Launching method of horizontal and longitudinal walking multi-degree-of-freedom adjustable underwater leveling machine

Abstract

The invention relates to the technical field of underwater levelers, in particular to a launching method of a transverse and longitudinal walking multi-degree-of-freedom adjustable underwater leveler. The method comprises the following steps; the method comprises the following steps: S1, arranging an underwater leveling machine on a lifting platform; s2, the lifting platform descends to drive the underwater leveling machine to descend until at least part of the underwater leveling machine enters water; and S3, the underwater leveling machine is moved out of the lifting platform. According to the launching method of the transverse and longitudinal walking multi-degree-of-freedom adjustable underwater leveling machine, the lifting platform is built near the operation area and used for placing the underwater leveling machine, the underwater leveling machine can be sunk into water through lifting of the lifting platform, and then the underwater leveling machine moves out of the lifting platform to reach the operation area; in the whole process, the underwater leveling machine does not need to be hoisted by a crane, and the cost of the lifting platform is far lower than the construction cost of hoisting the underwater leveling machine by a large crane, so that the construction cost of the underwater leveling machine is effectively reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater leveling machines, in particular to a launching method of an underwater leveling machine capable of adjusting the horizontal and vertical stepping motion with multiple degrees of freedom. Background Art

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

[0003] At present, underwater leveling machines are generally launched into the water by crane. Since underwater leveling machines are relatively wide in both horizontal and vertical directions and the whole machine is heavy, they need large crawler cranes or ship cranes to lift and launch them into the water, resulting in very high launching costs. Summary of the Invention

[0004] The purpose of the present invention is to overcome the shortcomings of the prior art in that the underwater leveling machine is launched into the water by a crane, which requires a large-sized crawler crane or ship crane to lift and launch it, resulting in very high launching costs, and to provide a launching method for an underwater leveling machine with multi-degree-of-freedom adjustment that can be walked on a horizontal and vertical walking path.

[0005] In the first aspect, the present invention provides a method for launching an underwater leveling machine with multi-degree-of-freedom adjustment for horizontal and vertical stepping, which is based on a lifting platform and includes the following steps: S1. The underwater leveling machine is set on the lifting platform; S2. The lifting platform descends and drives the underwater leveling machine to descend until the underwater leveling machine is at least partially entered into the water; S3. The underwater leveling machine moves out of the lifting platform.

[0006] The present application provides a method for launching an underwater leveling machine with multi-degree-of-freedom adjustment for horizontal and vertical stepping. A lifting platform is built near the working area to place the underwater leveling machine, and the lifting platform is used to lift and lower the underwater leveling machine so that the underwater leveling machine can sink into the water. After that, the underwater leveling machine moves out of the lifting platform to reach the working area. During the entire process, no crane is required to lift the underwater leveling machine, and the cost of the lifting platform is much less than the construction cost of a large crane to lift the underwater leveling machine, thereby effectively reducing the construction cost of the underwater leveling machine.

[0007] Preferably, the lifting platform includes a platform structure and a plurality of supporting structures. A winch is provided on the top of the supporting structure, and a traction rope led out of the winch is connected to the platform structure.

[0008] Preferably, the underwater leveling machine includes four transverse and vertical stepping walking mechanisms, which are arranged in an array; the transverse and vertical stepping walking mechanisms include an end structure, a transverse frame, a walking longitudinal beam, a first vertical lifting leg and a second vertical lifting leg, and the end structure is penetrated by a first hole; at least part of the transverse frame is located in the first hole, and the transverse frame slides with the end structure along the radial direction of the first hole; the walking longitudinal beam penetrates the transverse frame along the length direction of the first hole and slides with the transverse frame; the first vertical lifting leg is connected to the end structure; the second vertical lifting leg is connected to the walking longitudinal beam; adjacent end structures are connected, and adjacent walking longitudinal beams are connected.

[0009] The present application discloses a launching method for an underwater leveler with multi-degree-of-freedom adjustment for horizontal and vertical stepping. The underwater leveler uses a horizontal and vertical stepping mechanism. When in use, a horizontal movement frame is provided between the end structure and the walking longitudinal beam. Based on the sliding cooperation between the walking longitudinal beam and the horizontal movement frame along the length direction of the first hole, the walking longitudinal beam and the end structure are moved relative to each other along the length direction of the first hole, thereby achieving the purpose of walking-like 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 cooperation with the end structure along the radial direction of the first hole, the relative movement of the walking longitudinal beam and the end structure along the radial direction of the first hole is realized, 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.

[0010] The present application provides a transverse and longitudinal walking mechanism, which utilizes a transverse frame arranged outside a walking longitudinal beam and an end structure arranged outside the transverse frame to replace the transition frame of an existing walking leveler. The end structure, the transverse frame and the walking longitudinal beam are connected in a socket + two-way sliding manner to replace the walking coordination between the leveling frame, the moving frame and the transition frame of the existing walking leveler, thereby effectively reducing the overall weight of the transverse and longitudinal walking mechanism.

[0011] Preferably, at least one side of the lifting platform is provided with a slope, the slope extending to the bottom of the water; In step S2, the lifting platform descends, driving the underwater leveling machine to descend until the lifting platform is flush with the top of the slope; Step S3 specifically includes the following steps: S31. The underwater leveling machine relies on the horizontal and vertical stepping walking mechanism to move from the lifting platform to the slope; S32. The underwater leveling machine relies on the horizontal and vertical stepping walking mechanism to move from the slope to the working area.

[0012] Preferably, step S31 specifically includes the following steps: S311: the first vertical lifting leg supports the multi-degree-of-freedom adjustable underwater leveling machine, and the second vertical lifting leg is separated from the lifting platform; S312: the walking longitudinal beam is driven to move relative to the end structure along the length direction of the walking longitudinal beam; S313: the second vertical lifting leg falls and supports the multi-degree-of-freedom adjustable underwater leveling machine; S314: the first vertical lifting leg rises and separates from the lifting platform; S315: the end structure is driven to move relative to the walking longitudinal beam along the length direction of the walking longitudinal beam; S316: steps S311-S315 are repeated until the underwater leveling machine walks to the slope.

[0013] Preferably, step S32 specifically includes the following steps: S321: the first vertical lifting leg supports the multi-degree-of-freedom adjustable underwater leveling machine, and the second vertical lifting leg is separated from the slope; S322: the walking longitudinal beam is driven to move relative to the end structure along the length direction of the walking longitudinal beam; S323: the second vertical lifting leg falls and supports the multi-degree-of-freedom adjustable underwater leveling machine; S324: the first vertical lifting leg rises and separates from the slope; S325: the end structure is driven to move relative to the walking longitudinal beam along the length direction of the walking longitudinal beam; S326: steps S321-S325 are repeated until the underwater leveling machine walks to the working area.

[0014] Preferably, steps are provided on the slope, and the first vertical lifting leg and the second vertical lifting leg can be supported on the steps.

