Foundation scouring repair system based on engineering waste soil and grouting method

Abstract

The invention relates to a foundation scouring repair system based on engineering waste soil, which is characterized in that a mud rake (1) is designed to suck water bottom waste soil and convey the water bottom waste soil to a filter layer in a mud cabin (7) through a mud conveying pipe (66) in the cabin, and water is guided from a water cabin (8) by connecting pipes (67) to impact large-diameter particles in the filter layer in the mud cabin (7) and discharge the large-diameter particles out of a construction ship body; a curing agent filling and stirring device injects a curing agent into the water bottom waste soil in the mud cabin (7) and stirs the water bottom waste soil, and finally grouting is conducted on the water bottom scouring pit needing to be repaired through a mud conveying pipe (66) and a raking and sucking pipe (12) in the cabin; according to the design, soil sampling, filtering and curing are conducted in sequence based on a mud cabin (7) structure, soil sampling is scientific and convenient, the material cost is reduced, stirring is even and accurate, grouting construction stability is good, a corresponding grouting method is designed, a flat pit is backfilled with low-water-content solidified soil, and then seam filling and covering are conducted on the upper portion through high-water-content solidified soil. And flushing pit repairing is efficiently completed at low cost and within short time.

Description

Technical Field

[0001] The invention relates to a foundation scour repair system and a grouting method based on engineering waste soil, belonging to the technical field of underwater foundation scour pit repair. Background Art

[0002] In recent years, the construction of offshore projects has been accelerating, among which piles, piers, and caisson foundations are one of the common foundation forms for bridges and tall structures. In the wave and current field, local scouring often occurs around the foundation, which has attracted more and more attention from people in related fields. Under the action of waves and currents, the streamlines of water flow particles near the foundation change. The sudden change of streamlines will cause the shear stress on the mud surface soil particles to increase sharply, causing scouring problems in the soil around the foundation. The local scouring caused by the long-term wave, water flow and other fluid loads on the offshore engineering foundation will further increase the bearing response of the foundation, thereby affecting the normal use of the superstructure and even endangering the overall safety of the success. Therefore, when local scouring occurs in the offshore structure foundation, it is necessary to repair and control it in time to avoid huge economic losses.

[0003] The existing methods for repairing foundation scour pits include dumping and filling, geotextile compaction, bionic water grass, reserved scour depth, etc. Among them, dumping and filling and geotextile compaction have poor anti-scour effects, the bionic water grass method is limited in applicable waters, and the reserved scour method has high costs and requires additional anchor design. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a foundation scour repair system based on engineering waste soil, which is based on a construction ship and adopts a brand-new structural design to achieve the advantages of scientific and convenient soil extraction, uniform and precise mixing control, and good grouting construction stability.

[0005] In order to solve the above technical problems, the present invention adopts the following technical solutions: the present invention designs a foundation scour repair system based on engineering waste soil, based on a construction ship, including a single set of foundation scour repair devices arranged along the longitudinal direction of the construction ship, or two sets of foundation scour repair devices with the same structure symmetrically distributed on both sides of the longitudinal center line of the construction ship; The foundation scour repair device includes a mud rake, a curing agent filling and stirring device, an in-cabin mud delivery pipe, a mud tank, a water tank, an external discharge elbow, and at least one connecting pipe. In the structure of the foundation scour repair device, the mud tank and the water tank are arranged longitudinally front and back corresponding to the area where the foundation scour repair device to which they belong is set in the construction hull. A filter is set at a preset height from the bottom of the mud tank. The edge of the filter is connected to the inner wall of the mud tank. The inside of the mud tank is divided into an upper and lower space by the filter. The filter is used to block large-diameter particles of a preset diameter size in the waste soil, and Waste soil is allowed to pass through, and a filter layer is formed between the bottom of the mud tank and the filter screen; the mud delivery pipe in the cabin is a pair of multi-port communication structure, and the mud delivery pipe in the cabin is arranged on the outer side of the corresponding mud tank in the construction hull, and the local pipeline where the port on the single-port side of the mud delivery pipe in the cabin is located is built-in with a cabin mud pump with a working drainage from multiple ports to single ports. Each port on the multi-port side of the mud delivery pipe in the cabin penetrates the corresponding mud tank side wall and is placed in the filter layer in the mud tank, and a third valve is arranged at each port position on the multi-port side of the mud delivery pipe in the cabin, and the mud rake includes a rake suction pipe, a rake suction pipe, and a The pipe is arranged on the outside of the construction hull, and the end of the scraper suction pipe is movably connected to the port on the single-port side of the mud delivery pipe in the cabin and connected. The scraper suction pipe rotates relative to the port of the mud delivery pipe in the cabin to which it is connected, and the front end of the scraper suction pipe realizes detachable contact with the bottom of the water as the scraper suction pipe rotates; the scraper suction pipe is built-in with an underwater mud pump with working drainage from the front end to the end direction; each connecting pipe is respectively located between the mud tank and the water tank, one end of each connecting pipe is respectively penetrated into the side wall of the water tank at the set position and connected to the inside of the water tank, and the other end of each connecting pipe is respectively penetrated into the side wall of the mud tank at the set position and placed in the filter layer in the mud tank, each connecting pipe is respectively built with a water pump for working drainage from the water tank to the mud tank; the outer drain elbow is located on the other side of the mud tank relative to the setting position of the connecting pipe, the outer drain elbow is built with a fourth valve, one end of the outer drain elbow penetrates the side wall of the mud tank at the set position and is placed in the filter layer in the mud tank, and the other end of the outer drain elbow is connected to the outside of the construction hull; the curing agent filling and stirring device is arranged above the mud tank, and is connected to the mud tank from the top of the mud tank, and the curing agent filling and stirring device is used to inject curing agent into the mud tank and stir the inside of the mud tank; Based on the contact between the front end of the rake suction pipe and the water bottom, the underwater mud pump works by sucking in the waste soil on the bottom of the water from the front end of the rake suction pipe, and transports it to the filter layer in the mud tank through the rake suction pipe and the mud delivery pipe in the cabin in turn. Then the water pumps in each connecting pipe work to draw water from the water tank to impact the large-diameter particles in the filter layer in the mud tank and discharge them out of the construction hull through the external discharge elbow. Then the curing agent is injected into the mud tank by the curing agent filling and stirring device, and the waste soil and curing agent inside the mud tank are stirred. Finally, the mud pump in the cabin works to suck in the stirred solidified soil from each port on the multi-port side of the mud delivery pipe in the cabin, and grouting is carried out to the scouring pit to be repaired on the bottom of the water through the mud delivery pipe in the cabin and the rake suction pipe in turn.

[0006] As a preferred technical solution of the present invention: the curing agent filling and stirring device includes at least one sub-curing stirring device, and the structures of the sub-curing stirring devices are the same. Each sub-curing stirring device includes a curing agent storage bucket, a curing agent measuring bucket, a second valve, an agitator, a supporting structure, and at least one first valve. In the structure of the sub-curing stirring device, each first valve is arranged at the position of the small-diameter opening at the bottom of the curing agent storage bucket, and each first valve is used to control the on-off operation of the downward conveying operation of the curing agent in the curing agent storage bucket. The small-diameter opening at the bottom of the curing agent storage bucket is placed in the top opening of the curing agent measuring bucket and is connected to each other. The curing agent conveyed downward from the curing agent storage bucket is received by the curing agent measuring bucket and is measured. The second valve is placed at the small-diameter open mouth position at the bottom of the curing agent metering bucket, and the second valve is used to control the downward injection operation of the curing agent in the curing agent metering bucket. The curing agent storage bucket, the curing agent metering bucket, the second valve, and each first valve constitute an injection structure. The bottom of the supporting structure is arranged on the construction hull, and the top of the supporting structure is connected to the surface of the corresponding curing agent storage bucket for support, so that the injection structure is arranged above the corresponding mud tank, and the agitator is arranged between the injection structure and the filter in the mud tank; based on the sequential operation of each first valve and the second valve, the curing agent metering bucket obtains and measures the curing agent transported from the curing agent storage bucket, and injects it downward into the mud tank, and then the agitator stirs the waste soil inside the mud tank with the injected curing agent.

