Rigid-flexible combined feeding system of underwater leveling machine and underwater leveling machine

Abstract

The invention relates to the technical field of underwater leveling machine construction, in particular to a rigid-flexible combined feeding system of an underwater leveling machine and the underwater leveling machine. The material distribution pipe can move in the transverse direction and the longitudinal direction; a feeding bin is arranged at one end, close to the lower part, of the material conveying device; the upper end of the material guiding hose is connected with the material conveying device, a feeding port of the material guiding hose corresponds to the discharging position of the material conveying device, and the lower end of the material guiding hose extends into the material distributing pipe from the top of the material distributing pipe. According to the rigid-flexible combined feeding system of the underwater leveling machine, on the basis of deformation of the material guide hose, even if a certain deviation exists between the discharging position of the material conveying device and the feeding position of the top of the material distribution pipe in the vertical direction, stone can be accurately conveyed into the material distribution pipe through the material guide hose for material distribution; the difficulty that constructors operate the material conveying device to be vertically aligned with the material distribution pipe is lowered, then the skill requirement for the constructors is effectively lowered, and the labor cost is lowered.

Description

TECHNICAL FIELD

[0001] The present application relates to the underwater screed construction technology field, and particularly relates to a rigid-flexible combined feeding system of an underwater screed and the underwater screed. BACKGROUND

[0002] At present, in the process of underwater operation of the underwater screed, the distribution pipe for falling stone needs to move horizontally and vertically, which makes it difficult to transport the stone into the distribution pipe. At present, feeding is generally carried out through a feeding hopper. Specifically, the stone is loaded into the feeding hopper through an excavator, the feeding hopper is hoisted to above the distribution pipe through a crane, then the bottom of the feeding hopper is opened, so that the stone in the feeding hopper falls into the distribution pipe, then the feeding hopper is hoisted to the vicinity of the excavator through the crane, the excavator loads the stone into the feeding hopper, and the above process is repeated. In the above process, the excavator, the crane and the underwater screed need to be coordinated with each other, which is difficult, and more importantly, the stone can only be intermittently transported into the distribution pipe, which seriously limits the speed of transporting the stone.

[0003] To solve the above problems, technicians in the field began to study an automatic feeding device. However, the discharge port of the automatic feeding device and the top inlet of the distribution pipe need to be strictly vertically corresponding during the movement of the distribution pipe, which increases the requirement for the construction personnel operating the automatic feeding device. SUMMARY

[0004] The present application aims to overcome the deficiency in the background art that the discharge port of the automatic feeding device and the top inlet of the distribution pipe need to be strictly vertically corresponding during the movement of the distribution pipe, which increases the requirement for the construction personnel operating the automatic feeding device, and provides a rigid-flexible combined feeding system of an underwater screed and the underwater screed.

[0005] In a first aspect, the present application provides a rigid-flexible combined feeding system of an underwater screed, comprising: a distribution pipe, which is used to be installed on the underwater screed, the top and bottom of the distribution pipe are both provided with an open structure, and the distribution pipe can move horizontally and vertically along the underwater screed; a feeding conveying device, which is provided in an inclined manner, and one end of the feeding conveying device is provided with a feeding bin; a guide hose, the upper end of which is connected with the feeding conveying device, and the feeding inlet of the guide hose is correspondingly provided with the discharge position of the feeding conveying device, and the lower end of the guide hose extends into the distribution pipe from the top of the distribution pipe.

[0006] The application discloses an underwater leveling machine rigid-flexible combined feeding system, wherein after the stone enters the feeding bin, the stone is obliquely transmitted to a feeding conveying device discharge position by the feeding conveying device, the stone enters a feeding inlet of a guide hose from the feeding conveying device discharge position, and is distributed through the guide hose and a distribution pipe, in the above process, since the lower end of the guide hose extends into the distribution pipe from the top of the distribution pipe, the stone can be accurately conveyed into the distribution pipe for distribution through the guide hose even if there is a certain deviation in the vertical direction between the feeding conveying device discharge position and the top feeding position of the distribution pipe, which greatly reduces the difficulty of the operator in vertically aligning the distribution pipe with the feeding conveying device, and further effectively reduces the skill requirement for the operator and labor cost.

[0007] Preferably, the feeding conveying device comprises a feeding mechanism and a guide hard pipe connected to the front end of the feeding mechanism, the guide hard pipe is connected with the guide hose, the guide hard pipe discharge outlet is in communication with the feeding inlet of the guide hose, and the feeding mechanism is obliquely arranged.

[0008] Preferably, the feeding mechanism and the guide hard pipe are connected through a telescopic support, the telescopic support comprises a connecting frame and a telescopic member which are hingedly connected, one of the connecting frame, the feeding mechanism and the guide hard pipe is fixedly connected, and the other is hingedly connected with the telescopic member, and the feeding bin is arranged on the feeding mechanism, so that the guide hard pipe discharge position can be finely adjusted, and the stone can be more accurately conveyed into the distribution pipe for distribution through the guide hose.

[0009] Preferably, the feeding mechanism and the guide hard pipe are hingedly connected through a first hinged shaft, the connecting frame is fixedly connected with the feeding mechanism, one end of the telescopic member is hingedly connected with the telescopic member through a second hinged shaft, the other end is hingedly connected with the guide hard pipe through a third hinged shaft, and the connecting frame is located below the feeding mechanism.

[0010] Preferably, the underwater leveling machine rigid-flexible combined feeding system further comprises a base, the base is connected with the feeding mechanism, and a front wheel set and a rear wheel set for the base are arranged on the base.

[0011] Preferably, the front wheel set is rotatably arranged relative to the base.

[0012] Preferably, the rear wheel set is rotatably arranged relative to the base.

[0013] Preferably, the feeding mechanism is connected with the base through pitching rotation.

[0014] Preferably, the underwater screed machine rigid-flexible combined feeding system also comprises a telescopic mechanism, the base is hingedly connected to the end of the material conveying mechanism away from the material guide hose, and the telescopic mechanism is hingedly connected between the base and the material conveying mechanism.

[0015] Preferably, the material pipe comprises an upper material pipe and a lower material pipe, the upper material pipe is connected above the lower material pipe, and a first channel is formed between the upper material pipe and the lower material pipe.

[0016] In a second aspect, the present application provides an underwater screed machine comprising the underwater screed machine rigid-flexible combined feeding system, and further comprising a first main frame and a second main frame, wherein: The first main frame comprises two first longitudinal beams arranged at intervals, a first transverse beam is connected between the same side ends of the two first longitudinal beams, and at least four second vertical lifting legs are supported and connected on the first main frame. The second main frame comprises four end structures arranged in an array, along the longitudinal direction, a second longitudinal beam is connected between adjacent end structures, along the transverse direction, a second transverse beam is connected between adjacent end structures, the second longitudinal beam is sleeved outside the corresponding side of the first longitudinal beam, and the first longitudinal beam can move along the length direction relative to the second longitudinal beam; the second transverse beam is located inside the first transverse beam, and at least four first vertical lifting legs are supported and connected on the second main frame. The end structure is provided with a first hole penetrating along the length direction of the first longitudinal beam, a transverse moving frame is arranged in the first hole, the transverse moving frame is sleeved on the first longitudinal beam and is in sliding cooperation with the first longitudinal beam through a longitudinal telescopic mechanism, the transverse moving frame is in sliding cooperation with the end structure along the length direction of the second transverse beam through a transverse telescopic mechanism, and the transverse moving frame and the end structure are relatively fixed along the first longitudinal beam. A transverse moving mechanism is arranged between adjacent second transverse beams, a longitudinal moving mechanism is arranged on the transverse moving mechanism, the transverse moving mechanism is used for driving the material pipe to move transversely, and the longitudinal moving mechanism is used for driving the material pipe to move longitudinally.

