Underwater foundation bed leveling device

Abstract

The utility model discloses an underwater foundation bed leveling device. Comprising a leveling frame provided with telescopic supporting legs, a longitudinal walking mechanism used for driving the leveling frame to longitudinally walk underwater, a transverse walking mechanism used for driving the leveling frame to transversely walk underwater, a walking cart mechanism arranged on the leveling frame and capable of transversely walking, and a material distribution trolley mechanism arranged on the walking cart mechanism and capable of longitudinally walking. The measuring towers and the control system are vertically arranged at the four corners of the leveling frame, the leveling frame is provided with a telescopic driving mechanism used for driving the telescopic supporting legs to stretch out and draw back, the top of each measuring tower is provided with a first positioning system used for monitoring elevation information of the leveling frame, and the first positioning systems are electrically connected with the control system. The control system is electrically connected with the longitudinal walking mechanism, the transverse walking mechanism, the walking cart mechanism, the distribution trolley mechanism and the telescopic driving mechanism. The problems that traditional leveling equipment is low in leveling efficiency and poor in positioning function and needs to depend on large hoisting equipment for auxiliary displacement are solved.

Description

Technical Field

[0001] The utility model relates to the technical field of underwater construction, in particular to an underwater base bed leveling device. Background Art

[0002] The construction of submarine immersed tube tunnels or port caisson terminals places high demands on the subgrade for the installation of the tubes and caissons. Typically, trench excavation and stone dumping are employed, with manual leveling or underwater leveling typically performed by leveling vessels. Due to the influence of wind and wave conditions in the construction area, the quality of the subgrade cannot meet construction requirements, resulting in low leveling efficiency. Leveling vessels have poor adaptability to tidal heights, leading to high construction costs. Using underwater leveling equipment for subgrade leveling requires a crane with a large lifting capacity for auxiliary movement, which reduces construction efficiency. Utility Model Content

[0003] In response to the defects of the above-mentioned existing technologies, the utility model provides an underwater base bed leveling device, which can automatically shift underwater and has rapid positioning capabilities and elevation compensation functions, so as to improve the efficiency of underwater leveling, reduce construction costs, and reduce dependence on large lifting equipment during construction.

[0004] The utility model is implemented by the following technical solutions:

[0005] An underwater base bed leveling device comprises a leveling frame provided with telescopic legs, a longitudinal walking mechanism for driving the leveling frame to move longitudinally underwater, a transverse walking mechanism for driving the leveling frame to move transversely underwater, a walking trolley mechanism provided on the leveling frame and capable of transverse movement, a material distributing trolley mechanism provided on the walking trolley mechanism and capable of longitudinal movement, a measuring tower and a control system vertically provided at the four corners of the leveling frame, the leveling frame is provided with a telescopic driving mechanism for driving the telescopic legs to be extended and retracted, the top of each measuring tower is provided with a first positioning system for monitoring the position and elevation information of the leveling frame, the first positioning system is electrically connected to the control system, and the control system is electrically connected to the longitudinal walking mechanism, the transverse walking mechanism, the walking trolley mechanism, the material distributing trolley mechanism and the telescopic driving mechanism, respectively.

[0006] Furthermore, the fabric trolley mechanism includes a fabric body, an end leveling tube connected to the lower end of the fabric body, and a fabric tube connected to the upper end of the fabric body. The fabric body is provided with an elevation adjustment mechanism for adjusting the height of the end leveling tube, and the top of the fabric tube is provided with a second positioning system for monitoring the leveling elevation. The elevation adjustment mechanism and the second positioning system are both electrically connected to the control system.

[0007] Furthermore, the elevation adjustment mechanism includes an elevation telescopic oil cylinder, a first connecting member and a second connecting member. The cylinder body of the elevation telescopic oil cylinder is fixed to the cloth body through the first connecting member, and the piston rod of the elevation telescopic oil cylinder is connected to the end leveling pipe through the second connecting member. The elevation telescopic oil cylinder is equipped with a stroke sensor.

[0008] Furthermore, an electric weight-type material level meter is provided inside the distribution pipe for monitoring the height of the gravel in the distribution pipe.

