Cross-sea bridge premixed flow state solidified soil scouring protection construction robot and construction method

Abstract

The invention relates to the technical field of cross-sea bridge seabed pile foundation scour protection construction equipment, in particular to a cross-sea bridge premixed flow state solidified soil scour protection construction robot and a construction method. The cross-sea bridge premixed flow state solidified soil scour protection construction robot is characterized in that the cross-sea bridge premixed flow state solidified soil scour protection construction robot comprises a water retaining device arranged on the upstream side of a seabed pile foundation, and a construction relative still water area of artificial low-speed ocean current can be formed on the inner side of the water retaining device; a movable cross beam is arranged on the water retaining device, a circumferential driving device is arranged between the water retaining device and the movable cross beam, a movable seat is arranged at the upper end of the movable cross beam, a radial driving device is arranged between the movable seat and the movable cross beam, and a pouring hopper is arranged on the movable seat. According to the method, a small-range construction relative still water area can be formed on the upstream side of the seabed pile foundation, the pouring washout loss of poured flow-state solidified soil in a seabed pile foundation washout area can be greatly reduced, the retention effect is improved, material waste, construction cost and manufacturing cost are greatly reduced, and the pouring area can be actively adjusted according to the range, needing protection, of ocean current washout.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of construction equipment for scour protection of a subsea pile foundation of a sea-crossing bridge, and in particular to a sea-crossing bridge pre-mixed fluidized solidified soil scour protection construction robot and a construction method. BACKGROUND

[0002] A bridge pier of a sea-crossing bridge is composed of a subsea pile foundation, a pile cap, and a pier body. The subsea pile foundation supports the upper pile cap, and the pile cap supports the pier body and in turn supports the upper bridge structure. Due to the existence of ocean currents and waves, scouring of the seabed surface occurs. The silt on the seabed surface in front of the subsea pile foundation is washed away, and deposition occurs on the seabed surface behind the subsea pile foundation, thereby gradually forming a scour pit. As the scour pit continues to increase, the stability of the upper structure is affected. Therefore, it is necessary to protect the subsea pile foundation of the bridge pier. The existing protection technology for the subsea pile foundation of the bridge pier is mostly to use fluidized solidified soil solidification protection technology after the scour pit is formed. The scour pit is filled and covered with fluidized solidified soil, concrete, and riprap, and a protection structure is formed around the subsea pile foundation of the bridge pier. However, in actual application, due to the existence of ocean currents and waves, the area around the subsea pile foundation of the bridge pier in the sea is a non-relative still water area. The fluidized solidified soil is a flowing material. After the fluidized solidified soil is poured and before it solidifies, most of the poured fluidized solidified soil is washed away by the ocean currents, thereby causing serious waste of construction materials and greatly increasing the overall construction cost and cost. In view of this problem, the present application is produced after in-depth research. SUMMARY

[0003] The technical problem to be solved by the present application is to provide a sea-crossing bridge pre-mixed fluidized solidified soil scour protection construction robot and a construction method, which can form a small range of construction relative still water area on the water side of the subsea pile foundation, greatly reduce the pouring loss of the poured low fluidized solidified soil in the scouring area of the subsea pile foundation, improve the retention effect, greatly reduce material waste, construction cost, and cost, and actively adjust the pouring area according to the range of protection needed by the ocean current scour.

[0004] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows: a construction robot for scour protection of premixed fluidized solidified soil for cross-sea bridges, including a water-blocking device installed on the water-facing side of the seabed pile foundation. The inner side of the water-blocking device can form a relatively calm water zone for construction with an artificial low-speed ocean current. A movable crossbeam is provided on the water-blocking device, located directly above the relatively calm water zone. The movable crossbeam is movably connected to the water-blocking device through a first movable component. A circumferential drive device is provided between the water-blocking device and the movable crossbeam for driving the movable crossbeam to move circumferentially along the seabed pile foundation. A movable seat is provided at the upper end of the movable crossbeam. The movable seat is movably connected to the movable crossbeam through a second movable component. A radial drive device is provided between the movable seat and the movable crossbeam for driving the movable seat to move radially along the seabed pile foundation. A pouring hopper is provided at the upper end of the movable seat for receiving premixed fluidized solidified soil transported from the construction vessel through a conveying hose and for pouring construction in the relatively calm water zone. A controller is provided on the construction vessel.

[0005] Furthermore, the water-blocking device includes an outer water-blocking plate and an inner support plate. Both the outer water-blocking plate and the inner support plate are semi-circular arc-shaped. The inner support plate and the outer water-blocking plate are spaced apart and coaxially arranged. Multiple connecting rods are fixedly connected between the two ends of the outer water-blocking plate and the inner support plate. A relatively still water zone is formed between the outer water-blocking plate and the inner support plate. Multiple flow gaps are provided in the lower middle part of the inner support plate.

[0006] Furthermore, the water-blocking device also includes a semi-circular arc-shaped lifting water-blocking plate. The outer water-blocking plate has an upward-opening lifting cavity that is adapted to the lifting water-blocking plate. The lifting water-blocking plate is located in the lifting cavity of the outer water-blocking plate, and the two slide vertically together. A first lifting drive device for driving the lifting water-blocking plate to rise and fall is provided between the outer water-blocking plate and the lifting water-blocking plate. The maximum rising height of the lifting water-blocking plate is not greater than the distance between the outer water-blocking plate and the inner support plate. There are multiple first lifting drive devices, which are evenly spaced along the circumference of the lifting water-blocking plate. The first lifting drive device includes a first lifting gear, a first lifting rack, and a first lifting brake motor. The first lifting rack is arranged vertically and fixedly installed on the outer circumference of the lifting water-blocking plate. The first lifting brake motor is fixedly installed on the outer water-blocking plate. The first lifting gear is fixedly installed on the motor shaft of the first lifting brake motor and meshes with the first lifting rack for transmission. The first lifting brake motor is electrically connected to the controller through a first power transmission motor wire.

[0007] Furthermore, the first moving component includes an inner arc-shaped guide rail, an outer arc-shaped guide rail, an inner guide wheel, and an outer guide wheel. The inner arc-shaped guide rail is fixedly installed on the upper end of the inner support plate. The outer circumferential surface of the inner arc-shaped guide rail is provided with an inner arc-shaped limiting guide groove that runs through both ends of the inner arc-shaped guide rail. One end of the moving crossbeam is fixedly installed with multiple rotatable inner guide wheels. The inner guide wheels are embedded in the inner arc-shaped limiting guide groove and the two roll in cooperation. The outer arc-shaped guide rail is fixedly installed on the upper end of the outer baffle plate. The inner circumferential surface of the outer arc-shaped guide rail is provided with an outer arc-shaped limiting guide groove that runs through both ends of the outer arc-shaped guide rail. The other end of the moving crossbeam is fixedly installed with multiple rotatable outer guide wheels. The outer guide wheels are embedded in the outer arc-shaped limiting guide groove and the two roll in cooperation.