[0015] Preferably, a cloth stringer is connected between adjacent end structures along the direction in which the first hole is opened, and a first through hole corresponding to the first hole is opened on the cloth stringer, and one end of the walking stringer extends into the first through hole; Along the moving direction of the lateral frame relative to the end structure, the ends of adjacent walking longitudinal beams are connected with walking cross beams; Along the moving direction of the transverse frame relative to the end structure, a cloth beam is connected between adjacent end structures, and the walking beam is arranged along the length direction of the cloth beam, and the walking beam is located outside the cloth beam; A compressed air drainage cabin is provided in the cloth beam, and a sealed cabin is provided in the walking longitudinal beam and the walking cross beam. The total buoyancy generated by the cloth beam, the walking longitudinal beam and the walking cross beam can be greater than the total weight of the multi-degree-of-freedom adjustable underwater leveling machine, and the total buoyancy generated by the walking longitudinal beam and the walking cross beam is less than the total weight of the multi-degree-of-freedom adjustable underwater leveling machine.

[0016] Preferably, in step S2, the lifting platform descends to drive the underwater leveler to descend until the underwater leveler floats on the water.

[0017] Preferably, in step S3, the underwater leveling machine is towed to the working area, the exhaust valve of one compressed air drainage compartment of each fabric beam is opened symmetrically, the draft of the underwater leveling machine is observed, and when the underwater leveling machine sinks, the exhaust valve is closed. After the underwater leveling machine sinks to the bottom, all the exhaust valves are opened to complete the filling of the compressed air drainage compartment with water, and then the measuring tower is erected to carry out the leveling operation.

[0018] Preferably, in step S1, an underwater leveling machine is installed on a lifting platform, which specifically includes the following steps: B1. Assembling and forming the cloth beam, installing the end structure and the transverse movement frame, as well as the first vertical lifting leg and the transverse telescopic mechanism at both ends of the cloth beam; B2. Installing the cloth longitudinal beam so that both ends of the cloth longitudinal beam are connected to the end structure; B3. Installing the walking longitudinal beam, the walking longitudinal beam passes through the cloth longitudinal beam and the end structure on the same side, and installing the second vertical lifting leg on the walking longitudinal beam; B4. Installing the walking beam between adjacent walking longitudinal beams, the walking beam being located outside the cloth beam; B5. Installing the cloth mechanism, the longitudinal moving mechanism and the transverse moving mechanism between the two cloth beams, the longitudinal moving mechanism being able to drive the cloth mechanism to move along the length direction of the walking longitudinal beam; the transverse moving mechanism being able to drive the longitudinal moving mechanism to move relative to the cloth beam along the length direction of the cloth beam and laterally; B6. Installing a measuring tower on the top of the end structure.

[0019] Compared with the prior art, the present invention has the following beneficial effects: The present application provides a method for launching an underwater leveling machine with multi-degree-of-freedom adjustment for horizontal and vertical stepping. A lifting platform is built near the working area to place the underwater leveling machine, and the lifting platform is used to lift and lower the underwater leveling machine so that the underwater leveling machine can sink into the water. After that, the underwater leveling machine moves out of the lifting platform to reach the working area. During the entire process, no crane is required to lift the underwater leveling machine, and the cost of the lifting platform is much less than the construction cost of a large crane to lift the underwater leveling machine, thereby effectively reducing the construction cost of the underwater leveling machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic main view of the lifting platform of this application.

[0021] Figure 2 This is a schematic top view of the lifting platform of this application.

[0022] Figure 3 This is a schematic left view of the lifting platform of this application.

[0023] Figure 4 This is a structural diagram of the horizontal and vertical walking mechanism of this application.

[0024] Figure 5 This is a schematic diagram of the coordination of the end structure and the transverse frame of this application.

[0025] Figure 6This is a schematic diagram of the main framework structure of the steps of this application.

[0026] Figure 7 This is a schematic diagram of the fabric chassis structure of this application.

[0027] Figure 8 Attached to this application Figure 7 Enlarged schematic diagram of part B in the middle.

[0028] Figure 9 This is a three-dimensional schematic diagram of the multi-degree-of-freedom adjustable underwater leveling machine structure of this application.

[0029] Figure 10 Attached to this application Figure 9 Enlarged schematic diagram of part A in the middle.

[0030] Figure 11 This is a schematic diagram of the arrangement of the second vertical lifting leg of this application.

[0031] Figure 12 This is a schematic diagram of the arrangement of the first vertical lifting leg of this application.

[0032] Figure 13 This is a schematic structural diagram of the upper material pipe of this application.

[0033] Figure 14 This is a schematic structural diagram of the lower material pipe of this application.

[0034] Figure 15 This is a schematic diagram of the coordination of the upper material pipe and the lower material pipe of this application.

[0035] Figure 16 This is a top view schematic diagram of a multi-degree-of-freedom adjustable underwater leveling machine of the present application.

[0036] Figure 17 Schematic diagram of the measurement tower for this application Figure 18 This is a schematic diagram of the arrangement of the bracket unit of this application.

[0037] Figure 19 This is a main schematic diagram of a multi-degree-of-freedom adjustable underwater leveling machine of the present application.

[0038] Figure 20 This is a construction diagram of the lower step of a multi-degree-of-freedom adjustable underwater leveling machine in this application.

[0039] Figure 21 This is a schematic longitudinal section of the fabric beam of this application.

[0040] Figure 22 This is a schematic diagram of the arrangement of the transverse movement mechanism and the longitudinal movement mechanism of this application. DETAILED DESCRIPTION

[0041] 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.

[0042] Unless otherwise specified, in the description of the specific embodiments of the present invention, the terms indicating orientation or positional relationships such as "upper," "lower," "left," "right," "center," "inside," and "outside" are based on the orientation or positional relationships shown in the accompanying drawings, or are the orientation or positional relationships in which the invented product / device / apparatus is placed when it is conventionally used. These terms of orientation or positional relationships are merely for the purpose of facilitating the description of the present invention or simplifying the description of the specific embodiments to facilitate a quick understanding of the solutions by technicians. They do not indicate or imply that a particular device / component / element must have a specific orientation or be constructed and operated in a specific positional relationship. Therefore, they should not be construed as limitations on the present invention.

[0043] In addition, 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 than "vertical", and does not mean that the structure must be completely horizontal, but may be slightly tilted. Or 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 can still achieve its role in the solution of the present invention within the error / deviation range, it will be sufficient.

[0044] In addition, the expressions "first", "second", "third", etc. that appear in the terms are merely descriptions used to distinguish the same or similar components and should not be understood as emphasizing or implying the relative importance of specific components.

[0045] 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.

[0046] 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.

[0047] Example 1 like Figure 1-Figure 22 As shown, a method for launching an underwater leveling machine with multi-degree-of-freedom adjustment for horizontal and vertical stepping is provided in this embodiment. The method is based on a lifting platform 100 and includes the following steps: S1. The underwater leveling machine is set on the lifting platform 100; S2. The lifting platform 100 descends, driving the underwater leveling machine to descend until at least part of the underwater leveling machine enters the water; S3. The underwater leveling machine moves out of the lifting platform 100.

[0048] The present application provides a method for launching an underwater leveling machine with multi-degree-of-freedom adjustment for horizontal and vertical stepping. A lifting platform 100 is built near the working area to place the underwater leveling machine, and the lifting platform 100 is used to be raised and lowered so that the underwater leveling machine can be sunk into the water. After that, the underwater leveling machine moves out of the lifting platform 100 to reach the working area. During the entire process, no crane is required to lift the underwater leveling machine, and the cost of the lifting platform 100 is much less than the construction cost of lifting the underwater leveling machine with a large crane, thereby effectively reducing the construction cost of the underwater leveling machine.