[0009] Furthermore, the telescopic driving mechanism is a telescopic hydraulic cylinder, and the telescopic hydraulic cylinder is equipped with a stroke sensor.

[0010] Furthermore, the walking trolley mechanism includes a walking body movably arranged on the leveling frame, a trolley drive motor installed on the walking body, a trolley drive shaft connected to the output end of the trolley drive motor, and a trolley gear arranged at the end of the trolley drive shaft. The leveling frame is provided with a transverse rack along the transverse direction, the trolley gear is engaged with the transverse rack, and the cloth body is movably arranged on the walking body.

[0011] Furthermore, the cloth trolley mechanism also includes a trolley drive motor installed on the cloth body, a trolley drive shaft connected to the output end of the trolley drive motor, and a trolley gear arranged at the end of the trolley drive shaft. A longitudinal rack is provided on the walking body, and the trolley gear is engaged with the longitudinal rack.

[0012] Furthermore, the trolley drive motor and the small car drive motor are respectively equipped with absolute encoders.

[0013] Furthermore, the leveling frame is provided with a transverse track, and the walking body is provided with a trolley walking wheel set that cooperates with the transverse track; the walking body is provided with a longitudinal track, and the cloth body is provided with a trolley walking wheel set that cooperates with the longitudinal track.

[0014] Furthermore, the leveling frame is composed of circular tubes arranged vertically and horizontally, and the circular tubes are divided into a plurality of watertight compartments, and each of the watertight compartments is provided with an air inlet and a water outlet.

[0015] Compared with the prior art, the beneficial effects of the present invention include at least:

[0016] The leveling frame of the utility model is supported on the base bed to be leveled by telescopic legs, and the telescopic legs are driven to perform telescopic action by a telescopic driving mechanism to raise or lower the leveling frame; the leveling frame is driven by the longitudinal walking mechanism and the transverse walking mechanism to move longitudinally and transversely underwater, so that the displacement of the leveling device does not need to rely on large-scale lifting equipment and can automatically move underwater; at the same time, through the cooperation of the longitudinal walking mechanism and the transverse walking mechanism, the material distributing trolley mechanism can realize the leveling construction of various positions of the base bed, which is suitable for underwater leveling construction of large spans; the material distributing trolley mechanism is driven by the walking trolley mechanism to move transversely along the leveling frame, thereby realizing the transverse movement of the material distributing trolley mechanism, and the material distributing trolley mechanism can move along the walking trolley mechanism The trolley mechanism moves longitudinally to realize the longitudinal movement of the material-distributing trolley mechanism. The traveling trolley mechanism and the material-distributing trolley mechanism work together to realize the full coverage leveling operation of the material-distributing trolley mechanism within a certain range. The leveling device is positioned by the first positioning system. During use, the entire device is immersed in water, and the measuring tower is exposed above the water surface. The elevation of each corner is measured by the first positioning system at the four corners. If there is a deviation in the elevation direction, the telescopic legs are controlled by the telescopic drive mechanism to telescope and compensate for the elevation difference to meet the requirements of leveling the leveling frame. This enables the device to have rapid positioning capabilities and elevation compensation functions, thereby improving the efficiency of underwater leveling, reducing construction costs, and reducing dependence on large lifting equipment during construction. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a top view of an underwater bed leveling device according to an embodiment of the utility model;

[0018] Figure 2 This is one of the main views of an underwater bed leveling device according to an embodiment of the present utility model;

[0019] Figure 3 This is the second front view of an underwater bed leveling device according to an embodiment of the present utility model;

[0020] Figure 4 This is a schematic diagram of a material distribution trolley mechanism of an underwater bed leveling device according to an embodiment of the present utility model;

[0021] Figure 5 This is a schematic diagram of the assembly of the telescopic legs and the longitudinal walking mechanism of an embodiment of the utility model;

[0022] Figure 6 Schematic diagram of the telescopic legs of an embodiment of the present utility model;

[0023] Figure 7 This is a schematic diagram of the outer sleeve and the inner sleeve of an embodiment of the present utility model;