[0017] The underwater screed machine provided by the application achieves the purpose of step-by-step movement of the first vertical lifting leg and the second vertical lifting leg by setting a transverse frame between the end structure and the first longitudinal beam, based on the sliding fit of the first longitudinal beam and the transverse frame along the length direction of the first longitudinal beam, to achieve the relative movement of the first longitudinal beam and the end structure along the length direction, and achieves the purpose of step-by-step movement or deviation correction of the first vertical lifting leg and the second vertical lifting leg along the length direction of the first hole by achieving the relative movement of the first longitudinal beam and the end structure along the radial direction of the first hole based on the sliding fit of the first longitudinal beam and the end structure along the radial direction of the first hole, and the transverse frame is used to replace the transition frame of the existing step-by-step screed machine, so that the overall weight of the transverse and longitudinal step-by-step mechanism is effectively reduced.

[0018] Compared with the prior art, the application has the following beneficial effects: The stone enters the feeding bin and is inclined and transmitted to the discharging position of the material conveying device, and then enters the feeding port of the material guide hose and is distributed through the distribution pipe, and in the above process, the lower end of the material guide hose extends into the distribution pipe from the top of the distribution pipe, and based on the deformation of the material guide hose, even if there is a certain deviation in the vertical direction between the discharging position of the material conveying device and the feeding position of the top of the distribution pipe, the stone can be accurately conveyed into the distribution pipe for distribution through the material guide hose, which greatly reduces the difficulty of the operator in vertically aligning the distribution pipe with the material conveying device, thereby effectively reducing the skill requirement for the operator and reducing the labor cost. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 The application is a schematic diagram of the arrangement of the underwater screed machine rigid-flexible combined feeding system on the underwater screed machine (the distribution pipe is at the middle part).

[0020] Figure 2 The application is a schematic diagram of the arrangement of the underwater screed machine rigid-flexible combined feeding system on the underwater screed machine (the distribution pipe is at the end part).

[0021] Figure 3 The application is a top view schematic diagram of the underwater screed machine rigid-flexible combined feeding system.

[0022] Figure 4 The application is a rear wheel group structure schematic diagram.

[0023] Figure 5 The application is an enlarged schematic diagram of part A. Figure 4

[0024] Figure 6 ​Front wheel group structure schematic diagram of the present application.

[0025] Figure 7 Top view schematic diagram of a bidirectional walking type underwater screed machine of the present application.

[0026] Figure 8 Schematic diagram of cooperation of a material feeding mechanism and longitudinal and transverse moving mechanisms of the present application.

[0027] Figure 9 First main frame structure schematic diagram of the present application.

[0028] Figure 10 Second main frame structure schematic diagram of the present application.

[0029] Figure 11 Schematic diagram of cooperation of a material feeding mechanism and longitudinal and transverse moving mechanisms of the present application. Figure 10 Enlarged schematic diagram of B part.

[0030] Figure 12 Structure schematic diagram of a bidirectional walking type underwater screed machine of the present application.

[0031] Figure 13 Schematic diagram of cooperation of a material feeding mechanism and longitudinal and transverse moving mechanisms of the present application. Figure 12 Enlarged schematic diagram of A part.

[0032] Figure 14 Schematic diagram of setting of a second vertical lifting leg of the present application.

[0033] Figure 15 Schematic diagram of setting of a first vertical lifting leg of the present application.

[0034] Figure 16 Front view schematic diagram of a measuring tower structure of the present application.

[0035] Figure 17 Left view schematic diagram of a measuring tower structure of the present application.

[0036] Figure 18 Schematic diagram of setting of a measuring tower of the present application during construction of an underwater screed machine.

[0037] Figure 19 First block arrangement schematic diagram of the present application.

[0038] Figure 20 Structure schematic diagram of a lower material feeding pipe of the present application.

[0039] Figure 21 Schematic diagram of cooperation of an upper material feeding pipe and a lower material feeding pipe of the present application.

[0040] Figure 22 Second cross beam longitudinal section schematic diagram of the present application. DETAILED DESCRIPTION

[0041] The application will be described in further detail below with reference to the embodiments. However, it should be understood that the scope of the above subject matter of the application is not limited to the following embodiments, and any technology achieved based on the content of the application falls within the scope of the application.

[0042] In the description of the embodiments of the application, the terms of orientation or positional relationship such as "upper", "lower", "left", "right", "center", "inner", "outer", etc. are expressed based on the orientation or positional relationship shown in the drawings or the orientation or positional relationship in which the product / device / apparatus of the application is usually placed, unless otherwise specified. These terms of orientation or positional relationship are only used for the convenience of describing the application scheme or simplifying the description in the embodiments, for the convenience of the technicians to quickly understand the scheme, and do not indicate or imply that a specific device / component / element must have a specific orientation or be constructed and operated in a specific positional relationship, and therefore cannot be understood as a limitation on the application.

[0043] If the terms "horizontal", "vertical", "suspended", "parallel", etc. are used, it does not mean that the corresponding device / component / element must be absolutely horizontal or vertical or suspended or parallel, but can be slightly inclined or deviated. For example, "horizontal" only means that its direction is relatively more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly inclined. Alternatively, it can be simplified to mean that the corresponding device / component / element is arranged in the direction of "horizontal", "vertical", "suspended", "parallel", etc., and can have an error / deviation of ±10% with respect to the corresponding direction, more preferably an error / deviation of ±8% or less, more preferably an error / deviation of ±6% or less, more preferably an error / deviation of ±5% or less, and more preferably an error / deviation of ±4% or less. As long as the corresponding device / component / element is within the error / deviation range, it can still achieve its role in the scheme of the application.

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

[0045] In addition, in the description of the embodiments of the application, "several", "a plurality of", "several" represent at least 2. It can be 2, 3, 4, 5, 6, 7, 8, 9, etc. in any case, or even more than 9.

[0046] Furthermore, in the description of the technical solutions of the present application, unless otherwise explicitly specified / limited / limited, the terms "provided", "installed", "connected", "connected", "provided", "laid", "arranged" appearing in the description of the technical solutions of the present application should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrally connected, which can be welding, riveting, bolting, screwing and other commonly used connection means in the art. The connection can be mechanical connection, electrical connection or communication connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication between two elements.

[0047] Embodiment 1 As shown in Figures 1-8 The rigid-flexible combined feeding system of the underwater screed machine described in the embodiment, the material distribution pipe 7 is used to be installed on the underwater screed machine, the top and bottom of the material distribution pipe 7 are provided with open ends, and the material distribution pipe 7 can move horizontally and vertically along the underwater screed machine. The material conveying device 75 is provided obliquely, and the material conveying device 75 is provided with a feeding bin 753 near one end of the lower part. The material guide hose 79 is connected to the material conveying device 75 at the upper end, and the feeding port of the material guide hose 79 is provided corresponding to the discharging position of the material conveying device 75, and the lower end of the material guide hose 79 extends into the material distribution pipe 7 from the top of the material distribution pipe 7.

[0048] The rigid-flexible combined feeding system of the underwater screed machine described in the embodiment, the stone 77 enters the feeding bin 753 and is obliquely transmitted by the material conveying device 75 to the discharging position of the material conveying device 75, the stone 77 enters the feeding port of the material guide hose 79 from the discharging position of the material conveying device 75, and is conveyed into the material distribution pipe 7 through the material guide hose 79. In the above process, since the lower end of the material guide hose 79 extends into the material distribution pipe 7 from the top of the material distribution pipe 7, based on the deformation of the material guide hose 79, even if the discharging position of the material conveying device 75 and the feeding position of the top of the material distribution pipe 7 have a certain deviation in the vertical direction, the stone 77 can be accurately conveyed into the material distribution pipe 7 through the material guide hose 79 for material distribution, which greatly reduces the difficulty of the operator in operating the material conveying device 75 to vertically align the material distribution pipe 7, thereby effectively reducing the skill requirement for the operator and reducing the labor cost.