[0049] In a preferred embodiment, the lifting platform 100 includes a platform structure 140 and a plurality of supporting structures 150 . A winch 151 is provided on the top of the supporting structure 150 , and a traction rope 152 led out from the winch 151 is connected to the platform structure 140 .

[0050] An optimal solution is that the underwater leveling machine includes four transverse and vertical stepping walking mechanisms, which are arranged in an array; the transverse and vertical stepping walking mechanisms include an end structure 13, a transverse frame 33, a walking longitudinal beam 22, a first vertical lifting leg 31 and a second vertical lifting leg 32, and the end structure 13 is penetrated by a first hole 131; at least a part of the transverse frame 33 is located in the first hole 131, and the transverse frame 33 slides with the end structure 13 along the radial direction of the first hole 131; the walking longitudinal beam 22 penetrates the transverse frame 33 along the length direction of the first hole 131, and slides with the transverse 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 walking longitudinal beam 22; adjacent end structures 13 are connected, and adjacent walking longitudinal beams 22 are connected.

[0051] The transverse and longitudinal walking mechanism includes an end structure 13, a transverse frame 33, a walking longitudinal beam 22, a first vertical lifting leg 31 and a second vertical lifting leg 32, wherein a first hole 131 is opened through the end structure 13; at least a portion of the transverse frame 33 is located in the first hole 131, and the transverse frame 33 slides with the end structure 13 along the radial direction of the first hole 131; the walking longitudinal beam 22 passes through the transverse frame 33 along the length direction of the first hole 131, and the walking longitudinal beam 22 slides with the transverse 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 walking longitudinal beam 22.

[0052] During use, by disposing the transverse moving frame 33 between the end structure 13 and the walking stringer 22, the walking stringer 22 and the transverse moving frame 33 slide together along the length direction of the first hole 131 (i.e., the direction in which the first hole 131 is opened), thereby achieving the purpose of the walking stringer 22 and the end structure 13 moving relative to each other along the length direction of the first hole 131, thereby achieving the purpose of the first vertical lifting leg 31 and the second vertical lifting leg 32 moving in a walking manner along the length direction of the first hole 131; 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 walking longitudinal beam 22 and the end structure 13 along the radial direction [i.e., the horizontal direction] of the first hole 131 is realized, thereby achieving the purpose of walking-like 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.

[0053] Therefore, a transverse and vertical walking mechanism of this embodiment utilizes a transverse frame 33 disposed outside the walking longitudinal beam 22, and an end structure 13 disposed outside the transverse frame 33, and utilizes the transverse frame 33 to replace the transition frame of the existing walking leveler, thereby effectively reducing the overall weight of the transverse and vertical walking mechanism.

[0054] like Figure 4 As shown, in a preferred embodiment, a second hole 331 is provided through the transverse frame 33, which is adapted to the length and width of the cross-section of the walking longitudinal beam 22, and the opening direction of the second hole 331 is the same as that of the first hole 131; the walking longitudinal beam 22 passes through the second hole 331 and slides with the second hole 331 to achieve relative movement of the walking longitudinal beam 22 and the transverse frame 33 along the opening direction of the first hole 131, and at the same time, the walking longitudinal beam 22 is adapted to the second hole 331, so that in the radial direction of the first hole 131, the second hole 331 has a limiting effect on the walking longitudinal beam 22, and the transverse frame 33 can move together with the walking longitudinal beam 22.

[0055] In a specific preferred embodiment, the portion of the end structure 13 located outside the first hole 131 is the first side wall 132, and the portion of the end structure 13 located inside the first hole 131 is the second side wall 134. The transverse frame 33 is located between the first side wall 132 and the second side wall 134. There is a first gap 114 between the transverse frame 33 and the first side wall 132, and there is a second gap 111 between the transverse frame 33 and the second side wall 134. The transverse frame 33 moves relative to the end structure 13 to move away from or closer to the first side wall 132, so as to achieve the purpose of the transverse 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 side is the first side wall 132 and the other side is the second side wall 134] also have a limiting effect on the transverse frame 33 after it moves a certain displacement.

[0056] In a preferred embodiment, a limiting structure is provided between the lateral frame 33 and the end structure 13. This limiting structure restricts relative sliding of the lateral frame 33 with respect to the end structure 13 along the direction of the first hole 131, but does not restrict relative sliding of the lateral frame 33 with respect to the end structure 13 along the radial direction of the first hole 131. However, when the walking beam 22 moves relative to the lateral frame 33 along the length of the first hole 131, relative movement between the lateral frame 33 and the end structure 13 does not occur, or the relative displacement is very small (this displacement is caused by assembly and manufacturing errors). The limiting structure is preferably a keyway-fitting structure, or a sliding-fitting track and slider.

[0057] In a specific preferred embodiment, the first hole 131 is a rectangular hole, and the end structure 13 also includes a bottom side wall 133 and a top side wall 135 that are relatively arranged. 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.

[0058] In a preferred embodiment, the clear 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.

[0059] In a preferred embodiment, the transverse and longitudinal walking mechanism of the present application further includes a transverse telescopic mechanism 4, which 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 away from or closer to the first side wall 132. The transverse telescopic mechanism 4 is preferably a telescopic oil cylinder or a telescopic air cylinder.

[0060] The transverse telescopic mechanism 4 can drive the transverse moving frame 33 to move back and forth relative to the end structure 13 .

[0061] Preferably, the first transverse support door frame 42 is detachably connected to the outer wall of the end structure 13 to facilitate installation and transportation.

[0062] In a preferred embodiment, a first transverse through hole 136 is defined in the first side wall 132, and a first transverse support gantry 42 is disposed 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 transverse through hole 136 and is connected to the transverse frame 33. By disposing the first transverse support gantry 42 outside the first transverse through hole 136 as a telescopic support and force-bearing member between the transverse frame 33 and the end structure 13, compared to disposing the transverse telescopic mechanism 4 directly between the transverse 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, thereby effectively reducing the overall deadweight of the transverse and longitudinal stepping walking mechanism.

[0063] 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 .

[0064] Further preferably, the first transverse supporting portal 42 is connected to the outer wall of the end structure 13 .

[0065] Further preferably, the first transverse supporting portal frame 42 is detachably connected to the outer wall of the end structure 13 to facilitate installation and debugging of the transverse telescopic mechanism 4 .

[0066] In a specific preferred embodiment, the first transverse support portal 42 is connected to the outer wall of the end structure 13 by bolts or pins.

[0067] In a specific 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 .

[0068] The transverse and longitudinal walking mechanism of the present application further includes a longitudinal telescopic mechanism 5 connected between the walking longitudinal beam 22 and the transverse movement frame 33. The longitudinal telescopic mechanism 5 is capable of extending and retracting along the length of the walking longitudinal beam 22. The longitudinal telescopic mechanism 5 drives the walking longitudinal beam 22 to slide along the length of the first hole 131 and engage with the transverse movement frame 33. The longitudinal telescopic mechanism 5 is preferably a telescopic oil cylinder or a telescopic air cylinder.

[0069] In a preferred embodiment, a first longitudinal support 51 is connected to the transverse frame 33 , a second longitudinal support 52 is connected to the walking longitudinal beam 22 , the first longitudinal support 51 is located in the first gap 114 , and the longitudinal telescopic mechanism 5 is connected between the first longitudinal support 51 and the second longitudinal support 52 .