[0008] Furthermore, the circumferential drive device includes an inner circumferential gear, an inner circumferential arc-shaped rack, an inner circumferential brake motor, an outer circumferential gear, an outer circumferential arc-shaped rack, and an outer circumferential brake motor. The inner circumferential arc-shaped rack is fixedly installed on the upper end of the inner support plate and the two are coaxially arranged. The inner circumferential brake motor is fixedly installed on one end of the moving crossbeam. The inner circumferential gear is fixedly installed on the motor shaft of the inner circumferential brake motor and meshes with the inner circumferential arc-shaped rack for transmission. The inner circumferential brake motor is electrically connected to the controller through a second power transmission motor wire. The outer circumferential arc-shaped rack is fixedly installed on the upper end of the outer baffle plate and the two are coaxially arranged. The outer circumferential brake motor is fixedly installed on the other end of the moving crossbeam. The outer circumferential gear is fixedly installed on the motor shaft of the outer circumferential brake motor and meshes with the outer circumferential arc-shaped rack for transmission. The outer circumferential brake motor is electrically connected to the controller through a third power transmission motor wire.

[0009] Furthermore, there are two second moving components, which are respectively located on the left and right sides of the moving base. The second moving component includes a second slide rail and a second slider. The second slide rail is arranged radially along the seabed pile foundation and fixedly installed on the upper end of the moving crossbeam. There is at least one second slider, which is fixedly installed on the lower end of the moving base. The second slider is adapted to the second slide rail and the two slide in a sliding fit.

[0010] Furthermore, there are two radial drive devices, which are respectively located on the left and right sides of the movable base. The radial drive device includes a radial gear, a radial rack, and a radial brake motor. The radial rack is arranged radially along the bottom pile foundation and fixedly installed on the upper end of the movable crossbeam. The radial brake motor is fixedly installed on the movable base. The radial gear is fixedly installed on the motor shaft of the radial brake motor and meshes with the radial rack for transmission. The radial brake motor is electrically connected to the controller through the fourth power transmission motor wire.

[0011] Furthermore, the outer periphery of the outer baffle is provided with multiple spaced-apart external airbags and multiple spaced-apart external ship electric turbine actuators. All external airbags are connected to an external inflation / deflation device, which is located on the outer baffle and is used to synchronously inflate and deflate the multiple external airbags. The external inflation / deflation device is electrically connected to the controller via a fifth power transmission motor wire, and the external ship electric turbine actuators are electrically connected to the controller via a sixth power transmission motor wire. The inner periphery of the inner support plate is provided with multiple spaced-apart inner airbags and multiple spaced-apart inner ship electric turbine actuators. All inner airbags are connected to the internal inflation / deflation device. The devices are connected, with an internal inflation / deflation device mounted on the internal support plate for synchronous inflation / deflation of multiple internal airbags. The internal inflation / deflation device is electrically connected to the controller via the seventh transmission motor wire. The internal ship electric turbine drive is electrically connected to the controller via the eighth transmission motor wire. A Beidou positioning system is installed on the outside of the outer water baffle, and the Beidou positioning system is electrically connected to the controller via the ninth transmission motor wire. Multiple high-definition cameras are installed at intervals on the inside of the outer water baffle for video monitoring of the relatively still water area during construction. The high-definition cameras are electrically connected to the controller via the tenth transmission motor wire.

[0012] Furthermore, the casting hopper is vertically connected to the moving base via a third moving component. A second lifting drive device is provided between the moving base and the casting hopper to drive the casting hopper to rise and fall. There are two second lifting drive devices symmetrically arranged on both sides of the casting hopper. Each second lifting drive device includes a second lifting gear, a second lifting rack, and a second lifting brake motor. The second lifting rack is vertically arranged and fixedly installed on the outer circumference of the casting hopper. The second lifting brake motor is fixedly installed on the upper end of the moving base. The second lifting gear is fixedly installed on the motor shaft of the second lifting brake motor and meshes with the second lifting rack for transmission. The second lifting brake motor is electrically connected to the controller via an eleventh power transmission motor wire. There are two third moving components symmetrically arranged on both sides of the casting hopper. Each third moving component includes a sliding rod and a sliding sleeve. The upper and lower ends of the sliding rod are fixedly connected to the upper and lower ends of the casting hopper, respectively. The sliding sleeve is fixedly installed on the moving base. The sliding rod and the sliding sleeve are adapted to each other and pass through the sliding sleeve, with a sliding fit between them.

[0013] The construction method for erosion protection of pre-mixed fluidized solidified soil for cross-sea bridges, using any of the above-mentioned robots for erosion protection of pre-mixed fluidized solidified soil for cross-sea bridges, includes the following steps: Step 1: Determine the pouring area that needs protection from scour based on the scour conditions around the seabed pile foundations of the cross-sea bridge piers and the protection design requirements. Step 2: Position the construction vessel at a suitable distance from the seabed pile foundation to efficiently carry out the pouring operation, and anchor it in place. Step 3: Using the Beidou positioning system built into the construction robot, the construction robot is submerged into the seabed and finely adjusted and moved to a location on the water-facing side of the seabed pile foundation where construction and pouring can be carried out efficiently. The water-blocking device of the construction robot is inserted into the seabed to a certain depth and the lifting water-blocking plate is raised so that the construction robot can form a relatively calm water zone within the effective pouring range. Step 4: The pre-mixed fluidized solidified soil containing carbon dioxide on the construction vessel is transported to the pouring hopper through a conveying hose; Step 5: The circumferential drive device drives the moving crossbeam to move along the circumference of the seabed pile foundation. At the same time, the radial drive device drives the moving seat to move along the radial direction of the seabed pile foundation. This enables the oscillating pouring of the fluidized solidified soil in the pouring hopper to the pouring area and the pouring angle of the 180-degree back-and-forth movement of the seabed pile foundation. The poured fluidized solidified soil will cover the scouring pit by gravity under its own weight. According to the pouring situation, the height of the pouring port of the pouring hopper from the pouring surface is dynamically adjusted to maintain it at 0.3-0.5 meters. Step Six: During the pouring process, the pouring construction within the pouring area that needs to be protected from erosion is observed via video using a high-definition camera. For areas that do not meet the design requirements, the construction area of ​​the pouring range can be actively adjusted by using a translation and rotation construction robot to achieve complete coverage of the pouring range. Step 7: After the pouring is completed, the fluidized solidified soil within the pouring area will solidify in 3-14 days. Depending on the constraints of the construction area, the construction vessel and construction robot can be moved together or the construction robot can be moved separately to the next seabed pile foundation to be poured.

[0014] As can be seen from the above description, the pre-mixed fluidized solidified soil erosion protection construction robot and construction method for cross-sea bridges provided by the present invention have the following beneficial effects: 1. By using the water-blocking device to block ocean currents and creating an artificially constructed relatively still water zone on one side of the seabed pile foundation, the seawater in the relatively still water zone is kept in a relatively static or slightly flowing state. As a result, when the pre-mixed fluidized solidified soil on the construction vessel is transported to the pouring hopper through the delivery hose and poured into the relatively still water zone, the scouring of the fluidized solidified soil by the ocean current can be effectively reduced. Most of the fluidized solidified soil can be retained around the seabed pile foundation. The fluidized solidified soil will cover the scouring pit through gravity flow. After solidification for 3-14 days, the construction robot can be removed and will no longer be washed away by the ocean current. It can form an effective scouring protection structure, which can greatly reduce the waste of construction materials such as fluidized solidified soil and significantly reduce the overall construction cost. Second, the radial drive device facilitates the movement of the movable seat along the radial direction of the seabed pile foundation, and the circumferential drive device facilitates the movement of the movable crossbeam along the circumferential direction of the seabed pile foundation. This allows the pouring hopper to move along both the radial and circumferential directions of the seabed pile foundation. In addition to the swing pouring of fluidized solidified soil in relatively still water areas, the pouring position and range of the pouring hopper can be actively adjusted according to the area to be protected from ocean current erosion. This helps to save construction materials, costs, and construction expenses. Attached Figure Description

[0015] Figure 1 This is a three-dimensional structural diagram of the construction robot for erosion protection of pre-mixed fluidized solidified soil for cross-sea bridges, based on the present invention.

