The invention discloses a walking type inserting machine, which comprises a longitudinal floating platform, a transverse auxiliary floating platform, a floating platform moving support beam, an inserting system moving support beam, an inserting system and a hydraulic system. The invention further discloses a quick drainage solidification method for making the walking type inserting machine walk on a super soft foundation and inserting a large-area super soft foundation of a vertical drainage system. Compared with the conventional soft foundation reinforcing method, the large-area super soft foundation reinforcing method has the advantages that: shallow foundation pretreatment, deep foundation treatment and pavement of a drainage sand cushion are not required, super soft soil can be treated completely at one time, the construction period can be shortened, and the cost is reduced. In particular, a sand cushion is not required to be paved, the limit of the sand source condition is eliminated, and the method plays an important role in reducing the cost and protecting the environment.