[0070] In a preferred embodiment, the entire transverse frame 33 is located in the first hole 131 .

[0071] In a preferred embodiment, a first vertical through hole 221 is provided on the walking beam 22, a first vertical support gantry 223 is provided above 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 vertically slides with the first vertical through hole 221. The first vertical support gantry 223 is provided above the first vertical through hole 221 to serve as a telescopic support and force-bearing member between the second vertical lifting leg 32 and the walking beam 22. Compared with a direct connection between the second vertical lifting leg 32 and the walking beam 22, the center of gravity of the walking beam 22 can be effectively lowered while reducing the weight of the structure, thereby effectively lowering the center of gravity of the entire structure formed by the end structure 13, the transverse frame 33, and the walking beam 22, thereby improving the stability of the transverse and longitudinal walking mechanism.

[0072] The underwater leveling machine of this embodiment includes four horizontal and vertical stepping walking mechanisms; the four horizontal and vertical stepping walking mechanisms are arranged in an array and set at the four corners of the mouth, with adjacent end structures 13 connected and adjacent walking longitudinal beams 22 connected.

[0073] In a preferred embodiment, adjacent end structures 13 are connected by fabric stringers 12 along the direction of the first holes 131. The fabric stringers 12 are provided with first through-holes 121 corresponding to the first holes 131, and one end of the walking stringer 22 extends into the first through-holes 121. While the lateral frame 33 slides radially with the end structure 13 along the first holes 131, the walking stringer 22 is inserted into the fabric stringer 12, forming an inner-outer nested relationship with the walking stringer 22. This effectively reduces the overall horizontal arrangement space formed by the walking stringer 22 and the fabric stringer 12, allowing the multi-degree-of-freedom adjustable underwater leveling machine to have smaller lateral dimensions.

[0074] In a preferred embodiment, the fabric stringer 12 is a truss structure with open ends. While the fabric stringer 12 meets the designed stiffness and strength, the weight of the fabric stringer 12 is further reduced, contributing to the lightweighting of the multi-degree-of-freedom adjustable underwater leveling machine of this application. Furthermore, because the fabric stringer 12 is sleeved outside the walking stringer 22, the fabric stringer 12 has larger lateral and height dimensions than the walking stringer 22, thus enabling the fabric stringer 12 to be constructed as a truss structure.

[0075] In a preferred embodiment, along the direction of movement of the lateral frame 33 relative to the end structure 13, the ends of adjacent walking longitudinal beams 22 are connected with walking cross beams 21. Preferably, the walking cross beams 21 and the walking longitudinal beams 22 form a frame structure.

[0076] In a preferred embodiment, a telescopic support structure is provided between the fabric stringer 12 and the walking stringer 22. The telescopic support structure is located in the middle of the fabric stringer 12. When the walking stringer 22 and the fabric stringer 12 move relative to each other, the telescopic support structure disengages from one of the two beams, thereby not interfering with the relative movement between the two beams. When the fabric stringer 12 and the walking stringer 22 are relatively stationary, the telescopic support structure telescopes between the walking stringer 22 and the fabric stringer 12, allowing the fabric stringer 12 and the walking stringer 22 to bear mutual forces in the horizontal and vertical directions, forming an integrated whole. The telescopic support structure cooperates with the horizontal telescopic mechanism 4 and the vertical telescopic mechanism 5 to enhance the stability of the multi-degree-of-freedom adjustable underwater screed machine. The telescopic support structure is preferably a pneumatic cylinder or a telescopic oil cylinder.

[0077] In a preferred embodiment, the height of the walking crossbeam 21 matches the height of the walking longitudinal beam 22 ; the height of the fabric crossbeam 11 is higher than the walking crossbeam 21 ; and the height of the fabric longitudinal beam 12 matches the height of the fabric crossbeam 11 . Based on the structural setting in which the walking longitudinal beam 22, the transverse frame 33 and the end structure 13 are arranged in sequence, the height of the end structure 13 is higher than the walking longitudinal beam 22. In this case, the height of the walking cross beam 21 is adapted to the height of the cloth beam 11, so that the walking cross beam 21 and the walking longitudinal beam 22 form a frame-type structure with more uniform transverse and longitudinal forces and stiffness, as well as bearing capacity, which can reduce the lightweight of the multi-degree-of-freedom adjustable underwater leveling machine while still having good transverse and longitudinal stability; similarly, the cloth longitudinal beam 12 is adapted to the height of the cloth cross beam 11, so that the cloth longitudinal beam 12 and the cloth cross beam 11 form a frame-type structure with more uniform transverse and longitudinal forces and stiffness, as well as bearing capacity, which can reduce the lightweight of the multi-degree-of-freedom adjustable underwater leveling machine while still having good transverse and longitudinal stability.

[0078] In a preferred embodiment, a compressed air drainage cabin 112 is provided in the material distribution beam 11 for leveling the multi-degree-of-freedom underwater leveling machine underwater and controlling the floating and sinking of the multi-degree-of-freedom underwater leveling machine.

[0079] In a preferred embodiment, a support beam 14 is protrudingly provided on one side of the fabric beam 11 close to the walking beam 21 , and a first vertical lifting leg 31 is connected to the support beam 14 .

[0080] In a preferred embodiment, a second vertical through hole 141 is provided on the support beam 14 .

[0081] A multi-degree-of-freedom adjustable underwater leveling machine 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, 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.

[0082] In a preferred embodiment, along the length direction of the walking beams 22 , the walking beams 22 on adjacent transverse and longitudinal walking mechanisms are correspondingly connected.

[0083] In a preferred embodiment, along the length direction of the walking beam 22 , the walking beams 22 on adjacent transverse and longitudinal walking mechanisms are coaxially integrally formed.

[0084] Along the moving direction of the transverse frame 33 relative to the end structure 13, one end of the end structure 13 is connected to the material distribution beam 11; Along the direction of the first hole 131 , one side of the end structure 13 is connected to the fabric stringer 12 . The fabric stringer 12 defines a first through hole 121 corresponding to the first hole 131 . One end of the walking stringer 22 extends into the first through hole 121 .

[0085] In a preferred embodiment, the end of the walking longitudinal beam 22 is connected to the walking cross beam 21 . The walking cross beam 21 is arranged along the length direction of the cloth cross beam 11 , and the walking cross beam 21 is located outside the cloth cross beam 11 .

[0086] In a preferred embodiment, a support beam 14 is protrudingly provided on one side of the fabric beam 11 close to the walking beam 21 , and a first vertical lifting leg 31 is connected to the support beam 14 .

[0087] 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 arranged on the upper part of the first vertical through hole 221. The two 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 vertically slides with the first vertical through hole 221.

[0088] In a preferred embodiment, a multi-degree-of-freedom adjustable underwater leveling machine of the present application includes four horizontal and vertical stepping walking mechanisms, and the four horizontal and vertical stepping walking mechanisms are arranged in a row.

[0089] In a preferred manner, along the length direction of the material distribution beam 11 , two adjacent end structures 13 are connected by the material distribution beam 11 .

[0090] In a preferred embodiment, along the length direction of the walking stringer 22, two adjacent end structures 13 are connected by a cloth stringer 12, and the walking stringers 22 on adjacent horizontal and vertical walking mechanisms are connected accordingly.

