machine sinks to the bottom. After opening all the exhaust valves to allow the compressed air drainage tank 112 to be filled with water, the operator controls the erection of the measuring tower 6 through the control box to carry out subsequent measurement, positioning, and leveling operations.

[0135] 2. When the whole machine needs to be discharged from the water, the measuring tower 6 is laid down, and the upper discharge pipe 72 and the lower discharge pipe 73 of the fabric pipe 7 are lifted separately first. Then the hook is hung on the four lifting point slings of the leveler, and the air inlet valve of a compressed air drainage cabin 112 of each second beam 11 is symmetrically opened at the same time to compress the air. After one cabin is drained, the current valve is closed, and then the air inlet valve of the next compressed air drainage cabin 112 of each beam is symmetrically opened at the same time. Repeat the operation. During the drainage process, observe the crane's lifting weight display screen. When the displayed lifting weight drops to the target value range, close the exhaust valve and operate the hook to rise until the whole machine floats to the surface.

[0136] A GPS or BeiDou positioning system is installed on the top of the measurement tower 6.

[0137] The measurement tower 6 described in this embodiment is mounted on the end structure 13. During transportation, the measurement tower 6 is positioned horizontally, effectively reducing its impact on the underwater screed's center of gravity and eccentricity. During launching, the measurement tower is then rotated from horizontal to vertical to accommodate construction conditions. This rotation effectively improves the safety of underwater screed transportation while adapting to construction conditions. Furthermore, during transportation or launching, the slight swing of the measurement tower 6 can be used to fine-tune the underwater screed's center of gravity using multiple degrees of freedom, ensuring safer construction.

[0138] 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: the first longitudinal beam 22 is driven 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 falls 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: the end structure 13 is driven to move relative to the first longitudinal beam 22 along the length direction of the first longitudinal beam 22.

[0139] Preferred method 1: also includes the steps of launching the multi-degree-of-freedom adjustable underwater leveling machine: installing the multi-degree-of-freedom adjustable underwater leveling machine; setting a crane on a platform on the sea side of the multi-degree-of-freedom adjustable underwater leveling machine; lifting the multi-degree-of-freedom adjustable underwater leveling machine with the crane, and rotating the multi-degree-of-freedom adjustable underwater leveling machine to the sea side of the crane; lowering the multi-degree-of-freedom adjustable underwater leveling machine into the water.

[0140] Preferred embodiment 2: further includes the step of launching a multi-degree-of-freedom adjustable underwater leveling machine: based on the first platform and a slope provided on one side of the lower discharge pipe 73 of the first platform, the slope extending to the bottom of the water: the multi-degree-of-freedom adjustable underwater leveling machine is installed on the lower discharge pipe 73 of the first platform, and the multi-degree-of-freedom adjustable underwater leveling machine walks down the slope using the method described in steps S1-S5 to the construction position. The slope is provided with steps, 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 is launched and launched on the slope, the first vertical lifting leg 31 and the second vertical lifting leg 32 can still be arranged vertically, avoiding the first vertical lifting leg 31 and the second vertical lifting leg 32 from tilting to support the multi-degree-of-freedom adjustable underwater leveling machine, thereby effectively optimizing the force applied to the first vertical lifting leg 31 and the second vertical lifting leg 32 and extending their service life.

[0141] A preferred method, before construction, also includes the following steps for installing a multi-degree-of-freedom adjustable underwater screed: B1. Tidy up the site and prepare for assembly; transport the parts of the walking underwater screed to the installation site, and at the same time, combine the working conditions of the installation site to avoid the hydraulic system and the electronic control system being soaked in seawater due to the rise and fall of the tide. B2. Assemble and form the second beam 11, install the end structure 13 and the transverse moving frame 33, as well as the first vertical lifting leg 31 and the transverse telescopic mechanism 4 at both ends of the second beam 11; B3. Install the fabric longitudinal beam 12 so that the two ends of the fabric longitudinal beam 12 are connected to the end structure 13; B4. Install the first longitudinal beam 22, the first longitudinal beam 22 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 first longitudinal beam 22; B5. Install the first beam 21 between adjacent first longitudinal beams 22, the first beam 21 is located On the outside of the second crossbeam 11; B6. Install the cloth pipe 7, the longitudinal moving mechanism 9 and the transverse moving mechanism 8 between the two second crossbeams 11, the longitudinal moving mechanism 9 can drive the cloth pipe 7 to move along the length direction of the first longitudinal beam 22; the transverse moving mechanism 8 can drive the longitudinal moving mechanism 9 to move 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 hydraulic system and electrical system of the whole machine, and then debug the whole machine and conduct a land simulation experiment.