[0016] Figure 2 for Figure 1 A magnified view of a portion of point A in the middle.

[0017] Figure 3 This is a three-dimensional structural schematic diagram of the construction robot for erosion protection of pre-mixed fluidized solidified soil for cross-sea bridges, based on the present invention.

[0018] Figure 4 This is a schematic diagram showing the usage status of the pre-mixed fluidized solidified soil erosion protection construction robot for cross-sea bridges according to the present invention.

[0019] Figure 5 for Figure 4 A magnified view of a portion of point B in the middle.

[0020] Figure 6 for Figure 4 A magnified view of a portion of point C.

[0021] Figure 7 A three-dimensional structural diagram showing the casting hopper, the third moving component, and the second lifting drive device installed on the moving base.

[0022] In the diagram: 1-Water-blocking device; 11-Outer water-blocking plate; 111-Lifting chamber; 12-Inner support plate; 121-Flow gap; 13-Connecting rod; 14-Lifting water-blocking plate; 15-First lifting drive device; 151-First lifting gear; 152-First lifting rack; 153-First lifting brake motor; 21-Moving crossbeam; 211-Inner fixed shaft; 212-Outer fixed shaft; 22-First moving component; 221-Inner arc-shaped guide rail; 2211-Inner arc-shaped limiting guide groove; 2212-Inner arc-shaped limiting block; 222-Outer arc-shaped guide rail; 2221-Outer arc-shaped limiting guide groove; 2222-Outer arc-shaped limiting block; 223-Inner guide wheel; 224-Outer guide wheel; 23-Circumferential drive device; 231-Inner circumferential gear; 232-Inner circumferential arc-shaped rack; 233-Inner circumferential brake motor ; 234-Outer circumferential gear; 235-Outer circumferential arc rack; 236-Outer circumferential brake motor; 31-Moving seat; 32-Second moving component; 321-Second slide rail; 322-Second slider; 33-Radial drive device; 331-Radial gear; 332-Radial rack; 333-Radial brake motor; 41-Pouring hopper; 42-Third moving component; 421-Slide rod; 422-Slide sleeve; 43-Second lifting drive device; 431-Second lifting gear; 432-Second lifting rack; 433-Second lifting brake motor; 51-External airbag; 52-External inflation / deflation device; 53-Internal airbag; 54-Internal inflation / deflation device; 61-External marine electric turbine drive; 62-Internal marine electric turbine drive; 7-BeiDou positioning system; 8-High-definition camera; 9-Subsea pile foundation. Detailed Implementation

[0023] The present invention will be further described below through specific embodiments.

[0024] like Figures 1 to 7As shown, the pre-mixed fluidized solidified soil erosion protection construction robot for cross-sea bridges of the present invention includes a water-blocking device 1 installed on the water-facing side of the seabed pile foundation 9. The inner side of the water-blocking device 1 can form a relatively still water zone for construction, creating an artificial low-speed ocean current. A movable crossbeam 21 is provided on the water-blocking device 1, located directly above the relatively still water zone. The movable crossbeam 21 is movably connected to the water-blocking device 1 via a first movable component 22. A mechanism is provided between the water-blocking device 1 and the movable crossbeam 21 to drive the movable crossbeam 21 to move circumferentially along the seabed pile foundation 9. A circumferential drive device 23 is provided. The upper end of the movable crossbeam 21 is provided with a movable seat 31. The movable seat 31 is movably connected to the movable crossbeam 21 through a second movable component 32. A radial drive device 33 is provided between the movable seat 31 and the movable crossbeam 21 to drive the movable seat 31 to move radially along the submarine pile foundation 9. The upper end of the movable seat 31 is provided with a pouring hopper 41 for receiving premixed fluidized solidified soil transported from the construction vessel through a conveying hose and for pouring the construction in the relatively still water area. A controller is provided on the construction vessel.

[0025] By using the water-blocking device 1 to block ocean currents and creating an artificially constructed relatively still water zone on one side of the seabed pile foundation 9 within the water-blocking device 1, the seawater in the relatively still water zone is kept in a relatively static or slightly flowing state. As a result, when the pre-mixed fluidized solidified soil on the construction vessel is transported to the pouring hopper 41 through the conveying hose and poured into the relatively still water zone, the scouring of the fluidized solidified soil by the ocean current can be effectively reduced. Most of the fluidized solidified soil can be retained around the seabed pile foundation 9. The fluidized solidified soil will cover the scouring pit through gravity flow. After solidification for 3-14 days, the construction robot can be removed and will no longer be washed away by the ocean current. An effective scouring protection structure can be formed, which can greatly reduce the waste of construction materials such as fluidized solidified soil and significantly reduce the overall construction cost.

[0026] The radial drive device 33 facilitates the movement of the movable seat 31 along the radial direction of the seabed pile foundation 9, and the circumferential drive device 23 facilitates the movement of the movable crossbeam 21 along the circumference of the seabed pile foundation 9. This allows the pouring hopper 41 to move along both the radial and circumferential directions of the seabed pile foundation 9. This enables the oscillating pouring of fluidized solidified soil in the relatively still water area of ​​the construction site, while also allowing the active adjustment of the pouring position and range of the pouring hopper 41 according to the area requiring protection from ocean current erosion. This helps save construction materials, costs, and construction expenses.

[0027] In addition, by mixing carbon dioxide into the premixed fluidized solidified soil, the injection of carbon dioxide can enable the fluidized solidified soil to have a carbon storage effect during the mixing and solidification process, which can also accelerate the chemical reaction during mixing and solidification and improve the efficiency of solidification and erosion prevention.

[0028] Furthermore, the controller installed on the construction vessel facilitates effective control of the construction robot's movements.

[0029] Correspondingly, the pouring hopper 41 is provided with an upward-opening pouring cavity, and a pouring pipe body communicating with the pouring cavity is formed at the bottom of the pouring hopper 41. A pouring port is provided at the bottom end of the pouring pipe body. The movable seat 31 is provided with a first clearance hole for avoiding the pouring pipe body, and the movable crossbeam 21 is provided with a second clearance hole for avoiding the pouring pipe body. The second clearance hole is elongated, thereby facilitating the smooth downward pouring of the fluidized solidified soil in the pouring hopper 41.

[0030] Correspondingly, the fluidized solidified soil is obtained by mixing mud and solidifying agent evenly. The solidifying agent is an inorganic composite solidifying agent, which is made by uniformly mixing cement and auxiliary materials. The cement is one or more of silicate cement, aluminate cement or sulfoaluminate cement, and the auxiliary materials are one or more of lime, gypsum, fly ash, steel slag powder, high alumina bauxite, slag powder, mica powder, stone powder, silica powder, slag powder, and talc powder.