[0091] In a preferred embodiment, along the length direction of the walking beam 22 , the walking beams 22 on adjacent transverse and longitudinal walking mechanisms are coaxially integrally formed.

[0092] In a preferred embodiment, a compressed air drainage cabin 112 is provided in the material distribution beam 11 .

[0093] In a preferred embodiment, the fabric longitudinal beam 12 is a truss structure.

[0094] A specific preferred embodiment: a multi-degree-of-freedom adjustable underwater leveling machine, comprising: The cloth distribution chassis 1 includes two cloth distribution cross beams 11 and cloth distribution longitudinal beams 12 spaced apart from each other. First holes 131 are provided at both ends of the cloth distribution cross beam 11 along the length of the cloth distribution longitudinal beam 12. First through holes 121 are provided along the length of the cloth distribution longitudinal beam 12. The first holes 131 are provided corresponding to the first through holes 121 on the corresponding sides. Walking main frame 2; the walking main frame 2 includes two spaced-apart walking beams 21 and a walking longitudinal beam 22, the walking beam 21 is located outside the fabric beam 11, and the walking longitudinal beam 22 passes through the first hole 131 and the first through hole 121 on the corresponding side; The transverse frame 33 is sleeved on the walking longitudinal beam 22. The transverse frame 33 is at least partially located in the first hole 131. The transverse frame 33 and the walking longitudinal beam 22 are slidably engaged along the length of the walking longitudinal beam 22. The transverse frame 33 and the cloth beam 11 are slidably engaged along the length of the cloth beam 11. The transverse telescopic mechanism 4 is connected between the fabric beam 11 and the transverse movement frame 33. The transverse telescopic mechanism 4 can be extended and retracted along the length direction of the fabric beam 11. The longitudinal telescopic mechanism 5 is connected between the cloth chassis 1 and the transverse movement frame 33. The longitudinal telescopic mechanism 5 can be extended and retracted along the length direction of the walking longitudinal beam 22; At least four first vertical lifting legs 31, the first vertical lifting legs 31 are supported and connected to the cloth bottom plate 1; At least four second vertical lifting legs 32 are supported and connected to the walking main frame 2.

[0095] A first transverse through hole 136 is provided on the side of the first hole 131 close to the walking beam 21, and a first transverse supporting 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 supporting door frame 42, and the other end passes through the first transverse through hole 136 and is connected to the transverse moving frame 33.

[0096] The material distribution beam 11 includes a compressed air drainage cabin 112 and an end structure 13 connected to both ends of the compressed air drainage cabin 112 . The first hole 131 is provided through the end structure 13 .

[0097] The compressed air drainage cabin 112 is detachably connected to the end structure 13.

[0098] The walking beam 21 is located outside the material distribution beam 11 ; a support beam 14 is protrudingly provided on one side of the material distribution beam 11 close to the walking beam 21 , and a first vertical lifting leg 31 is connected to the support beam 14 .

[0099] The support beam 14 is provided with a second vertical through hole 141; In a preferred embodiment, a first vertical through hole 221 is provided on the walking 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 walking longitudinal beam 22 by 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 engaged, and the second vertical telescopic mechanism 321 is preferably a hydraulic cylinder.

[0100] 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 walking longitudinal beam 22. Compared with the direct connection between the second vertical lifting leg 32 and the walking longitudinal beam 22, it can effectively lower the center of gravity of the walking longitudinal beam 22 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 walking longitudinal beam 22, so that the stability of the transverse and longitudinal walking mechanism is better.

[0101] In one preferred embodiment, a support beam 14 is protruding from one side of the fabric beam 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.

[0102] The fabric longitudinal beam 12 is a truss structure.

[0103] The device further comprises a cloth distributing mechanism 7 , which can move along the length direction of the cloth distributing longitudinal beam 12 and the cloth distributing mechanism 7 can also move along the length direction of the cloth distributing cross beam 11 .

[0104] The fabric chassis 1 is formed by two oppositely disposed cross beams 11 , two oppositely disposed longitudinal fabric beams 12 , and an end structure 13 connected between the cross beams 11 and the longitudinal fabric beams 12 .

[0105] Two oppositely disposed walking cross beams 21 and two oppositely disposed walking longitudinal beams 22 form a frame structure.

[0106] In a preferred embodiment, the first vertical lifting leg 31 is connected to the material distribution beam 11; In a preferred embodiment, the second vertical lifting leg 32 is connected to the walking stringer 22 .

[0107] During use, by disposing the transverse movement frame 33 between the end structure 13 and the walking stringer 22, the walking stringer 22 and the transverse movement frame 33 slide together along the length of the first hole 131 to achieve relative movement of the walking stringer 22 and the end structure 13 along the length of the first hole 131, thereby achieving the purpose of walking-like movement of the first vertical lifting leg 31 and the second vertical lifting leg 32 along the length of the first hole 131. 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 walking longitudinal beam 22 and the end structure 13 along the radial direction of the first hole 131 is realized, thereby achieving the purpose of walking-like 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.

[0108] By arranging a transverse frame 33 on the outer surface of the walking 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.

[0109] In a preferred embodiment, a compressed air drainage cabin 112 is provided in the material distribution beam 11 .

[0110] The material distribution beam 11 and the compressed air drainage cabin 112 are integrated together to reduce the overall weight of the horizontal and vertical walking mechanism. The lower material pipe 73 is also included, and the lower material pipe 73 moves horizontally with the material distribution beam 11 through the horizontal movement mechanism 8.

[0111] In a preferred embodiment, the transverse moving mechanism 8 includes a second gear 82 and a second rack 83 that are meshed with each other, and two transverse rails 81 that are installed in parallel on the cloth beam 11. The second rack 83 and the transverse rails 81 are both installed on the cloth beam 11, and also include a second drive motor 84. The second drive motor 84 drives the second gear 82 to mesh and rotate with the second rack 83.

[0112] A preferred embodiment further includes a longitudinal bracket 91, which includes two longitudinal support rails 911 arranged at intervals, and the lower material tube 73 is supported between the two longitudinal support rails 911, and the lower material tube 73 can move relative to the longitudinal support rail 911 along the length direction of the longitudinal support rail 911; the longitudinal bracket 91 is connected to a second gear 82 at the end along the length of the longitudinal support rail 911.

[0113] Further specifically and preferably, a longitudinal roller 920 is installed on the material tube support 92 , and the longitudinal roller 920 rolls with the longitudinal support rail 911 .

[0114] Preferably, at least two ballast drainage compartments 112 are provided within the first crossbeam 11. Adjacent ballast drainage compartments 112 are provided with partitions 1121, each having a water through hole 1122. Water inlets and outlets 1123 are provided at the bottom of the ballast drainage compartments 112. The water inlets and outlets 1123 are preferably 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.

[0115] In the multi-degree-of-freedom adjustable underwater leveling machine of this embodiment, a measuring tower 6 is installed on the end structure 13 .

[0116] 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 of this application is 75t-85t, which is much less than the total weight of 185t of the existing walking leveling machine.