[0024] Figure 8This is a schematic diagram of the assembly of the elevation adjustment mechanism and the terminal leveling pipe in an embodiment of the utility model;

[0025] In the figure: 10, leveling frame; 101, horizontal rack; 102, horizontal track; 20, longitudinal walking mechanism; 201, outer sleeve; 202, inner sleeve; 203, mobile hydraulic cylinder; 204, first sliding member; 205, second sliding member; 30, horizontal walking mechanism; 40, telescopic support leg; 401, telescopic hydraulic cylinder; 402, outer cylinder; 403, inner cylinder; 404, support seat; 50, walking trolley mechanism; 501, walking body; 502, trolley drive motor; 503, trolley drive shaft; 504, trolley gear; 505, trolley walking wheel group; 506, longitudinal rack; 60, material distribution trolley mechanism; 601, material distribution body; 602, trolley drive motor; 603, trolley drive shaft; 604, trolley gear; 605, trolley travel wheel group; 606, material distribution pipe; 607, end leveling pipe; 608, electric weight type material level meter; 609, lower hopper; 610, ladder; 611, working platform; 612, second positioning system; 70, measuring tower; 71, first positioning system; 80, height adjustment mechanism; 801, height telescopic cylinder; 802, first connecting piece; 803, second connecting piece. DETAILED DESCRIPTION

[0026] Example embodiments will now be described more fully with reference to the accompanying drawings. However, the example embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided to make this disclosure more comprehensive and complete and to fully convey the concepts of the example embodiments to those skilled in the art. Identical reference numerals in the figures denote identical or similar structures, and thus repeated descriptions thereof will be omitted.

[0027] The words expressing positions and directions described in this utility model are all explained with reference to the accompanying drawings as examples, but they can be changed as needed, and all such changes are included in the protection scope of this utility model.

[0028] like Figures 1-8As shown, an underwater base bed leveling device provided by the utility model includes a leveling frame 10 provided with telescopic legs 40, a longitudinal walking mechanism 20 for driving the leveling frame 10 to move longitudinally underwater, a transverse walking mechanism 30 for driving the leveling frame 10 to move transversely underwater, a walking trolley mechanism 50 provided on the leveling frame 10 and capable of transverse movement, a material distributing trolley mechanism 60 provided on the walking trolley mechanism 50 and capable of longitudinal movement, a measuring tower 70 vertically provided at the four corners of the leveling frame 10, and a controller, the leveling frame 10 is provided with a telescopic driving mechanism for driving the telescopic legs 40 to be extended and retracted, and the top of each measuring tower 70 is provided with a first positioning system 71 for monitoring the position and elevation information of the leveling frame 10, the first positioning system 71 is electrically connected to the controller, and the controller is electrically connected to the longitudinal walking mechanism 20, the transverse walking mechanism 30, the walking trolley mechanism 50, the material distributing trolley mechanism 60 and the telescopic driving mechanism respectively.

[0029] In this embodiment, the leveling frame 10 is supported on the base bed to be leveled by the telescopic legs 40, and the telescopic legs 40 are driven by the telescopic driving mechanism to perform telescopic action, so that the leveling frame 10 is raised or lowered; the leveling frame 10 is driven by the longitudinal walking mechanism 20 and the transverse walking mechanism 30 to move longitudinally and transversely underwater, so that the displacement of the leveling device does not need to rely on large-scale lifting equipment and can automatically move underwater. At the same time, through the cooperation of the longitudinal walking mechanism 20 and the transverse walking mechanism 30, the material distributing trolley mechanism 60 can realize the leveling construction of various positions of the base bed, which is suitable for underwater leveling construction of large spans; the material distributing trolley mechanism 60 is driven by the walking trolley mechanism 50 to move transversely along the leveling frame 10, realizing the transverse movement of the material distributing trolley mechanism 60, and at the same time, ... 0 can move longitudinally along the traveling trolley mechanism 50 to realize the longitudinal movement of the material distributing trolley mechanism 60. The traveling trolley mechanism 50 and the material distributing trolley mechanism 60 work together to realize the full coverage leveling operation of the material distributing trolley mechanism 60 within a certain range; the leveling device is positioned by the first positioning system 71. During use, the entire device is immersed in water, and the measuring tower 70 is exposed on the water surface. The elevation of each corner is measured by the first positioning system 71 at the four corners. If there is a deviation in the elevation direction, the telescopic support legs 40 are controlled by the telescopic drive mechanism to telescope and compensate for the elevation difference to meet the requirements of the leveling frame 10, so that the device has rapid positioning capability and elevation compensation function, thereby improving the efficiency of underwater leveling, reducing construction costs, and reducing dependence on large lifting equipment during construction.