[0031] The water-blocking device 1 includes an outer water-blocking plate 11 and an inner support plate 12. Both the outer water-blocking plate 11 and the inner support plate 12 are semi-circular arc-shaped. The inner support plate 12 is spaced apart from the outer water-blocking plate 11 and coaxially arranged. Multiple connecting rods 13 are fixedly connected between the two ends of the outer water-blocking plate 11 and the inner support plate 12, thereby connecting and fixing the outer water-blocking plate 11 and the inner support plate 12 into a whole. A relatively still water zone is formed between the outer water-blocking plate 11 and the inner support plate 12. Multiple flow gaps 121 are provided in the lower part of the inner support plate 12 for actual use. In this system, the outer water-retaining plate 11 and the inner support plate 12, under their own weight, allow their bottoms to be stably inserted into the seabed. Furthermore, the semi-circular shape of the outer water-retaining plate 11 and the inner support plate 12 effectively ensures the stability of the water-retaining device 1 during construction and provides self-protection. In addition, the bottom ends of the outer water-retaining plate 11 and the inner support plate 12 can be fixed with multiple spaced-apart fixing rods that can be inserted to a certain depth into the seabed to further ensure the stability of the water-retaining device 1 during construction.

[0032] Furthermore, when the diameter of the seabed pile foundation 9 of the bridge pier is 1D, the inner diameter of the inner support plate 12 is set to 1.5D, and the inner diameter of the outer water baffle 11 is set to 4D. As a result, the pouring range around the seabed pile foundation 9 can be adjusted from 1D to 4D. When the moving beam 21 moves on the outer water baffle 11 and the inner support plate 12, the moving beam 21 can rotate 180 degrees around the seabed pile foundation 9, thereby allowing the pouring hopper 41 to have a pouring angle of 180 degrees. In addition, by adopting a hollow structure in the lower part of the inner support plate 12 and forming multiple flow gaps 121, the fluidized solidified soil poured in the relatively still water area can flow through and form a complete circle around the seabed pile foundation 9 by gravity flow.

[0033] In addition, the water-blocking device 1 also includes a semi-circular arc-shaped lifting water-blocking plate 14. The outer water-blocking plate 11 has an upward-opening lifting cavity 111 that is adapted to the lifting water-blocking plate 14. The lifting water-blocking plate 14 is located in the lifting cavity 111 of the outer water-blocking plate 11 and the two slide vertically together. A first lifting drive device 15 is provided between the outer water-blocking plate 11 and the lifting water-blocking plate 14 to drive the lifting water-blocking plate 14 to move up and down. In this way, it is easier to adjust the lifting height of the lifting water-blocking plate 14 according to the height of the sea current through the first lifting drive device 15, so as to effectively block the sea current until the area around the bridge pier seabed pile foundation 9 is within the still water range. In addition, the maximum rising height of the lifting water-blocking plate 14 is not greater than the distance between the outer water-blocking plate 11 and the inner support plate 12. Therefore, during normal use, the overall positional balance of the water-blocking device 1 can be effectively maintained, and it is not easy to tip over.

[0034] In addition, a plurality of guiding mechanisms are provided between the outer baffle plate 11 and the lifting baffle plate 14. The plurality of guiding mechanisms are evenly spaced along the circumference of the outer baffle plate 11 and are used to guide the lifting of the lifting baffle plate 14 to further ensure the stability and smoothness of the lifting baffle plate 14 during lifting. The guiding mechanism includes a guide rod and a guide sleeve. The guide rod is arranged vertically and fixedly installed in the lifting cavity 111 of the outer baffle plate 11. The guide sleeve is fixedly installed on the lifting baffle plate 14. The guide sleeve is adapted to the guide rod and is sleeved on the guide rod, and the two slide up and down together.

[0035] The first lifting drive device 15 comprises multiple devices evenly spaced along the circumference of the lifting baffle 14, thereby better driving the lifting baffle 14 to rise and fall and ensuring stability during lifting. Preferably, there are 4-8 first lifting drive devices 15. Each first lifting drive device 15 includes a first lifting gear 151, a first lifting rack 152, and a first lifting brake motor 153. The first lifting rack 152 is vertically arranged and fixedly installed on the outer circumference of the lifting baffle 14. The first lifting brake motor 153 is fixedly installed on the outer baffle 11. The first lifting gear 151 is fixedly installed on the motor shaft of the first lifting brake motor 153 and meshes with the first lifting rack 152 for transmission. The first lifting brake motor 153 is electrically connected to the controller through a first power transmission motor wire, thereby facilitating the control of the rotation of the first lifting brake motor 153 by the controller. When the first lifting brake motor 153 is controlled to rotate forward or backward, it can drive the baffle 14 to rise and fall. The first lifting gear 151 rotates forward or backward synchronously. Simultaneously, the first lifting rack 152 meshes with the first lifting gear 151, and the first lifting gear 151 is in a relatively fixed position. This drives the first lifting rack 152 to rise or fall, thereby driving the lifting baffle 14 to rise or fall. When the first lifting brake motor 153 stops rotating, its own braking function provides self-locking, ensuring the lifting baffle 14 remains stably at the corresponding lifting height. The rack and pinion drive method is simple, efficient, and practical, and less prone to failure compared to other types of drives. Furthermore, the first lifting brake motor 153 is a waterproof product, allowing for a first sealing cover to be installed on the lifting baffle 14 to cover the first lifting drive device 15 and achieve relative sealing, thus improving the frequency of use and durability of the first lifting drive device 15.

[0036] The first moving component 22 includes an inner arc-shaped guide rail 221, an outer arc-shaped guide rail 222, an inner guide wheel 223, and an outer guide wheel 224. The inner arc-shaped guide rail 221 is fixedly installed on the upper end of the inner support plate 12. An inner arc-shaped limiting guide groove 2211 penetrating both ends of the inner arc-shaped guide rail 221 is provided on its outer circumferential surface. Multiple rotatable inner guide wheels 223 are fixedly installed at one end of the moving beam 21. The inner guide wheels 223 are embedded in the inner arc-shaped limiting guide groove 2211 and roll in cooperation with each other. Furthermore, inner limiting blocks are fixedly provided at both ends of the inner arc-shaped guide rail 221 to provide corresponding limiting functions and prevent the inner guide wheels 223 from accidentally detaching from both ends of the inner arc-shaped limiting guide groove 2211. This provides a corresponding guiding function for one end of the moving beam 21 and effectively ensures... To ensure the stability and smoothness of movement of one end of the moving crossbeam 21, the outer arc-shaped guide rail 222 is fixedly installed on the upper end of the outer baffle plate 11. The inner circumferential surface of the outer arc-shaped guide rail 222 is provided with an outer arc-shaped limiting guide groove 2221 that runs through both ends of the outer arc-shaped guide rail 222. The other end of the moving crossbeam 21 is fixedly equipped with multiple rotatable outer guide wheels 224. The outer guide wheels 224 are embedded in the outer arc-shaped limiting guide groove 2221 and roll in cooperation with each other. In addition, both ends of the outer arc-shaped guide rail 222 are also fixedly provided with outer limiting blocks to play a corresponding limiting role and prevent the outer guide wheels 224 from accidentally disengaging from both ends of the outer arc-shaped limiting guide groove 2221. In this way, the other end of the moving crossbeam 21 can play a corresponding guiding role and effectively ensure the stability and smoothness of movement of the other end of the moving crossbeam 21.

