Underwater screed thickness monitoring recording device and multi-degree-of-freedom adjustment underwater screed

Abstract

The present application relates to underwater screed construction monitoring technical field, especially underwater screed layer thickness monitoring recording device and multi-degree of freedom adjusting underwater screed machine are provided.The distribution pipe is used as the vertical passage of stone, and is arranged on the underwater screed machine;The ranging sensor is installed in the distribution pipe, and measures the distance downward;The anti-collision box is installed in the distribution pipe, and the anti-collision box is at least partially located above the ranging sensor.The underwater screed layer thickness monitoring recording device of the embodiment, after the underwater positioning of the screed machine is completed, the screed machine is adjusted to the appropriate elevation, then the ranging sensor under water measures the water depth data in real time, the distribution pipe moves walking, the ranging sensor continuously collects water depth information, and finally the corresponding relationship of the whole operation plane position and water depth information is formed, that is, the underwater screed layer thickness can be grasped, to guide subsequent screed distribution, stone quantity control and specification selection, and the method is more accurate and efficient.

Description

Technical Field

[0001] This invention relates to the field of underwater leveling machine construction monitoring technology, and in particular to an underwater leveling layer thickness monitoring and recording device and a multi-degree-of-freedom adjustable underwater leveling machine. Background Technology

[0002] Frame-type underwater screeds are gradually being used in wharf foundation screed construction due to their lightweight and high efficiency. After the traditional underwater wharf foundation is completed with riprap and compaction, there will inevitably be a certain height difference, resulting in inconsistent thickness of the upper screed layer. For wharf foundations constructed using underwater screeds, the specification control of the stones used for screeding is a key factor affecting the quality and efficiency of screed construction.

[0003] In traditional operations, ultrasonic scanning is often used to measure water depth and estimate the thickness of the leveling layer. However, this method suffers from low accuracy and efficiency. Therefore, how to accurately and efficiently monitor the thickness of the leveling layer to guide the selection of leveling stone specifications is an important means to improve the construction efficiency and quality of leveling machines, and has become a key research challenge for project teams in this field. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the existing technology that uses ultrasonic scanning to measure water depth to estimate the thickness of the leveling layer, which has the disadvantages of low accuracy and low efficiency. This invention provides an underwater leveling layer thickness monitoring and recording device and a multi-degree-of-freedom adjustable underwater leveling machine.

[0005] In a first aspect, the present invention provides an underwater leveling layer thickness monitoring and recording device, comprising:

[0006] The material distribution pipe is used as a vertical channel for the stone and is installed on the underwater screed.

[0007] The distance sensor is installed inside the fabric tube and measures distance downwards;

[0008] The anti-collision box is installed inside the fabric tube, and the anti-collision box is at least partially located above the ranging sensor.

[0009] The underwater leveling layer thickness monitoring and recording device described in this embodiment allows the leveling machine to complete its underwater positioning and be adjusted to a suitable elevation. Subsequently, a distance measuring sensor located underwater measures the water depth data in real time. As the material distribution pipe moves, the distance measuring sensor continuously collects water depth information, ultimately forming a correspondence between the position of the entire working plane and the water depth information. This allows the thickness of the underwater leveling layer to be determined, guiding the control of the stone volume and the selection of specifications during subsequent leveling and material distribution. This method is more accurate and efficient.

[0010] Preferably, the ranging sensor is located inside the anti-collision box, and the bottom of the anti-collision box is provided with a through hole, and the ranging sensor is connected to the through hole.

[0011] Preferably, the device further includes a signal receiver located above the water surface. The ranging sensor is connected to a power line and a signal line, which are tied to the fabric tube and led upwards out of the water surface. The upper end of the signal line is connected to the signal receiver.

[0012] Preferably, both the anti-collision box and the distance sensor are located inside the fabric tube.

[0013] Preferably, the top of the anti-collision box is inclined, with the portion near the inner wall of the fabric tube being higher than the portion near the middle of the fabric tube.

[0014] Preferably, the fabric tube includes an upper feed tube and a lower feed tube disposed below the upper feed tube. The upper feed tube and the lower feed tube are inserted into each other, and a first channel is provided between the upper feed tube and the lower feed tube. The power line and the signal line extend from the outside of the fabric tube into the inside of the fabric tube through the first channel.

[0015] Preferably, the lower feed pipe includes a bottom pipe structure and a first funnel structure connected to the top of the bottom pipe structure, with the larger end of the first funnel structure facing upwards; the upper feed pipe includes an upper pipe structure and a second funnel structure sleeved on the outside of the upper pipe structure, with a plurality of protrusions arranged circumferentially on the outer wall of the upper pipe structure, a first gap between adjacent protrusions, and the outer surface of each protrusion being an inclined surface corresponding to the first funnel structure; the lower part of the upper pipe structure is inserted into the bottom pipe structure, and a second gap exists between the outer wall of the upper pipe structure and the inner wall of the bottom pipe structure; the larger end of the second funnel structure faces the first funnel structure and can cover the larger end of the first funnel structure; a third gap exists between the first funnel structure and the second funnel structure; the third gap, the first gap, and the second gap are interconnected to form the first channel; the power line and the signal line pass through the third gap.

[0016] Preferably, a through hole is provided on the side wall of the upper tube structure, the through hole corresponds to the height of the anti-collision box, and the through hole is connected to the internal cavity of the anti-collision box.

[0017] Preferably, the distance sensor and the anti-collision box form a unit that can move radially along the distribution pipe. During the initial distance measurement, the distance sensor and the anti-collision box extend into the distribution pipe to perform the measurement. During the later filling operation, the distance sensor and the anti-collision box are moved radially along the distribution pipe to the outside of the upper pipe structure and the inside of the first funnel structure, thereby more effectively reducing the obstruction of the distance sensor and the anti-collision box to the stone, and further improving the service life of the distance sensor and the anti-collision box.

[0018] In the second part, this application discloses a multi-degree-of-freedom adjustable underwater leveling machine, including the underwater leveling layer thickness monitoring and recording device described in this application, wherein the material distribution pipe is capable of moving laterally and longitudinally.

[0019] Preferably, the system includes a first main frame and a second main frame, wherein: the first main frame includes two spaced-apart first longitudinal beams, and a first transverse beam connects the ends of the two first longitudinal beams on the same side; the second main frame includes four arrayed end structures, with a second longitudinal beam connecting adjacent end structures along the longitudinal direction and a second transverse beam connecting adjacent end structures along the transverse direction, the second longitudinal beams being sleeved on the outer side of the corresponding first longitudinal beams, and the first longitudinal beams being movable relative to the second longitudinal beams along the length direction; the second transverse beams are located inside the first transverse beams.

[0020] The end structure has a first hole extending through it along the length of the first longitudinal beam. A transverse frame is provided in the first hole. The transverse frame is fitted onto 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 of the second transverse beam through a transverse telescopic mechanism. The transverse frame and the end structure are fixed relative to each other along the direction of the first longitudinal beam.

[0021] At least four first vertical lifting outriggers are provided, and the first vertical lifting outriggers are supported and connected to the second main frame;

[0022] At least four second vertical lifting outriggers are provided, which are supported and connected to the first main frame.