[0049] The length of the lower end of the material guide hose 79 extending into the material distribution pipe 7 from the top of the material distribution pipe 7 is preferably 3-12m. The length of the material guide hose 79 is preferably 15-20m. The stone 77 is preferably placed into the feeding bin 753 by a bucket.

[0050] In a preferred manner, the material conveying device 75 comprises a material conveying mechanism 751 and a material guide hard pipe 752 connected to the front end of the material conveying mechanism 751, the material guide hard pipe 752 being connected to the material guide soft pipe 79, the material outlet of the material guide hard pipe 752 being in communication with the material inlet of the material guide soft pipe 79, and the material conveying mechanism 751 being arranged obliquely.

[0051] In a preferred manner, the material conveying mechanism 751 and the material guide hard pipe 752 are connected through a telescopic support 76, the telescopic support 76 comprising a connecting frame 761 and a telescopic member 762, the connecting frame 761 being fixedly connected to one of the material conveying mechanism 751 and the material guide hard pipe 752, and the telescopic member 762 being hingedly connected to the other one, and the material inlet bin 753 being arranged on the material conveying mechanism 751, so as to finely adjust the material outlet position of the material guide hard pipe 752, and the material guide soft pipe 79 can more accurately convey the stones 77 into the distribution pipe 7 for distribution.

[0052] In a preferred manner, the material conveying mechanism 751 and the material guide hard pipe 752 are hingedly connected through a first hinge shaft 754; the connecting frame 761 is fixedly connected to the material conveying mechanism 751; one end of the telescopic member 762 is hingedly connected to the telescopic member 762 through a second hinge shaft 763, and the other end is hingedly connected to the material guide hard pipe 752 through a third hinge shaft 764; and the connecting frame 761 is located below the material conveying mechanism 751.

[0053] In a specific preferred manner, the material guide hard pipe 752 is higher near the end close to the material conveying mechanism 751 and lower near the end close to the distribution pipe 7, so that the stones 77 can move in the material guide hard pipe 752.

[0054] The material conveying mechanism 751 is preferably a belt feeding machine, wherein the root of the material conveying mechanism 751 is lower than the end of the material conveying mechanism 751 close to the material guide hard pipe 752, so that the stones 77 can be transported by the material conveying mechanism 751 towards the obliquely upward direction.

[0055] In a preferred manner, the first hinge shaft 754, the second hinge shaft 763 and the third hinge shaft 764 are arranged in parallel.

[0056] In a preferred manner, the underwater screed machine rigid-flexible combined feeding system disclosed in the present application further comprises a base 71, the base 71 being connected to the material conveying mechanism 751, the base 71 being provided with a front wheel set 712 and a rear wheel set 713 for the base 71, the front wheel set 712 being connected to the front side of the bottom of the base 71, and the rear wheel set 713 being connected to the rear side of the bottom of the base 71.

[0057] As Figure 6 and Figure 7As shown, preferably, the front wheel assembly 712 is rotatably arranged relative to the base 71. Further preferably, the front wheel assembly 712 rotates relative to the base 71 via a first rotating gear ring 761. The first rotating gear ring 761 includes a slewing bearing. The outer ring of the slewing bearing is provided with teeth on the outer wall thereof, so that the outer ring of the slewing bearing becomes an external gear. The first rotating gear ring 761 can be driven by a motor to mesh with the teeth of the first rotating gear ring 761, thereby driving the front wheel assembly 712 to rotate relative to the base 71.

[0058] like Figure 8 As shown, preferably, the rear wheel assembly 713 is rotatably arranged relative to the base 71. Further preferably, the rear wheel assembly 713 rotates relative to the base 71 via a second rotating gear ring 762. The second rotating gear ring 762 includes a slewing bearing. The outer ring of the slewing bearing is provided with teeth on the outer wall thereof, so that the outer ring of the slewing bearing becomes an external gear. The second slewing gear ring 762 can be driven by a motor to mesh with the teeth of the second slewing gear ring 762, thereby driving the rear wheel assembly 713 to rotate relative to the base 71.

[0059] By rotating the front wheel group 712 and the rear wheel group 713 relative to the base 71, the material conveying device 75 can move in both the horizontal and vertical directions to achieve the purpose of conveying stones 77 when cooperating with the material pipe 7 to move horizontally and vertically along the underwater leveling machine.

[0060] In a preferred embodiment, the feeding mechanism 751 is connected to the base 71 in a pitching and rotating manner.

[0061] In a further preferred embodiment, a telescopic mechanism 711 is further included, wherein the base 71 is hinged to the end of the feeding mechanism 751 away from the material guiding hose 79, and the telescopic mechanism 711 is hinged between the base 71 and the feeding mechanism 751, so as to achieve the purpose of pitching and rotating the feeding mechanism 751 and the base 71.

[0062] In a preferred embodiment, the material distribution pipe 7 includes an upper material pipe 72 and a lower material pipe 73 : the upper material pipe 72 is connected above the lower material pipe 73 , and a first channel 74 is defined between the upper material pipe 72 and the lower material pipe 73 .

[0063] In a further preferred embodiment, the upper discharge pipe 72 and the lower discharge pipe 73 are plug-fitted together, and a first channel 74 is defined between the upper discharge pipe 72 and the lower discharge pipe 73 .

[0064] In a preferred embodiment, the lower feeding pipe 73 comprises a bottom pipe structure 731 and a first funnel structure 732 connected to the top of the bottom pipe structure 731, and the first funnel structure 732 is arranged with a large opening upward; the upper feeding pipe 72 comprises an upper pipe structure 721 and a second funnel structure 726 sleeved outside the upper pipe structure 721, and the outer wall of the upper pipe structure 721 is circumferentially provided with a plurality of protrusions 722, and the first gap 723 is arranged between adjacent protrusions 722, and 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 pipe structure 721 is inserted into the bottom pipe structure 731, and the second gap 725 is arranged between the outer wall of the upper pipe structure 721 and the inner wall of the bottom pipe structure 731; the second funnel structure 726 is arranged with a large opening facing the first funnel structure 732, and can cover the large opening of the first funnel structure 732, and the third gap 741 is arranged between the first funnel structure 732 and the second funnel structure 726, and the third gap 741, the first gap 723 and the second gap 725 are communicated with each other to form the first channel 74.

[0065] In a preferred embodiment, the distance measuring sensor 8 is arranged in the cloth pipe 7, and the distance measuring sensor 8 measures downward; and the anti-collision box 81 is arranged on the inner side wall of the cloth pipe 7, and the anti-collision box 81 is at least partially arranged above the distance measuring sensor 8.

[0066] In a preferred embodiment, the distance measuring sensor 8 is connected with a first wire; the first wire comprises a power line and a signal line, and the power line and the signal line are arranged to extend from the outside of the cloth pipe 7 to the inside of the cloth pipe 7 through the first channel 74.

[0067] As shown in Figure 21 the wire hole 83 is arranged on the side wall of the upper pipe structure 721, and the wire hole 83 corresponds in height to the anti-collision box 81, and the wire hole 83 is communicated with the inner cavity of the anti-collision box 81.

[0068] The first wire extends into the anti-collision box 81 and is connected with the distance measuring sensor 8 after passing through the third gap 741 and the wire hole 83 in sequence, which effectively avoids the direct contact between the first wire and the stone 77, and effectively ensures the service life of the power line and the signal line.

[0069] The distance measuring sensor 8 and the anti-collision box 81 form a whole which can move radially along the cloth pipe 7.