[0037] Correspondingly, the inner guide wheel 223 is rotatably mounted on the inner fixed shaft 211, which is fixedly disposed at one end of the moving crossbeam 21. Inner arc-shaped limiting blocks 2212 are fixedly provided on both the upper and lower sides of the inner arc-shaped limiting guide groove 2211 on the outer circumferential surface of the inner arc-shaped guide rail 221. An inner arc-shaped limiting groove is formed between the upper and lower inner arc-shaped limiting blocks 2212, allowing the inner fixed shaft 211 to pass through. The outer diameter of the inner guide wheel 223 is larger than the width of the inner arc-shaped limiting groove, thus providing a corresponding limiting function and preventing the inner guide wheel 223 from accidentally passing through the outer circumferential surface of the inner arc-shaped guide rail 221. The outer guide wheel 224 is rotatably mounted on the outer fixed shaft 212, which is fixed to the other end of the moving crossbeam 21. Outer arc-shaped limiting blocks 222 are fixed on both the upper and lower sides of the outer arc-shaped limiting guide groove 2221 on the inner circumferential surface of the outer arc-shaped guide rail 222. An outer arc-shaped limiting slot is formed between the upper and lower outer arc-shaped limiting blocks 222, allowing the outer fixed shaft 212 to pass through. The outer diameter of the outer guide wheel 224 is larger than the width of the outer arc-shaped limiting slot, thus providing a corresponding limiting function and preventing the outer guide wheel 224 from accidentally detaching from the outer circumferential surface of the outer arc-shaped guide rail 222.

[0038] The circumferential drive device 23 includes an inner circumferential gear 231, an inner circumferential arc-shaped rack 232, an inner circumferential brake motor 233, an outer circumferential gear 234, an outer circumferential arc-shaped rack 235, and an outer circumferential brake motor 236. The inner circumferential arc-shaped rack 232 is fixedly installed on the upper end of the inner support plate 12 and the two are coaxially arranged. The inner circumferential brake motor 233 is fixedly installed on one end of the moving crossbeam 21. The inner circumferential gear 231 is fixedly installed on the motor shaft of the inner circumferential brake motor 233 and meshes with the inner circumferential arc-shaped rack 232 for transmission. In a dynamic configuration, the inner circumferential brake motor 233 is electrically connected to the controller via a second power transmission motor wire. The outer circumferential arc-shaped rack 235 is fixedly installed on the upper end of the outer baffle 11 and the two are coaxially arranged. The outer circumferential brake motor 236 is fixedly installed on the other end of the moving crossbeam 21. The outer circumferential gear 234 is fixedly installed on the motor shaft of the outer circumferential brake motor 236 and meshes with the outer circumferential arc-shaped rack 235 for transmission. The outer circumferential brake motor 236 is electrically connected to the controller via a third power transmission motor wire.

[0039] This facilitates the control of the rotation of the inner circumferential brake motor 233 and the outer circumferential brake motor 236 via the controller, with differential rotation between them to ensure that the moving crossbeam 21 will not get stuck when moving around the circumference of the bridge pier seabed pile foundation 9. When the inner circumferential brake motor 233 and the outer circumferential brake motor 236 are controlled to rotate forward or reverse, the inner circumferential gear 231 and the outer circumferential gear 234 can be driven to rotate forward or reverse synchronously. At the same time, the inner circumferential arc-shaped rack 232 and the inner circumferential gear 231... The meshing transmission engagement, utilizing the meshing transmission engagement between the outer circumferential arc-shaped rack 235 and the outer circumferential gear 234, and with both the inner circumferential arc-shaped rack 232 and the outer circumferential arc-shaped rack 235 in relatively fixed positions, allows the inner circumferential gear 231 to be driven to reciprocate circumferentially relative to the inner circumferential arc-shaped rack 232 along the circumferential direction of the inner circumferential arc-shaped rack 232, and the outer circumferential gear 234 to be driven to reciprocate circumferentially relative to the outer circumferential arc-shaped rack 235 along the circumferential direction of the outer circumferential arc-shaped rack 235, thereby... The system enables the moving crossbeam 21 to reciprocate circumferentially along the circumference of the bridge pier's seabed pile foundation 9. When the inner circumferential brake motor 233 and the outer circumferential brake motor 236 stop rotating, their inherent braking functions provide self-locking, ensuring the moving crossbeam 21 remains stably in its designated position. This rack and pinion drive system is simple, efficient, and practical, and less prone to failure compared to other drive types. Furthermore, the inner... Both the circumferential brake motor 233 and the outer circumferential brake motor 236 are selected from existing waterproof products. Correspondingly, a second sealing cover can be provided on the inner support plate 12 to cover the inner circumferential gear 231, the inner circumferential arc rack 232, and the inner circumferential brake motor 233 to achieve relative sealing. A third sealing cover can be provided on the outer water baffle plate 11 to cover the outer circumferential gear 234, the outer circumferential arc rack 235, and the outer circumferential brake motor 236 to achieve relative sealing, thereby improving the usage frequency and durability of the circumferential drive device 23.

[0040] Preferably, there are two second moving components 32, which are respectively disposed on the left and right sides of the moving seat 31. The second moving component 32 includes a second slide rail 321 and a second slider 322. The second slide rail 321 is arranged radially along the submarine pile foundation 9 and fixedly installed on the upper end of the moving crossbeam 21. There is at least one second slider 322 and it is fixedly installed on the lower end of the moving seat 31. In this embodiment, there are two second sliders 322 and they are spaced apart. The second sliders 322 are adapted to the second slide rail 321 and slide together. In this way, the movement of the moving seat 31 on the moving crossbeam 21 can be well guided and the stability and smoothness of the moving seat 31 during movement can be effectively ensured.

[0041] Preferably, there are two radial drive devices 33, respectively located on the left and right sides of the movable base 31. Each radial drive device 33 includes a radial gear 331, a radial rack 332, and a radial brake motor 333. The radial rack 332 is arranged radially along the subsea pile foundation 9 and fixedly installed on the upper end of the movable crossbeam 21. The radial brake motor 333 is fixedly installed on the movable base 31. The radial gear 331 is fixedly installed on the motor shaft of the radial brake motor 333 and meshes with the radial rack 332 for transmission. The radial brake motor 333 is electrically connected to the controller through a fourth power transmission motor wire, thereby facilitating the control of the rotation of the radial brake motor 333 by the controller. When the radial brake motor 333 is controlled to rotate forward or reverse, it can drive the radial gear 331 to rotate forward or reverse synchronously. At the same time, the radial rack 332 and the radial gear 331 are used to drive the radial gear 331 to rotate forward or reverse synchronously. The meshing transmission is achieved, and the radial rack 332 is in a relatively fixed position. This allows the radial gear 331 to reciprocate radially away from or towards the pier relative to the radial rack 332, thereby driving the movable seat 31 to reciprocate radially away from or towards the pier. When the radial brake motor 333 stops rotating, its own braking function provides self-locking, ensuring the movable seat 31 remains stably in its designated position. The rack and pinion drive method is simple, efficient, and practical, and less prone to failure compared to other types of drives. Furthermore, the radial brake motor 333 is a waterproof product, and a fourth sealing cover can be installed on the movable beam 21 to enclose the radial drive device 33 for relative sealing, thereby improving the frequency of use and durability of the radial drive device 33.