[0023] Preferably, the underwater leveling layer thickness monitoring and recording device includes the following steps during construction:

[0024] S1. The ranging sensor moves along the horizontal and vertical directions of the leveling machine, and the ranging sensor collects water depth information in real time to form a correspondence between the working plane position of the leveling machine and the water depth information;

[0025] S2. Based on the correspondence between the working plane position of the leveling machine and the water depth information, the required leveling layer thickness at each position of the working plane of the leveling machine is obtained;

[0026] S3. Determine the specifications and volume of filling stones for each location based on the required leveling layer thickness;

[0027] S4. Return the concrete placement pipe to its initial position, and fill the concrete placement pipe with stones according to the determined specifications and volume of stones at each position, and perform leveling operations.

[0028] The construction steps of the underwater leveling layer thickness monitoring and recording device described in this application are as follows: After the leveling machine completes its underwater positioning, it is adjusted to a suitable elevation. Then, the material placement pipe moves, and the underwater ranging sensor measures the water depth data in real time. The data signal forms a correspondence between the location of the material placement pipe and the water depth information. As the material placement pipe moves, water depth information is continuously collected, and finally, a correspondence between each working position and the water depth information is formed. This allows the thickness of the underwater leveling layer at each working position to be determined, which guides the control of the volume and selection of the specifications of the stone material at each position during subsequent leveling and material placement.

[0029] Preferably, when the leveling layer thickness is 30-40cm, the stone material is 8-15cm two-piece stone; when the leveling layer thickness is 20-30cm, the stone material is a mixture of 8-15cm two-piece stone and 20-40mm crushed stone; when the base bed leveling thickness is 1-10cm, the stone material is 20-40mm crushed stone.

[0030] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0031] The underwater leveling layer thickness monitoring and recording device described in this embodiment allows the leveling machine to complete its underwater positioning and be adjusted to a suitable elevation. Subsequently, a distance measuring sensor located underwater measures the water depth data in real time. As the material distribution pipe moves, the distance measuring sensor continuously collects water depth information, ultimately forming a correspondence between the position of the entire working plane and the water depth information. This allows the thickness of the underwater leveling layer to be determined, guiding the control of the stone volume and the selection of specifications during subsequent leveling and material distribution. This method is more accurate and efficient. Attached Figure Description

[0032] Figure 1 This is a schematic diagram of the arrangement of an underwater leveling layer thickness monitoring and recording device on an underwater leveling machine according to this application.

[0033] Figure 2 This is a schematic diagram of an underwater leveling layer thickness monitoring and recording device according to this application.

[0034] Figure 3 This is a schematic diagram (radial sliding) of an underwater leveling layer thickness monitoring and recording device according to this application.

[0035] Figure 4 This is a schematic diagram of the first main framework structure of this application.

[0036] Figure 5 This is a schematic diagram of the second main frame structure of this application.

[0037] Figure 6 As an appendix to this application Figure 5 Enlarged schematic diagram of section B in the middle.

[0038] Figure 7 This is a schematic diagram of the structure of a bidirectional walking underwater leveling machine according to this application.

[0039] Figure 8 As an appendix to this application Figure 7 Enlarged schematic diagram of part A in the middle.

[0040] Figure 9 This is a schematic diagram of the second vertical lifting outrigger of this application.

[0041] Figure 10 This is a schematic diagram of the first vertical lifting outrigger of this application.

[0042] Figure 11 This is a front view schematic diagram of a measuring tower structure for an underwater leveling machine according to this application.

[0043] Figure 12 This is a left-side schematic diagram of a measuring tower structure for an underwater leveling machine according to this application.

[0044] Figure 13 This is a schematic diagram of the measurement tower setup during construction of a bidirectional walking underwater leveling machine according to this application.

[0045] Figure 14 This is a schematic diagram of the upper feed pipe of this application.

[0046] Figure 15 This is a schematic diagram of the first block layout in this application.

[0047] Figure 16 This is a schematic diagram of the lower feed pipe of this application.

[0048] Figure 17 This is a schematic diagram showing the fit between the upper feed pipe and the lower feed pipe of this application.

[0049] Figure 18 This is a top view schematic diagram of a bidirectional walking underwater leveling machine according to this application.

[0050] Figure 19 This is a schematic diagram showing the cooperation between the feeding mechanism, the longitudinal moving mechanism, and the lateral moving mechanism of this application.

[0051] Figure 20 This is a schematic diagram of the longitudinal section of the fabric beam in this application.

[0052] Figure 21 This is a schematic diagram showing the real-time water depth display on the leveling machine operation interface of this application.

[0053] Figure 22 This is a schematic diagram summarizing the water depth of the leveling machine site base bed in this application. Detailed Implementation

[0054] The present invention will now be described in further detail with reference to specific embodiments. However, this should not be construed as limiting the scope of the present invention to the following embodiments; all technologies implemented based on the content of the present invention fall within the scope of the present invention.

[0055] Unless otherwise specified, the use of terms such as "upper," "lower," "left," "right," "center," "inner," and "outer" to indicate orientation or positional relationships in the description of specific embodiments of the present invention is based on the orientation or positional relationships shown in the accompanying drawings, or the orientation or positional relationship in which the product / equipment / device is typically placed during use. These terms are merely for the purpose of facilitating the description of the present invention or simplifying the description in specific embodiments, enabling those skilled in the art to quickly understand the solution, and 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.

[0056] The use of terms such as "horizontal," "vertical," "suspended," and "parallel" does not imply that the corresponding device / component / element must be absolutely horizontal, vertical, suspended, or parallel, but rather that it can be slightly tilted or have a deviation. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," not that the structure must be completely horizontal, but can be slightly tilted. Alternatively, it can be simplified to mean that the corresponding device / component / element, when set in a "horizontal," "vertical," "suspended," or "parallel" direction, can have an error / deviation of ±10% relative to the corresponding direction, more preferably within ±8%, more preferably within ±6%, more preferably within ±5%, and more preferably within ±4%. As long as the corresponding device / component / element is within the error / deviation range, it can still achieve its function in the present invention.

[0057] Furthermore, the use of terms such as "first," "second," and "third" in terminology is merely for distinguishing descriptions of identical or similar components and should not be interpreted as emphasizing or implying the relative importance of a particular component.

[0058] Furthermore, in the description of the embodiments of the present invention, "several", "more than", and "a number of" represent at least two. The number can be any number, such as 2, 3, 4, 5, 6, 7, 8, or 9, and can even exceed nine.

[0059] Furthermore, in the description of the technical solution of this invention, unless otherwise explicitly specified / limited / restricted, the terms "set up," "install," "connect," "link," "provided with," "laid out," and "arranged" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to common connection methods in the art, such as welding, riveting, bolting, and threaded connections. Such connections can be mechanical, electrical, or communication connections; they can be direct connections or indirect connections through an intermediate medium; and they can refer to the internal communication between two components.

[0060] Example 1

[0061] like Figure 1-7 As shown in this embodiment, an underwater leveling layer thickness monitoring and recording device includes a material placement pipe 7, a distance measuring sensor 8, and a crash barrier 81. The material placement pipe 7 serves as a vertical channel for the stone material and is mounted on an underwater leveling machine. The material placement pipe 7 can move both horizontally and vertically. The distance measuring sensor 8 is installed inside the material placement pipe 7 and measures distance downwards. The crash barrier 81 is installed inside the material placement pipe 7, and at least partially located above the distance measuring sensor 8. In this embodiment, after the leveling machine completes its underwater positioning, it is adjusted to a suitable elevation. Subsequently, the distance measuring sensor 8, located underwater, measures the water depth data in real time. As the material placement pipe 7 moves, the distance measuring sensor 8 continuously collects water depth information, ultimately forming a correspondence between the overall working plane position and the water depth information. This allows for the determination of the underwater leveling layer thickness, guiding the control of stone volume and the selection of specifications during subsequent leveling and material placement. The crash barrier 81 is preferably made of iron.