[0070] In the early ranging, the ranging sensor 8 and the anti-collision box 81 are inserted into the cloth pipe 7 to measure, and in the later filling operation, the ranging sensor 8 and the anti-collision box 81 are moved radially along the cloth pipe 7 to the outside of the upper pipe structure 721 and to the inside of the first funnel structure 732, so as to more effectively reduce the obstruction of the ranging sensor 8 and the anti-collision box 81 to the stone 77, and to further improve the service life of the ranging sensor 8 and the anti-collision box 81. Preferably, the whole formed by the ranging sensor 8 and the anti-collision box 81 is driven to move radially along the cloth pipe 7 in the form of gear and rack cooperation. The rack is connected with the ranging sensor 8 and the anti-collision box 81 through a cylindrical support, and is arranged radially along the cloth pipe 7. A gear is driven to rotate by a motor capable of working underwater, and drives the gear and the rack to cooperate. A hole is formed in the side wall of the cloth pipe 7, and a pipe fitting structure 87 matched with the hole diameter is welded outside the hole. The gear and the rack cooperation can drive the cylindrical support to move radially along the cloth pipe 7 relative to the pipe fitting structure 87, so that the ranging sensor 8 and the anti-collision box 81 can move radially along the cloth pipe 7.

[0071] The anti-collision box 81 is installed by opening the side wall at the lower position of the cloth pipe 7, and the ranging sensor 8 with underwater ranging function is installed in the anti-collision box 81, preferably a sound wave sensor. The power line and signal line connected with the sound wave sensor are led out of the cloth pipe 7, and are led out of the water surface along the cloth pipe 7 and connected with the signal receiver of the working platform.

[0072] After the screed completes underwater positioning, the screed is adjusted to the appropriate elevation, and then the cloth pipe 7 moves. The ranging sensor 8 under water measures the water depth data in real time and sends the data signal back to the signal receiver of the screed on the water surface, and displays through the operation interface. Through walking, water depth information is continuously collected, and finally a chart with position and water depth information is formed, that is, the underwater screed thickness can be mastered to guide the control of the stone 77 quantity and the selection of the specification in the subsequent screeding and material distribution.

[0073] Embodiment 2 As shown in Figures 1-22 The multi-degree-of-freedom adjustment underwater screed machine described in the embodiment includes the underwater screed thickness monitoring and recording device described in embodiment 1, and the cloth pipe 7 can move transversely and longitudinally.

[0074] In a preferred manner, the multi-degree-of-freedom adjustment underwater screed machine described in the embodiment includes a first main frame 2 and a second main frame 1. The first main frame 2 and the second main frame 1 realize walking of the underwater screed machine through at least four first vertical lifting legs 31 and at least four second vertical lifting legs 32, wherein: The first main frame 2 comprises two first longitudinal beams 22 arranged at intervals, and a first cross beam 21 connected between the same side ends of the two first longitudinal beams 22, the first cross beam 21 and the first longitudinal beam 22 surrounding a circle; The second main frame 1 comprises four end structures 13 arranged in an array, a second longitudinal beam 12 connected between the adjacent end structures 13 in the longitudinal direction, and a second cross beam 11 connected between the adjacent end structures 13 in the transverse direction, the second longitudinal beam 12 being sleeved outside the corresponding side first longitudinal beam 22, and the first longitudinal beam 22 being movable along the length direction relative to the second longitudinal beam 12; the first cross beam 21 being located outside the second cross beam 11, and preferably being arranged in parallel.

[0075] The end structure 13 is provided with a first hole 131 penetrating along the length direction of the first longitudinal beam 22, and a transverse moving frame 33 sleeved on the first longitudinal beam 22 is arranged in the first hole 131, the transverse moving frame 33 being slidably connected with the first longitudinal beam 22 through a longitudinal telescopic mechanism 5, and the transverse moving frame 33 being slidably connected with the end structure 13 along the length direction of the second cross beam 11 through a transverse telescopic mechanism 4, the transverse moving frame 33 being limited relative to the end structure 13 along the direction of the first longitudinal beam 22, and preferably being limited through key and slot cooperation.

[0076] At least four first vertical lifting legs 31 are supported and connected with the second main frame 1. At least four second vertical lifting legs 32 are supported and connected with the first main frame 2.

[0077] The multi-degree-of-freedom underwater leveling machine disclosed in the application, when in use, through the transverse moving frame 33 arranged between the end structure 13 and the first longitudinal beam 22, based on the sliding cooperation of the first longitudinal beam 22 and the transverse moving frame 33 along the length direction of the first longitudinal beam 22, the relative movement of the first longitudinal beam 22 and the end structure 13 in the longitudinal direction is realized, so that the purpose of the step-by-step movement of the first vertical lifting leg 31 and the second vertical lifting leg 32 is achieved. Moreover, based on the sliding cooperation of the first longitudinal beam 22 and 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, so that the purpose of the step-by-step movement or deviation correction of the first vertical lifting leg 31 and the second vertical lifting leg 32 along the length direction of the first hole 131 is achieved.

[0078] By sleeving the transverse moving frame 33 on the first longitudinal beam 22 and sleeving the end structure 13 on the transverse moving frame 33, the transverse moving frame 33 is used to replace the transition frame of the existing step-by-step leveling machine, so that the overall weight of the transverse and longitudinal step-by-step mechanism is effectively reduced.

[0079] The second longitudinal beam 12 is provided with a first through hole 121 corresponding to the first hole 131, and the first longitudinal beam 22 penetrates the corresponding side first hole 131 and the first through hole 121. On the basis of the sliding fit of the transverse moving frame 33 along the first hole 131 radially with the end structure 13, the first longitudinal beam 22 is arranged in the second longitudinal beam 12, so that the first longitudinal beam 22 and the second longitudinal beam 12 form an inside-outside sleeving relationship, effectively reducing the horizontal arrangement space of the whole formed by the first longitudinal beam 22 and the second longitudinal beam 12, so that the transverse size specification of the bidirectional walking underwater leveling machine can be smaller.

[0080] A specific preferred mode: the second longitudinal beam 12 is preferably a truss structure with open ends. In the case that the second longitudinal beam 12 meets the design rigidity and strength, the self-weight of the second longitudinal beam 12 is further reduced, which contributes to the lightweight of the bidirectional walking underwater leveling machine of the application. At the same time, since the second longitudinal beam 12 is sleeved outside the first longitudinal beam 22, the transverse and height dimensions of the second longitudinal beam 12 are larger than those of the first longitudinal beam 22, so that the second longitudinal beam 12 can be made into a truss structure.

[0081] A specific preferred mode: the second transverse beam 11 and the end structure 13 are detachably connected by a bolt set.

[0082] A preferred mode, the transverse moving frame 33 is provided with a second hole 331 corresponding to the first longitudinal beam 22 along the direction in which the first hole 131 is provided, and the first longitudinal beam 22 penetrates the second hole 331 and is in sliding fit with the second hole 331. To realize the relative movement of the first longitudinal beam 22 and the transverse moving frame 33 along the direction in which the first hole 131 is provided, and the first longitudinal beam 22 is matched with the second hole 331, so that the second hole 331 has a limiting effect on the first longitudinal beam 22 along the radial direction of the first hole 131.

[0083] A preferred mode, the transverse moving frame 33 and the end structure 13 have a limiting structure, which limits the relative sliding of the transverse moving frame 33 along the length direction of the first hole 131 with the end structure 13, and does not limit the relative sliding of the transverse moving frame 33 along the radial direction of the first hole 131 with the end structure 13. But when the first longitudinal beam 22 moves relative to the transverse moving frame 33 along the length direction of the first hole 131, the transverse moving frame 33 and the end structure 13 do not move relative to each other, or the relative displacement is very small

caused by assembly and manufacturing errors

[0084] In a preferred embodiment, the first hole 131 has a first side wall 132 on one side, and the first side wall 132 has a first gap 114 with the lateral moving frame 33. The lateral telescopic mechanism 4 can drive the lateral moving frame 33 away from or close to the first side wall 132, so as to achieve the purpose of sliding fit of the lateral moving frame 33 along the first hole 131 radially with the end structure 13. Meanwhile, the opposite side walls of the first hole 131, one of which is the first side wall 132, also limit the lateral moving frame 33.