[0030] During leveling operations, the leveling frame 10 is placed stably on the base bed to be leveled. The first positioning system 71 receives positioning signals and, through the control system, sends control signals to the longitudinal and transverse travel mechanisms 20 and 30, precisely positioning them into their working positions. Once in their respective workstations, the external feeding mechanism begins feeding the material distribution trolley mechanism 60. Once the trolley mechanism 60 is loaded, leveling can commence. By controlling the movement of the trolley mechanism 50 and the material distribution trolley mechanism 60, leveling is achieved in both the longitudinal and transverse directions. When the device completes leveling at one workstation, the longitudinal and transverse travel mechanisms 20 and 30 move the entire device to the next leveling station. This process repeats until the entire leveling operation is complete.

[0031] As a preferred embodiment, the fabric trolley mechanism 60 includes a fabric body 601, an end leveling tube 607 connected to the lower end of the fabric body 601, and a fabric tube 606 connected to the upper end of the fabric body 601. The fabric body 601 is provided with an elevation adjustment mechanism 80 for adjusting the height of the end leveling tube 607, and the top of the fabric tube 606 is provided with a second positioning system 612 for monitoring the leveling elevation. The elevation adjustment mechanism 80 and the second positioning system 612 are both electrically connected to the control system.

[0032] In this embodiment, when the leveling frame 10 is located on the underwater bed, the upper end of the material distribution pipe 606 is exposed above the water surface to facilitate material feeding. During the leveling process, when the traveling mechanism approaches the center of the leveling frame 10, the load applied to the center of the leveling frame 10 causes downward deflection. At this point, the control system monitors the elevation in real time using a second positioning system 612 mounted on top of the material distribution pipe 606. When the elevation changes, the control system issues a command to adjust the height of the terminal leveling pipe 607 via the elevation adjustment mechanism 80 to compensate for the elevation difference and ensure leveling accuracy. Preferably, the second positioning system 612 is an RTK sensor or a tracking total station.

[0033] As a preferred embodiment, the elevation adjustment mechanism 80 includes an elevation telescopic cylinder 801, a first connecting member 802, and a second connecting member 803. The cylinder body of the elevation telescopic cylinder 801 is fixed to the cloth-laying body 601 via the first connecting member 802, and the piston rod of the elevation telescopic cylinder 801 is connected to the terminal leveling tube 607 via the second connecting member 803. The elevation telescopic cylinder 801 is equipped with a stroke sensor. In this embodiment, the elevation of the terminal leveling tube 607 is compensated by the extension and retraction of the elevation telescopic cylinder 801, achieving high adjustment accuracy and a simple structure. The internal stroke sensor of the elevation telescopic cylinder 801 precisely controls the extension and retraction, providing high flexibility.

[0034] As a preferred embodiment, an electric weight-type level meter 608 for monitoring the height of the gravel in the distribution pipe 606 is provided inside the distribution pipe 606 .

[0035] In this embodiment, after the device completes positioning, the distribution pipe 606 is moved to the starting position for leveling, and the gravel is loaded into the distribution pipe 606 using a bucket or a long-arm excavator. During the loading process, the electric weight-type material level meter 608 needs to be put away to prevent the gravel from damaging the material level meter. After the loading is completed, the weight of the electric weight-type material level meter 608 is lowered, and the height of the gravel in the distribution pipe 606 is monitored in real time to ensure that there is always a certain height of gravel in the distribution pipe 606 to ensure the density of the leveling. At the same time, when monitoring the final position, do not reserve too much gravel in the distribution pipe 606 to reduce the waste of stone. In addition, a lower hopper 609 is provided on the top of the distribution pipe 606 of this embodiment, and a ladder 610 is installed on the outside of the distribution pipe 606. A working platform 611 is provided between the top of the ladder 610 and the bottom of the discharge head.