[0007] As a preferred technical solution of the present invention: the agitator includes an agitator motor, a main shaft, and a stirring blade, wherein the main shaft is a hollow structure, the top of the main shaft is open and connected to the inside of the hollow structure, and the surface of the main shaft is provided with various through holes that are respectively connected to the inside and outside of the hollow structure, the stirring blade is spirally wound along the straight direction of the main shaft and docked with the side of the main shaft, the surface of the stirring blade is provided with a rough surface, the main shaft is set at the set position of the agitator in a set posture, and the position of the opening at the top of the main shaft corresponds to the bottom of the second valve in the corresponding injection structure, and a preset spacing gap is maintained between the opening at the top of the main shaft and the second valve, the agitator motor is connected to the main shaft to provide power for controlling the main shaft to rotate along its axial direction; based on the injection structure, the curing agent is injected into the mud chamber, the curing agent injected downward from the injection structure is received by the opening at the top of the main shaft, and is transported to the mud chamber through the various through holes on the surface of the main shaft, and at the same time, the rotation of the main shaft drives the stirring blade to stir the waste soil in the mud chamber and the injected curing agent.

[0008] As a preferred technical solution of the present invention: the foundation scour repair device also includes a corrugated layer plate, each arc structure in the corrugated layer plate extends in a straight line direction, and each arc structure is parallel to each other and coplanar in its extension direction, and adjacent arc structures are butted against each other, and the corrugated layer plate is covered on the bottom surface of the mud tank with its arc structure extending in a direction parallel to the longitudinal direction of the construction hull; the filter screen is a corrugated structure with the same surface structure as the corrugated layer plate, and the filter screen is arranged on the corrugated layer plate with its arc structure extending in a direction parallel to the longitudinal direction of the construction hull. Above the plate, each arc structure in the filter screen and each arc structure in the wavy layer plate are concavely opposite to each other in vertical upper and lower positions, the wavy layer plate in the mud tank and the filter screen are updated to form a filter layer, and the concave surfaces of each arc structure in the filter screen and the corresponding concave surfaces of the arc structures in the wavy layer plate form arc channels, the number of connecting pipes is less than or equal to the number of arc channels, and each connecting pipe corresponds to each arc channel one by one, and the other end of each connecting pipe penetrates into the side wall of the mud tank at the set position and is placed in the corresponding arc channel in the filter layer in the mud tank, and based on the operation of the water pump in each connecting pipe, water is drawn from the water tank to impact the filter layer in the mud tank.

[0009] As a preferred technical solution of the present invention: the mud rake also includes a rake head, a ball bearing connector, a monitoring device, and a bellows, wherein the rake head includes a double row of rake teeth and two anti-blocking nozzles corresponding to each row of rake teeth, the double row of rake teeth are connected to the outer wall of the front end of the rake suction pipe through a connector, the double row of rake teeth are located at the front end of the rake suction pipe, each anti-blocking nozzle is respectively arranged beside the corresponding rake teeth, and the end of each anti-blocking nozzle is connected in series with a high-pressure pump station complete set of equipment on the construction hull through a pipeline to the docking tank for water diversion; the end of the rake suction pipe is connected to the ball bearing connector through a bellows, and is connected to the port on the single port side of the mud delivery pipe in the cabin through the ball bearing connector, the monitoring device is arranged on the side wall of the front end of the rake suction pipe, and the monitoring direction of the monitoring device points to the front end of the rake suction pipe.

[0010] As a preferred technical solution of the present invention: the foundation scouring and repairing device also includes a lifting equipment, the lifting equipment includes an electrically-controlled winding cable and two telescopic arms, the bottom ends of the two telescopic arms are arranged at positions on the construction hull corresponding to the front ends of the rake suction pipes in the corresponding mud rakes, the top ends of the two telescopic arms point to the outside of the construction hull on the side of the construction hull where the telescopic arms are located, and the top ends of the two telescopic arms are connected to the electrically-controlled winding cable. The mud rake also includes a lifting ear arranged on the top of the side wall of the front end of the rake suction pipe in the mud rake, and the cable on the electrically-controlled winding cable is connected to the lifting ear. The synchronous extension and retraction of the two telescopic arms realizes the movement of the front end of the hoisted rake suction pipe away from or close to the construction hull, and the winding or releasing of the cable by the electrically-controlled winding cable realizes the up and down movement of the front end of the hoisted rake suction pipe, so as to realize the detachable contact between the front end of the rake suction pipe and the bottom of the water.

[0011] As a preferred technical solution of the present invention: the foundation scour repair device also includes a flow meter and various check valves, wherein the flow meter is arranged in the local pipeline where the port on the single-port side of the mud delivery pipe in the cabin is located, the number of check valves is equal to the number of connecting pipes, and the check valves are respectively arranged in each connecting pipe in a one-to-one correspondence.

[0012] As a preferred technical solution of the present invention: it also includes a controller, an agitator frequency converter, a speed encoder, and an A / D converter. The agitator frequency converter and the A / D converter are respectively connected to the controller. For each basic scour repair device, the controller receives an external input agitator rotation speed setting value to generate a control signal and sends it to the agitator frequency converter. The agitator frequency converter is connected to the agitator motor. The agitator frequency converter controls the change of the working power frequency of the agitator motor according to the received control signal, and then the agitator motor adjusts the motor speed according to the working power frequency to provide power for the main shaft; the speed encoder is respectively connected to the agitator motor and the A / D converter. The speed encoder detects the working speed of the agitator motor and forwards it to the A / D converter. The A / D converter converts the received analog signal of the working speed into a digital signal of the working speed and feeds it back to the controller. The controller performs cyclic control on the agitator motor according to the received agitator rotation speed setting value and the working speed feedback of the agitator motor.

[0013] As a preferred technical solution of the present invention: it also includes a speed conversion module, a PID module, a mud pump frequency converter, and a mud pump motor. The speed conversion module and the PID module are respectively connected to the controller, respectively for each basic scouring and repairing device. The speed conversion module is used to receive the measured flow in the local pipeline on the single port side of the mud delivery pipe in the cabin, and convert the measured flow into the corresponding measured mud pump speed according to the preset mapping conversion relationship and send it to the controller. The controller receives the mud pump speed setting value input from the outside, and sends it to the PID module in combination with the received measured mud pump speed. The PID module performs PID operation on the received mud pump speed setting value and the measured mud pump speed to obtain a control signal. The PID module is connected to the mud pump frequency converter. The PID module sends the obtained control signal to the mud pump frequency converter, which is connected to the mud pump motor. The mud pump frequency converter controls the change of the working power frequency of the mud pump motor according to the received control signal, and then the mud pump motor adjusts the motor speed according to the working power frequency to provide power for the mud pump in the cabin; the speed encoder is connected to the mud pump motor, and the speed encoder detects the working speed of the mud pump motor and forwards it to the A / D converter. The A / D converter converts the received analog signal of the working speed into a digital signal of the working speed and feeds it back to the PID module, and then the PID module performs PID operation based on the mud pump speed setting value and the working speed feedback of the mud pump motor, and performs cyclic control on the mud pump motor.

[0014] Corresponding to the above, the technical problem that the present invention also needs to solve is to provide a grouting method for a foundation scour repair system based on engineering waste soil, in which two groups of foundation scour repair devices are controlled separately to obtain two types of solidified soils with different water contents, and grouting is performed on the scour pits in turn to achieve high-efficiency repair.