[0062] When the leveling layer thickness is 30-40cm, use 8-15cm two-piece stones. When the leveling layer thickness is 20-30cm, use a mixture of 8-15cm two-piece stones and 20-40mm crushed stone, with a preferred mixing ratio of 6:4-4:6. When the base bed leveling thickness is 1-10cm, using 20-40mm crushed stone will achieve the best leveling effect.

[0063] In one preferred embodiment, the ranging sensor 8 is preferably an M50-M80 underwater ranging sensor. Its measurement principle is as follows: During distance measurement, an ultrasonic signal is emitted by an ultrasonic probe, reflected back by the liquid or other solid medium, and received by the same probe. The time difference between the ultrasonic wave emission and reception is measured to achieve the measurement of the material level. The relationship between the distance L between the ultrasonic probe and the measured material surface, the temperature-compensated sound velocity v, and the sound wave travel time t within the measurement range can be expressed by the following formula: L =0.5 vtL: Unit: m; v: Unit: m / s; t: Unit: s. The single-beam underwater ultrasonic ranging sensor is a high-response ranging sensor designed based on the ARM architecture. This sensor has a built-in RS485 chip for reading data and configuring internal parameters. Internal parameters can be modified via the ModBus-RTU protocol to adjust sensor performance and implement certain functions. Protection rating: IP68, equipped with RS485 communication, data is readable and writable, and address, baud rate, and other parameters can be modified via the ModBus-RTU protocol. It has a short response time and temperature compensation function. The output type is standard RS485 output with Modbus-RTU protocol. The error compensation value is represented by 2 bytes of unsigned data, unit: mm. When the ranging error exceeds the maximum allowable range, this value can be used for slight compensation. The default compensation value is 0. The compensation value is obtained by splitting the int16t type data into two bytes, with the high byte first and the low byte last, in the format of numerical storage in the computer. Negative compensation value = 65535 - error value.

[0064] In a preferred embodiment, the ranging sensor 8 is located inside the anti-collision box 81, and the bottom of the anti-collision box 81 is provided with a through hole, and the ranging sensor 8 is connected to the through hole.

[0065] In a preferred embodiment, the system further includes a signal receiver 82 located above the water surface. The ranging sensor 8 is connected to a first line 83, which includes at least one of a power line and a signal line. The power line and the signal line are tied to the fabric tube 7 and led upwards out of the water surface. The upper end of the signal line is connected to the signal receiver 82.

[0066] The underwater leveling layer thickness monitoring and recording device described in this embodiment has an opening on the side wall of the lower part of the leveling machine's material distribution pipe 7 and an anti-collision box 81 is installed therein. A ranging sensor 8 with underwater ranging function is installed inside 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 material distribution pipe 7 and led out of the water surface along the material distribution pipe 7 and connected to the signal receiver 82 of the working platform.

[0067] After the screed completes its underwater positioning, it is adjusted to a suitable elevation. Then, the material placement pipe 7 moves, and 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 water surface of the screed. The data is displayed on the operating interface. By moving the screed, water depth information is continuously collected, and finally a chart with position and water depth information is generated. After simple processing, the thickness of the underwater screed layer can be determined to guide the control of the volume and selection of specifications of the stone material during subsequent screed placement.

[0068] Preferably, both the anti-collision box 81 and the distance sensor 8 are located inside the fabric tube 7, which makes their data measurement more accurate.

[0069] In a preferred embodiment, the top of the anti-collision box 81 is inclined, with the portion near the inner wall of the material distribution tube 7 being higher than the portion near the middle of the material distribution tube 7. This facilitates the stones rolling off the top of the anti-collision box 81 during descent, effectively reducing the probability of stones accumulating on the top of the anti-collision box 81.

[0070] In a preferred embodiment, the fabric tube 7 includes an upper feed tube and a lower feed tube disposed below the upper feed tube. The upper feed tube and the lower feed tube are inserted into each other, and a first channel is provided between the upper feed tube and the lower feed tube. 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.

[0071] In a preferred embodiment, the lower feeding pipe includes a bottom pipe structure 731 and a first funnel structure 732 connected to the top of the bottom pipe structure 731, with the larger end of the first funnel structure 732 facing upwards; the upper feeding pipe includes an upper pipe structure 721 and a second funnel structure 726 sleeved on the outside of the upper pipe structure 721, with a plurality of protrusions 722 arranged circumferentially on the outer wall of the upper pipe structure 721, and a first gap 723 between adjacent protrusions 722, the outer surface of the protrusions 722 being an inclined surface 724 corresponding to the first funnel structure 732, the upper pipe... The lower part of structure 721 is inserted into the bottom tube structure 731, and there is a second gap 725 between the outer wall of the upper tube structure 721 and the inner wall of the bottom tube structure 731; the large end of the second funnel structure 726 faces the first funnel structure 732 and can cover the large end of the first funnel structure 732; there is a third gap 741 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 are interconnected to form the first channel; the power line and the signal line pass through the third gap 741.

[0072] like Figure 2 As shown, a wire hole 88 is provided through the side wall of the upper tube structure 721. The wire hole 88 corresponds to the height of the anti-collision box 81 and is connected to the internal cavity of the anti-collision box 81.

[0073] The power cord and signal line pass through the third gap 741 and the wire hole 88 in sequence and then extend into the anti-collision box 81 to connect with the ranging sensor 8, thereby effectively avoiding direct contact between the power cord and signal line and the stone, thus effectively ensuring the service life of the power cord and signal line.

[0074] The entire assembly formed by the ranging sensor 8 and the anti-collision box 81 can move radially along the fabric tube 7.

[0075] The underwater leveling layer thickness monitoring and recording device described in this embodiment involves the distance measuring sensor 8 and the anti-collision box 81 extending into the material distribution pipe 7 for measurement during the initial distance measurement. During the subsequent filling operation, the distance measuring sensor 8 and the anti-collision box 81 are moved radially along the material distribution pipe 7 to the outside of the upper pipe structure 721 and the inside of the first funnel structure 732, thereby more effectively reducing the obstruction of the distance measuring sensor 8 and the anti-collision box 81 to the stone and further improving the service life of the distance measuring sensor 8 and the anti-collision box 81.

[0076] More preferably, the distance sensor 8 and the anti-collision box 81 are driven to move radially along the fabric tube 7 via a gear and rack mechanism. The rack 85 is connected to both the distance sensor 8 and the anti-collision box 81 via a cylindrical support 86. The rack 85 is arranged radially along the fabric tube 7. A motor capable of operating underwater drives the gear 84 to rotate, causing the gear 84 and rack 85 to engage. Holes are formed in the side wall of the fabric tube 7, and a pipe fitting structure 87 with a diameter adapted to the hole is welded to the outside of the holes. The engagement of the gear 84 and rack 85 drives the cylindrical support 86 to move radially relative to the pipe fitting structure 87 along the fabric tube 7, thereby enabling both the distance sensor 8 and the anti-collision box 81 to move radially along the fabric tube 7.

[0077] The underwater leveling layer thickness monitoring and recording device described in this embodiment has an opening on the side wall of the lower part of the leveling machine's material distribution pipe 7 and an anti-collision box 81 is installed therein. A ranging sensor 8 with underwater ranging function is installed inside 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 material distribution pipe 7 and led out of the water surface along the material distribution pipe 7 and connected to the signal receiver of the working platform.