[0042] The outer water-retaining plate 11 has multiple spaced-apart external airbags 51 and multiple spaced-apart external ship electric turbine actuators 61 on its outer peripheral surface. Each of the external airbags 51 is connected to an external inflation / deflation device 52, which is mounted on the outer water-retaining plate 11 and used to synchronously inflate and deflate the multiple external airbags 51. The external inflation / deflation device 52 is electrically connected to the controller via a fifth power transmission motor wire. Each external ship electric turbine actuator 61 is electrically connected to the controller via a sixth power transmission motor wire. The inner support plate 12 has multiple spaced-apart internal airbags 53 and multiple spaced-apart internal ship electric turbine actuators 62 on its inner peripheral surface. Each of the internal airbags 53 is connected to an internal inflation / deflation device 54. The internal inflation / deflation device 54 is mounted on the internal support plate 12 and is used to synchronously inflate and deflate multiple internal airbags 53. The internal inflation / deflation device 54 is electrically connected to the controller via a seventh power transmission motor wire, and the internal ship electric turbine drive 62 is electrically connected to the controller via an eighth power transmission motor wire. This facilitates the control of the external inflation / deflation device 52, the internal inflation / deflation device 54, the external ship electric turbine drive 61, and the internal ship electric turbine drive 62 by the controller, thereby facilitating the rotation or multi-directional translation of the construction robot in the sea. When the construction robot needs to rotate or translate, the external inflation / deflation device 52 is first used to inflate and deflate multiple external airbags 53. 1. Inflation is performed simultaneously, and the multiple inner airbags 53 are simultaneously inflated through the inner inflation / deflation device 54, causing the construction robot to float and the bottom of the inner support plate 12 and the outer water deflector 11 to detach from the seabed. At this time, the corresponding inner ship electric turbine drive 62 and the corresponding outer ship electric turbine drive 61 can be controlled to operate, driving the construction robot to rotate or translate. After the construction robot has rotated or translated to the correct position, the corresponding inner ship electric turbine drive 62 and the corresponding outer ship electric turbine drive 61 can be stopped, and the multiple outer airbags 51 can be simultaneously deflated through the outer inflation / deflation device 52, and the inner inflation / deflation device... The device 54 simultaneously deflates multiple internal airbags 53, causing the construction robot to sink under its own weight. This allows the bottom of the inner support plate 12 and the outer water-retaining plate 11 to re-insert into the seabed, thus restoring the construction robot to a stable working position. Therefore, if minor pouring problems are found at the corners of the pouring area after completion, the construction robot can be rotated or moved to perform supplementary pouring, ensuring that the entire circumference of the bridge pier seabed pile foundation 9 is covered by pouring. Furthermore, by rotating or moving the construction robot, it can adapt to more bridge pier seabed pile foundations 9 with different outer diameters, demonstrating its wide adaptability. Additionally, when the construction robot needs to move to the next bridge pier seabed pile foundation 9...The system can simultaneously inflate multiple inner airbags 53 and multiple outer airbags 51, causing the construction robot to float completely to the sea surface, and then drive the robot to move.

[0043] The arrangement of multiple external airbags 51 and multiple internal airbags 53 facilitates better maintenance of the construction robot's balance during ascent and descent. Preferably, the number of external airbags 51 is 5-10 and the number of internal airbags 53 is 4-8. The arrangement of multiple external ship electric turbine actuators 61 and multiple internal ship electric turbine actuators 62 facilitates better maintenance of the construction robot's balance during translation and rotation, and also facilitates driving the construction robot to rotate or translate in multiple directions. Preferably, the number of external ship electric turbine actuators 61 is 5-10 and the number of internal ship electric turbine actuators 62 is 4-8.

[0044] Accordingly, both the internal inflation / deflation device 54 and the external inflation / deflation device 52 can be products of the prior art, so as to realize the inflation / deflation of the internal airbag 53 and the external airbag 51 respectively, and will not be described in detail here.

[0045] Accordingly, both the inner ship electric turbine drive 62 and the outer ship electric turbine drive 61 can be products of the prior art, both of which include an electric motor, a turbine and a transmission system, which drive the turbine by converting electrical energy into mechanical energy, and achieve propulsion through a propeller or thruster, so they will not be described in detail here.

[0046] A Beidou positioning system 7 is installed on the outer side of the outer water baffle 11. The Beidou positioning system 7 is electrically connected to the controller through the ninth power transmission motor wire. In this way, according to the design scheme and the location of the bridge pier, the Beidou positioning system 7 can accurately locate the area that needs to be protected from the scour of the seabed pile foundation 9 of the bridge pier. In addition, the Beidou positioning system 7 can be a product of existing technology, so it will not be described in detail here.

[0047] Multiple high-definition cameras 8 are installed at intervals on the inner side of the outer water baffle 11 for video monitoring of the relatively still water area during construction. This facilitates multi-directional video monitoring of the relatively still water area during construction. Preferably, the number of high-definition cameras 8 is 4-6. The high-definition cameras 8 are electrically connected to the controller via the tenth power transmission motor wire, which facilitates the controller to control the video monitoring of the high-definition cameras 8. Through the video monitoring of the high-definition cameras 8, the pouring quality can be evaluated to check whether the pouring coverage is sufficient and meets the quality evaluation requirements. In addition, the high-definition cameras 8 can be products with waterproof functions from the prior art.

[0048] The pouring hopper 41 is vertically connected to the moving base 31 via a third moving component 42. A second lifting drive device 43 is provided between the moving base 31 and the pouring hopper 41 to drive the pouring hopper 41 to move up and down. The second lifting drive device 43 facilitates the vertical movement of the pouring hopper 41, so as to dynamically adjust the height of the pouring opening of the pouring hopper 41 from the pouring surface to maintain it at 0.3-0.5 meters according to the pouring situation, thereby better ensuring the overall pouring effect.

[0049] The second lifting drive device 43 consists of two symmetrically arranged on both sides of the pouring hopper 41. Each second lifting drive device 43 includes a second lifting gear 431, a second lifting rack 432, and a second lifting brake motor 433. The second lifting rack 432 is vertically arranged and fixedly installed on the outer circumference of the pouring hopper 41. The second lifting brake motor 433 is fixedly installed on the upper end of the movable base 31. The second lifting gear 431 is fixedly installed on the motor shaft of the second lifting brake motor 433 and meshes with the second lifting rack 432 for transmission. The second lifting brake motor 433 is electrically connected to the controller via an eleventh power transmission motor wire, thereby facilitating control of the rotation of the second lifting brake motor 433 through the controller. When the second lifting brake motor 433 is controlled to rotate forward or reverse, it can drive the second lifting gear 431 to rotate forward or reverse synchronously, while simultaneously utilizing the second lifting... The descending rack 432 meshes with the second lifting gear 431, and the second lifting gear 431 is in a relatively fixed position. This allows the second lifting rack 432 to rise or fall, thereby driving the lifting rod 411 to rise or fall. When the second lifting brake motor 433 stops rotating, its own braking function provides a self-locking effect, ensuring that the pouring hopper 41 remains stably at the corresponding pouring height. The rack and pinion drive method is simple, efficient, and practical, and less prone to failure compared to other types of drives. Furthermore, the second lifting brake motor 433 is a waterproof product, and a fifth sealing cover can be installed on the lifting rod 411 to cover the second lifting drive device 43 for relative sealing, thereby improving the frequency of use and durability of the second lifting drive device 43.