[0015] In order to solve the above technical problems, the present invention adopts the following technical scheme: the present invention designs a grouting method for a foundation scour repair system based on engineering waste soil, based on two groups of foundation scour repair devices with the same structure symmetrically distributed on both sides of the longitudinal centerline of the construction hull, the two foundation scour repair devices respectively inject a curing agent into the collected underwater waste soil for stirring to form two types of cured soils with different water contents, and in the grouting operation for the scour pit to be repaired, first control the injection of the low-water-content cured soil of the two types of cured soils with different water contents into the scour pit to a preset height, and then inject the high-water-content cured soil of the two types of cured soils with different water contents into the scour pit to repair the scour pit.

[0016] The foundation scour repair system and grouting method based on engineering waste soil described in the present invention adopts the above technical solution and has the following technical effects compared with the prior art: The present invention designs a foundation scour repair system based on engineering waste soil. The mud rake is designed to suck underwater waste soil and transport it to the filter layer in the mud tank through the mud delivery pipe in the tank. Each connecting pipe draws water from the water tank to impact the large-diameter particles in the filter layer in the mud tank and discharge them out of the construction hull. Then the curing agent is injected into the underwater waste soil in the mud tank by the curing agent filling and stirring device and stirred to obtain solidified soil. Finally, grouting is carried out to the scour pit to be repaired on the bottom of the water through the mud delivery pipe in the tank and the rake suction pipe. The design is based on the mud tank structure to sequentially take soil, filter and solidify. The soil taking is scientific and convenient to reduce material cost, the stirring is uniform and accurate, and the grouting construction has good stability. A corresponding grouting method is designed. First, the flat pit is backfilled with solidified soil with low water content, and then the filling seam and covering are blown on the upper part with solidified soil with high water content. The scour pit repair is completed efficiently at a lower cost and in a shorter time, and the repaired structure can better meet the anti-scour effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a front view of the construction vessel designed in the present invention; Figure 2 It is a front cross-sectional view of the construction vessel designed in the present invention; Figure 3 It is a side cross-sectional view of the mud tank section of the construction ship designed in the present invention; Figure 4 It is a schematic diagram of the mud rake structure in the design of the present invention; Figure 5 It is a schematic diagram of the structure of the rake head in the design of the present invention; Figure 6It is a schematic diagram of the structure of the curing agent storage bucket in the design of the present invention; Figure 7 It is a schematic diagram of the structure of the lifting equipment in the design of the present invention; Figure 8 It is a schematic diagram of the structure of the curing agent metering bucket in the design of the present invention; Fig. 9 It is a structural schematic diagram of the agitator in the design of the present invention; Fig.10 It is a front view of the mud delivery pipe in the cabin designed in the present invention; Fig.11 It is a top view of the mud delivery pipe in the cabin designed in the present invention; Fig.12 It is a schematic diagram of the connecting pipe in the design of the present invention; Fig.13 It is a module layout diagram of the mixing control system and the grouting control system in the design of the present invention.

[0018] Among them, 1. Mud rake; 11. Rake head; 111. Rake teeth; 112. Anti-blocking nozzle; 12. Rake suction pipe; 13. Underwater mud pump; 14. Ball bearing connector; 15. Lifting lug; 16. Monitoring equipment; 17. High-pressure pump station complete set of equipment; 2. Curing agent storage bucket; 21. First valve; 22. Support structure; 3. Lifting equipment; 31. Telescopic arm; 32. Cable; 4. Curing agent metering bucket; 41. Second valve; 5. Agitator; 51. Main shaft; 52. Agitator blade; 6. Pipeline; 61. In-cabin mud pump; 62. Third Valve; 63, flow meter; 64, water pump; 65, check valve; 66, mud pipe in the cabin; 67, connecting pipe; 7, mud cabin; 71, wavy layer plate; 72, filter screen; 73, fourth valve; 74, external elbow; 8, water tank; 9, mixing and grouting control system; 91, speed conversion module; 92, PID module; 93, controller; 94, mud pump inverter; 95, mud pump motor; 96, agitator inverter; 97, agitator motor; 98, A / D converter; 99, speed encoder; 910, main electrical box. DETAILED DESCRIPTION

[0019] The specific implementation modes of the present invention will be further described in detail below in conjunction with the accompanying drawings.

[0020] The present invention designs a foundation scour repair system based on engineering waste soil, such as Figure 1 and Figure 2 As shown, based on the construction ship, it includes a single set of foundation scour repair devices arranged along the longitudinal direction of the construction ship body, or two sets of foundation scour repair devices with the same structure symmetrically distributed on both sides of the longitudinal center line of the construction ship body.

[0021] In practical applications, for foundation scour repair devices, such as Figure 1 and Figure 2 As shown, the specific design includes a mud rake 1, a curing agent filling and stirring device, an in-cabin mud delivery pipe 66, a mud tank 7, a water tank 8, an external discharge elbow 74, and at least one connecting pipe 67. In the structure of the foundation scour repair device, the mud tank 7 and the water tank 8 are arranged longitudinally front and back corresponding to the area where the foundation scour repair device to which they belong is set in the construction hull. A filter screen 72 is set at a preset height from the bottom of the mud tank 7. The edge of the filter screen 72 is connected to the inner wall of the mud tank 7. The inside of the mud tank 7 is divided into an upper and lower space by the filter screen 72. The filter screen 72 is used to block large-diameter particles of a preset diameter size in the waste soil and allow the waste soil to pass through. A filter layer is formed between the bottom of the mud tank 7 and the filter screen 72; as shown in FIG. Fig.10 and Fig.11 As shown, the in-cabin mud delivery pipe 66 is a pair of multi-port communication structures, the in-cabin mud delivery pipe 66 is arranged on the outer side of the corresponding mud tank 7 in the construction hull, a flow meter 63 is built in the local pipeline where the port on the single-port side of the in-cabin mud delivery pipe 66 is located, and an in-cabin mud pump 61 whose working drainage is from multi-ports to single-port direction, each port on the multi-port side of the in-cabin mud delivery pipe 66 respectively penetrates the corresponding mud tank 7 side wall, is placed in the filter layer in the mud tank 7, and a third valve 62 is respectively arranged at each port position on the multi-port side of the in-cabin mud delivery pipe 66, and the mud rake 1 includes a rake suction pipe 12, which is arranged on the outer side of the construction hull, and the rake suction pipe 1 2, the end of the raking suction pipe 12 is movably connected to the port on the single-port side of the mud delivery pipe 66 in the cabin and connected, the raking suction pipe 12 rotates relative to the port of the mud delivery pipe 66 in the cabin connected thereto, and the front end of the raking suction pipe 12 realizes detachable contact with the bottom of the water as the raking suction pipe 12 rotates; the raking suction pipe 12 has an internal underwater mud pump 13 with a working drainage direction from the front end to the end; each connecting pipe 67 is respectively located between the mud tank 7 and the water tank 8, one end of each connecting pipe 67 respectively penetrates the side wall of the water tank 8 at the set position and is connected to the inside of the water tank 8, and the other end of each connecting pipe 67 respectively penetrates the side wall of the mud tank 7 at the set position and is placed in the filter layer in the mud tank 7, such as Figure 2 and Fig.12 As shown, each connecting pipe 67 is respectively equipped with a check valve 65 and a water pump 64 for working drainage in the direction from the water tank 8 to the mud tank 7; the outer discharge bend pipe 74 is located on the other side of the mud tank 7 relative to the setting position of the connecting pipe 67, and the outer discharge bend pipe 74 has a fourth valve 73 built in. One end of the outer discharge bend pipe 74 penetrates into the side wall of the mud tank 7 at the set position and is placed in the filter layer inside the mud tank 7, and the other end of the outer discharge bend pipe 74 is connected to the outside of the construction hull; the curing agent filling and stirring device is arranged above the mud tank 7, and is connected to the mud tank 7 from the top of the mud tank 7. The curing agent filling and stirring device is used to inject curing agent into the mud tank 7 and stir the inside of the mud tank 7.

