Multi-degree-of-freedom adjusting mechanism for underwater leveling machine

Abstract

The utility model relates to the technical field of underwater leveling machines, in particular to a multi-degree-of-freedom adjusting mechanism for an underwater leveling machine. Comprising two first cross beams which are arranged in a spaced mode, and ballast drainage bins are arranged in the first cross beams; a longitudinal support is arranged between the two first cross beams in a supporting mode and can move relative to the first cross beams in the length direction of the first cross beams; the discharging mechanism is arranged on the longitudinal support in a supporting mode and can move relative to the longitudinal support in the radial direction of the first cross beam. According to the multi-degree-of-freedom adjusting mechanism for the underwater leveling machine, due to the fact that the ballast drainage bin is arranged in the first cross beam, the first cross beam and the ballast drainage bin are integrated, and the purpose of reducing the weight of the underwater leveling machine is achieved.

Description

TECHNICAL FIELD

[0001] The utility model relates to underwater leveling machine technical field, especially relate to a kind of multi-degree-of-freedom adjusting mechanism for underwater leveling machine. BACKGROUND

[0002] Underwater leveling machine is a kind of mechanical equipment specially used for underwater earthwork leveling operation, is widely used in marine engineering, water conservancy engineering and other fields, underwater leveling machine can effectively carry out soil leveling work under water through its special design and structure, to achieve the expected flatness.

[0003] At present, underwater leveling machine is generally heavy 150t-200t (for example, periodical: walking type underwater base leveling machine and construction technology development, water transport engineering, December, 2006, No. 12, total 397th, the whole machine reaches 185t), its dead weight causes great difficulty to hoist and operate in water, so how to further reduce the dead weight of walking type leveling machine becomes one of the problems to be solved in the field. UTILITARY MODEL

[0004] The utility model aims at overcoming the deficiency that walking type underwater leveling machine is generally composed of leveling frame, moving frame and transition frame in prior art, provides a kind of multi-degree-of-freedom adjusting mechanism for underwater leveling machine.

[0005] In the first aspect, the utility model provides a kind of multi-degree-of-freedom adjusting mechanism for underwater leveling machine, comprising:

[0006] Two first cross beams of interval arrangement, the first cross beam is provided with ballast drainage bin in it;

[0007] Longitudinal support, support setting is between two first cross beams, the longitudinal support can be opposite to the first cross beam along the length direction of the first cross beam;

[0008] Discharging mechanism, support setting is on the longitudinal support, the discharging mechanism can be opposite to the longitudinal support along the radial direction of the first cross beam.

[0009] The multi-degree-of-freedom adjusting mechanism for underwater leveling machine described in the application, since the first cross beam is provided with ballast drainage bin, the first cross beam and ballast drainage bin are integrated, so as to achieve the purpose of reducing the weight of underwater leveling machine.

[0010] Preferably, the first cross beam is provided with at least two ballast drainage bins, adjacent ballast drainage bin is provided with partition, the partition is provided with water through hole, the bottom of ballast drainage bin is provided with water inlet and outlet.

[0011] Preferably, the ballast water tank is communicated with an exhaust valve and an air inlet valve.

[0012] Preferably, further comprising a material pipe support and a longitudinal driving mechanism:

[0013] The material pipe support is connected with the material feeding mechanism;

[0014] The longitudinal support frame comprises two longitudinally spaced parallel support rails, the material pipe support is located between the two support rails, and the longitudinal driving mechanism drives the material pipe support to move along the support rails relative to the support rails.

[0015] Preferably, the longitudinal driving mechanism comprises a first driving motor, a first gear and a first rack, the first driving motor drives the first gear to engage with the first rack, and the first rack is arranged along the length direction of the support rails.

[0016] Preferably, a second driving motor is arranged, both ends of the second driving motor are drivingly connected with output shafts, the output shafts are drivingly connected with second gears near the end portions of the first cross beams, second racks are arranged along the length direction of the first cross beams, and the second gears are engaged with the corresponding second racks.

[0017] Preferably, a transverse rail is further arranged on the first cross beam, the transverse rail is arranged along the length direction of the first cross beam, the longitudinal support frame is provided with a transverse roller at the end portion, and the transverse roller is rollingly matched with the transverse rail.

[0018] Preferably, the opposite end portions of the two first cross beams are connected.