[0085] In a preferred embodiment, the first hole 131 is a rectangular hole, and the end structure 13 further comprises a bottom side wall 133, a second side wall 134 and a top side wall 135. The first side wall 132, the bottom side wall 133, the second side wall 134 and the top side wall 135 enclose the first hole 131, which is convenient for manufacturing and installation.

[0086] In a preferred embodiment, the net height of the first hole 131 is adapted to the height of the lateral moving frame 33, so as to increase the stability of the relative movement of the lateral moving frame 33 and the end structure 13.

[0087] The lateral telescopic mechanism 4 is connected between the end structure 13 and the lateral moving frame 33, and can be telescoped along the length direction of the second cross beam 11. The lateral telescopic mechanism 4 is preferably a telescopic oil cylinder or a telescopic air cylinder. The lateral telescopic mechanism 4 can drive the lateral moving frame 33 to reciprocate relative to the end structure 13.

[0088] Further preferably, the lateral telescopic mechanism 4 can drive the lateral moving frame 33 away from or close to the first side wall 132.

[0089] In a preferred embodiment, a first lateral support gantry 42 is arranged outside the first lateral through hole 136. One end of the lateral telescopic mechanism 4 is connected to the root of the first lateral support gantry 42, and the other end penetrates through the first through hole 211 and is connected to the lateral moving frame 33. By arranging the first lateral support gantry 42 outside the first lateral through hole 136, the first lateral support gantry 42 serves as a telescopic support force element between the lateral moving frame 33 and the end structure 13. Compared with directly arranging the lateral telescopic mechanism 4 between the lateral moving frame 33 and the end structure 13, the size of the end structure 13 along the telescopic direction of the lateral telescopic mechanism 4 is effectively reduced, and the overall weight of the lateral and longitudinal walking mechanism is effectively reduced.

[0090] In a preferred embodiment, the first lateral support gantry 42 is detachably connected to the outer wall of the end structure 13 through a pin shaft and / or a bolt set. This facilitates installation and transportation, as well as installation and debugging of the lateral telescopic mechanism 4.

[0091] A preferred mode is that the transverse moving frame 33 is connected with a first transverse support 41, the first transverse support 41 is located in the first gap 114, and the transverse telescopic mechanism 4 is connected with the first transverse support 41.

[0092] The longitudinal telescopic mechanism 5 is connected between the second main frame 1 and the transverse moving frame 33, and the longitudinal telescopic mechanism 5 can be telescopically extended along the length direction of the first longitudinal beam 22; the longitudinal telescopic mechanism 5 drives the first longitudinal beam 22 to slide along the length direction of the first hole 131 and the transverse moving frame 33; and the longitudinal telescopic mechanism 5 is preferably an oil cylinder or a gas cylinder.

[0093] A preferred mode is that the transverse moving frame 33 is connected with a first longitudinal support 51, the first longitudinal beam 22 is connected with a second longitudinal support 52, the longitudinal telescopic mechanism 5 is connected between the first longitudinal support 51 and the second longitudinal support 52, and the first longitudinal support 51 is preferably located in the first gap 114.

[0094] The side wall of the first hole 131 away from the first transverse beam 21 is provided with a first transverse through hole 136, and the first transverse through hole 136 is provided with a first transverse support door frame 42 outside; one end of the transverse telescopic mechanism 4 is connected to the first transverse support door frame 42, and the other end passes through the first through hole 211 and is connected to the transverse moving frame 33.

[0095] A preferred mode is that the first longitudinal beam 22 is provided with a first vertical through hole 221, the second vertical lifting leg 32 includes a second vertical telescopic mechanism 321 and a second vertical support door frame 223 arranged on the upper part of the first vertical through hole 221; the second vertical support door frame 223 is detachably connected with the first longitudinal beam 22 through a pin shaft or a bolt group; the upper end of the second vertical telescopic mechanism 321 is connected to the second vertical support door frame 223, and the lower end is vertically slidably connected to the first vertical through hole 221; and the second vertical telescopic mechanism 321 is preferably a hydraulic oil cylinder.

[0096] A preferred mode is that the second vertical support door frame 223 arranged on the upper part of the first vertical through hole 221 is used as a telescopic support stress component between the second vertical lifting leg 32 and the first longitudinal beam 22, compared with the direct connection between the second vertical lifting leg 32 and the first longitudinal beam 22, the mode can effectively reduce the gravity center of the first longitudinal beam 22 on the basis of less increase in structural weight, and further effectively reduce the gravity center of the whole formed by the end structure 13, the transverse moving frame 33 and the first longitudinal beam 22, so that the stability of the transverse and longitudinal walking mechanism is better.

[0097] In a preferred mode, the second cross beam 11 is provided with a support beam 14 on one side of the first cross beam 21, the support beam 14 is provided with a second vertical through hole 141, and the first vertical lifting leg 31 is connected to the support beam 14. The first vertical lifting leg 31 comprises a first vertical telescopic mechanism 311 and a first vertical support gantry 312 arranged at the upper part of the second vertical through hole 141, the two ends of the first vertical support gantry 312 are detachably connected to the support beam 14 through a pin shaft, 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 connected to the second vertical through hole 141. The first vertical telescopic mechanism 311 is preferably a hydraulic oil cylinder.

[0098] The second vertical lifting leg 32 and the first vertical lifting leg 31 are preferably of the same structure.

[0099] In a preferred mode, a support telescopic mechanism is arranged between the second longitudinal beam 12 and the first longitudinal beam 22, the support telescopic mechanism is arranged at the middle part 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 mechanism is separated from one of the first longitudinal beam 22 and the second longitudinal beam 12, so as not to interfere with the relative movement between the first longitudinal beam 22 and the second longitudinal beam 12, when the first longitudinal beam 22 and the second longitudinal beam 12 are relatively stationary, the support telescopic mechanism is telescoped to support between the first longitudinal beam 22 and the second longitudinal beam 12, so that the second longitudinal beam 12 and the first longitudinal beam 22 are integrated in the horizontal and vertical directions, and the support telescopic mechanism, the horizontal telescopic mechanism 4 and the longitudinal telescopic mechanism 5 cooperate to increase the stability of the bidirectional walking type underwater leveling machine, and the support telescopic mechanism comprises hydraulic oil cylinders which are circumferentially connected to the first longitudinal beam 22 and uniformly arranged on the outer wall of the first longitudinal beam 22.

[0100] In a preferred mode, the height of the first cross beam 21 is adapted to the height of the first longitudinal beam 22, the height of the second cross beam 11 is higher than that of the first cross beam 21, and the height of the second longitudinal beam 12 is adapted to the height of the second cross beam 11. Based on the structure of the first longitudinal beam 22, the horizontal moving frame 33 and the end structure 13 being sequentially arranged, the height of the end structure 13 is higher than that of the first longitudinal beam 22, in this case, the height of the first cross beam 21 is adapted to the height of the second cross beam 11, so that the first cross beam 21 and the first longitudinal beam 22 form a frame structure in the horizontal and vertical directions, and the load bearing capacity is more uniform, which can still have better horizontal and vertical stability on the basis of reducing the weight of the bidirectional walking type underwater leveling machine; similarly, the height of the second longitudinal beam 12 is adapted to the height of the second cross beam 11, so that the second longitudinal beam 12 and the second cross beam 11 form a frame structure in the horizontal and vertical directions, and the load bearing capacity is more uniform, which can still have better horizontal and vertical stability on the basis of reducing the weight of the bidirectional walking type underwater leveling machine.

[0101] The two-way walking underwater screed machine also comprises a second vertical support gantry 142 arranged on the upper portion of the second vertical through hole 141, the cantilever end of the second vertical support gantry 142 is detachably connected with the support beam 14, one end of the first vertical lifting leg 31 is connected with the root of the second vertical support gantry 142, and the other end passes through the second vertical through hole 141 and is vertically slidingly matched with the second vertical through hole 141.