[0117] Buoyancy description: Six compressed air drainage compartments 112 are arranged on each of the two cloth beams 11, that is, the entire machine has a total of 12 compressed air drainage compartments 112; the maximum buoyancy generated by the two cloth beams 11 is about 50 tons; sealed compartments are provided in the walking longitudinal beams 22 and the walking transverse beams 21, so that the walking longitudinal beams 22 and the walking transverse beams 21 can be used as buoyancy boxes, each generating a buoyancy of about 20 tons. The total buoyancy generated by the cloth beams 11, the walking longitudinal beams 22 and the walking transverse beams 21 is greater than the total weight of the multi-degree-of-freedom adjustable underwater leveling machine, and the total buoyancy generated by the walking longitudinal beams 22 and the walking transverse beams 21 is less than the total weight of the multi-degree-of-freedom adjustable underwater leveling machine.

[0118] 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 walking longitudinal beam 22, the material distribution mechanism 7, the horizontal movement mechanism 8, and the longitudinal movement mechanism 9 are all in the center position, the four lifting points on the two material distribution beams 11 are hung with the main hook of the crane, and the material distribution mechanism 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 slings are 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 material distribution 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.

[0119] 2. When the whole machine needs to be discharged from the water, the measuring tower 6 is laid down, and the upper material pipe 72 and the lower material pipe 73 of the material distribution mechanism 7 are lifted separately first. Then the hook is hung on the slings of the four lifting points of the leveler. At the same time, the air inlet valve of a compressed air drainage cabin 112 of each material distribution beam 11 is opened symmetrically to compress the air. After one cabin is drained, the current valve is closed. Then, the air inlet valve of the next compressed air drainage cabin 112 of each beam is opened symmetrically 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.

[0120] In a preferred embodiment, a measuring tower 6 is installed on the end structure 13, and a driving mechanism 61 is also included. The driving mechanism 61 can drive the measuring tower 6 to swing. The measuring tower 6 of this embodiment is installed on the end structure 13. During transportation, 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. Then, when launching the measuring tower, the measuring tower is rotated from horizontal to vertical to adapt to 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 construction conditions. At the same time, during the transportation process or the launching process, the slight swing of the measuring tower 6 can be used to fine-tune the center of gravity of the underwater leveling machine with multiple degrees of freedom, making construction safer. The driving mechanism 61 can drive the measuring tower 6 to rotate from horizontal to vertical, and can also drive the measuring tower 6 to rotate from vertical to horizontal.

[0121] In a preferred embodiment, the measuring tower 6 is arranged along the length direction of the fabric longitudinal beam 12 , and when the measuring tower 6 is arranged in the transverse direction (ie, horizontal direction), the measuring tower 6 is located directly above the fabric longitudinal beam 12 .

[0122] In a preferred embodiment, the multi-degree-of-freedom adjustable underwater leveling machine of this embodiment further includes a bracket 62 , which is installed on the end structure 13 , and the bracket 62 is hinged to the measuring tower 6 via a rotating shaft 63 .

[0123] Along the length of the measurement tower 6, the measurement tower 6 is divided into a long arm section 65 and a short arm section 66 based on the position of the rotation axis 63. The long arm section 65 is longer than the short arm section 66 and weighs more than the short arm section 66. Further preferably, the long arm section 65 is 10-25 times the length of the short arm section 66 and weighs 5-25 times the weight of the short arm section 66.

[0124] In a preferred embodiment, the rotating shaft 63 is arranged along the length direction of the material distribution beam 11.

[0125] In a preferred embodiment, both ends of the cloth longitudinal beam 12 are connected to end structures 13, a bracket 62 is installed on the top of one of the two end structures 13, and a support frame 64 is protruding upward on the top of the other end structure. When the measuring tower 6 is arranged horizontally, the support frame 64 can support the long arm section 65 of the measuring tower 6.

[0126] In a preferred embodiment, the bracket 62 has a third gap 622 , 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 third gap 622 and is connected to the fabric longitudinal beam 12 .

[0127] More specifically and preferably, the driving mechanism 61 is connected to the short arm section 66 .

[0128] Based on the above solution, 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. This allows the measurement tower 6 to swing with a smaller diameter, reducing the weight of the underwater screed. The first telescopic member is preferably a pneumatic cylinder or a telescopic oil cylinder.

[0129] A specific preferred embodiment is that the bracket 62 includes bracket units 621 arranged at intervals along the length direction of the cloth beam 11, and the bracket units 621 are all installed on the top of the end structure 13. The third gap 622 is located between the two bracket units 621. The two bracket units 621 are connected to the rotating shaft 63. One end of the first telescopic member is hinged to the end of the short arm section 66 of the measuring tower 6 away from the rotating shaft 63, and the other end of the first telescopic member passes through the third gap 622 and is hinged to the cloth longitudinal beam 12. The bracket unit 621 is preferably a truss structure.

[0130] In a specific preferred embodiment, the fabric stringer 12 is a truss structure, comprising an upper chord 122, a lower chord 123, a vertical bar 124, a first diagonal bar 125, and a second diagonal bar 126. A transverse beam 127 is provided at a first node 128 of the upper chord 122, where the vertical bar 124, the first diagonal bar 125, and the second diagonal bar 126 converge. The transverse beam 127 is connected to the first telescopic member. By arranging the connection point between the first telescopic member and the fabric stringer 12 at the first node 128 and by converging the vertical bar 124, the first diagonal bar 125, and the second diagonal bar 126 at the first node 128, the fabric stringer 12 can be configured as a truss structure while still meeting the tensile load requirements of the first telescopic member. Compared to a box beam configuration, the weight of the fabric stringer 12 is greatly reduced, thereby significantly reducing the weight of the underwater leveling machine.

[0131] In a preferred embodiment, the measuring tower 6 is formed by sequentially splicing together multiple trusses.

[0132] In one preferred embodiment, a measuring instrument for measuring the position of the multi-degree-of-freedom adjustable underwater leveler is connected to the top of the measuring tower 6. More preferably, a telescopic device is provided on the top of the measuring tower 6 to raise and lower the measuring instrument. The telescopic device is preferably a pneumatic cylinder or a telescopic oil cylinder.

[0133] The underwater leveling machine includes two measuring towers 6 , which are installed on the end structures 13 at both ends of the same material distribution beam 11 .

[0134] In a preferred embodiment, the material distributing mechanism 7 includes an upper material pipe 72 and a lower material pipe 73: the upper material pipe 72 is connected to the upper part of the lower material pipe 73, and a first channel 74 is provided between the upper material pipe 72 and the lower material pipe 73; In a preferred embodiment, the upper material pipe 72 and the lower material pipe 73 are plugged into each other.

[0135] In a preferred embodiment, the lower material pipe 73 includes a bottom pipe structure 731 and a first funnel structure 732 connected to the top of the bottom pipe structure 731, and the large end of the first funnel structure 732 is arranged toward the upper material pipe 72; The upper material tube 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. There is a first gap 723 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 there is a second gap 725 connected to the first gap 723 between the outer wall of the upper tube structure 721 and the inner wall of the bottom tube structure 731.

[0136] 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 walls of the bottom tube structure 731 and the outer walls of the first funnel structure 732. A plurality of lower lugs 734 are connected to the top outer wall of the first funnel structure 732. All lower lugs 734 are arranged circumferentially along the first funnel structure 732. All lower lugs 734 are located near the wide end of the first funnel structure 732. Further preferably, the upper feed pipe 72 also includes a second funnel structure 726 that is sleeved onto the outer side of the upper tube structure 721. The second funnel structure 726 faces the first funnel structure 732 and can cover the wide end of the first funnel structure 732. A third gap 741 is defined between the first funnel structure 732 and the second funnel structure 726, which is connected to the first gap 723. The third gap 741, the first gap 723, and the second gap 725 form a first channel 74.