[0019] Preferably, the material pipe support is sleevedly connected outside the material feeding mechanism.

[0020] Preferably, the material feeding mechanism comprises a material box, 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; the material box comprises a hopper, an opening is formed in the bottom of the hopper, a door is arranged at the opening, the door can be opened to connect the hopper with the upper material pipe, the door comprises two oppositely arranged half door structures, the half door structures are hingedly connected with the hopper through a first hinge shaft, and when the door is vertically pressed downward on the large opening end of the third funnel structure, the two half door structures are turned away from each other to form a channel connecting the hopper and the first funnel structure.

[0021] The application discloses a multi-degree-of-freedom adjusting mechanism for an underwater screed machine.

[0022] Preferably, the half-door structure is eccentrically hinged with the hopper in a direction towards the other half-door structure.

[0023] Compared with the prior art, the application has the following beneficial effects:

[0024] The application discloses a multi-degree-of-freedom adjusting mechanism for an underwater screed machine. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 It is a top view schematic diagram of the multi-degree-of-freedom adjusting mechanism for the underwater screed machine.

[0026] Figure 2 It is a longitudinal section schematic diagram of the second crossbeam.

[0027] Figure 3 It is a front view schematic diagram of the underwater screed machine.

[0028] Figure 4 It is a three-dimensional schematic diagram of the underwater screed machine.

[0029] Figure 5 It is a schematic diagram of the discharging mechanism structure.

[0030] Figure 6 It is a schematic diagram of the structure of the hopper.

[0031] Figure 7 It is a schematic diagram of the initial state that the hopper contacts the limiting ring.

[0032] Figure 8 It is a schematic diagram of the state that the limiting ring abuts against the half-door structure.

[0033] Figure 9 It is a schematic diagram of the structure of the upper material pipe.

[0034] Figure 10 It is a first block arrangement schematic diagram.

[0035] Figure 11 Structure diagram of lower material pipe of the present application.

[0036] Figure 12 Structure diagram of lower material pipe of the present application.

[0037] Figure 13 Structure diagram of lower material pipe of the present application. DETAILED DESCRIPTION

[0038] The utility model will be described in further detail below in combination with specific embodiments. However, this should not be understood as limiting the scope of the above-mentioned subject matter of the utility model to the following embodiments. Any technology realized based on the content of the utility model falls within the scope of the utility model.

[0039] In the description of the embodiments of the utility model, the terms indicating the orientation or positional relationship of "up", "down", "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 / equipment / device of the utility model is usually placed. These terms of orientation or positional relationship are only used to facilitate the description of the utility model scheme or simplify the description in the embodiments, so as to enable the skilled person to quickly understand the scheme, and therefore cannot be understood as indicating or implying 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 limiting the utility model.

[0040] In addition, if the terms "horizontal", "vertical", "suspended", "parallel", etc. appear, 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 utility model.

[0041] 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 a specific component.

[0042] Further, in the description of the embodiments of the utility model, "several" "a plurality of" "several" represent at least 2. It can be 2, 3, 4, 5, 6, 7, 8, 9 etc. Any situation, it can even be more than 9 cases.

[0043] Further, in the description of the technical scheme of the utility model, unless otherwise specified / limited / limited, the term "set" "installation" "connected" "connected" "provided with" "laid" "arranged" should be understood broadly, for example, it can be fixedly connected, it can also be detachably connected, or integrally connected, it can be welding, riveting, bolting, screw connection 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, it can be the communication between two elements.

[0044] Embodiment 1

[0045] As shown in Figures 1-13 The embodiment of the utility model discloses a multi-degree-of-freedom adjusting mechanism for underwater screed machine, comprising:

[0046] Two first cross beams 11 are arranged at intervals, and the first cross beam 11 is provided with a ballast drainage bin 112;

[0047] The longitudinal support 91 is supported and arranged between the two first cross beams 11, and the longitudinal support 91 can move relative to the first cross beam 11 along the length direction of the first cross beam 11.

[0048] The blanking mechanism 7 is supported and arranged on the longitudinal support 91, and the blanking mechanism 7 can move relative to the longitudinal support 91 along the radial direction of the first cross beam 11.