[0102] In a preferred mode, the cloth pipe 7 comprises an upper cloth pipe 72 and a lower cloth pipe 73. The upper cloth pipe 72 is connected above the lower cloth pipe 73, and a first channel 74 is formed between the upper cloth pipe 72 and the lower cloth pipe 73. In a preferred mode, the upper cloth pipe 72 is inserted into the lower cloth pipe 73.

[0103] In a preferred mode, the lower cloth pipe 73 comprises 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 towards the upper cloth pipe 72. The upper cloth pipe 72 comprises an upper pipe structure 721, a plurality of protrusions 722 are arranged on the outer wall of the upper pipe structure 721 in a circumferential direction, a first gap 723 is arranged between adjacent protrusions 722, the outer side surface of the protrusion 722 is an inclined surface 724 arranged corresponding to the first funnel structure 732, the lower portion of the upper pipe structure 721 is inserted into the bottom pipe structure 731, and a second gap 725 is formed between the outer wall of the upper pipe structure 721 and the inner wall of the bottom pipe structure 731, which is connected with the first gap 723.

[0104] The bottom pipe structure 731 and the first funnel structure 732 are welded, a first connecting rib plate 733 is welded between the outer wall of the bottom pipe 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 in a circumferential direction of the first funnel structure 732.

[0105] All the lower lifting lugs 734 are close to the large end of the first funnel structure 732.

[0106] In a preferred mode, the upper cloth pipe 72 further comprises a second funnel structure 726 sleeved on the outer side of the upper pipe structure 721, the second funnel structure 726 is arranged towards the first funnel structure 732 and can cover the large end of the first funnel structure 732, a third gap 741 is formed between the first funnel structure 732 and the second funnel structure 726, which is connected with the first gap 723, and the third gap 741, the first gap 723 and the second gap 725 form the first channel 74.

[0107] The upper pipe structure 721 is provided with a first block 720 outside the lower part of the first funnel structure 732, and at least one side of the first block 720 can be laterally abutted with the inner wall of the bottom pipe structure 731, so as to increase the connection stability between the upper pipe structure 721 and the lower feeding pipe 73.

[0108] In a preferred manner, the upper pipe structure 721 further comprises a third funnel structure 728 connected to the top of the upper pipe structure 721, and the large end of the third funnel structure 728 is arranged upward.

[0109] In a preferred manner, the cloth pipe 7 can move along the length direction of the first longitudinal beam 22 and can also move along the length direction of the first cross beam 21, and specifically preferably, a transverse moving mechanism 8 is arranged between adjacent second cross beams 11, a longitudinal moving mechanism 9 is arranged on the transverse moving mechanism 8, the transverse moving mechanism 8 is used to drive the cloth pipe 7 to move transversely, and the longitudinal moving mechanism 9 is used to drive the cloth pipe 7 to move longitudinally.

[0110] Further preferably, the longitudinal moving mechanism 9 can drive the cloth pipe 7 to move along the length direction of the first longitudinal beam 22.

[0111] In a preferred manner, the longitudinal moving mechanism 9 comprises a longitudinal support 91, a pipe support 92 and a longitudinal driving mechanism 93, wherein: the pipe support 92 is connected with the cloth pipe 7; the longitudinal support 91 comprises two longitudinally spaced parallel longitudinal support rails 911, the pipe support 92 is located between the two longitudinal support rails 911, and the pipe support 92 is rollingly matched with the two longitudinal support rails 911 through longitudinal rollers 920; the cloth pipe 7 is supported on the pipe support 92, the longitudinal driving mechanism 93 is installed on the pipe support 92, and the longitudinal driving mechanism 93 preferably comprises a first driving motor 931 and a first gear 932 and a first rack 933 engaged with each other, and the first driving motor 931 drives the first gear 932 to rotate, so that the pipe support 92 can move along the length direction of the longitudinal support rail 911 relative to the longitudinal support rail 911. Specifically preferably, the pipe support 92 is connected with the lower feeding pipe 73.

[0112] Preferably, the pipe support 92 is sleeved and connected to the outer side of the cloth pipe 7.

[0113] Further preferably, the lower feeding pipe 73 moves transversely relative to the second cross beam 11 through the transverse moving mechanism 8.

[0114] In a preferred manner, the transverse moving mechanism 8 comprises a second driving motor 84, a second gear 82 and a second rack 83 in engagement, and two parallel transverse rails 81 mounted on the second cross beam 11, the second rack 83 and the transverse rails 81 are both mounted on the second cross beam 11 and arranged along the length direction of the second cross beam 11, the second driving motor 84 drives the second gear 82 to rotate in engagement with the second rack 83. The second gear 82 is connected to the end of the longitudinal support 91 along the length of the longitudinal support rail 911. The end of the longitudinal support 91 is provided with a transverse roller 86 which is in rolling engagement with the transverse rail 81.

[0115] When the longitudinal support 91 is provided, the transverse moving mechanism 8 drives the longitudinal support 91 to move transversely relative to the second cross beam 11, so as to achieve the purpose of moving the lower pipe 73 transversely relative to the second cross beam 11.

[0116] The transverse moving mechanism 8 comprises a second gear 82 and a second rack 83 in engagement, and two parallel transverse rails 81 mounted on the second cross beam 11, and a second driving motor 84 which drives the second gear 82 to rotate in engagement with the second rack 83.

[0117] Preferably, the second driving motor 84 is drivingly connected with an output shaft 85 at both ends, the output shaft 85 is drivingly connected with the second gear 82 near the end of the second cross beam 11, the second cross beam 11 is provided with the second rack 83 along the length direction, and the second gear 82 is in engagement with the second rack 83 on the corresponding side.

[0118] In a preferred manner, the second cross beam 11 is provided with a gas pressure drainage chamber 112, which is used for adjusting the level of the bidirectional walking underwater screed machine underwater and controlling the floating and sinking of the bidirectional walking underwater screed machine. At the same time, the second cross beam 11 and the gas pressure drainage chamber 112 are integrated together to reduce the overall weight of the transverse and longitudinal moving mechanism.

[0119] As shown in Figure 22 The second cross beam 11 is provided with at least two ballast drainage chambers 112, adjacent ballast drainage chambers 112 are provided with a partition plate 1121, the partition plate 1121 is provided with a water passing hole 1122, the bottom of the ballast drainage chamber 112 is provided with a water inlet and outlet 1123, and the water inlet and outlet 1123 is preferably provided with a door which can be controlled to open or close the water inlet and outlet 1123, for example, a waterproof electric control switch. The water inlet and outlet 1123 can also be selected not to be provided with a door.

[0120] The ballast drainage bin 112 is used to adjust the multi-degree-of-freedom underwater leveling machine underwater and control the multi-degree-of-freedom underwater leveling machine to rise and sink.

[0121] Two second cross beams 11 are arranged at intervals, and the ballast drainage bin 112 is arranged in the second cross beam 11; therefore, the second cross beam 11 and the ballast drainage bin 112 are integrated, so as to reduce the weight of the underwater leveling machine.

[0122] The following is the weight comparison between the leveling machine of the present application and the walking leveling machine in the prior art: under the conditions that 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 underwater leveling machine is 75t-85t, which is far less than the total weight of 185t of the existing walking leveling machine.

[0123] Buoyancy explanation: six air drainage bins 112 are arranged on two second cross beams 11 respectively, that is, a total of 12 air drainage bins 112 are arranged on the whole machine; the maximum buoyancy generated by the two second cross beams 11 is about 50t; the first longitudinal beam 22 and the first cross beam 21 are both provided with sealed cabins, so that the first longitudinal beam 22 and the first cross beam 21 can be used as a float box, each generating a buoyancy of about 20t, and the total buoyancy generated by the second cross beam 11, the first longitudinal beam 22 and the first cross beam 21 is greater than the total weight of the multi-degree-of-freedom underwater leveling machine, and the total buoyancy generated by the first longitudinal beam 22 and the first cross beam 21 is less than the total weight of the multi-degree-of-freedom underwater leveling machine.