[0078] After the screed completes its underwater positioning, it is adjusted to a suitable elevation. Then, the material placement pipe 7 moves, and 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 water surface of the screed. The data is displayed on the operating interface. By moving the screed, water depth information is continuously collected, and finally a chart with position and water depth information is generated. This allows the thickness of the underwater screed layer to be determined, which can guide the control of the volume of stone and the selection of specifications during subsequent screed placement.

[0079] Example 2

[0080] like Figure 1-20 As shown in the figure, 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 embodiment 1, and the material distribution pipe 7 can move laterally and longitudinally.

[0081] In a preferred embodiment, the multi-degree-of-freedom adjustable underwater leveling machine includes a first main frame 2 and a second main frame 1. The first main frame 2 and the second main frame 1 achieve walking motion of the underwater leveling machine through at least four first vertical lifting legs 31 and at least four second vertical lifting legs 32, wherein:

[0082] The first main frame 2 includes two spaced-apart first longitudinal beams 22, and a first crossbeam 21 is connected between the ends of the two first longitudinal beams 22 on the same side. The first crossbeam 21 and the first longitudinal beam 22 form a circle.

[0083] The second main frame 1 includes four arrayed end structures 13. A second longitudinal beam 12 is connected between adjacent end structures 13 along the longitudinal direction, and a second transverse beam 11 is connected between adjacent end structures 13 along the transverse direction. The second longitudinal beam 12 is sleeved on the outside of the corresponding first longitudinal beam 22, and the first longitudinal beam 22 can move relative to the second longitudinal beam 12 along the length direction. The first transverse beam 21 is located outside the second transverse beam 11, preferably arranged in parallel.

[0084] The end structure 13 has a first hole 131 extending through the length of the first longitudinal beam 22. A transverse frame 33 is provided in the first hole 131 and is fitted onto 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 of the second crossbeam 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 a key and groove engagement.

[0085] At least four first vertical lifting outriggers 31 are supported and connected to the second main frame 1;

[0086] At least four second vertical lifting outriggers 32 are supported and connected to the first main frame 2.

[0087] Preferably, the second longitudinal beam 12 is arranged along the opening direction of the first hole 131.

[0088] like Figure 21 and 22 As shown, in a preferred embodiment, the underwater leveling machine with multi-degree-of-freedom adjustable underwater leveling layer thickness monitoring and recording device includes the following steps during construction:

[0089] S1. The ranging sensor 8 moves along the horizontal and vertical directions of the leveling machine, and the ranging sensor 8 collects water depth information in real time to form a correspondence between the working plane position of the leveling machine and the water depth information.

[0090] S2. Based on the correspondence between the working plane position of the leveling machine and the water depth information, the required leveling layer thickness at each position of the working plane of the leveling machine is obtained;

[0091] S3. Determine the specifications and volume of filling stones for each location based on the required leveling layer thickness;

[0092] S4. Return the placing pipe 7 to its initial position, and fill the placing pipe 7 with stones in sequence according to the determined filling stone specifications and volume at each position, and perform leveling operations.

[0093] like Figure 22 More preferably, the working plane of the leveling machine is divided into multiple areas, and the water depth information of each area is collected in real time by the distance sensor 8. After being collected, a correspondence table of the working plane position and water depth information of the leveling machine is formed.

[0094] In a preferred manner, when the leveling layer thickness is 30-40cm, the stone material is 8-15cm two-piece stone; when the leveling layer thickness is 20-30cm, the stone material is a mixture of 8-15cm two-piece stone and 20-40mm crushed stone; and when the base bed leveling thickness is 1-10cm, the stone material is 20-40mm crushed stone.

[0095] The multi-degree-of-freedom adjustable underwater leveling machine described in this application, when in use, by setting a transverse frame 33 between the end structure 13 and the first longitudinal beam 22, and based on the sliding cooperation between the first longitudinal beam 22 and the transverse frame 33 along the length direction of the first longitudinal beam 22, the relative movement between the first longitudinal beam 22 and the end structure 13 in the longitudinal direction is realized, thereby achieving the purpose of the first vertical lifting leg 31 and the second vertical lifting leg 32 walking movement;

[0096] Furthermore, based on the sliding engagement 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 the first vertical lifting leg 31 and the second vertical lifting leg 32 moving in a step-like manner or correcting deviation along the length direction of the first hole 131.

[0097] By using the first longitudinal beam 22 to house the transverse frame 33, and the transverse frame 33 to house the end structure 13, the transverse frame 33 is used to replace the transition frame of the existing walking leveling machine, thereby effectively reducing the overall weight of the transverse and longitudinal walking mechanism.

[0098] The second longitudinal beam 12 has a first through hole 121 corresponding to the first hole 131, and the first longitudinal beam 22 passes through the first hole 131 and the first through hole 121 on the corresponding side. Based on the sliding engagement of the transverse frame 33 with the end structure 13 along the radial direction of the first hole 131, the first longitudinal beam 22 is inserted into the second longitudinal beam 12, so that the first longitudinal beam 22 and the second longitudinal beam 12 form an inner and outer nested relationship, which effectively reduces the overall horizontal arrangement space formed by the first longitudinal beam 22 and the second longitudinal beam 12, so that the lateral dimensions of the bidirectional walking underwater leveling machine can be made smaller.

[0099] In a preferred embodiment, the second longitudinal beam 12 is preferably a truss structure with open ends. While ensuring the second longitudinal beam 12 meets design stiffness and strength requirements, its self-weight is further reduced, contributing to the lightweight design of the bidirectional underwater leveling machine of this application. Simultaneously, since the second longitudinal beam 12 is fitted outside the first longitudinal beam 22, its lateral and height dimensions are larger than the first longitudinal beam 22, thus enabling the second longitudinal beam 12 to be constructed as a truss structure.

[0100] In a specific preferred embodiment, the transverse frame 33 is partially or entirely located within the first hole 131.

[0101] In a preferred embodiment, the second crossbeam 11 is detachably connected to the end structure 13 via a bolt assembly.

[0102] In a preferred embodiment, the transverse frame 33 is provided with a second hole 331 adapted to the first longitudinal beam 22 along the opening direction of the first hole 131. The first longitudinal beam 22 passes through the second hole 331 and slides with the second hole 331. This allows for relative movement between the first longitudinal beam 22 and the transverse frame 33 along the opening direction of the first hole 131. Simultaneously, the adaptation of the first longitudinal beam 22 to the second hole 331 ensures that the second hole 331 provides a limiting effect on the first longitudinal beam 22 radially along the first hole 131.

[0103] In a preferred embodiment, a limiting structure is provided between the transverse frame 33 and the end structure 13. This limiting structure restricts the transverse frame 33 from sliding relative to the end structure 13 along the length direction of the first hole 131, but does not restrict the transverse frame 33 from sliding relative to the end structure 13 radially along the first hole 131. However, when the first longitudinal beam 22 moves relative to the transverse frame 33 along the length direction of the first hole 131, no relative movement occurs between the transverse frame 33 and the end structure 13, or the relative displacement is very small [due to assembly and manufacturing errors].

[0104] In a preferred embodiment, one side of the first hole 131 has a first sidewall 132, and the transverse frame 33 has a first gap 114 with the first sidewall 132. The transverse telescopic mechanism 4 can drive the transverse frame 33 away from or towards the first sidewall 132, so as to achieve the purpose of the transverse frame 33 slidingly engaging with the end structure 13 radially along the first hole 131. At the same time, the two opposing sidewalls on both sides of the first hole 131 [one of which is the first sidewall 132] also have a limiting effect on the transverse frame 33.