[0050] The third moving component 42 consists of two components symmetrically arranged on both sides of the pouring hopper 41. Each third moving component 42 includes a sliding rod 421 and a sliding sleeve 422. The upper and lower ends of the sliding rod 421 are fixedly connected to the upper and lower ends of the pouring hopper 41, respectively. The sliding sleeve 422 is fixedly installed on the moving base 31. The sliding rod 421 is adapted to the sliding sleeve 422 and passes through the sliding sleeve 422, and the two slide together. This provides a corresponding guiding effect for the up and down movement of the pouring hopper 41 and effectively ensures the stability and smoothness of the up and down movement of the pouring hopper 41.

[0051] The construction method for scour protection of pre-mixed fluidized solidified soil for cross-sea bridges, using any one of the above-mentioned construction robots for scour protection of pre-mixed fluidized solidified soil for cross-sea bridges, includes the following steps: Step 1: Based on the scour conditions around the seabed pile foundation 9 of the cross-sea bridge pier and the protection design requirements, determine the pouring range that needs to be protected against scour. Step 2: Sail the construction vessel to a suitable distance of 9 meters from the seabed pile foundation to carry out efficient construction and pouring operations, and anchor for positioning; Step 3: Using the Beidou positioning system 7 built into the construction robot, the construction robot is submerged into the seabed and finely adjusted and moved to the water-facing side of the seabed pile foundation 9 where construction and pouring can be carried out efficiently. The water-blocking device 1 of the construction robot is inserted into the seabed to a certain depth and the lifting water-blocking plate is raised so that the construction robot can form a relatively calm water zone within the effective pouring range. Step 4: The pre-mixed fluidized solidified soil containing carbon dioxide on the construction vessel is transported to the pouring hopper 41 through a conveying hose; Step 5: The circumferential drive device 23 drives the moving crossbeam 21 to move along the circumference of the seabed pile foundation 9. At the same time, the radial drive device 33 drives the moving seat 31 to move along the radial direction of the seabed pile foundation 9. This enables the oscillating pouring of the fluidized solidified soil in the pouring hopper 41 to the pouring range and the pouring angle of the circumferential 180-degree back-and-forth movement of the seabed pile foundation 9. Meanwhile, the poured fluidized solidified soil will cover the scouring pit through gravity under its own weight. According to the pouring situation, the height of the pouring port of the pouring hopper 41 from the pouring construction surface is dynamically adjusted to maintain it at 0.3-0.5 meters. Step 6: During the pouring process, the pouring construction within the pouring area that needs to be protected from erosion is observed via video using a high-definition camera 8. For areas that do not meet the design requirements, the construction area of ​​the pouring range can be actively adjusted by using a translation and rotation construction robot to achieve complete coverage of the pouring area. Step 7: After the pouring is completed, the fluidized solidified soil within the pouring area will solidify in 3-14 days. Depending on the constraints of the construction area, the construction vessel and construction robot can be moved together or the construction robot can be moved separately to the next seabed pile foundation to be poured.

[0052] The above are merely some specific embodiments of the present invention, but the design concept of the present invention is not limited thereto. Any non-substantial modifications made to the present invention using this concept shall be considered as infringing upon the protection scope of the present invention.

Claims

1. A construction robot for erosion protection of pre-mixed fluidized solidified soil for cross-sea bridges, characterized in that: The system includes a water-retaining device located on the water-facing side of the subsea pile foundation. The inner side of the water-retaining device can form a relatively calm water zone for construction, creating an artificial low-speed ocean current. A movable crossbeam is located directly above the relatively calm water zone on the water-retaining device. The movable crossbeam is movably connected to the water-retaining device via a first movable component. A circumferential drive device is provided between the water-retaining device and the movable crossbeam to move the movable crossbeam circumferentially along the subsea pile foundation. A movable seat is provided at the upper end of the movable crossbeam. The movable seat is movably connected to the movable crossbeam via a second movable component. A radial drive device is provided between the movable seat and the movable crossbeam to move the movable seat radially along the subsea pile foundation. A pouring hopper is provided at the upper end of the movable seat to receive pre-mixed fluidized solidified soil transported from the construction vessel via a conveying hose and to pour the concrete into the relatively calm water zone. A controller is provided on the construction vessel.

2. The construction robot for erosion protection of pre-mixed fluidized solidified soil for cross-sea bridges according to claim 1, characterized in that: The water-blocking device includes an outer water-blocking plate and an inner support plate. Both the outer water-blocking plate and the inner support plate are semi-circular arc-shaped. The inner support plate is spaced apart from the outer water-blocking plate and coaxially arranged. Multiple connecting rods are fixedly connected between the two ends of the outer water-blocking plate and the inner support plate. A relatively still water zone is formed between the outer water-blocking plate and the inner support plate. Multiple flow gaps are provided in the lower middle part of the inner support plate.

3. The construction robot for erosion protection of pre-mixed fluidized solidified soil for cross-sea bridges according to claim 2, characterized in that: The water-blocking device further includes a semi-circular arc-shaped lifting water-blocking plate. The outer water-blocking plate has an upward-opening lifting cavity adapted to the lifting water-blocking plate. The lifting water-blocking plate is located in the lifting cavity of the outer water-blocking plate, and the two slide vertically together. A first lifting drive device for driving the lifting water-blocking plate to rise and fall is provided between the outer water-blocking plate and the lifting water-blocking plate. The maximum rising height of the lifting water-blocking plate is not greater than the distance between the outer water-blocking plate and the inner support plate. There are multiple first lifting drive devices, which are evenly spaced along the circumference of the lifting water-blocking plate. The first lifting drive device includes a first lifting gear, a first lifting rack, and a first lifting brake motor. The first lifting rack is vertically arranged and fixedly installed on the outer circumference of the lifting water-blocking plate. The first lifting brake motor is fixedly installed on the outer water-blocking plate. The first lifting gear is fixedly installed on the motor shaft of the first lifting brake motor and meshes with the first lifting rack. The first lifting brake motor is electrically connected to the controller through a first power transmission motor wire.

4. The construction robot for erosion protection of pre-mixed fluidized solidified soil for cross-sea bridges according to claim 2, characterized in that: The first moving component includes an inner arc-shaped guide rail, an outer arc-shaped guide rail, an inner guide wheel, and an outer guide wheel. The inner arc-shaped guide rail is fixedly installed on the upper end of the inner support plate. The outer circumferential surface of the inner arc-shaped guide rail is provided with an inner arc-shaped limiting guide groove that runs through both ends of the inner arc-shaped guide rail. One end of the moving beam is fixedly installed with a plurality of rotatable inner guide wheels. The inner guide wheels are embedded in the inner arc-shaped limiting guide groove and the two are in rolling cooperation. The outer arc-shaped guide rail is fixedly installed on the upper end of the outer baffle plate. The inner circumferential surface of the outer arc-shaped guide rail is provided with an outer arc-shaped limiting guide groove that runs through both ends of the outer arc-shaped guide rail. The other end of the moving beam is fixedly installed with a plurality of rotatable outer guide wheels. The outer guide wheels are embedded in the outer arc-shaped limiting guide groove and the two are in rolling cooperation.