[0022] like Figure 1 and Figure 2As shown, based on the contact between the front end of the rake suction pipe 12 and the bottom of the water, the underwater mud pump 13 works to suck the waste soil on the bottom of the water from the front end of the rake suction pipe 12, and transports it to the filter layer in the mud tank 7 through the rake suction pipe 12 and the mud delivery pipe 66 in the cabin in turn, then the water pump 64 in each connecting pipe 67 works to draw water from the water tank 8 to impact the large-diameter particles in the filter layer in the mud tank 7 and discharge them out of the construction hull through the external discharge bend pipe 74, then the curing agent is injected into the mud tank 7 by the curing agent filling and stirring device, and the waste soil and the curing agent in the mud tank 7 are stirred, finally the in-cabin mud pump 61 works to suck the stirred solidified soil from each port on the multi-port side of the in-cabin mud delivery pipe 66, and grouting is carried out to the scouring pit to be repaired on the bottom of the water through the in-cabin mud delivery pipe 66 and the rake suction pipe 12 in turn.

[0023] In practical application, the above design scheme is used for the curing agent filling and stirring device in the foundation scour repair device, such as Figure 2 , Figure 3 , Figure 6 , Figure 8 As shown, the specific design includes at least one sub-curing stirring device, and the structures of each sub-curing stirring device are the same. Each sub-curing stirring device includes a curing agent storage bucket 2, a curing agent measuring bucket 4, a second valve 41, a stirrer 5, a support structure 22, and at least one first valve 21. In the structure of the sub-curing stirring device, each first valve 21 is arranged at the position of the small-diameter opening at the bottom of the curing agent storage bucket 2, and each first valve 21 is used to control the on-off operation of the curing agent in the curing agent storage bucket 2 to be transported downward. The small-diameter opening at the bottom of the curing agent storage bucket 2 is placed in the top opening of the curing agent measuring bucket 4 and is connected to each other. The curing agent conveyed downward from the curing agent storage bucket 2 is received by the curing agent measuring bucket 4 and is measured. The second valve 41 is placed at the curing agent measuring bucket 4. At the small-diameter open mouth position at the bottom of the bucket 4, the second valve 41 controls the downward injection operation of the curing agent in the curing agent metering bucket 4. The curing agent storage bucket 2, the curing agent metering bucket 4, the second valve 41, and each first valve 21 constitute an injection structure. The bottom of the support structure 22 is set on the construction hull, and the top of the support structure 22 is connected to the surface of the corresponding curing agent storage bucket 2 for support, so that the injection structure is set above the corresponding mud tank 7, and the agitator 5 is set in the mud tank 7 between the injection structure and the filter 72; based on the sequential operation of each first valve 21 and the second valve 41, the curing agent metering bucket 4 obtains and measures the curing agent transported from the curing agent storage bucket 2, and injects it downward into the mud tank 7, and then the agitator 5 stirs the waste soil inside the mud tank 7 with the injected curing agent.

[0024] Regarding the agitator 5 involved in the design of the curing agent filling and stirring device, as Fig. 9As shown, the specific structural design includes a stirrer motor 97, a main shaft 51, and a stirring blade 52, wherein the main shaft 51 is a hollow structure, the top of the main shaft 51 is open and connected to the inside of the hollow structure, and the surface of the main shaft 51 is provided with through holes respectively connected to the inside and outside of the hollow structure, the stirring blade 52 is spirally wound along the straight line direction of the main shaft 51 and docked with the side of the main shaft, the surface of the stirring blade 52 is provided with a rough surface, the main shaft 51 is set at the set position of the stirrer 5 in a set posture, and the position of the opening at the top of the main shaft 51 corresponds to the first Directly below the second valve 21, and a preset spacing gap is maintained between the open mouth at the top of the main shaft 51 and the second valve 21, the agitator motor 97 is connected to the main shaft 51 to provide power for controlling the main shaft 51 to rotate along its axial direction; based on the injection structure, the curing agent is injected into the mud chamber 7, and the open mouth at the top of the main shaft 51 receives the curing agent injected downward from the injection structure, and transports it to the mud chamber 7 through various through holes on the surface of the main shaft 51. At the same time, the rotation of the main shaft 51 drives the stirring blades 52 to stir the waste soil inside the mud chamber 7 and the injected curing agent.

[0025] In practical applications, the filter layer in the mud tank 7 of the foundation scour repair device is further specifically designed, such as Figure 3 As shown, it also includes a corrugated layer plate 71, each arc structure in the corrugated layer plate 71 extends in a straight direction, and each arc structure is parallel to each other and coplanar in its extension direction, and adjacent arc structures are butted against each other, and the corrugated layer plate 71 is arranged on the bottom surface of the mud tank 7 with its arc structure extending in a direction parallel to the longitudinal direction of the construction hull; the filter screen 72 is a corrugated structure with the same surface structure as the corrugated layer plate 71, and the filter screen 72 is arranged above the corrugated layer plate 71 with its arc structure extending in a direction parallel to the longitudinal direction of the construction hull, and each arc structure in the filter screen 72 is parallel to the corrugated layer plate 71. The concave surfaces of the arc structures in the wavy layer plate 71 are opposite to each other in vertical positions. The wavy layer plate 71 and the filter screen 72 in the mud tank 7 form a filter layer. The concave surfaces of the arc structures in the filter screen 72 form arcs with the concave surfaces of the corresponding arc structures in the wavy layer plate 71. The number of connecting pipes 67 is less than or equal to the number of arcs. The connecting pipes 67 correspond to the arcs one by one. The other ends of the connecting pipes 67 penetrate into the side walls of the mud tank 7 at the set positions and are placed in the corresponding arcs in the filter layer in the mud tank 7. Based on the operation of the water pumps 64 in the connecting pipes 67, water is drawn from the water tank 8 to impact the filter layer in the mud tank 7.

[0026] For the mud rake 1 structure, based on the rake suction pipe 12, as Figure 4 The specific design shown also includes a drag head 11, a ball bearing connector 14, a monitoring device 16, and a bellows, wherein Figure 5The rake head 11 shown includes a double row of rake teeth 111 and two anti-blocking nozzles 112 corresponding to each row of rake teeth 111. The double row of rake teeth 111 are connected to the outer wall of the front end of the rake suction pipe 12 through a connecting piece. The double row of rake teeth 111 is located at the front end of the rake suction pipe 12. Each anti-blocking nozzle 112 is respectively arranged beside the corresponding rake teeth 111. The end of each anti-blocking nozzle 112 is connected in series with a high-pressure pump station complete set 17 on the construction hull through a pipeline to the docking tank 8 for water diversion; the end of the rake suction pipe 12 is connected to the ball bearing connector 14 through a corrugated pipe, and is connected to the port on the single port side of the mud delivery pipe 66 in the cabin through the ball bearing connector 14. The monitoring device 16 is arranged on the side wall of the front end of the rake suction pipe 12, and the monitoring direction of the monitoring device 16 points to the front end of the rake suction pipe 12.