[0105] In a preferred embodiment, the first hole 131 is a rectangular cavity, and the end structure 13 further includes a bottom sidewall 133, a second sidewall 134, and a top sidewall 135. The first sidewall 132, the bottom sidewall 133, the second sidewall 134, and the top sidewall 135 form the first hole 131, which facilitates manufacturing and installation.

[0106] In a preferred embodiment, the net height of the first hole 131 is adapted to the height of the transverse frame 33 to increase the stability of the transverse frame 33 when it moves relative to the end structure 13.

[0107] The lateral telescopic mechanism 4 is connected between the end structure 13 and the transverse frame 33. The lateral telescopic mechanism 4 can extend and retract along the length of the second crossbeam 11. The lateral telescopic mechanism 4 is preferably a telescopic hydraulic cylinder or a pneumatic cylinder. The lateral telescopic mechanism 4 can drive the transverse frame 33 to reciprocate relative to the end structure 13.

[0108] More preferably, the lateral telescopic mechanism 4 can drive the lateral frame 33 away from or closer to the first sidewall 132.

[0109] In a preferred embodiment, a first transverse support gantry 42 is provided outside the first transverse through-hole 136. One end of the transverse telescopic mechanism 4 is connected to the root of the first transverse support gantry 42, and the other end passes through the first through-hole 211 and is connected to the transverse frame 33. By using the first transverse support gantry 42 outside the first transverse through-hole 136 as a telescopic support force-bearing component between the transverse frame 33 and the end structure 13, compared to directly setting the transverse telescopic mechanism 4 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 weight of the transverse and longitudinal walking mechanism.

[0110] In a preferred embodiment, the first transverse support gantry 42 is detachably connected to the outer wall of the end structure 13 via pins and / or bolts. This facilitates installation and transportation, as well as the installation and commissioning of the transverse telescopic mechanism 4.

[0111] In a preferred embodiment, a first transverse support 41 is connected to the transverse frame 33, the first transverse support 41 is located within the first gap 114, and the transverse telescopic mechanism 4 is connected to the first transverse support 41.

[0112] The longitudinal telescopic mechanism 5 is connected between the second main frame 1 and the transverse frame 33. The longitudinal telescopic mechanism 5 can extend and retract along the length direction of the first longitudinal beam 22. The longitudinal telescopic mechanism 5 drives the first longitudinal beam 22 to slide and engage with the transverse frame 33 along the length direction of the first hole 131. The longitudinal telescopic mechanism 5 is preferably a telescopic hydraulic cylinder or a pneumatic cylinder.

[0113] 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 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 within the first gap 114.

[0114] A first transverse through hole 136 is provided on the side wall of the first hole 131 away from the first crossbeam 21. A first transverse support frame 42 is provided outside the first transverse through hole 136. One end of the transverse telescopic mechanism 4 is connected to the first transverse support frame 42, and the other end passes through the first through hole 211 and is connected to the transverse frame 33.

[0115] In a preferred embodiment, the first longitudinal beam 22 is provided with a first vertical through hole 221, and the second vertical lifting outrigger 32 includes a second vertical telescopic mechanism 321 and a second vertical support gantry 223 disposed above the first vertical through hole 221. The second vertical support gantry 223 is detachably connected to the first longitudinal beam 22 by a pin or bolt group. The upper end of the second vertical telescopic mechanism 321 is connected to the second vertical support gantry 223, and the lower end is vertically slidably engaged with the first vertical through hole 221. The second vertical telescopic mechanism 321 is preferably a hydraulic cylinder.

[0116] In a preferred embodiment, 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 component between the second vertical lifting leg 32 and the first longitudinal beam 22. Compared with a direct connection between the second vertical lifting leg 32 and the first longitudinal beam 22, this method can effectively lower the center of gravity of the first longitudinal beam 22 with less increase in structural weight, thereby effectively lowering the center of gravity of the entire structure formed by the end structure 13, the transverse frame 33 and the first longitudinal beam 22, resulting in better stability of the transverse and longitudinal walking mechanism.

[0117] In a preferred embodiment, a support beam 14 protrudes from one side of the second crossbeam 11 near the first crossbeam 21, and the support beam 14 has 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, and the lower end is vertically slidingly engaged with the second vertical through hole 141. The first vertical telescopic mechanism 311 is preferably a hydraulic cylinder.

[0118] The second vertical lifting leg 32 and the first vertical lifting leg 31 preferably have the same structure.

[0119] Preferably, a support telescopic structure is provided between the second longitudinal beam 12 and the first longitudinal beam 22. The support telescopic structure is located in the middle of the second longitudinal beam 12. When the first longitudinal beam 22 and the second longitudinal beam 12 move relative to each other, the support telescopic structure disengages from either the second longitudinal beam 12 or the first longitudinal beam 22, so as not to interfere with the relative movement between the first longitudinal beam 22 and the second longitudinal beam 12. When the second longitudinal beam 12 and the first longitudinal beam 22 are relatively stationary, the support telescopic structure extends and retracts, supporting 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 each other in the lateral and vertical directions and become an integral unit. It cooperates with the lateral telescopic mechanism 4 and the longitudinal telescopic mechanism 5 to jointly increase the stability of the bidirectional walking underwater leveling machine. The support telescopic structure includes hydraulic cylinders that are connected circumferentially along the first longitudinal beam 22 and are evenly arranged on the outer wall of the first longitudinal beam 22.

[0120] In a preferred embodiment, the height of the first crossbeam 21 is adapted to the height of the first longitudinal beam 22; the height of the second crossbeam 11 is higher than the height of the first crossbeam 21; and the height of the second longitudinal beam 12 is adapted to the height of the second crossbeam 11. Based on the sequential arrangement of the first longitudinal beam 22, the transverse frame 33, and the end structure 13, with the end structure 13 being higher than the first longitudinal beam 22, adapting the height of the first crossbeam 21 to the height of the second crossbeam 11 results in a more uniform lateral and longitudinal stress, stiffness, and load-bearing capacity in the frame structure formed by the first crossbeam 21 and the first longitudinal beam 22. This allows for better lateral and longitudinal stability while reducing the weight of the bidirectional underwater leveling machine. Similarly, adapting the height of the second longitudinal beam 12 to the height of the second crossbeam 11 also results in a more uniform lateral and longitudinal stress, stiffness, and load-bearing capacity in the frame structure formed by the second longitudinal beam 12 and the second crossbeam 11. This allows for better lateral and longitudinal stability while reducing the weight of the bidirectional underwater leveling machine.

[0121] The bidirectional walking underwater leveling machine described in this embodiment further includes a second vertical support gantry 142 disposed on the upper part of the second vertical through hole 141. The cantilever end of the second vertical support gantry 142 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 slides vertically with the second vertical through hole 141.

[0122] In a preferred embodiment, the fabric tube 7 includes an upper feed tube and a lower feed tube:

[0123] The upper feed pipe is connected above the lower feed pipe, and a first channel is formed between the upper feed pipe and the lower feed pipe;

[0124] In a preferred embodiment, the upper feed pipe is inserted into the lower feed pipe.

[0125] In a preferred embodiment, the lower feed pipe includes a bottom pipe structure 731 and a first funnel structure 732 connected to the top of the bottom pipe structure 731, wherein the large opening of the first funnel structure 732 faces the upper feed pipe.