[0049] The multi-degree-of-freedom adjusting mechanism for underwater screed machine provided by the application, because the first cross beam 11 is provided with the ballast drainage bin 112, the first cross beam 11 and the ballast drainage bin 112 are integrated, thereby achieving the purpose of reducing the weight of the underwater screed machine.

[0050] Preferably, the first cross beam 11 is provided with at least two ballast drainage bins 112, adjacent ballast drainage bins 112 are provided with a partition 1121, the partition 1121 is provided with a water passing hole 1122, the bottom of the ballast drainage bin 112 is provided with a water inlet and outlet 1123, and the water inlet and outlet 1123 can be provided with a door, the door 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.

[0051] Preferably, a tube support 92 and a longitudinal driving mechanism 93 are further included.

[0052] The tube support 92 is connected with the feeding mechanism 7.

[0053] The longitudinal support 91 includes two parallel longitudinal support rails 911, and the tube support 92 is located between the two longitudinal support rails 911, and the longitudinal driving mechanism 93 drives the tube support 92 to move along the longitudinal support rails 911 relative to the longitudinal support rails 911.

[0054] Further preferably, longitudinal rollers 920 are mounted on the tube support 92, and the longitudinal rollers 920 are in rolling engagement with the longitudinal support rails 911.

[0055] Preferably, the longitudinal driving mechanism 93 includes a first driving motor 931, a first gear 932 and a first rack 933, and the first driving motor 931 drives the first gear 932 to engage and drive the first rack 933.

[0056] Preferably, a second driving motor 84 is included, and output shafts 85 are drivingly connected to both ends of the second driving motor 84, and second gears 82 are drivingly connected to the output shafts 85 near the ends of the first cross beams 11, and second racks 83 are arranged on the first cross beams 11 along the length direction, and the second gears 82 are in engagement with the corresponding second racks 83.

[0057] Preferably, a transverse rail 81 is further included and mounted on the first cross beam 11, and the transverse rail 81 is arranged along the length direction of the first cross beam 11, and a transverse roller 86 is arranged at the end of the longitudinal support 91, and the transverse roller 86 is in rolling engagement with the transverse rail 81.

[0058] Preferably, the opposite ends of the two first cross beams 11 are connected.

[0059] Preferably, the tube support 92 is sleeved and connected to the outside of the feeding mechanism 7.

[0060] Preferably, the feeding mechanism 7 comprises a hopper 71, an upper feeding pipe 72, and a lower feeding pipe 73; the upper feeding pipe 72 is connected above the lower feeding pipe 73, and a first passage 74 is formed between the upper feeding pipe 72 and the lower feeding pipe 73; the hopper 71 comprises a hopper bin 711, and an opening 712 is formed at the bottom of the hopper bin 711, and a hopper door 713 is arranged at the opening 712; the hopper door 713 can be opened to connect the hopper bin 711 and the upper feeding pipe 72; the hopper door 713 comprises two oppositely arranged half-door structures 714, and the half-door structures 714 are hingedly connected to the hopper bin 711 through a first hinge shaft 716; when the hopper door 713 vertically presses the large-end of the third funnel structure 728, the two half-door structures 714 are rotated away from each other to form a passage connecting the hopper bin 711 and the first funnel structure 732.

[0061] The multi-degree-of-freedom adjusting mechanism for the underwater screed machine can be used in construction; the hopper door 713 can be opened to connect the hopper bin 711 and the upper feeding pipe 72 by vertically pressing the upper feeding pipe 72 with the hopper 71, so that the stones in the hopper bin 711 fall into the upper feeding pipe 72, and then into the lower feeding pipe 73; at this time, part of the air or water in the upper feeding pipe 72 and the lower feeding pipe 73 is discharged through the first passage 74 between the upper feeding pipe 72 and the lower feeding pipe 73, so that the stones can smoothly flow from the hopper 71 to the lower feeding pipe 73, thereby achieving the purpose of smooth feeding during the operation of the screed machine.

[0062] The half-door structures 714 are eccentrically hinged to the hopper bin 711 in a direction towards the other half-door structure 714.

[0063] The first cross beam 11 is provided with a ballast drainage chamber 112, which is used for the underwater leveling of the bidirectional walking underwater screed machine, and controls the rising and sinking of the bidirectional walking underwater screed machine.