[0027] The above-mentioned design scheme mentions that the suction pipe 12 in the foundation scouring repair device rotates relative to the port of the mud delivery pipe 66 in the cabin to which it is connected, so as to realize the structural design of the front end of the suction pipe 12 being in detachable contact with the bottom of the water. Figure 7 The specific design shown also includes a lifting device 3, which includes an electrically controlled winding cable 32 and two telescopic arms 31. The bottom ends of the two telescopic arms 31 are arranged on the construction hull at positions corresponding to the front ends of the rake suction pipes 12 in the corresponding mud rakes 1, and the top ends of the two telescopic arms 31 point to the outside of the construction hull on the side of the construction hull where the telescopic arms 31 are located. The top ends of the two telescopic arms 31 are connected to the electrically controlled winding cable 32. The mud rake 1 also includes a lifting ear 15 arranged on the top of the side wall of the front end of the rake suction pipe 12 in the mud rake 1, and the cable connection lifting ear 15 on the electrically controlled winding cable 32. The synchronous extension and retraction of the two telescopic arms 31 is used to realize the movement of the front end of the hoisted rake suction pipe 12 away from or close to the construction hull, and the winding or releasing of the cable by the electrically controlled winding cable 32 is used to realize the up and down movement of the front end of the hoisted rake suction pipe 12, so that the front end of the rake suction pipe 12 is in detachable contact with the bottom of the water.

[0028] Based on the structure of the above scheme design, the corresponding mixing control system and grouting control system are further designed, among which, Fig.13As shown, the mixing control system includes a controller 93, a mixer inverter 96, a speed encoder 99, and an A / D converter 98. The mixer inverter 96 and the A / D converter 98 are connected to the controller 93, respectively. For each foundation scour repair device, the controller 93 receives the external input of the mixer rotation speed setting value to generate a control signal, and sends it to the mixer inverter 96. The mixer inverter 96 is connected to the mixer motor 97. The mixer inverter 96 is connected to the main power box 910 for power supply. The mixer inverter 96 controls the operation of the mixer motor 97 according to the received control signal. The power supply frequency, and then the agitator motor 97 adjusts the motor speed according to the working power supply frequency to provide power for the main shaft 51; the speed encoder 99 is connected to the agitator motor 97 and the A / D converter 98 respectively, and the speed encoder 99 detects the working speed of the agitator motor 97 and forwards it to the A / D converter 98, and the A / D converter 98 converts the received analog signal of the working speed into a digital signal of the working speed and feeds it back to the controller 93, and the controller 93 performs cyclic control on the agitator motor 97 according to the received agitator rotation speed setting value and the working speed feedback of the agitator motor 97.

[0029] Based on the controller 93, speed encoder 99 and A / D converter 98 in the mixing control system, the grouting control system is further designed. Fig.13As shown, it specifically includes a speed conversion module 91, a PID module 92, a mud pump frequency converter 94, and a mud pump motor 95. The speed conversion module 91 and the PID module 92 are respectively connected to the controller 93. For each foundation scouring and repair device, the speed conversion module 91 is used to receive the measured flow in the local pipeline on the single port side of the mud delivery pipe 66 in the cabin, and convert the measured flow into the corresponding measured mud pump speed according to the preset mapping conversion relationship and send it to the controller 93. The controller 93 receives the mud pump speed setting value input from the outside, and sends it to the PID module 92 in combination with the received measured mud pump speed. The PID module 92 performs PID operation on the received mud pump speed setting value and the measured mud pump speed to obtain a control signal. The PID module 92 is connected to the mud pump frequency converter 94, and the PID module 92 sends the obtained control signal To the mud pump inverter 94, the mud pump inverter 94 is connected to the mud pump motor 95, and the mud pump inverter 94 is connected to the main power box 910 for power supply. The mud pump inverter 94 controls the change of the working power frequency of the mud pump motor 95 according to the received control signal, and then the mud pump motor 95 adjusts the motor speed according to the working power frequency to provide power for the mud pump 61 in the cabin; the speed encoder 99 is connected to the mud pump motor 95, and the speed encoder 99 detects the working speed of the mud pump motor 95 and forwards it to the A / D converter 98. The A / D converter 98 converts the received analog signal of the working speed into a digital signal of the working speed and feeds it back to the PID module 92, and then the PID module performs PID operation on the mud pump speed setting value and the working speed feedback of the mud pump motor 95, and performs cyclic control on the mud pump motor 95.

[0030] In actual application, the signal processing part of the mixing control system and the grouting control system is designed to be located in a separate equipment compartment under the bottom plate of the cab at the front of the hull. There are wire channels between the cab and the equipment compartment, and between the equipment compartment and the mud pump 61 in the compartment for wiring between the equipment of each part. The various components in the equipment compartment are connected by transmission lines and signal lines. The equipment compartment is arranged under the bottom plate of the cab at the front of the construction hull. Compared with the equipment compartment being arranged at the stern of the hull, it is closer to the mud pump 61 in the compartment. The connecting wire between the mud pump 61 in the compartment and the equipment in the compartment is shorter, which reduces the cost of the connecting wire and the difficulty of later maintenance, and also reduces the loss of electric energy in the transmission process. At the same time, arranging the equipment compartment under the bottom plate of the cab makes it more convenient to arrange components such as the speed conversion module 91, the controller 93 and the PID module 92 in the cab. Compared with arranging them in the equipment compartment, it is more convenient for operators to set, observe and adjust some parameters, and the operation efficiency is higher. Each component of the grouting control system composed on the basis of this arrangement can give full play to its established functions, achieve effective coordination, and realize the stability of the grouting flow in a more energy-saving and efficient manner.

[0031] The mixing control system and the grouting control system share a common equipment compartment, and the required connecting wires are shorter, which can reduce the cost of the connecting wires and the difficulty of later maintenance, while reducing the loss of electric energy in the transmission process. Therefore, sharing a common equipment compartment is more convenient for later unified maintenance and management, and is also more convenient for sharing a controller 93 for operators to set some parameters of the controller in the cab. The various components in the mixing control system and the grouting control system formed on the basis of this arrangement can give full play to the established functions, achieve effective cooperation, and ensure the uniformity of the solidified soil mixing in a more energy-saving and efficient way, which is also more convenient for later maintenance and management.

[0032] The above design scheme is applied in practice. For the foundation scouring repair device, the controller 93 is respectively connected to the underwater mud pump 13 in the rake suction pipe 12, the water pump 64 in each connecting pipe 67, the two telescopic arms 31 in the lifting equipment 3, the electric control winding cable 32, and each valve. The monitoring signal of the monitoring device 16 is uploaded to the controller 93 and output by the external display device. In the application, the initial controller 93 controls the fourth valve 73 to be blocked, and the monitoring device 16 observes the front end of the mud rake 1 and sends instructions to the controller 93, and the controller 93 controls the two telescopic arms 31 in the lifting equipment 3. The synchronous extension and retraction of 1 is used to move the front end of the hoisted rake suction pipe 12 away from or close to the construction ship body, and the front end of the rake suction pipe 12 is adjusted to the designated underwater soil taking position. Then the controller 93 controls the electric control winding cable 32 to release the cable to move the front end of the hoisted rake suction pipe 12 downward, and the front end of the rake suction pipe 12 in the mud rake 1 is lowered to contact with the designated underwater soil taking position. As the construction ship sails, the double-row rake teeth 111 of the rake head 11 designed in the mud rake 1 rake the underwater waste soil. This process is based on the operation of the high-pressure pump station complete set 17, and water is drawn from the water tank 8 through each anti-blocking nozzle 112 flushes the front port position of the rake suction pipe 12 to prevent the front port of the rake suction pipe 12 from being blocked. At the same time, the controller 93 controls the underwater mud pump 13 to work and controls the third valve 62 of each port position on the multi-port side of the mud delivery pipe 66 in the cabin to be turned on. Under the design structure of the mud pump 61 in the cabin being turned on, the underwater waste soil is sucked in from the front end of the rake suction pipe 12 and transported to the filter layer in the mud cabin 7 through the rake suction pipe 12 and the mud delivery pipe 66 in the cabin in turn. Since the filter screen 72 blocks the large-diameter particles of the preset diameter size in the waste soil and allows the waste soil to pass through, as the underwater waste soil is continuously sucked in from the bottom of the water and transported to the filter layer in the mud cabin 7, the filter screen 72 blocks the large-diameter particles of the preset diameter size in the waste soil and allows the waste soil to pass through. When it reaches the filter layer in the mud chamber 7, the large-diameter particles are confined in the filter layer, and the continuously inhaled underwater waste soil will gradually penetrate the filter screen 72 upward and continue to rise. When the mud chamber 7 reaches a preset height, the controller 93 controls the underwater mud pump 13 to stop working, controls the third valve 62 at the port position on the multi-port side of the mud delivery pipe 66 in the chamber to be turned off, and controls the lifting equipment 3 to raise the height of the front end of the rake suction pipe 12 in the mud rake 1 to a height that is not in contact with the bottom of the water, and adjusts the initial position of the front end of the rake suction pipe 12 relative to the construction hull. At the same time, the controller 93 controls the high-pressure pump station equipment 17 to stop working.