[0142] like Figure 16-17As shown, the multi-degree-of-freedom adjustable underwater leveling machine described in this embodiment has a measuring tower 6 and a driving mechanism 61 installed on the top of at least two end structures 13 on the same side. The driving mechanism 61 can drive the measuring tower 6 to rotate from horizontal to vertical, and also from horizontal to vertical. During transportation or launching, the measuring tower 6 is set to be horizontal, which effectively reduces the impact of the measuring tower 6 on the center of gravity and eccentricity of the underwater leveling machine during transportation. Thereafter, when 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 the underwater leveling machine transportation can be effectively improved while adapting to the construction conditions.

[0143] In a preferred embodiment, part of the end structure 13 is installed with a bracket 62 hinged to the measuring tower 6 , and 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 .

[0144] In one preferred embodiment, the drive mechanism 61 includes a first telescopic member. This first telescopic member is subjected to tension during both the horizontal to vertical and vertical to horizontal rotations of the measurement tower 6. The first telescopic member is preferably a telescopic oil or pneumatic cylinder. This allows the measurement tower 6 to be rotated using a first telescopic member with a smaller diameter, reducing the weight of the underwater screed.

[0145] In a preferred embodiment, the driving mechanism 61 includes a first telescopic member, the bracket 62 includes bracket units 621 radially spaced along the second longitudinal beam 12, the bracket units 621 are all installed on the top of the end structure 13, and there is a gap 622 between the two bracket units 621. A rotating shaft 63 that rotates 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 is hinged to the second longitudinal beam 12 after passing through the gap.

[0146] In a preferred embodiment, the second longitudinal beam 12 is a truss structure, and 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, and the vertical rod 124, the first diagonal web member 125 and the second diagonal web member 126 are gathered at the first node 128. The transverse beam 127 is connected to the first telescopic member.

[0147] By setting the connection position between the first telescopic member and the second longitudinal beam 12 at the first node 128, the vertical rod 124, the first diagonal web member 125 and the second diagonal web member 126 are gathered at the first node 128, so that the second longitudinal beam 12 can be a truss structure and still meet the tensile force requirements of the first telescopic member. Compared with using the second longitudinal beam 12 as a box beam, the weight of the second longitudinal beam 12 is greatly reduced, thereby greatly reducing the weight of the underwater leveling machine.

[0148] In a preferred embodiment, the support unit 621 is a truss structure; the measurement tower 6 is formed by sequentially splicing together multiple trusses.

[0149] In a preferred embodiment, a support frame 64 is provided on the top of the other end structure 13 so as to protrude upwards. When the measuring tower 6 is arranged horizontally, the support frame 64 can support the measuring tower 6 .

[0150] In a preferred embodiment, the driving mechanism 61 can drive the measuring tower 6 to rotate along the length direction of the second beam 11 .

[0151] In a preferred embodiment, the bidirectional walking underwater leveling machine described in the present application further includes interval-arranged brackets 62, with a gap between the two brackets 62, a rotating shaft 63 connected between the brackets 62, the measuring tower 6 and the rotating shaft 63 rotatingly cooperate, 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.

[0152] 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 in the scope of protection of the present invention.

Claims

1. An automatic filling system for an underwater leveling machine, characterized in that: include: A material distribution pipe (7) is used for being installed on an underwater leveling machine, wherein the top and bottom of the material distribution pipe (7) are both open, and the material distribution pipe (7) can move laterally and longitudinally along the underwater leveling machine; Base (71), The feeding and conveying mechanism (75) comprises at least two feeding sections (750) connected and capable of relative movement, wherein the feeding section at the root is defined as a root feeding section (751), the root feeding section (751) is connected to the base (71), and a feeding port (753) is provided on the root feeding section (751), and the feeding section at the front end is defined as an end feeding section (752), and the front end drop position of the end feeding section (752) is vertically corresponding to the top of the distribution pipe (7).

2. The automatic filling system for underwater leveling machine according to claim 1, characterized in that: The end feeding section (752) is connected to the adjacent feeding section (750) in a pitching and rotating manner.