[0124] In the above case, the machine sinks to the bottom and floats out of the water: 1. Before lifting and launching, the machine state: the measuring tower 6 is laid down, the first longitudinal beam 22, the distribution pipe 7, the transverse moving mechanism 8, the longitudinal moving mechanism 9 are all in the centering position, four lifting points on the two second cross beams 11 are hung with the main hook of the crane, the distribution pipe 7 is hung with the auxiliary hook of the crane, the machine is lifted to the designated position and placed on the water surface, the lifting rope is loosened, at this time the buoyancy of the machine is greater than the weight, and the machine is in a floating state, at the same time, the exhaust valve of one air drainage bin 112 of each second cross beam 11 is symmetrically opened, the water level state of the machine is observed, when the leveling machine sinks, the exhaust valve is closed, the crane is slowly loosened until the leveling machine sinks to the bottom, after all the exhaust valves are opened to make the air drainage bin 112 complete water intake, the operator controls the vertical rising of the measuring tower 6 through the control box to perform subsequent measurement and positioning leveling operation.

[0125] 2. When the whole machine needs to discharge water, the measuring tower 6 is laid down, the upper and lower discharge pipes 72 and 73 of the cloth pipe 7 are lifted separately, the four lifting point hangers of the leveling machine are hung, the air inlet valves of one air pressure drainage cabin 112 of each second cross beam 11 are opened simultaneously and symmetrically, the air pressure is discharged, the valve is closed after the water is discharged, the air inlet valves of the next air pressure drainage cabin 112 of each cross beam are opened simultaneously and symmetrically, the operation is repeated, and the lifting weight display screen of the crane is observed during the drainage process. When the display lifting weight decreases to the target value range, the exhaust valve is closed, and the lifting hook is operated to rise until the whole machine floats out of the water.

[0126] The GPS or Beidou positioning system is installed at the top of the measuring tower 6.

[0127] The measuring tower 6 described in the embodiment is installed on the end structure 13, and when transported, the measuring tower 6 is arranged transversely, which effectively reduces the influence of the measuring tower 6 on the center of gravity and eccentricity of the underwater leveling machine during transportation. Then, when launched, the measuring tower is rotated from transverse to vertical to adapt to the construction conditions. By rotating the measuring tower transversely to vertically, the safety of transporting the underwater leveling machine can be effectively improved under the condition of adapting to the construction conditions. At the same time, during transportation or launching, the small swing of the measuring tower 6 can be used to fine-tune the multi-degree-of-freedom adjustment of the center of gravity of the underwater leveling machine, so that the construction is safer.

[0128] The embodiment also provides a multi-degree-of-freedom adjustment underwater leveling machine construction method, comprising the following steps: S1: the first vertical lifting leg 31 supports the multi-degree-of-freedom adjustment underwater leveling machine, and the second vertical lifting leg 32 is separated from the water bottom; S2: driving the first longitudinal beam 22 to move along the length direction of the first longitudinal beam 22 relative to the end structure 13; S3: the second vertical lifting leg 32 falls and supports the multi-degree-of-freedom adjustment underwater leveling machine; S4: the first vertical lifting leg 31 rises and is separated from the water bottom; S5: driving the end structure 13 to move along the length direction of the first longitudinal beam 22 relative to the first longitudinal beam 22.

[0129] Preferably, mode 1: further comprising a multi-degree-of-freedom adjustment underwater leveling machine launching step: installing the multi-degree-of-freedom adjustment underwater leveling machine; arranging a crane on the side of the multi-degree-of-freedom adjustment underwater leveling machine close to the sea; lifting the multi-degree-of-freedom adjustment underwater leveling machine by the crane, and rotating the multi-degree-of-freedom adjustment underwater leveling machine to the side of the crane close to the sea; and lowering the multi-degree-of-freedom adjustment underwater leveling machine into the water.

[0130] Preferably, the method 2 further comprises the step of adjusting the multi-DOF underwater screed machine: based on the first platform and the slope arranged on one side of the lower discharge pipe 73 of the first platform, the slope extending to the water bottom: the multi-DOF underwater screed machine is installed on the lower discharge pipe 73 of the first platform, and the multi-DOF underwater screed machine is lowered down the slope by the method described in steps S1-S5 until it reaches the construction position. The slope is provided with steps, and the first vertical lifting leg 31 and the second vertical lifting leg 32 can be supported on the steps, so that when the multi-DOF underwater screed machine is lowered down the slope, the first vertical lifting leg 31 and the second vertical lifting leg 32 can still be vertically arranged, avoiding the first vertical lifting leg 31 and the second vertical lifting leg 32 supporting the multi-DOF underwater screed machine obliquely, thereby effectively optimizing the stress of the first vertical lifting leg 31 and the second vertical lifting leg 32 and prolonging the service life thereof.

[0131] A preferred method further comprises the step of installing the multi-DOF underwater screed machine before construction: B1. Organize the site and prepare for assembly; transport the parts of the walking underwater screed machine to the installation site, and at the same time, consider the installation site conditions to avoid the hydraulic system and the electrical control system being soaked by seawater due to the rise and fall of the tide. B2. Assemble the second cross beam 11, install the end structure 13 and the transverse frame 33, the first vertical lifting leg 31 and the transverse telescopic mechanism 4 at both ends of the second cross beam 11; B3. Install the material longitudinal beam 12, and connect the material longitudinal beam 12 to the end structure 13 at both ends; B4. Install the first longitudinal beam 22, which penetrates through the material longitudinal beam 12 and the same side end structure 13, and install the second vertical lifting leg 32 on the first longitudinal beam 22; B5. Install the first cross beam 21 between adjacent first longitudinal beams 22, and the first cross beam 21 is located outside the second cross beam 11; B6. Install the material pipe 7, the longitudinal moving mechanism 9 and the transverse moving mechanism 8 between two second cross beams 11, the longitudinal moving mechanism 9 can drive the material pipe 7 to move along the length direction of the first longitudinal beam 22; the transverse moving mechanism 8 can drive the longitudinal moving mechanism 9 to move along the length direction of the second cross beam 11 and transversely relative to the second cross beam 11; B7. Install the measuring tower 6 on the top of the end structure 13; B8. Install the hydraulic system and the electrical system of the whole machine, and then debug the whole machine and conduct land simulation experiment.

[0132] As Figures 16-17As shown, the multi-degree-of-freedom underwater screed adjusting machine described in the embodiment has a measuring tower 6 and a driving mechanism 61 mounted on the top of at least two end structures 13 on the same side. The driving mechanism 61 can drive the measuring tower 6 to rotate from horizontal to vertical or from vertical to horizontal. In the transportation or launching process, the measuring tower 6 is arranged horizontally, which effectively reduces the influence of the measuring tower 6 on the center of gravity and eccentricity of the underwater screed during transportation. Then, the measuring tower is rotated from horizontal to vertical during launching to adapt to the construction conditions. By rotating the measuring tower from horizontal to vertical, the safety of the underwater screed during transportation can be effectively improved under the condition of adapting to the construction conditions.

[0133] In a preferred mode, part of the end structure 13 is provided with a bracket 62 hinged to the measuring tower 6. One end of the driving mechanism 61 is connected to the second longitudinal beam 12, and the other end is connected to the measuring tower 6.

[0134] In a preferred mode, the driving mechanism 61 includes a first telescopic member. The first telescopic member is pulled during the rotation of the measuring tower 6 from horizontal to vertical and from vertical to horizontal. The first telescopic member is preferably an oil cylinder or an air cylinder. Thus, a smaller diameter first telescopic member can be used to achieve the rotation of the measuring tower 6, thereby reducing the weight of the underwater screed.