[0126] The upper feeding pipe includes an upper pipe structure 721. A plurality of protrusions 722 are arranged circumferentially on the outer wall of the upper pipe structure 721. There is a first gap 723 between adjacent protrusions 722. The outer surface of the protrusions 722 is an inclined surface 724 corresponding to the first funnel structure 732. The lower part of the upper pipe structure 721 is inserted into the bottom pipe structure 731, and there is a second gap 725 between the outer wall of the upper pipe structure 721 and the inner wall of the bottom pipe structure 731, which is connected to the first gap 723.

[0127] The bottom tube structure 731 and the first funnel structure 732 are welded together, and a first connecting rib plate 733 is welded between the outer wall of the bottom tube structure 731 and the outer wall of the first funnel structure 732. A plurality of lower lifting lugs 734 are connected to the top outer wall of the first funnel structure 732, and all the lower lifting lugs 734 are arranged around the first funnel structure 732.

[0128] All of the lower lugs 734 are located near the large opening end of the first funnel structure 732.

[0129] In a preferred embodiment, the upper feed pipe further includes a second funnel structure 726 sleeved on the outside of the upper pipe structure 721. The second funnel structure 726 faces the first funnel structure 732 and can cover the large opening end of the first funnel structure 732. The first funnel structure 732 and the second funnel structure 726 are connected by a third gap 741 with a first gap 723. The third gap 741, the first gap 723 and the second gap 725 form the first channel.

[0130] The upper tube structure 721 has a first block 720 located on the outer side of the lower part of the first funnel structure 732. At least one side of the first block 720 can laterally abut against the inner wall of the bottom tube structure 731. This is to increase the connection stability between the upper tube structure 721 and the lower feed tube.

[0131] In a preferred embodiment, the upper tube structure 721 further includes at least two upper tube sections 727 that are detachably connected in sequence along the length of the upper tube structure 721, and the second funnel structure 726 is located on the lowermost upper tube section 727.

[0132] In a preferred embodiment, the upper tube structure 721 further includes a third funnel structure 728 connected to the top of the upper tube structure 721, with the larger end of the third funnel structure 728 facing upwards.

[0133] In a preferred embodiment, the material distribution pipe 7 further includes a hopper with an opening at the bottom and a material gate at the opening. The material gate can be closed or opened, and can be opened when the material gate presses down vertically on the third funnel structure.

[0134] The hopper is equipped with a vertically oriented spiral structure that leads to an opening. This spiral structure is detachably connected to the hopper. This design reduces the impact of materials on the hopper gate, preventing excessive deformation that could prevent the gate from opening.

[0135] In a preferred embodiment, the fabric tube 7 is movable along the length of the first longitudinal beam 22 and also along the length of the first transverse beam 21, as specifically preferred below:

[0136] The lower feeding pipe is connected to a longitudinal moving mechanism 9, which can drive the feeding pipe 7 to move along the length of the first longitudinal beam 22.

[0137] In a preferred embodiment, the longitudinal moving mechanism 9 includes a longitudinal support 91, a material tube support 92, and a longitudinal driving mechanism 93, wherein: the material tube support 92 is connected to the material distribution tube 7; the longitudinal support 91 includes two parallel longitudinal support rails 911 spaced apart, the material tube support 92 is located between the two longitudinal support rails 911, and the material tube support 92 and the two longitudinal support rails 911 are in rolling engagement via longitudinal rollers 920; the material distribution tube 7 is supported on the material tube support 92, and the longitudinal driving mechanism 93 is mounted on the material tube support 92. Preferably, the longitudinal driving mechanism 93 includes a first drive motor 931 and a meshing first gear 932 and a first rack 933, the first drive motor 931 driving the first gear 932 to rotate. This allows the material tube support 92 to move relative to the longitudinal support rails 911 along the length direction of the longitudinal support rails 911. Specifically, preferably, the material tube support 92 is connected to the lower material distribution tube.

[0138] Preferably, the material pipe support 92 is sleeved and connected to the outside of the material distribution pipe 7.

[0139] In a preferred embodiment, the lower feed pipe moves laterally relative to the second crossbeam 11 via a lateral moving mechanism.

[0140] In a preferred embodiment, the lateral movement mechanism includes a second drive motor 984, a meshing second gear 982 and a second rack, and two parallel transverse rails 981 mounted on the second crossbeam 11. Both the second rack and the transverse rails 981 are mounted on the second crossbeam 11 and are arranged along the length of the second crossbeam 11. The second drive motor 984 drives the second gear 982 to mesh and rotate with the second rack. The second gear 982 is connected to the end of the longitudinal support 91 along the length of the longitudinal support rail 911. A transverse roller 986 is provided at the end of the longitudinal support 91, and the transverse roller 986 rolls in cooperation with the transverse rails 981.

[0141] When a longitudinal support 91 is provided, the lateral movement mechanism drives the longitudinal support 91 and the second crossbeam 11 to move laterally, thereby achieving the purpose of the lower feed pipe moving laterally relative to the second crossbeam 11.

[0142] The lateral movement mechanism includes a meshing second gear 982 and a second rack, as well as two parallel lateral rails 981 mounted on the second crossbeam 11, and a second drive motor 984, which drives the second gear 982 to mesh and rotate with the second rack.

[0143] Preferably, the second drive motor 984 has output shafts 985 connected to both ends, and the output shafts 985 are connected to the second gear 982 at the end near the second crossbeam 11. The second crossbeam 11 has a second rack along its length, and the second gear 982 meshes with the second rack on the corresponding side.

[0144] In a preferred embodiment, a compressed air drainage chamber 112 is provided inside the second crossbeam 11 for leveling the bidirectional underwater screed and controlling its buoyancy and descent. Simultaneously, integrating the second crossbeam 11 and the compressed air drainage chamber 112 reduces the overall weight of the transverse and longitudinal walking mechanism.

[0145] like Figure 20 As shown, at least two compressed air drainage chambers 112 are provided inside the second crossbeam 11. A partition 1121 is provided between adjacent compressed air drainage chambers 112. A water passage hole 1122 is provided on the partition 1121. An inlet / outlet 1123 is provided at the bottom of each compressed air drainage chamber 112. Preferably, a sealing door can be provided at the inlet / outlet 1123, which can be controlled to open or close the inlet / outlet 1123, for example, using a waterproof electronic switch. Alternatively, a sealing door can be omitted at the inlet / outlet 1123.

[0146] The compressed air drainage chamber 112 is used to level the multi-degree-of-freedom adjustable underwater leveler underwater and to control the floating and sinking of the multi-degree-of-freedom adjustable underwater leveler.

[0147] Two spaced-apart second crossbeams 11 are provided, and a compressed air drainage chamber 112 is provided inside the second crossbeam 11. Since the compressed air drainage chamber 112 is provided inside the second crossbeam 11, the second crossbeam 11 and the compressed air drainage chamber 112 are integrated into one unit, thereby achieving the purpose of reducing the weight of the underwater leveling machine.

[0148] 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 185t total weight of the existing walking leveling machine.