[0036] As a preferred embodiment, the telescopic drive mechanism is a telescopic hydraulic cylinder 401 equipped with a stroke sensor. The telescopic hydraulic cylinder 401 adjusts the height of the telescopic legs 40. The cylinder 401 has a certain initial back pressure, providing initial tension to prevent deformation of the telescopic legs 40 caused by water flow, thereby improving structural stability. Furthermore, during operation, when the leveling height changes, the telescopic hydraulic cylinder 401 can also adaptively extend and retract. The stroke sensor allows for quantitative adjustment of the telescopic legs 40's travel as needed, providing greater flexibility.

[0037] Among them, the telescopic support leg 40 of this embodiment includes a vertically arranged outer cylinder 402 and an inner cylinder 403 that can be telescoped in the outer cylinder 402, the telescopic hydraulic cylinder 401 is installed in the outer cylinder 402 and the inner cylinder 403, the cylinder portion of the telescopic hydraulic cylinder 401 is connected to the outer cylinder 402, the piston of the telescopic hydraulic cylinder 401 extends downward and its lower end is connected to the inner cylinder 403, the extension and retraction of the telescopic hydraulic cylinder 401 causes the inner cylinder 403 to extend and retract relative to the outer cylinder 402, the leveling frame 10 is connected to the outer cylinder 402, and the bottom end of the inner cylinder 403 is provided with a support seat 404.

[0038] In addition, the transverse walking mechanism 30 and the longitudinal walking mechanism 20 of this embodiment are prior art. The transverse walking mechanism 30 and the longitudinal walking mechanism 20 both include an outer sleeve 201, an inner sleeve 202 that can slide in the outer sleeve 201, a sliding assembly between the outer sleeve 201 and the inner sleeve 202, and a mobile hydraulic cylinder 203 for driving the outer sleeve 201 and the inner sleeve 202 to slide relative to each other. The sliding assembly includes a first sliding member 204 connected to the outer sleeve 201 and a second sliding member 205 connected to the inner sleeve 202. The sliding portion of the first sliding member 204 slides in cooperation with the outer wall of the inner sleeve 202, the sliding portion of the second sliding member 205 slides in cooperation with the inner wall of the outer sleeve 201, the mobile hydraulic cylinder 203 is installed in the outer sleeve 201 and the inner sleeve 202, the cylinder portion of the mobile hydraulic cylinder 203 extends from the outer sleeve 201 to the outside and is fixed to the leveling frame 10, the piston of the mobile hydraulic cylinder 203 extends to the inner sleeve 202 and its end is connected to the inner sleeve 202, and the inner sleeve 202 is connected to the outer tube 402. The specific working principle can be referred to the Chinese patent invention entitled "A Mobile Chassis and Walking Equipment" with patent number CN202120661178.

[0039] As a preferred embodiment, the walking trolley mechanism 50 includes a walking body 501 movably arranged on the leveling frame 10, a trolley drive motor 502 installed on the walking body 501, a trolley drive shaft 503 connected to the output end of the trolley drive motor 502, and a trolley gear 504 arranged at the end of the trolley drive shaft 503. The leveling frame 10 is provided with a transverse rack 101 along the transverse direction, and the trolley gear 504 is engaged with the transverse rack 101.

[0040] The walking body 501 of this embodiment relies on the trolley drive motor 502 to provide power, and drives the trolley gear 504 installed at the shaft end to roll on the transverse rack 101 through the trolley drive shaft 503, thereby realizing the transverse movement of the walking body 501, so as to achieve the transverse movement of the fabric trolley mechanism 60 on the leveling frame 10.

[0041] As a preferred embodiment, the fabric trolley mechanism 60 includes a fabric body 601 movably arranged on the walking body 501, a trolley drive motor 602 installed on the fabric body 601, a trolley drive shaft 603 connected to the output end of the trolley drive motor 602, and a trolley gear 604 arranged at the end of the trolley drive shaft 603. A longitudinal rack 506 is provided on the walking body 501, and the trolley gear 604 is engaged with the longitudinal rack 506.