[0135] In a preferred mode, the driving mechanism 61 includes a first telescopic member, the bracket 62 includes a bracket unit 621 arranged radially along the second longitudinal beam 12, the bracket unit 621 is mounted on the top of the end structure 13, the gap 622 is provided between the two bracket units 621, the rotating shaft 63 is connected between the two bracket units 621 and matched with the rotation of the measuring tower 6, one end of the first telescopic member is hinged to the measuring tower 6, and the other end of the first telescopic member is hinged to the second longitudinal beam 12 after passing through the gap.

[0136] In a preferred mode, the second longitudinal beam 12 is a truss structure, the second longitudinal beam 12 includes an upper chord 122, a lower chord 123, a vertical rod 124, a first inclined web 125, and a second inclined web 126, the upper chord 122 is provided with a transverse beam 127 at a first node 128, the first node 128 collects the vertical rod 124, the first inclined web 125, and the second inclined web 126, and the transverse beam 127 is connected to the first telescopic member.

[0137] By setting the connection position between the first telescopic member and the second longitudinal beam 12 at the first node 128, the vertical rod 124, the first diagonal web member 125 and the second diagonal web member 126 are gathered at the first node 128, so that the second longitudinal beam 12 can be a truss structure and still meet the tensile force requirements of the first telescopic member. Compared with using the second longitudinal beam 12 as a box beam, the weight of the second longitudinal beam 12 is greatly reduced, thereby greatly reducing the weight of the underwater leveling machine.

[0138] In a preferred embodiment, the support unit 621 is a truss structure; the measurement tower 6 is formed by sequentially splicing together multiple trusses.

[0139] In a preferred embodiment, a support frame 64 is provided on the top of the other end structure 13 so as to protrude upwards. When the measuring tower 6 is arranged horizontally, the support frame 64 can support the measuring tower 6 .

[0140] In a preferred embodiment, the driving mechanism 61 can drive the measuring tower 6 to rotate along the length direction of the second beam 11 .

[0141] In a preferred embodiment, the bidirectional walking underwater leveling machine described in the present application further includes interval-arranged brackets 62, with a gap between the two brackets 62, a rotating shaft 63 connected between the brackets 62, the measuring tower 6 and the rotating shaft 63 rotatingly cooperate, one end of the driving mechanism 61 is connected to the measuring tower 6, and the other end of the driving mechanism 61 passes through the gap and is connected to the second longitudinal beam 12.

[0142] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A rigid-flexible combined feeding system for an underwater leveling machine, characterized in that: include: A material distribution pipe (7) is used for being installed on an underwater leveling machine, wherein the top and bottom of the material distribution pipe (7) are both open, and the material distribution pipe (7) can move laterally and longitudinally along the underwater leveling machine; A material conveying device (75) is arranged at an angle, and a feed bin (753) is provided at one end of the material conveying device (75) close to the lower portion; The upper end of the material guide hose (79) is connected to the material conveying device (75), and the feed port of the material guide hose (79) is arranged corresponding to the discharge position of the material conveying device (75). The lower end of the material guide hose (79) extends from the top of the material distribution pipe (7) into the material distribution pipe (7).

2. The rigid-flexible combined feeding system for underwater leveling machine according to claim 1, characterized in that: The material conveying device (75) includes a material conveying mechanism (751) and a material guiding hard pipe (752) connected to the front end of the material conveying mechanism (751), the material guiding hard pipe (752) is connected to the material guiding hose (79), the material outlet of the material guiding hard pipe (752) is connected to the material inlet of the material guiding hose (79), and the material conveying mechanism (751) is arranged at an angle.

3. The rigid-flexible combined feeding system for underwater leveling machine according to claim 2, characterized in that: The feeding mechanism (751) and the material guiding tube (752) are connected in pitch and rotation via a telescopic bracket (76). The telescopic bracket (76) includes a connecting frame (761) and a telescopic member (762) that are hinged to each other. The connecting frame (761) is fixedly connected to one of the feeding mechanism (751) and the material guiding tube (752). The telescopic member (762) is hinged to the other one. The feeding bin (753) is arranged on the feeding mechanism (751).

4. The rigid-flexible combined feeding system for underwater leveling machine according to claim 3, characterized in that: The material conveying mechanism (751) and the material guiding hard tube (752) are hingedly connected via a first hinge shaft (754); The connecting frame (761) and the feeding mechanism (751) are fixedly connected; One end of the telescopic member (762) is hinged to the telescopic member (762) via a second hinge shaft (763), and the other end is hinged to the material guide tube (752) via a third hinge shaft (764); The connecting frame (761) is located below the feeding mechanism (751).

5. The rigid-flexible combined feeding system for underwater leveling machine according to claim 3, characterized in that: It also includes a base (71), the base (71) is connected to the feeding mechanism (751), and a front wheel group (712) and a rear wheel group (713) for the base (71) are provided on the base (71).

6. The rigid-flexible combined feeding system for underwater leveling machine according to claim 5, characterized in that: The front wheel set (712) is rotatably arranged relative to the base (71); and / or, The rear wheel set (713) is rotatably arranged relative to the base (71).

7. The rigid-flexible combined feeding system for underwater leveling machine according to claim 5, characterized in that: The feeding mechanism (751) is connected to the base (71) in a pitching and rotational manner.

8. The rigid-flexible combined feeding system for underwater leveling machine according to claim 7, characterized in that: It also includes a telescopic mechanism (711), the base (71) and the end of the material delivery mechanism (751) away from the material guide hose (79) are hinged, and the telescopic mechanism (711) is hinged between the base (71) and the material delivery mechanism (751).

9. The rigid-flexible combined feeding system for underwater leveling machine according to claim 1, characterized in that: The material distribution pipe (7) comprises an upper material pipe (72) and a lower material pipe (73): the upper material pipe (72) is connected above the lower material pipe (73), and a first channel (74) is provided between the upper material pipe (72) and the lower material pipe (73).

10. An underwater leveling machine, characterized in that: The invention comprises a rigid-flexible combined feeding system for an underwater leveling machine as claimed in any one of claims 1 to 19, further comprising a first main frame (2) and a second main frame (1), wherein: The first main frame (2) comprises two first longitudinal beams (22) spaced apart from each other, a first transverse beam (21) being connected between the ends of the two first longitudinal beams (22) on the same side, and at least four second vertical lifting legs (32) being supported and connected to the upper portion of the first main frame (2); The second main frame (1) includes four end structures (13) arranged in an array, and second longitudinal beams (12) are connected between adjacent end structures (13) in the longitudinal direction, and second transverse beams (11) are connected between adjacent end structures (13) in the transverse direction, the second longitudinal beams (12) are sleeved on the outside of the first longitudinal beams (22) on the corresponding side, and the first longitudinal beams (22) can move relative to the second longitudinal beams (12) in the longitudinal direction; the second transverse beams (11) are located on the inside of the first transverse beams (21), and the second main frame (1) is supported and connected with at least four first vertical lifting legs (31); The end structure (13) is provided with a first hole (131) along the length direction of the first longitudinal beam (22), and a transverse frame (33) is provided in the first hole (131). The transverse frame (33) is sleeved on the first longitudinal beam (22) and is slidably engaged with the first longitudinal beam (22) via a longitudinal telescopic mechanism (5). The transverse frame (33) is slidably engaged with the end structure (13) along the length direction of the second transverse beam (11) via a transverse telescopic mechanism (4). The transverse frame (33) and the end structure (13) are relatively fixed along the direction of the first longitudinal beam (22); A transverse moving mechanism (8) is provided between adjacent second beams (11), and a longitudinal moving mechanism (9) is provided on the transverse moving mechanism (8). The transverse moving mechanism (8) is used to drive the fabric pipe (7) to move transversely, and the longitudinal moving mechanism (9) is used to drive the fabric pipe (7) to move longitudinally.

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