3. The automatic filling system for underwater leveling machine according to claim 2, characterized in that: The end feeding section (752) is hingedly connected to the adjacent feeding section (750), and the end feeding section (752) and the adjacent feeding section (750) are connected in pitch and rotation via a telescopic bracket (76). The telescopic bracket (76) includes a hinged connecting frame (761) and a telescopic member (762). The connecting frame (761) is fixedly connected to one of the end feeding section (752) and the adjacent feeding section (750), and the telescopic member (762) is hingedly connected to the other.

4. The automatic filling system for underwater leveling machine according to claim 1, characterized in that: The end feeding section (752) and the adjacent feeding section (750) are arranged to be telescopic relative to each other.

5. The automatic filling system for underwater leveling machine according to claim 4, characterized in that: The end conveying section (752) includes a first conveyor belt (755), and the conveying section (750) adjacent to the end conveying section (752) includes a second conveyor belt (756). A second conveying bracket (757) is provided below the second conveyor belt (756), and a first space (759) is provided in the second conveying bracket (757). At least a portion of the first conveyor belt (755) can slide into the first space (759).

6. The automatic filling system for underwater leveling machine according to claim 1, characterized in that: The root feeding section (751) is connected to the base (71) in a pitching and rotational manner.

7. The automatic filling system for underwater leveling machine according to claim 6, characterized in that: It also includes a telescopic mechanism (711), the base (71) is hinged to the end of the root feeding section (751) away from the end feeding section (752), and the telescopic mechanism (711) is hinged between the base (71) and the root feeding section (751).

8. The automatic filling system for underwater leveling machine according to claim 1, characterized in that: It also includes a front wheel group (712) and a rear wheel group (713), wherein the front wheel group (712) is connected to the front side of the bottom of the base (71); and the rear wheel group (713) is connected to the rear side of the bottom of the base (71).

9. The automatic filling system for underwater leveling machine according to claim 6, characterized in that: The front wheel set (712) is rotatably arranged relative to the base (71); and / or, The rear wheel set (713) is rotatably arranged relative to the base (71).

10. The automatic filling system for underwater leveling machine according to claim 1, characterized in that: The material distribution pipe (7) comprises 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).

11. The automatic filling system for underwater leveling machine according to claim 1, characterized in that: A limiting structure is provided at the front end of the end feeding section (752), the limiting structure cooperates with the distribution pipe (7) for horizontal limiting, and a pressure sensor is provided horizontally between the limiting structure and the distribution pipe (7).

12. An underwater leveling machine, characterized in that: An automatic filling system for an underwater leveling machine according to any one of claims 1 to 11, further comprising a first main frame (2) and a second main frame (1), wherein: The first main frame (2) comprises two first longitudinal beams (22) spaced apart from each other, a first transverse beam (21) being connected between the ends of the two first longitudinal beams (22) on the same side, and at least four second vertical lifting legs (32) being supported and connected to the upper portion of the first main frame (2); The second main frame (1) includes four end structures (13) arranged in an array, and second longitudinal beams (12) are connected between adjacent end structures (13) in the longitudinal direction, and second transverse beams (11) are connected between adjacent end structures (13) in the transverse direction, the second longitudinal beams (12) are sleeved on the outside of the first longitudinal beams (22) on the corresponding side, and the first longitudinal beams (22) can move relative to the second longitudinal beams (12) in the longitudinal direction; the second transverse beams (11) are located on the inside of the first transverse beams (21), and the second main frame (1) is supported and connected with at least four first vertical lifting legs (31); The end structure (13) is provided with a first hole (131) along the length direction of the first longitudinal beam (22), and a transverse frame (33) is provided in the first hole (131). The transverse frame (33) is sleeved on the first longitudinal beam (22) and is slidably engaged with the first longitudinal beam (22) via a longitudinal telescopic mechanism (5). The transverse frame (33) is slidably engaged with the end structure (13) along the length direction of the second transverse beam (11) via a transverse telescopic mechanism (4). The transverse frame (33) and the end structure (13) are relatively fixed along the direction of the first longitudinal beam (22); A transverse moving mechanism (8) is provided between adjacent second beams (11), and a longitudinal moving mechanism (9) is provided on the transverse moving mechanism (8). The transverse moving mechanism (8) is used to drive the fabric pipe (7) to move transversely, and the longitudinal moving mechanism (9) is used to drive the fabric pipe (7) to move longitudinally.

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