[0149] Buoyancy Explanation: Six compressed air drainage chambers 112 are arranged on each of the two second crossbeams 11, for a total of 12 compressed air drainage chambers 112 in the whole machine; the maximum buoyancy generated by the two second crossbeams 11 is about 50t; both the first longitudinal beam 22 and the first crossbeam 21 are equipped with sealed chambers, so that the first longitudinal beam 22 and the first crossbeam 21 can be used as pontoons, each generating about 20t of buoyancy. The total buoyancy generated by the second crossbeams 11, the first longitudinal beam 22 and the first crossbeam 21 is greater than the total weight of the multi-degree-of-freedom adjustable underwater leveler, while the total buoyancy generated by the first longitudinal beam 22 and the first crossbeam 21 is less than the total weight of the multi-degree-of-freedom adjustable underwater leveler.

[0150] In the above situation, the explanation for the whole machine sinking to the bottom and buoyancy assisting to rise from the water is as follows:

[0151] 1. Before lifting and launching the machine, the overall status is as follows: the measuring tower 6 is laid down, the first longitudinal beam 22, the placing pipe 7, the lateral moving mechanism, and the longitudinal moving mechanism 9 are all in the center position, the main hook of the crane is attached to the four lifting points on the two second crossbeams 11, and the auxiliary hook of the crane is attached to the placing pipe 7. The whole machine is lifted to the designated position and placed on the water surface. The slings are loosened. 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 chamber 112 of each second crossbeam 11 is opened symmetrically to observe the water level of the whole machine. When the leveling machine sinks, the exhaust valve is closed. The crane is operated to slowly release the hook until the leveling machine sinks to the bottom. After all the exhaust valves are opened to allow water to enter the compressed air drainage chamber 112, the operator controls the erection of the measuring tower 6 through the control box to carry out the subsequent measurement, positioning and leveling operations.

[0152] 2. When the whole machine needs to drain water, the measuring tower 6 is lowered. First, the upper and lower feed pipes of the material distribution pipe 7 are lifted off separately. Then, the hook is attached to the slings of the four lifting points of the leveling machine. At the same time, the air inlet valve of one compressed air drainage chamber 112 of each second crossbeam 11 is opened symmetrically to compress air. After one chamber is drained, the current valve is closed. Then, the air inlet valve of the next compressed air drainage chamber 112 of each crossbeam is opened symmetrically. The operation is repeated. During the drainage process, the crane's lifting weight display screen is observed. When the displayed lifting weight drops to the target value range, the exhaust valve is closed. The hook is raised until the whole machine floats out of the water.

[0153] The top of the measuring tower 6 is equipped with a GPS or Beidou positioning system.

[0154] The measuring tower 6 described in this embodiment is installed on the end structure 13. During transportation, the measuring tower 6 is positioned horizontally, effectively reducing its impact on the center of gravity and eccentricity of the underwater screed during transport. Then, during launching, the measuring tower is rotated from horizontal to vertical to suit the construction conditions. By rotating the measuring tower from horizontal to vertical, the safety of transporting the underwater screed is effectively improved while adapting to the construction conditions. Simultaneously, during transportation or launching, the slight oscillation of the measuring tower 6 can be used to fine-tune the center of gravity of the underwater screed using multiple degrees of freedom, making construction safer.

[0155] 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 separates 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.

[0156] Preferred method 1: also includes the following steps for launching a multi-degree-of-freedom adjustable underwater leveler: installing the multi-degree-of-freedom adjustable underwater leveler; setting up a crane on a platform on the seaward side of the multi-degree-of-freedom adjustable underwater leveler; lifting the multi-degree-of-freedom adjustable underwater leveler with the crane and rotating it to the seaward side of the crane; and lowering the multi-degree-of-freedom adjustable underwater leveler into the water.

[0157] Preferred method 2: This also includes a step of launching the multi-degree-of-freedom adjustable underwater screed: Based on a first platform and a slope located on one side of the material discharge pipe at the bottom of the first platform, the slope extends to the bottom of the water. The multi-degree-of-freedom adjustable underwater screed is installed on the material discharge pipe at the bottom of the first platform. The multi-degree-of-freedom adjustable underwater screed descends the slope using the methods described in steps S1-S5 until it reaches the construction position. Steps are provided on the slope, and the first vertical lifting leg 31 and the second vertical lifting leg 32 can be supported on these steps. This ensures that when the multi-degree-of-freedom adjustable underwater screed is launched or submerged on the slope, the first vertical lifting leg 31 and the second vertical lifting leg 32 remain vertically positioned, preventing them from tilting and supporting the multi-degree-of-freedom adjustable underwater screed. This effectively optimizes the stress on the first vertical lifting leg 31 and the second vertical lifting leg 32, extending their service life.

[0158] In a preferred embodiment, before construction, the following installation steps for the multi-degree-of-freedom adjustable underwater leveling machine are included: B1. Prepare the site for assembly; transport the components of the walking underwater leveling machine to the installation site, while taking into account the working conditions at the installation site to avoid the hydraulic system and electrical control system being submerged in seawater due to the rise and fall of the tide. B2. Assemble the second crossbeam 11, and install end structures 13 and transverse frames 33, as well as the first vertical lifting leg 31 and the transverse telescopic mechanism 4 at both ends of the second crossbeam 11; B3. Install the second longitudinal beam 12, connecting both ends of the second longitudinal beam 12 to the end structures 13; B4. Install the first longitudinal beam 22, which passes through the second 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 crossbeam 21 between adjacent first longitudinal beams 22, the first crossbeam 21... Located outside the second crossbeam 11; B6. Install a material distribution pipe 7, a longitudinal moving mechanism 9, and a lateral moving mechanism between the two second crossbeams 11. The longitudinal moving mechanism 9 can drive the material distribution pipe 7 to move along the length direction of the first longitudinal beam 22; the lateral moving mechanism can drive the longitudinal moving mechanism 9 to move laterally relative to the second crossbeam 11 along the length direction of the second crossbeam 11; B7. Install a 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.

[0159] like Figure 11-13 As shown in this embodiment, a multi-degree-of-freedom adjustable underwater leveling machine has a measuring tower 6 and a drive mechanism 61 mounted on the top of at least two end structures 13 on the same side. The drive mechanism 61 can rotate the measuring tower 6 from horizontal to vertical, and vice versa. During transportation or launching, setting the measuring tower 6 to a horizontal position effectively reduces the impact of the measuring tower 6 on the center of gravity and eccentricity of the underwater leveling machine during transportation. Then, during launching, the measuring tower is rotated from horizontal to vertical to suit construction conditions. By rotating the measuring tower from horizontal to vertical, the safety of transporting the underwater leveling machine is effectively improved while adapting to construction conditions.

[0160] In a preferred embodiment, part of the end structure 13 is fitted with a bracket 62 that is hinged to the measuring tower 6, and one end of the drive mechanism 61 is connected to the second longitudinal beam 12, and the other end is connected to the measuring tower 6.

[0161] In a preferred embodiment, the drive mechanism 61 includes a first telescopic member, which is subjected to tension during the rotation of the measuring tower 6 from horizontal to vertical and from vertical to horizontal. The first telescopic member is preferably a telescopic hydraulic cylinder or pneumatic cylinder. This allows for the rotation of the measuring tower 6 to be achieved using a first telescopic member with a smaller diameter, reducing the weight of the underwater leveling machine.

[0162] In a preferred embodiment, the drive mechanism 61 includes a first telescopic member, and the bracket 62 includes bracket units 621 arranged radially at intervals along the second longitudinal beam 12. Each bracket unit 621 is mounted on the top of the end structure 13, and there is a gap 622 between two bracket units 621. A rotating shaft 63 that rotatably engages with the measuring tower 6 is connected between the two bracket units 621. One end of the first telescopic member is hinged to the measuring tower 6, and the other end of the first telescopic member passes through the gap and is hinged to the second longitudinal beam 12.