[0137] 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 material tube 73 .

[0138] 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.

[0139] In a preferred embodiment, the material distributing mechanism 7 is connected to a longitudinal moving mechanism 9 , and the longitudinal moving mechanism 9 can drive the material distributing mechanism 7 to move along the length direction of the walking longitudinal beam 22 .

[0140] In a specific preferred embodiment, the lower material pipe 73 is connected to a longitudinal moving mechanism 9 , and the longitudinal moving mechanism 9 can drive the lower material pipe 73 to move along the length direction of the walking longitudinal beam 22 .

[0141] In a preferred embodiment, the longitudinal movement mechanism 9 includes a longitudinal bracket 91, a feed pipe support 92, and a longitudinal drive mechanism 93. The feed pipe support 92 is connected to the material dispensing mechanism 7. The longitudinal bracket 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 is in rolling engagement with the two longitudinal support rails 911. The longitudinal drive mechanism 93 includes a first drive motor 931 and a meshing first gear 932 and a first rack 933. 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 their length. Specifically, the feed pipe support 92 is preferably connected to the lower feed pipe 73.

[0142] In a preferred embodiment, a spiral structure is provided in the hopper, the spiral structure being arranged vertically and leading to the opening, and the spiral structure is detachably connected to the hopper, so as to reduce the impact force of the material on the half-door structure and prevent the half-door structure from being deformed too much and becoming unable to open.

[0143] In a preferred embodiment, the lower material pipe 73 moves laterally relative to the material distribution beam 11 via the lateral movement mechanism 8 .

[0144] Preferably, the transverse moving mechanism 8 includes a second gear 82 and a second rack 83 that are meshed with each other, and two transverse rails 81 that are installed in parallel on the cloth beam 11. The second rack 83 and the transverse rails 81 are both installed on the cloth beam 11, and also include a second drive motor 84. The second drive motor 84 drives the second gear 82 to mesh and rotate with the second rack 83.

[0145] In a preferred embodiment, the longitudinal bracket 91 includes two longitudinal support rails 911 arranged at intervals, the lower material tube 73 is supported between the two longitudinal support rails 911, and the lower material tube 73 can move relative to the longitudinal support rail 911 along the length direction of the longitudinal support rail 911; the longitudinal bracket 91 is connected to the second gear 82 at the end along the length of the longitudinal support rail 911.

[0146] In a preferred embodiment, the multi-degree-of-freedom adjustable underwater leveling machine of the present application further includes an upper material pipe 72 , which is plugged into a lower material pipe 73 , and a gap is provided between the upper material pipe 72 and the lower material pipe 73 .

[0147] The elevation of the bottom of the lower material pipe 73 can be controlled by the lifting height of the first vertical lifting leg 31 and the second vertical lifting leg 32, thereby controlling the elevation of the bottom level surface.

[0148] A preferred launching method for an underwater leveling machine with multi-degree-of-freedom adjustment for horizontal and vertical stepping, wherein at least one side of the lifting platform 100 is provided with a slope extending to the bottom of the water; In step S2, the lifting platform 100 descends, driving the underwater leveling machine to descend until the lifting platform 100 is flush with the top of the slope; Step S3 specifically includes the following steps: S31. The underwater leveling machine moves from the lifting platform 100 to the slope by relying on the horizontal and vertical stepping walking mechanism; S32. The underwater leveling machine moves from the slope to the working area by relying on the horizontal and vertical stepping walking mechanism.

[0149] Preferably, step S31 specifically includes the following steps: S311: 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 lifting platform 100; S312: the walking beam 22 is driven to move relative to the end structure 13 along the length direction of the walking beam 22; S313: the second vertical lifting leg 32 falls and supports the multi-degree-of-freedom adjustable underwater leveling machine; S314: the first vertical lifting leg 31 rises and separates from the lifting platform 100; S315: the end structure 13 is driven to move relative to the walking beam 22 along the length direction of the walking beam 22; S316: steps S311-S315 are repeated until the underwater leveling machine walks to the slope.

[0150] Preferably, step S32 specifically includes the following steps: S321: 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 slope; S322: the walking beam 22 is driven to move relative to the end structure 13 along the length direction of the walking beam 22; S323: the second vertical lifting leg 32 falls and supports the multi-degree-of-freedom adjustable underwater leveling machine; S324: the first vertical lifting leg 31 rises and separates from the slope; S325: the end structure 13 is driven to move relative to the walking beam 22 along the length direction of the walking beam 22; S326: steps S321-S325 are repeated until the underwater leveling machine walks to the working area.

[0151] It also includes the step of launching a multi-degree-of-freedom adjustable underwater leveling machine: based on the lifting platform 100 and a slope set on one side of the lifting platform 100, the slope extends to the bottom of the water: a multi-degree-of-freedom adjustable underwater leveling machine is installed on the lifting platform 100, and the underwater leveling machine goes down the slope to the construction position.

[0152] A step 101 is provided on the slope, and the first vertical lifting leg 31 and the second vertical lifting leg 32 can be supported on the step 101. In this way, when the multi-degree-of-freedom adjustable underwater leveling machine is launched on the slope, the first vertical lifting leg 31 and the second vertical lifting leg 32 can still be set vertically, avoiding the first vertical lifting leg 31 and the second vertical lifting leg 32 from tilting to support the multi-degree-of-freedom adjustable underwater leveling machine, thereby effectively optimizing the force on the first vertical lifting leg 31 and the second vertical lifting leg 32 and extending their service life.

[0153] A preferred method, before construction, also includes the following steps for installing a multi-degree-of-freedom adjustable underwater leveling machine: B1. Arrange the site and prepare for assembly; transport the walking underwater leveling machine components to the installation site, and at the same time, consider the working conditions at the installation site to prevent the hydraulic system and the electronic control system from being soaked in seawater due to the rise and fall of the tide. B2. Assemble and shape the fabric 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 fabric beam 11; B3. Install the fabric longitudinal beam 12 so that both ends of the fabric longitudinal beam 12 are connected to the end structure 13; B4. Install the walking longitudinal beam 22, which passes through the fabric longitudinal beam 12 and the end structure 13 on the same side, and install the second vertical lifting leg 32 on the walking longitudinal beam 22; B5. Install the walking beam 21 between adjacent walking longitudinal beams 22, and the walking beam 2 1 is located outside the fabric distribution beam 11; B6. Install the fabric distribution mechanism 7, longitudinal movement mechanism 9, and transverse movement mechanism 8 between the two fabric distribution beams 11. The longitudinal movement mechanism 9 can drive the fabric distribution mechanism 7 to move along the length of the walking longitudinal beam 22; the transverse movement mechanism 8 can drive the longitudinal movement mechanism 9 to move along the length of the fabric distribution beam 11 relative to the transverse movement of the fabric distribution beam 11; B7. Install the measurement tower 6 on the top of the end structure 13; B8. Install the hydraulic and electrical systems of the entire machine, then debug the entire machine and conduct land simulation tests.

[0154] The above are only preferred embodiments of the present invention and are 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. A method for launching an underwater leveling machine with multi-degree-of-freedom adjustment for horizontal and vertical stepping, characterized in that: Based on the lifting platform (100), the launching method comprises the following steps: S1. The underwater leveling machine is placed on the lifting platform (100); S2. The lifting platform (100) descends, driving the underwater leveling machine to descend until at least part of the underwater leveling machine enters the water; S3. The underwater leveling machine moves out of the lifting platform (100).