[0033] Then the controller 93 controls the fourth valve 73 to be turned on, and the controller 93 controls the water pump 64 in each connecting pipe 67 to start working, and water is drawn from the water tank 8 to impact the large-diameter particles in the filter layer in the mud tank 7, and the arcs formed by the wave-shaped structure design of the wavy layer plate 71 and the filter screen 72 are arranged one-to-one with each connecting pipe 67, so that the drainage direction of each connecting pipe 67 is guided, and the influence of the environmental structure on the flushing water flow is reduced, and the flushing efficiency of the large-diameter particles in the filter layer is improved, and the large-diameter particles in the filter layer are discharged out of the construction hull through the external discharge bend 74. Since each connecting pipe 67 has a built-in check valve 65, the flushing water can be effectively prevented from flowing back to pollute the water tank 8. After the above-mentioned flushing work is performed for a preset period of time, the controller 93 controls the water pump 64 in each connecting pipe 67 to stop working, and controls the fourth valve 73 to be turned off.

[0034] Then, the controller 93 respectively controls each sub-curing stirring device in the curing agent filling stirring device, firstly opens each first valve 21, that is, the curing agent is released downward from the curing agent storage bucket 2 to the curing agent metering bucket 4, and the curing agent metering bucket 4 is used to count the curing amount received by it. When the preset required curing amount is reached, the controller 93 controls each first valve 21 to be closed, and then the controller 93 controls the second valve 41 to be opened, and the curing agent in the curing agent metering bucket 4 immediately falls to the open mouth at the top of the main shaft 51 in the agitator 5, and is transported to the mud chamber 7 through each through hole on the surface of the main shaft 51. At the same time, according to the application process of the stirring control system designed as above, the main shaft 51 is controlled to rotate to drive the stirring blade 52 to rotate, so as to stir the waste soil and curing agent in the mud chamber 7. Since the surface of the stirring blade 52 is provided with a rough surface, the contact between the surface of the stirring blade 52 and the waste soil and curing agent can be increased, thereby improving the stirring efficiency. After the stirring operation reaches the preset time, the controller 93 immediately controls the stirring control system to stop working, and controls the second valve 41 to be closed.

[0035] When the construction ship sails to the water surface position of the scouring pit to be repaired, the monitoring device 16 observes the front end of the mud rake 1 to determine the position of the scouring pit, and then sends a command to the controller 93, which controls the synchronous extension and retraction of the two telescopic arms 31 in the lifting device 3 to move the front end of the hoisted rake suction pipe 12 away from or close to the construction ship body, adjusts the front end of the rake suction pipe 12 to the position of the scouring pit, and then controls the electric control winding cable 32 to release the cable to move the front end of the hoisted rake suction pipe 12 downward. The front end of the suction pipe 12 of the mud rake 1 is lowered to contact the scouring pit. The controller 93 controls the third valve 62 at each port on the multi-port side of the mud delivery pipe 66 in the cabin to be turned on. While the construction ship is sailing, according to the application process of the grouting control system designed above, the mud pump 61 in the cabin is controlled to work. Under the design structure of the underwater mud pump 13 being turned on, the stirred solidified soil is sucked in from each port on the multi-port side of the mud delivery pipe 66 in the cabin, and grouting is performed in turn through the mud delivery pipe 66 in the cabin and the suction pipe 12 to the scouring pit to be repaired on the bottom of the water.

[0036] In actual application, according to the above-mentioned design execution process, for the scour pit to be repaired, based on two groups of foundation scour repair devices with the same structure symmetrically distributed on both sides of the longitudinal centerline of the construction hull, two foundation scour repair devices are designed to inject curing agent into the collected underwater waste soil respectively for stirring to form two kinds of cured soils with different water contents, and in the grouting operation for the scour pit to be repaired, accompanied by the navigation of the construction ship, first control the injection of the low-water-content cured soil of the two kinds of cured soils with different water contents into the scour pit to a preset height, and then inject the high-water-content cured soil of the two kinds of cured soils with different water contents into the scour pit to repair the scour pit. After the grouting is completed, the controller 93 controls the mud pump 61 in the cabin of each foundation scour repair device to stop working, and controls the third valve 62 of each port position on the multi-port side of the mud delivery pipe 66 in the cabin to be turned off, and controls the lifting equipment 3 to lift the height of the front end of the rake suction pipe 12 in the mud rake 1 to not contact the bottom of the water, and adjusts the initial position of the front end of the rake suction pipe 12 relative to the construction hull.

[0037] According to the above design process, grouting is performed on the scouring pit to be repaired. In actual application, the design system of the present invention also has a cleaning function. After the grouting is completed, the controller 93 controls the fourth valve 73 to be turned on, and the controller 93 controls the water pump 64 in each connecting pipe 67 to start working, and the mud tank 7 is flushed by water drawn from the water tank 8, and discharged to the outside of the construction ship through the external discharge elbow 74. After the flushing is completed, the controller 93 then controls the fourth valve 73 to be turned off, and controls the third valve 62 at each port position on the multi-port side of the mud delivery pipe 66 in the cabin to be turned on, and controls the mud pump 61 in the cabin to work, and under the design structure that the underwater mud pump 13 is turned on, water is drawn from the water tank 8 through the mud tank 7, the mud delivery pipe 66 in the cabin, and the rake suction pipe 12 to be discharged to the outside of the construction ship. As described above, the mud tank 7, the mud delivery pipe 66 in the cabin, and the rake suction pipe 12 are cleaned. After the cleaning is completed, the controller 93 controls the water pump 64 in each connecting pipe 67 to stop working, and controls the mud pump 61 in the cabin to stop working, and controls each third valve 62 to be turned off.

[0038] The above technical scheme designs that the mud rake 1 sucks up the underwater waste soil and transports it to the filter layer in the mud tank 7 through the mud delivery pipe 66 in the cabin, and each connecting pipe 67 draws water from the water tank 8 to impact the large-diameter particles in the filter layer in the mud tank 7 to be discharged out of the construction hull, and then the curing agent is injected into the underwater waste soil in the mud tank 7 by the curing agent filling and stirring device and stirred to obtain solidified soil, and finally grouting is carried out to the scouring pit to be repaired on the bottom of the water through the mud delivery pipe 66 in the cabin and the rake suction pipe 12; the design is based on the structure of the mud tank 7 to carry out soil taking, filtering, and solidification in sequence. The soil taking is scientific and convenient to reduce material costs, the mixing is uniform and accurate, and the grouting construction has good stability. A corresponding grouting method is designed, first, the flat pit is backfilled with low-water content solidified soil, and then the high-water content solidified soil is blown on the upper part to fill the seam and cover it, so as to efficiently complete the scouring pit repair at a lower cost and in a shorter time, and the repaired structure can better meet the anti-scouring effect.

[0039] The embodiments of the present invention are described in detail above with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge scope of ordinary technicians in this field without departing from the purpose of the present invention.