[0042] In this embodiment, the fabric body 601 is movably arranged on the walking body 501. The fabric body 601 relies on the trolley drive motor 602 to provide power, and drives the trolley gear 604 to roll on the longitudinal rack 506 set on the walking body 501 through the trolley drive shaft 603 to realize the longitudinal movement of the fabric body 601.

[0043] As a preferred embodiment, an absolute encoder is installed on each of the trolley drive motor 502 and the trolley drive motor 602. By installing an absolute encoder on both the trolley drive motor 502 and the trolley drive motor 602, the travel position and travel speed can be controlled, thereby improving the accuracy of the travel position.

[0044] As a preferred embodiment, the leveling frame 10 is provided with a transverse track 102, and the walking body 501 is provided with a trolley walking wheel group 505 that cooperates with the transverse track 102; the walking body 501 is provided with a longitudinal track, and the cloth body 601 is provided with a trolley walking wheel group 605 that cooperates with the longitudinal track.

[0045] In this embodiment, the trolley walking wheel group 505 of the walking body 501 moves in the transverse track 102, and the transverse track 102 ensures that the walking body 501 guides the walking body 501 to move in the transverse direction. The trolley walking wheel group 605 of the cloth body 601 moves in the longitudinal track, and the cloth body 601 is guided to move in the longitudinal direction through the longitudinal track.

[0046] As a preferred embodiment, the leveling frame 10 is composed of circular tubes arranged vertically and horizontally, and the circular tubes are divided into a plurality of watertight compartments, each of which is provided with an air inlet and a water outlet.

[0047] In this embodiment, the circular tube is inflated and drained through the air inlet and outlet, increasing the buoyancy of the device. After the inflation and buoyancy-enhancing process, the device floats on the water surface, facilitating its recovery. Recovery can be accomplished by towing the device to a nearby dock area using a tugboat or other workboat, where it can be hoisted ashore using a shore crane for disassembly and transfer. The circular tube is divided into several watertight compartments, ensuring the stability of the leveling frame 10, ensuring stable buoyancy and preventing tipping.

[0048] In summary, the leveling device of the present invention has the following functions:

[0049] (1) Rapid positioning function: Relying on the two first positioning systems 71 installed on the measuring tower 70 and the second positioning system 612 installed on the fabric pipe 606. When the device is in place, the fabric pipe 606 is first moved to one corner of the measuring tower 70, and the positioning information of the first positioning system 71 and the second positioning system 612 is recorded. The fabric pipe 606 is then moved to another corner and the positioning information is recorded again. By comparing the two positioning data, it is confirmed whether the leveling frame 10 is in a horizontal state. If there is a deviation in the elevation direction, it is adjusted by the telescopic hydraulic cylinder 401 of the telescopic leg 40.

[0050] (2) Material level detection function: The height of the gravel in the distribution pipe 606 is monitored in real time by the electric weight-type material level meter 608 to ensure that there is always a certain height of gravel in the distribution pipe 606 to ensure the density of the leveling. At the same time, when monitoring the final position, do not reserve too much gravel in the distribution pipe 606 to reduce the waste of stone.

[0051] (3) Underwater automatic shifting function: The leveling frame 10 is driven by the longitudinal walking mechanism 20 and the transverse walking mechanism 30 to move longitudinally and transversely underwater, so that the displacement of the leveling device does not require large-scale lifting equipment and can automatically move underwater.

[0052] (4) Floating-assisting function: The self-floating function of the leveling frame 10 is achieved by inflating and draining the circular tube.

[0053] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are illustrative and cannot be understood as limiting the present invention. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the utility model without departing from the principles and purpose of the utility model. All of these changes should fall within the scope of protection of the claims of the present invention.