[0064] Preferably, the feeding mechanism 7 comprises a hopper 71, an upper feeding pipe 72, and a lower feeding pipe 73;

[0065] The upper feeding pipe 72 is connected above the lower feeding pipe 73, and a first passage 74 is formed between the upper feeding pipe 72 and the lower feeding pipe 73;

[0066] The hopper 71 comprises a hopper bin 711, and an opening 712 is formed at the bottom of the hopper bin 711, and a hopper door 713 is arranged at the opening 712; the hopper door 713 can be closed or opened, and the hopper door 713 and the upper feeding pipe 72 are configured such that when the hopper 71 vertically presses the upper feeding pipe 72, the hopper door 713 can be opened to connect the hopper bin 711 and the upper feeding pipe 72.

[0067] The ballast drainage bin 112 is used for underwater leveling multi-degree of freedom adjustment underwater leveling machine, and controls the multi-degree of freedom adjustment underwater leveling machine to rise and sink.

[0068] The ballast drainage bin 112 is communicated with an exhaust valve and an air inlet valve.

[0069] The ballast drainage bin 112 is used as follows: six ballast drainage bins 112 are arranged on each of the two material beams 11, that is, a total of 12 ballast drainage bins 112 of the whole machine are taken as an example; the two material beams 11 generate a certain buoyancy;

[0070] During the process of lowering the underwater leveling machine to the water surface, the buoyancy of the whole machine is greater than the weight, and the whole machine is in a floating state, and the exhaust valve of one ballast drainage bin 112 of each material beam 11 is symmetrically opened, the water level state of the whole machine is observed, the exhaust valve is closed when the leveling machine sinks, until the leveling machine sinks to the bottom, and all the exhaust valves are opened to make the ballast drainage bin 112 complete water intake.

[0071] When the underwater leveling machine needs to be out of water, the air inlet valve of one ballast drainage bin 112 of each material beam 11 is symmetrically opened, and the ballast drainage bin 112 is pressurized, the current air inlet valve is closed after one cabin is drained, the air inlet valve of the next ballast drainage bin 112 of each beam is symmetrically opened at the same time, and the operation is repeated, and the hoisting weight display screen of the crane is observed during the drainage process, the exhaust valve is closed when the hoisting weight decreases to the target value range, the hook is operated to rise until the whole machine floats out of the water, and the above process is summarized, the underwater leveling machine is lifted by the crane, and the ballast drainage bin 112 serves as buoyancy assistance.

[0072] In a preferred mode, the upper material pipe 72 is inserted into the lower material pipe 73.

[0073] In a preferred mode, the lower material 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 end facing the upper material pipe 72.

[0074] The bottom pipe structure 731 and the first funnel structure 732 are welded, and 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, and a plurality of lower lifting lugs 734 are connected to the top outer wall of the first funnel structure 732.

[0075] All the lower lifting lugs 734 are arranged close to the large opening end of the first funnel structure 732.

[0076] The upper material pipe 72 comprises an upper pipe structure 721, and a plurality of protrusions 722 are arranged on the outer wall of the upper pipe structure 721 in a circumferential direction, and a first gap 723 is arranged between adjacent protrusions 722, and an inclined surface 724 is arranged on the outer side surface of the protrusion 722, and the inclined surface 724 is arranged corresponding to the first funnel structure 732, and the upper pipe structure 721 is inserted into the bottom pipe structure 731, and a 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, and the second gap 725 is communicated with the first gap 723.

[0077] In a preferred mode, the upper material pipe 72 further comprises a second funnel structure 726 sleeved on the outer side of the upper pipe structure 721, and 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, and a third gap 741 is arranged between the first funnel structure 732 and the second funnel structure 726, and the third gap 741 is communicated with the first gap 723, and the first gap 723 and the second gap 725 form the first channel 74.

[0078] The outer side of the part of the upper pipe structure 721 located below the first funnel structure 732 is provided with a first structure block 720, and at least one side of the first structure block 720 can be laterally abutted against 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 material pipe 73.

[0079] The first structure block 720 is preferably an arc-shaped plate.

[0080] In a preferred mode, the upper pipe structure 721 further comprises at least two upper pipe sections 727 which are detachably connected in sequence along the length direction of the upper pipe structure 721.

[0081] In a preferred mode, the second funnel structure 726 is arranged on the lowermost upper pipe section 727.

[0082] In a preferred mode, 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 upwards.