5. The construction robot for erosion protection of pre-mixed fluidized solidified soil for cross-sea bridges according to claim 2, characterized in that: The circumferential drive device includes an inner circumferential gear, an inner circumferential arc-shaped rack, an inner circumferential brake motor, an outer circumferential gear, an outer circumferential arc-shaped rack, and an outer circumferential brake motor. The inner circumferential arc-shaped rack is fixedly mounted on the upper end of the inner support plate and the two are coaxially arranged. The inner circumferential brake motor is fixedly mounted on one end of the moving crossbeam. The inner circumferential gear is fixedly mounted on the motor shaft of the inner circumferential brake motor and meshes with the inner circumferential arc-shaped rack for transmission. The inner circumferential brake motor is electrically connected to the controller through a second power transmission motor wire. The outer circumferential arc-shaped rack is fixedly mounted on the upper end of the outer baffle plate and the two are coaxially arranged. The outer circumferential brake motor is fixedly mounted on the other end of the moving crossbeam. The outer circumferential gear is fixedly mounted on the motor shaft of the outer circumferential brake motor and meshes with the outer circumferential arc-shaped rack for transmission. The outer circumferential brake motor is electrically connected to the controller through a third power transmission motor wire.

6. The construction robot for erosion protection of pre-mixed fluidized solidified soil for cross-sea bridges according to claim 2, characterized in that: The second moving component consists of two parts, which are respectively located on the left and right sides of the moving base. The second moving component includes a second slide rail and a second slider. The second slide rail is arranged radially along the submarine pile foundation and is fixedly installed on the upper end of the moving beam. The second slider is at least one part and is fixedly installed on the lower end of the moving base. The second slider is adapted to the second slide rail and the two slide in a sliding fit.

7. The construction robot for erosion protection of pre-mixed fluidized solidified soil for cross-sea bridges according to claim 2, characterized in that: Two radial drive devices are respectively located on the left and right sides of the movable base. Each radial drive device includes a radial gear, a radial rack, and a radial brake motor. The radial rack is arranged radially along the subsea pile foundation and fixedly installed on the upper end of the movable crossbeam. The radial brake motor is fixedly installed on the movable base. The radial gear is fixedly installed on the motor shaft of the radial brake motor and meshes with the radial rack for transmission. The radial brake motor is electrically connected to the controller through a fourth power transmission motor wire.

8. The construction robot for erosion protection of pre-mixed fluidized solidified soil for cross-sea bridges according to claim 2, characterized in that: The outer surface of the outer baffle plate is provided with multiple spaced-apart external airbags and multiple spaced-apart external ship electric turbine actuators. Each of the external airbags is connected to an external inflation / deflation device, which is mounted on the outer baffle plate and used to synchronously inflate and deflate the multiple external airbags. The external inflation / deflation device is electrically connected to the controller via a fifth power transmission motor wire, and the external ship electric turbine actuators are electrically connected to the controller via a sixth power transmission motor wire. The inner surface of the inner support plate is provided with multiple spaced-apart inner airbags and multiple spaced-apart inner ship electric turbine actuators. Each of the inner airbags is connected to an inner inflation / deflation device. The internal inflation / deflation device is mounted on the internal support plate and is used to synchronously inflate and deflate multiple internal airbags. The internal inflation / deflation device is electrically connected to the controller via the seventh transmission motor wire. The internal ship electric turbine drive is electrically connected to the controller via the eighth transmission motor wire. A Beidou positioning system is installed on the outer side of the outer water baffle. The Beidou positioning system is electrically connected to the controller via the ninth transmission motor wire. Multiple high-definition cameras are installed at intervals on the inner side of the outer water baffle for video monitoring of the relatively still water area of ​​the construction site. The high-definition cameras are electrically connected to the controller via the tenth transmission motor wire.

9. The construction robot for erosion protection of pre-mixed fluidized solidified soil for cross-sea bridges according to claim 1, characterized in that: The casting hopper is vertically connected to the moving base via a third moving component. A second lifting drive device is provided between the moving base and the casting hopper to drive the casting hopper to rise and fall. Two second lifting drive devices are symmetrically arranged on both sides of the casting hopper. Each second lifting drive device includes a second lifting gear, a second lifting rack, and a second lifting brake motor. The second lifting rack is vertically arranged and fixedly installed on the outer circumference of the casting hopper. The second lifting brake motor is fixedly installed on the upper end of the moving base. The second lifting gear is fixedly installed on the motor shaft of the second lifting brake motor and meshes with the second lifting rack. The second lifting brake motor is electrically connected to the controller via an eleventh power transmission motor wire. Two third moving components are symmetrically arranged on both sides of the casting hopper. Each third moving component includes a sliding rod and a sliding sleeve. The upper and lower ends of the sliding rod are fixedly connected to the upper and lower ends of the casting hopper, respectively. The sliding sleeve is fixedly installed on the moving base. The sliding rod and the sliding sleeve are adapted to each other and pass through the sliding sleeve, with a sliding fit between them.

10. A construction method for erosion protection of pre-mixed fluidized solidified soil for cross-sea bridges, characterized in that: The construction of the cross-sea bridge premixed fluidized solidified soil erosion protection project using the robot described in any one of claims 1-9 includes the following steps: Step 1: Determine the pouring area that needs protection from scour based on the scour conditions around the seabed pile foundations of the cross-sea bridge piers and the protection design requirements. Step 2: Position the construction vessel at a suitable distance from the seabed pile foundation to efficiently carry out the pouring operation, and anchor it in place. Step 3: Using the Beidou positioning system built into the construction robot, the construction robot is submerged into the seabed and finely adjusted and moved to a location on the water-facing side of the seabed pile foundation where construction and pouring can be carried out efficiently. The water-blocking device of the construction robot is inserted into the seabed to a certain depth and the lifting water-blocking plate is raised so that the construction robot can form a relatively calm water zone within the effective pouring range. Step 4: The pre-mixed fluidized solidified soil containing carbon dioxide on the construction vessel is transported to the pouring hopper through a conveying hose; Step 5: The circumferential drive device moves the moving crossbeam along the circumference of the seabed pile foundation, while the radial drive device moves the moving seat along the radial direction of the seabed pile foundation. This enables the oscillating pouring of the fluidized solidified soil in the pouring hopper over the pouring area and the pouring angle of the 180-degree back-and-forth movement around the seabed pile foundation. At the same time, the poured fluidized solidified soil will cover the scouring pit through gravity flow under its own weight. According to the pouring situation, the height of the pouring port of the pouring hopper from the pouring construction surface is dynamically adjusted to maintain it at 0.3-0.5 meters. Step Six: During the pouring process, the pouring construction within the pouring area that needs to be protected from erosion is observed via video using a high-definition camera. For areas that do not meet the design requirements, the construction area of ​​the pouring range can be actively adjusted by using a translation and rotation construction robot to achieve complete coverage of the pouring range. Step 7: After the pouring is completed, the fluidized solidified soil within the pouring area will solidify in 3-14 days. Depending on the constraints of the construction area, the construction vessel and construction robot can be moved together or the construction robot can be moved separately to the next seabed pile foundation to be poured.

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