Claims

1. A foundation scour repair system based on engineering waste soil, characterized by: Based on the construction ship, it includes a single set of foundation scour repair devices arranged along the longitudinal direction of the construction ship, or two sets of foundation scour repair devices with the same structure symmetrically distributed on both sides of the longitudinal center line of the construction ship; The foundation scour repair device comprises a mud rake (1), a curing agent filling and stirring device, a mud delivery pipe (66) in a cabin, a mud cabin (7), a water cabin (8), an external discharge elbow (74), and at least one connecting pipe (67). In the structure of the foundation scour repair device, the mud cabin (7) and the water cabin (8) are arranged longitudinally front and rear in the area where the foundation scour repair device to which they belong is arranged in the construction ship body. A filter screen (72) is arranged at a preset height from the bottom of the mud cabin (7). The edge of the filter screen (72) is connected to the inner wall of the mud cabin (7) around the periphery. The inside of the mud cabin (7) is divided into an upper and lower space by the filter screen (72). The filter screen (72) is used to block large-diameter particles of a preset diameter size in the waste soil and allow the waste soil to pass through. The mud tank (7) is a filter layer formed between the bottom of the mud tank (7) and the filter screen (72); the mud delivery pipe (66) in the tank is a one-to-multiple-port communication structure; the mud delivery pipe (66) in the tank is arranged on the outside of the corresponding mud tank (7) in the construction ship; a mud pump (61) in the tank with a working drainage direction from multiple ports to single ports is built in the local pipeline where the port on the single-port side of the mud delivery pipe (66) in the tank is located; each port on the multi-port side of the mud delivery pipe (66) in the tank is respectively penetrated into the side wall of the corresponding mud tank (7) and placed in the filter layer in the mud tank (7); and each port position on the multi-port side of the mud delivery pipe (66) in the tank is respectively provided with a third valve (62); the mud rake (1) includes a rake suction pipe (12); the rake suction pipe (12) is arranged on the outside of the construction ship The end of the rake suction pipe (12) is movably connected to the port on the single port side of the mud delivery pipe (66) in the cabin and is connected thereto; the rake suction pipe (12) rotates relative to the port of the mud delivery pipe (66) in the cabin to which it is connected; the front end of the rake suction pipe (12) is in detachable contact with the bottom of the water as the rake suction pipe (12) rotates; the rake suction pipe (12) is built with an underwater mud pump (13) with a working drainage direction from the front end to the rear end; each connecting pipe (67) is respectively located between the mud cabin (7) and the water cabin (8); one end of each connecting pipe (67) penetrates the side wall of the water cabin (8) at the set position and is connected to the inside of the water cabin (8); the other end of each connecting pipe (67) penetrates the side wall of the mud cabin (7) at the set position and is placed in the mud cabin (7) In the inner filter layer, each connecting pipe (67) is respectively provided with a water pump (64) for draining water from the water tank (8) to the mud tank (7); an outer drain bend pipe (74) is located on the other side of the mud tank (7) relative to the location of the connecting pipe (67); a fourth valve (73) is provided in the outer drain bend pipe (74); one end of the outer drain bend pipe (74) penetrates the side wall of the mud tank (7) at the provided location and is placed in the inner filter layer of the mud tank (7); the other end of the outer drain bend pipe (74) is connected to the outside of the construction ship; a curing agent filling and stirring device is provided above the mud tank (7) and is connected to the mud tank (7) from the top of the mud tank (7); the curing agent filling and stirring device is used to inject curing agent into the mud tank (7) and stir the inside of the mud tank (7); Based on the front end of the rake suction pipe (12) being in contact with the bottom of the water, the underwater mud pump (13) works to suck the waste soil from the bottom of the water from the front end of the rake suction pipe (12), and sequentially transports it to the filter layer in the mud tank (7) through the rake suction pipe (12) and the mud delivery pipe (66) in the cabin. Then, the water pump (64) in each connecting pipe (67) works to draw water from the water tank (8) to impact the large-diameter particles in the filter layer in the mud tank (7) and discharge them out of the construction ship body through the external discharge elbow (74). Then, the curing agent is injected into the mud tank (7) by the curing agent filling and stirring device, and the waste soil and the curing agent in the mud tank (7) are stirred. Finally, the cabin mud pump (61) works to suck the stirred solidified soil from each port on the multi-port side of the cabin mud delivery pipe (66), and sequentially injects grout into the scouring pit to be repaired on the bottom of the water through the cabin mud delivery pipe (66) and the rake suction pipe (12).

2. According to claim 1, a foundation scour repair system based on engineering waste soil is characterized by: The curing agent filling and stirring device comprises at least one sub-curing and stirring device, each of which has the same structure as the other. Each of the sub-curing and stirring devices comprises a curing agent storage hopper (2), a curing agent measuring hopper (4), a second valve (41), a stirrer (5), a support structure (22), and at least one first valve (21). In the structure of the sub-curing and stirring device, each of the first valves (21) is arranged at the position of the small-diameter open mouth at the bottom of the curing agent storage hopper (2), and each of the first valves (21) performs on-off control on the downward conveying operation of the curing agent in the curing agent storage hopper (2). The small-diameter open mouth at the bottom of the curing agent storage hopper (2) is placed in the top open mouth of the curing agent measuring hopper (4), and the two are connected to each other. The curing agent measuring hopper (4) receives the curing agent conveyed downward from the curing agent storage hopper (2) and measures it. The second valve (41) is placed in the curing agent measuring hopper (4). At the bottom small-diameter open mouth position, the second valve (41) controls the on-off operation of the curing agent in the curing agent metering bucket (4) to inject downwards. The curing agent storage bucket (2), the curing agent metering bucket (4), the second valve (41), and each first valve (21) constitute an injection structure. The bottom of the support structure (22) is arranged on the construction hull, and the top of the support structure (22) is connected to the surface of the corresponding curing agent storage bucket (2) for support, so that the injection structure is arranged above the corresponding mud tank (7). The agitator (5) is arranged in the mud tank (7) between the injection structure and the filter (72). Based on the sequential operation of each first valve (21) and the second valve (41), the curing agent metering bucket (4) obtains and measures the curing agent transported from the curing agent storage bucket (2), and injects it downwards into the mud tank (7), and then the agitator (5) stirs the waste soil inside the mud tank (7) and the injected curing agent.

3. According to claim 2, a foundation scour repair system based on engineering waste soil is characterized by: The stirrer (5) comprises a stirrer motor (97), a main shaft (51), and a stirring blade (52), wherein the main shaft (51) is a hollow structure, the top of the main shaft (51) is open and connected to the inside of the hollow structure, and the surface of the main shaft (51) is provided with through holes respectively connected to the inside and outside of the hollow structure, the stirring blade (52) is spirally wound along the straight line direction of the main shaft (51) and docked with the side surface of the main shaft, the surface of the stirring blade (52) is provided with a rough surface, the main shaft (51) is arranged at the set position of the stirrer (5) in a set posture, and the position of the opening at the top of the main shaft (51) corresponds to the second injection structure in the corresponding injection structure. A preset spacing gap is maintained between the main shaft (51) and the second valve (21), and the agitator motor (97) is connected to the main shaft (51) to provide power for controlling the main shaft (51) to rotate along its axial direction; based on the injection structure, the curing agent is injected into the mud chamber (7), and the curing agent injected downward from the injection structure is received by the open mouth at the top of the main shaft (51) and transported to the mud chamber (7) through various through holes on the surface of the main shaft (51). At the same time, the rotation of the main shaft (51) drives the agitator blade (52) to agitate the waste soil inside the mud chamber (7) and the injected curing agent.