[0083] In a preferred mode, the material box 71 further comprises a hopper 711, and an opening 712 is arranged at the bottom of the hopper 711, and a material door 713 is arranged at the opening 712, and the material door 713 can be closed or opened, and the material door 713 and the third funnel structure 728 are configured such that when the material door 713 vertically presses downwards on the third funnel structure 728, the material door 713 can be opened.

[0084] Specifically, when the material door 713 vertically presses the large opening end of the third funnel structure 728, the material door 713 can be opened.

[0085] In a preferred manner, the top of the third funnel structure 728 is upwardly convexly provided with a limiting ring 729; the limiting ring 729 can vertically abut with the material door 713.

[0086] In a preferred manner, the material door 713 comprises two oppositely arranged half-door structures 714, which are hingedly connected with the hopper 711 through first hinging shafts 716; when the material door 713 vertically presses the large opening end of the third funnel structure 728, the two half-door structures 714 are oppositely rotated to form a channel connecting the hopper 711 and the first funnel structure 732.

[0087] In a preferred manner, the two first hinging shafts 716 are arranged in parallel, and the half-door structure 714 is eccentrically hinged with the hopper 711 in a direction towards the other half-door structure 714.

[0088] In a preferred manner, the outside of the half-door structure 714 is outwardly convexly provided with an abutting leg 717; when the abutting leg 717 vertically presses the large opening end of the third funnel structure 728, the material door 713 can be opened.

[0089] In a preferred manner, the hopper 711 is further provided with a limiting structure 718 capable of abutting with the abutting leg 717, which is located on the rotating path of the abutting leg 717.

[0090] In a preferred manner, the lower part of the hopper 711 is provided with a hopper supporting leg 719 for supporting the hopper 711, and the bottom of the hopper supporting leg 719 is lower than the bottom of the abutting leg 717.

[0091] In a preferred manner, the discharging mechanism 7 is connected with a longitudinal moving mechanism 9, which can drive the discharging mechanism 7 to move along the length direction of the second longitudinal beam 22.

[0092] In a particularly preferred manner, the lower material pipe 73 is connected with a longitudinal moving mechanism 9, which can drive the lower material pipe 73 to move along the length direction of the second longitudinal beam 22.

[0093] The multi-degree-of-freedom adjusting mechanism for the underwater screed machine disclosed by the application can make the material door 713 open and make the material hopper 711 communicate with the upper material pipe 72 by vertically pressing the upper material pipe 72 by the material box 71 during construction, so that the stones in the material hopper 711 fall into the upper material pipe 72 and then into the lower material pipe 73, at this time, part of air or water in the upper material pipe 72 and the lower material pipe 73 is discharged through the first channel 74 between the upper material pipe 72 and the lower material pipe 73, so that the stones can smoothly reach the lower material pipe 73 from the material box 71, thereby achieving the purpose of smooth feeding during the operation of the screed machine.

[0094] In a preferred mode, the longitudinal support 91, the material pipe support 92 and the longitudinal driving mechanism 93 form the longitudinal moving mechanism 9, wherein:

[0095] The material pipe support 92 is connected with the feeding mechanism 7.

[0096] The longitudinal support 91 comprises two longitudinally parallel arranged longitudinal support rails 911, and the material pipe support 92 is located between the two longitudinal support rails 911 and is in rolling cooperation with the two longitudinal support rails 911.

[0097] The longitudinal driving mechanism 93 comprises a first driving motor 931, 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.

[0098] So that the material pipe support 92 can move along the longitudinal support rails 911 relative to the longitudinal support rails 911 in the length direction of the longitudinal support rails 911.

[0099] In particular, the material pipe support 92 is connected with the lower material pipe 73.

[0100] One end of the end structure 13 is connected with the first cross beam 11 in the moving direction of the cross moving frame 33.

[0101] The same ends of the two first cross beams 11 are connected with the first longitudinal beam 12, and the end of the first cross beam 11 is further provided with the measuring tower 6, and the measuring tower 6 is installed with a GPS or Beidou positioning system.

[0102] The above only describes the preferred embodiments of the application and is not used to limit the application, and any modification, equivalent replacement and improvement made within the spirit and principle of the application shall be included in the protection scope of the application.