2. The launching method of the underwater leveling machine with multi-degree-of-freedom adjustment for horizontal and vertical stepping according to claim 1 is characterized in that: The lifting platform (100) comprises a platform structure (140) and a plurality of supporting structures (150). A winch (151) is provided on the top of the supporting structure (150), and a traction rope (152) drawn from the winch (151) is connected to the platform structure (140).

3. The launching method of the underwater leveling machine with multi-degree-of-freedom adjustment according to claim 1, characterized in that: The underwater leveling machine comprises four transverse and longitudinal stepping walking mechanisms, which are arranged in an array; the transverse and longitudinal stepping walking mechanisms comprise an end structure (13), a transverse moving frame (33), a walking longitudinal beam (22), a first vertical lifting leg (31) and a second vertical lifting leg (32); the end structure (13) is provided with a first hole (131); at least a portion of the transverse moving frame (33) is located in the first hole (131); the transverse moving frame (33) is arranged along the first hole (131); The hole (131) is radially slidably engaged with the end structure (13); the walking longitudinal beam (22) passes through the transverse frame (33) along the length direction of the first hole (131) and is slidably engaged with the transverse 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 walking longitudinal beam (22); adjacent end structures (13) are connected, and adjacent walking longitudinal beams (22) are connected.

4. The launching method of an underwater leveling machine with multi-degree-of-freedom adjustment for horizontal and vertical stepping according to claim 1 is characterized in that: At least one side of the lifting platform (100) is provided with a slope, and the slope extends to the bottom of the water; In step S2, the lifting platform (100) descends, driving the underwater leveling machine to descend until the lifting platform (100) is flush with the top of the slope; Step S3 specifically includes the following steps: S31. The underwater leveling machine relies on the horizontal and vertical stepping walking mechanism to walk from the lifting platform (100) to the slope; S32. The underwater leveling machine relies on the horizontal and vertical walking mechanism to move from the slope to the working area.

5. The launching method of an underwater leveling machine with multi-degree-of-freedom adjustment for horizontal and vertical stepping according to claim 4 is characterized in that: Step S31 specifically includes the following steps: S311: 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 lifting platform (100); S312: driving the walking beam (22) to move relative to the end structure (13) along the length direction of the walking beam (22); S313: the second vertical lifting leg (32) falls and supports the multi-degree-of-freedom adjustable underwater leveling machine; S314: the first vertical lifting leg (31) rises and separates from the lifting platform (100); S315: driving the end structure (13) to move relative to the walking longitudinal beam (22) along the length direction of the walking longitudinal beam (22); S316: Repeat steps S311-S315 until the underwater leveling machine moves to the slope.

6. The launching method of an underwater leveling machine capable of horizontal and vertical stepping and multi-degree-of-freedom adjustment according to claim 4, characterized in that: Step S32 specifically includes the following steps: S321: 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 slope; S322: driving the walking beam (22) to move relative to the end structure (13) along the length direction of the walking beam (22); S323: the second vertical lifting leg (32) falls and supports the multi-degree-of-freedom adjustable underwater leveling machine; S324: the first vertical lifting leg (31) rises and separates from the slope; S325: driving the end structure (13) to move relative to the walking longitudinal beam (22) along the length direction of the walking longitudinal beam (22); S326: Repeat steps S321-S325 until the underwater leveling machine moves to the working area.

7. The launching method of an underwater leveling machine capable of horizontal and vertical stepping and multi-degree-of-freedom adjustment according to claim 4, characterized in that: A step (101) is provided on the slope, and the first vertical lifting leg (31) and the second vertical lifting leg (32) can be supported on the step (101).

8. The launching method of an underwater leveling machine capable of horizontal and vertical stepping and multi-degree-of-freedom adjustment according to claim 4, characterized in that: Along the direction in which the first hole (131) is opened, a cloth longitudinal beam (12) is connected between adjacent end structures (13), a first through hole (121) corresponding to the first hole (131) is opened on the cloth longitudinal beam (12), and one end of the walking longitudinal beam (22) extends into the first through hole (121); Along the moving direction of the transverse moving frame (33) relative to the end structure (13), the end of the adjacent walking longitudinal beam (22) is connected with a walking cross beam (21); Along the moving direction of the transverse frame (33) relative to the end structure (13), a cloth beam (11) is connected between adjacent end structures (13), the walking beam (21) is arranged along the length direction of the cloth beam (11), and the walking beam (21) is located outside the cloth beam (11); The cloth beam (11) is provided with a compressed air drainage cabin (112), and the walking longitudinal beam (22) and the walking transverse beam (21) are both provided with sealed cabins. The total buoyancy generated by the cloth beam (11), the walking longitudinal beam (22) and the walking transverse beam (21) can be greater than the total weight of the multi-degree-of-freedom adjustable underwater leveling machine, and the total buoyancy generated by the walking longitudinal beam (22) and the walking transverse beam (21) is less than the total weight of the multi-degree-of-freedom adjustable underwater leveling machine.

9. The launching method of an underwater leveling machine capable of horizontal and vertical stepping and multi-degree-of-freedom adjustment according to claim 1, characterized in that: In step S2, the lifting platform (100) descends, driving the underwater leveler to descend until the underwater leveler floats on the water; In step S3, the underwater leveling machine is towed to the operation area, and the exhaust valves of one compressed air drainage compartment (112) of each material distribution beam (11) are symmetrically opened. The draft of the underwater leveling machine is observed. When the underwater leveling machine sinks, the exhaust valves are closed. After the underwater leveling machine sinks to the bottom, all the exhaust valves are opened to allow the compressed air drainage compartment (112) to be filled with water. Then, the measuring tower (6) is erected to carry out the leveling operation.

10. The launching method of an underwater leveling machine capable of horizontal and vertical stepping and multi-degree-of-freedom adjustment according to claim 1, characterized in that: In step S1, the underwater leveling machine is installed on the lifting platform (100), which specifically includes the following steps: B1. Assembling a formed cloth beam (11), installing end structures (13) and a transverse movement frame (33) at both ends of the cloth beam (11), as well as a first vertical lifting leg (31) and a transverse telescopic mechanism (4); B2. Installing the fabric longitudinal beam (12) so that both ends of the fabric longitudinal beam (12) are connected to the end structure (13); B3. Installing a walking stringer (22), wherein the walking stringer (22) passes through the fabric stringer (12) and the end structure (13) on the same side, and installing a second vertical lifting leg (32) on the walking stringer (22); B4. Installing a walking beam (21) between adjacent walking longitudinal beams (22), wherein the walking beam (21) is located outside the fabric beam (11); B5. A cloth distributing mechanism (7), a longitudinal moving mechanism (9) and a transverse moving mechanism (8) are installed between the two cloth distributing beams (11), wherein the longitudinal moving mechanism (9) is capable of driving the cloth distributing mechanism (7) to move along the length direction of the walking longitudinal beam (22); and the transverse moving mechanism (8) is capable of driving the longitudinal moving mechanism (9) to move along the length direction of the cloth distributing beam (11) relative to the transverse direction of the cloth distributing beam (11); B6. Install the measuring tower (6) on top of the end structure (13).

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