Claims

1. An underwater bed leveling device, characterized in that: The invention comprises a leveling frame (10) provided with telescopic legs (40), a longitudinal walking mechanism (20) for driving the leveling frame (10) to walk longitudinally underwater, a transverse walking mechanism (30) for driving the leveling frame (10) to walk transversely underwater, a walking trolley mechanism (50) provided on the leveling frame (10) and capable of walking transversely, a material distributing trolley mechanism (60) provided on the walking trolley mechanism (50) and capable of walking longitudinally, a measuring tower (70) vertically provided at the four corners of the leveling frame (10), and a control system. The leveling frame (10) is provided with a telescopic drive mechanism for driving the telescopic legs (40) to be telescopic. The top of each measuring tower (70) is provided with a first positioning system (71) for monitoring the position and elevation information of the leveling frame (10). The first positioning system (71) is electrically connected to the control system. The control system is electrically connected to the longitudinal walking mechanism (20), the transverse walking mechanism (30), the walking trolley mechanism (50), the material distributing trolley mechanism (60) and the telescopic drive mechanism respectively.

2. The underwater bed leveling device according to claim 1, characterized in that: The material distributing trolley mechanism (60) comprises a material distributing body (601), a terminal leveling pipe (607) connected to the lower end of the material distributing body (601), and a material distributing pipe (606) connected to the upper end of the material distributing body (601). The material distributing body (601) is provided with a height adjustment mechanism (80) for adjusting the height of the terminal leveling pipe (607). A second positioning system (612) for monitoring the leveling height is provided on the top of the material distributing pipe (606). Both the height adjustment mechanism (80) and the second positioning system (612) are electrically connected to the control system.

3. The underwater bed leveling device according to claim 2, characterized in that: The elevation adjustment mechanism (80) comprises an elevation telescopic oil cylinder (801), a first connecting member (802) and a second connecting member (803); the cylinder body of the elevation telescopic oil cylinder (801) is fixed to the cloth body (601) via the first connecting member (802); the piston rod of the elevation telescopic oil cylinder (801) is connected to the terminal leveling pipe (607) via the second connecting member (803); and the elevation telescopic oil cylinder (801) is equipped with a stroke sensor.

4. The underwater bed leveling device according to claim 2, characterized in that: An electric weight-type material level meter (608) for monitoring the height of the gravel in the distribution pipe (606) is provided inside the distribution pipe (606).

5. The underwater bed leveling device according to claim 1, characterized in that: The telescopic driving mechanism is a telescopic hydraulic cylinder (401), and the telescopic hydraulic cylinder (401) is equipped with a stroke sensor.

6. The underwater bed leveling device according to claim 2, characterized in that: The walking trolley mechanism (50) comprises a walking body (501) movably arranged on the leveling frame (10), a trolley drive motor (502) mounted on the walking body (501), a trolley drive shaft (503) connected to the output end of the trolley drive motor (502), and a trolley gear (504) arranged at the end of the trolley drive shaft (503); the leveling frame (10) is provided with a transverse rack (101) in the transverse direction; the trolley gear (504) is engaged with the transverse rack (101); and the cloth body (601) is movably arranged on the walking body (501).

7. The underwater bed leveling device according to claim 6, characterized in that: The cloth-distributing trolley mechanism (60) further comprises a trolley drive motor (602) mounted on the cloth-distributing body (601), a trolley drive shaft (603) connected to the output end of the trolley drive motor (602), and a trolley gear (604) arranged at the end of the trolley drive shaft (603); a longitudinal rack (506) is provided on the walking body (501), and the trolley gear (604) is meshed with the longitudinal rack (506).

8. The underwater bed leveling device according to claim 7, characterized in that: The trolley drive motor (502) and the trolley drive motor (602) are respectively equipped with absolute value encoders.

9. The underwater bed leveling device according to claim 6, characterized in that: The leveling frame (10) is provided with a transverse track (102), and the walking body (501) is provided with a trolley walking wheel set (505) that matches the transverse track (102); the walking body (501) is provided with a longitudinal track, and the cloth-laying body (601) is provided with a trolley walking wheel set (605) that matches the longitudinal track.

10. The underwater bed leveling device according to claim 1, characterized in that: The leveling frame (10) is composed of circular tubes arranged vertically and horizontally, and the circular tubes are divided into a plurality of watertight compartments, and each of the watertight compartments is provided with an air inlet and a water outlet.

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