Claims

1. A multi-degree-of-freedom adjustment mechanism for an underwater leveling machine, characterized in that, include: Two first crossbeams (11) are spaced apart, and a ballast drainage chamber (112) is provided inside the first crossbeam (11). A longitudinal support (91) is provided between two first crossbeams (11), and the longitudinal support (91) is movable relative to the first crossbeams (11) along the length direction of the first crossbeams (11); The feeding mechanism (7) is supported on the longitudinal support (91) and can move radially relative to the longitudinal support (91) along the first crossbeam (11).

2. The multi-degree-of-freedom adjustment mechanism for an underwater leveling machine according to claim 1, characterized in that, At least two ballast drainage chambers (112) are provided inside the first crossbeam (11), and a partition (1121) is provided between adjacent ballast drainage chambers (112). A water passage hole (1122) is provided on the partition (1121), and an inlet and outlet (1123) are provided at the bottom of the ballast drainage chamber (112). An exhaust valve and an air inlet valve are connected to the ballast drainage chamber (112).

3. The multi-degree-of-freedom adjustment mechanism for an underwater leveling machine according to claim 1, characterized in that, It also includes a feed tube support (92) and a longitudinal drive mechanism (93): The feed tube support (92) is connected to the feeding mechanism (7); The longitudinal support (91) includes two parallel longitudinal support rails (911) spaced apart. The material tube support (92) is located between the two longitudinal support rails (911), and the longitudinal drive mechanism (93) drives the material tube support (92) to move relative to the longitudinal support rails (911) along the length direction of the longitudinal support rails (911).

4. The multi-degree-of-freedom adjustment mechanism for an underwater leveling machine according to claim 3, characterized in that, The longitudinal drive mechanism (93) includes a first drive motor (931) and a meshing first gear (932) and a first rack (933). The first drive motor (931) drives the first gear (932) to mesh with the first rack (933) for transmission. The first rack (933) is arranged along the length direction of the longitudinal support track (911).

5. A multi-degree-of-freedom adjustment mechanism for an underwater leveling machine according to claim 1, characterized in that, The device includes a second drive motor (84), both ends of which are connected to an output shaft (85). The output shaft (85) is connected to a second gear (82) at the end near the first crossbeam (11). A second rack (83) is provided on the first crossbeam (11) along its length. The second gear (82) meshes with the second rack (83) on the corresponding side.

6. A multi-degree-of-freedom adjustment mechanism for an underwater leveling machine according to claim 4, characterized in that, It also includes a transverse track (81) installed on the first crossbeam (11), the transverse track (81) being arranged along the length direction of the first crossbeam (11), and a transverse roller (86) being provided at the end of the longitudinal support (91), the transverse roller (86) being in rolling cooperation with the transverse track (81).

7. A multi-degree-of-freedom adjustment mechanism for an underwater leveling machine according to claim 1, characterized in that, The opposite ends of the two first crossbeams (11) are connected.

8. A multi-degree-of-freedom adjustment mechanism for an underwater leveling machine according to claim 3, characterized in that, The material tube support (92) is sleeved and connected to the outside of the feeding mechanism (7).

9. A multi-degree-of-freedom adjustment mechanism for an underwater leveling machine according to claim 1, characterized in that, The feeding mechanism (7) includes a material box (71), 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 there is a first channel (74) between the upper material pipe (72) and the lower material pipe (73). The material box (71) includes a hopper (711), and the bottom of the hopper (711) is provided with an opening (712). A material gate (713) is provided at the opening (712). The material gate (713) can be opened to connect the hopper (711) with the upper material pipe (72). The material gate (713) includes two opposing half-door structures (714). The half-door structures (714) are hinged to the hopper (711) through a first hinge shaft (716). The upper material pipe (72) includes an upper pipe structure (721), and the upper pipe structure (721) also includes a third funnel structure (728) connected to the top of the upper pipe structure (721). The large end of the third funnel structure (728) is set upward. When the material gate (713) presses the large end of the third funnel structure (728) vertically downward, the two half-gate structures (714) rotate in opposite directions to form a channel connecting the material hopper (711) and the first funnel structure (732).

10. A multi-degree-of-freedom adjustment mechanism for an underwater leveling machine according to claim 9, characterized in that, The half-door structure (714) and the hopper (711) are eccentrically hinged in the direction toward the other half-door structure (714).

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