4. According to claim 1, a foundation scour repair system based on engineering waste soil is characterized by: The foundation scour repair device further comprises a corrugated layer plate (71), wherein each arc-shaped structure in the corrugated layer plate (71) extends in a straight direction, and each arc-shaped structure is parallel to each other and coplanar in its extension direction, and adjacent arc-shaped structures are butted against each other, and the corrugated layer plate (71) is arranged on the bottom surface of the mud tank (7) in a posture where the extension direction of each arc-shaped structure is parallel to the longitudinal direction of the construction ship; the filter screen (72) is a corrugated structure having a surface structure identical to that of the corrugated layer plate (71), and the filter screen (72) is arranged above the corrugated layer plate (71) in a posture where the extension direction of each arc-shaped structure is parallel to the longitudinal direction of the construction ship, and each arc-shaped structure in the filter screen (72) is parallel to the longitudinal direction of the construction ship. The concave surfaces of the arc structures in (71) are opposite to each other vertically. The wave-shaped layer plate (71) and the filter screen (72) in the mud tank (7) form a filter layer. The concave surfaces of the arc structures in the filter screen (72) form arc paths with the concave surfaces of the corresponding arc structures in the wave-shaped layer plate (71). The number of connecting pipes (67) is less than or equal to the number of arc paths. The connecting pipes (67) correspond to the arc paths one by one. The other ends of the connecting pipes (67) penetrate the side wall of the mud tank (7) at the set position and are placed in the corresponding arc paths in the filter layer in the mud tank (7). Based on the operation of the water pumps (64) in the connecting pipes (67), water is drawn from the water tank (8) to impact the filter layer in the mud tank (7).

5. According to claim 1, a foundation scour repair system based on engineering waste soil is characterized by: The mud rake (1) further comprises a rake head (11), a ball bearing connector (14), a monitoring device (16), and a bellows, wherein the rake head (11) comprises a double row of rake teeth (111) and two anti-blocking nozzles (112) corresponding to each row of rake teeth (111) respectively, the double row of rake teeth (111) being connected to the front end outer wall of the rake suction pipe (12) via the connector, the double row of rake teeth (111) being located at the front end of the rake suction pipe (12), and each anti-blocking nozzle (112) being respectively arranged at a corresponding rake tooth (111). 1), the ends of the anti-blocking nozzles (112) are connected in series via pipelines to a high-pressure pump station complete set (17) installed on the construction ship hull, and then to the docking tank (8) for water diversion; the end of the rake suction pipe (12) is connected to a ball bearing connector (14) via a bellows, and is connected to a port on the single port side of a mud delivery pipe (66) in the tank through the ball bearing connector (14); a monitoring device (16) is arranged on the front end side wall of the rake suction pipe (12), and the monitoring direction of the monitoring device (16) points to the front end of the rake suction pipe (12).

6. A foundation scour repair system based on engineering waste soil according to claim 1 or 5, characterized in that: The foundation scouring and repairing device further comprises a lifting device (3), the lifting device (3) comprising an electrically controlled winding cable (32) and two telescopic arms (31), the bottom ends of the two telescopic arms (31) being arranged on the construction hull at positions corresponding to the front ends of the rake suction pipes (12) in the corresponding mud rakes (1), the top ends of the two telescopic arms (31) pointing to the outside of the construction hull on the side of the construction hull where the telescopic arms (31) are located, the top ends of the two telescopic arms (31) being connected to the electrically controlled winding cable (32), and the mud rakes (1) being arranged to move the two telescopic arms (31) to the outside of the construction hull. ) also includes a lifting lug (15) arranged on the top of the side wall of the front end of the rake suction pipe (12) in the mud rake (1), and a cable connecting the lifting lug (15) on the electrically controlled winding cable (32), so that the front end of the hoisted rake suction pipe (12) can be moved away from or closer to the construction ship body by the synchronous extension and contraction of the two telescopic arms (31), and the front end of the hoisted rake suction pipe (12) can be moved up and down by the winding or release of the cable by the electrically controlled winding cable (32), so that the front end of the rake suction pipe (12) can be detachably contacted with the bottom of the water.

7. According to claim 1, a foundation scour repair system based on engineering waste soil is characterized by: The foundation scour repair device further comprises a flow meter (63) and various check valves (65), wherein the flow meter (63) is arranged in a local pipeline where a port on a single-port side of a mud delivery pipe (66) in the cabin is located, the number of the check valves (65) is equal to the number of the connecting pipes (67), and the various check valves (65) are arranged in a one-to-one correspondence in each connecting pipe (67).

8. According to claim 3, a foundation scour repair system based on engineering waste soil is characterized by: The invention also includes a controller (93), an agitator frequency converter (96), a speed encoder (99), and an A / D converter (98). The agitator frequency converter (96) and the A / D converter (98) are respectively connected to the controller (93). For each foundation scour repair device, the controller (93) receives an external input of a set value of agitator rotation speed, generates a control signal, and sends the control signal to the agitator frequency converter (96). The agitator frequency converter (96) is connected to the agitator motor (97). The agitator frequency converter (96) controls and changes the working power frequency of the agitator motor (97) according to the received control signal, so that the agitator motor (97) ) adjusts the motor speed according to the working power frequency to provide power for the main shaft (51); the speed encoder (99) is connected to the agitator motor (97) and the A / D converter (98), respectively, the speed encoder (99) detects the working speed of the agitator motor (97) and forwards it to the A / D converter (98), the A / D converter (98) converts the received analog signal of the working speed into a digital signal of the working speed and feeds it back to the controller (93), and the controller (93) performs cyclic control on the agitator motor (97) according to the received agitator rotation speed setting value and the working speed feedback of the agitator motor (97).

9. The foundation scour repair system based on engineering waste soil according to claim 8, characterized in that: The invention also includes a speed conversion module (91), a PID module (92), a mud pump frequency converter (94), and a mud pump motor (95). The speed conversion module (91) and the PID module (92) are respectively connected to the controller (93). For each foundation scouring and repair device, the speed conversion module (91) is used to receive the measured flow rate in the local pipeline on the single port side of the mud delivery pipe (66) in the cabin, and convert the measured flow rate into the corresponding measured mud pump speed according to a preset mapping conversion relationship and send it to the controller (93). The controller (93) receives the mud pump speed setting value input from the outside, and sends it to the PID module (92) in combination with the received measured mud pump speed. The PID module (92) performs PID operation on the received mud pump speed setting value and the measured mud pump speed to obtain a control signal. The PID module (92) is connected to the mud pump frequency converter (94). The PID module (92) converts The obtained control signal is sent to the mud pump frequency converter (94), and the mud pump frequency converter (94) is connected to the mud pump motor (95). The mud pump frequency converter (94) controls and changes the working power frequency of the mud pump motor (95) according to the received control signal, and then the mud pump motor (95) adjusts the motor speed according to the working power frequency to provide power for the mud pump (61) in the cabin; the speed encoder (99) is connected to the mud pump motor (95), and the speed encoder (99) detects the working speed of the mud pump motor (95) and forwards it to the A / D converter (98). The A / D converter (98) converts the received analog signal of the working speed into a digital signal of the working speed and feeds it back to the PID module (92). Then the PID module performs PID operation according to the mud pump speed setting value and the working speed feedback of the mud pump motor (95), and performs cyclic control on the mud pump motor (95).

10. A grouting method for a foundation scour repair system based on engineering waste soil according to any one of claims 1 to 9, characterized in that: Based on two groups of foundation scour repair devices with the same structure symmetrically distributed on both sides of the longitudinal centerline of the construction hull, the two foundation scour repair devices respectively inject curing agent into the collected underwater waste soil for stirring to form two cured soils with different water contents, and in the grouting operation of the scour pit to be repaired, the low-water-content cured soil of the two cured soils with different water contents is first controlled to be injected into the scour pit to a preset height, and then the high-water-content cured soil of the two cured soils with different water contents is injected into the scour pit to repair the scour pit.

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