[0163] In a preferred embodiment, the second longitudinal beam 12 is a truss structure, comprising an upper chord 122, a lower chord 123, a vertical member 124, a first diagonal web member 125, and a second diagonal web member 126. A transverse beam 127 is provided at the first node 128 of the upper chord 122, where the vertical member 124, the first diagonal web member 125, and the second diagonal web member 126 converge. The transverse beam 127 is connected to the first telescopic member.

[0164] By setting the connection point between the first telescopic member and the second longitudinal beam 12 at the first node 128, and by gathering the vertical rod 124, the first diagonal web member 125 and the second diagonal web member 126 at the first node 128, the second longitudinal beam 12, as a truss structure, can still meet the tensile stress 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.

[0165] In a preferred embodiment, the support unit 621 is a truss structure; the measuring tower 6 is composed of multiple truss sections spliced ​​together sequentially.

[0166] In one preferred embodiment, the other end structure 13 is provided with a support frame 64 protruding upward at its top. When the measuring tower 6 is arranged horizontally, the support frame 64 is capable of supporting the measuring tower 6.

[0167] In one preferred embodiment, the drive mechanism 61 is capable of driving the measuring tower 6 to rotate about the length of the second crossbeam 11.

[0168] In a preferred embodiment, the bidirectional walking underwater leveling machine of this application further includes spaced-apart supports 62 with a gap between them. A rotating shaft 63 is connected between the supports 62. The measuring tower 6 is rotatably engaged with the rotating shaft 63. One end of the driving mechanism 61 is connected to the measuring tower 6, and the other end of the driving mechanism 61 passes through the gap and is connected to the second longitudinal beam 12.

[0169] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An underwater leveling layer thickness monitoring and recording device, characterized in that, include: The material distribution pipe (7) is used as a vertical channel for stone materials and is installed on the underwater leveling machine; The distance sensor (8) is installed inside the fabric tube (7) and measures distance downwards; The anti-collision box (81) is installed inside the fabric tube (7), and the anti-collision box (81) is at least partially located above the ranging sensor (8); The signal receiver (82) is located above the water surface. The ranging sensor (8) is connected to a first line (83). The first line (83) includes a power line and a signal line. The first line (83) is tied to the fabric tube (7) and led upward to the water surface. The upper end of the signal line is connected to the signal receiver (82). The anti-collision box (81) and the distance sensor (8) are both located inside the fabric tube (7); The top of the anti-collision box (81) is inclined, and the part of it near the inner wall of the fabric tube (7) is higher than the part near the middle of the fabric tube (7); The fabric tube (7) includes an upper feed tube (72) and a lower feed tube (73) located below the upper feed tube (72). The upper feed tube (72) and the lower feed tube (73) are inserted into each other. A first channel (74) is provided between the upper feed tube (72) and the lower feed tube (73). The power line and signal line extend from the outside of the fabric tube (7) into the inside of the fabric tube (7) through the first channel (74). The lower feed pipe (73) includes a bottom pipe structure (731) and a first funnel structure (732) connected to the top of the bottom pipe structure (731). The first funnel structure (732) is arranged with its large opening facing upwards. The upper feed pipe (72) includes an upper pipe structure (721) and a second funnel structure (726) sleeved on the outside of the upper pipe structure (721). The outer wall of the upper pipe structure (721) is circumferentially arranged with several protrusions (722). There is a first gap (723) between adjacent protrusions (722). The outer surface of the protrusions (722) is an inclined surface (724) corresponding to the first funnel structure (732). The upper pipe structure (731) is arranged with its large opening facing upwards. 21) The lower part is inserted into the bottom tube structure (731), and there is a second gap (725) between the outer wall of the upper tube structure (721) and the inner wall of the bottom tube structure (731); the large end of the second funnel structure (726) faces the first funnel structure (732) and can cover the large end of the first funnel structure (732); there is a third gap (741) 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) are interconnected to form the first channel (74); the power line and the signal line pass through the third gap (741).

2. The underwater leveling layer thickness monitoring and recording device according to claim 1, characterized in that, The ranging sensor (8) is located inside the anti-collision box (81), and the bottom of the anti-collision box (81) is provided with a through hole, and the ranging sensor (8) is connected to the through hole.

3. The underwater leveling layer thickness monitoring and recording device according to claim 1, characterized in that, A wire hole (88) is provided through the side wall of the upper tube structure (721). The wire hole (88) corresponds to the height of the anti-collision box (81) and is connected to the internal cavity of the anti-collision box (81).

4. The underwater leveling layer thickness monitoring and recording device according to claim 1, characterized in that, The entire assembly formed by the ranging sensor (8) and the anti-collision box (81) can move radially along the fabric tube (7).

5. A multi-degree-of-freedom adjustable underwater leveling machine, characterized in that, Includes the underwater leveling layer thickness monitoring and recording device as described in any one of claims 1-4, wherein the material distribution tube (7) is capable of moving laterally and longitudinally.

6. The multi-degree-of-freedom adjustable underwater leveling machine according to claim 5, characterized in that, It includes a first main frame (2) and a second main frame (1), wherein: The first main frame (2) includes two spaced first longitudinal beams (22), and a first crossbeam (21) is connected between the ends of the two first longitudinal beams (22) on the same side. The second main frame (1) includes four arrayed end structures (13), with a second longitudinal beam (12) connecting adjacent end structures (13) along the longitudinal direction and a second transverse beam (11) connecting adjacent end structures (13) along the transverse direction. The second longitudinal beam (12) is sleeved on the outside of the corresponding side of the first longitudinal beam (22), and the first longitudinal beam (22) can move relative to the second longitudinal beam (12) along the length direction; the second transverse beam (11) is located inside the first transverse beam (21). The end structure (13) has a first hole (131) extending through the length of the first longitudinal beam (22). A transverse frame (33) is provided in the first hole (131). The transverse frame (33) is sleeved on the first longitudinal beam (22) and slides with the first longitudinal beam (22) through a longitudinal telescopic mechanism (5). The transverse frame (33) slides with the end structure (13) along the length of the second cross beam (11) through a transverse telescopic mechanism (4). The transverse frame (33) and the end structure (13) are fixed relative to each other along the direction of the first longitudinal beam (22). 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).

7. The multi-degree-of-freedom adjustable underwater leveling machine according to claim 5, characterized in that, Its construction includes the following steps: S1. The ranging sensor (8) moves along the horizontal and vertical sides of the leveling machine. The ranging sensor (8) collects water depth information in real time, forming a correspondence between the working plane position of the leveling machine and the water depth information. S2. Based on the correspondence between the working plane position of the leveling machine and the water depth information, the required leveling layer thickness at each position of the working plane of the leveling machine is obtained; S3. Determine the specifications and volume of filling stones for each location based on the required leveling layer thickness; S4. Return the material distribution pipe (7) to its initial position, and fill the material distribution pipe (7) with stone according to the determined specifications and volume of the stone for each position and perform leveling operations.

8. The multi-degree-of-freedom adjustable underwater leveling machine according to claim 7, characterized in that, When the leveling layer thickness is 30-40cm, 8-15cm two-piece stones are used as the stone material. When the leveling layer thickness is 20-30cm, a mixture of 8-15cm two-piece stones and 20-40mm crushed stone is used as the stone material. When the base bed leveling thickness is 1-10cm, 20-40mm crushed stone is used as the stone material.

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