Construction robot for in-situ mixing and solidification of scour protection of a sea-crossing bridge and construction method

Abstract

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 particularly relates to a construction robot for in-situ mixing and solidification of scour protection of a sea-crossing bridge and a construction method, characterized in that: a water retaining device is arranged on the water-approaching side of the subsea pile foundation, a construction relative still water area in which artificial low-speed sea currents are formed is formed on the inner side of the water retaining device, a moving cross beam is arranged on the water retaining device, a circumferential driving device is arranged between the water retaining device and the moving cross beam, a moving seat is arranged on the moving cross beam, a radial driving device is arranged between the moving seat and the moving cross beam, and an in-situ mixing device is arranged on the moving seat. The present application can form a small-range construction relative still water area in-situ mixing and solidification on the water-approaching side of the subsea pile foundation, can greatly reduce the loss of in-situ mixing and solidification soil in the scour area of the subsea pile foundation, improve the retention effect, greatly reduce material waste, construction cost and cost, and can actively adjust the mixing area and depth according to the range of scour protection required.

Description

Technical Field

[0001] This invention relates to the technical field of construction equipment for scour protection of seabed pile foundations for cross-sea bridges, specifically to an in-situ mixing and solidification construction robot and construction method for scour protection of cross-sea bridges. Background Technology

[0002] The piers of a cross-sea bridge consist of subsea pile foundations, abutments, and pier bodies. The subsea pile foundations support the abutments, which in turn support the pier bodies and thus the superstructure of the bridge. Due to ocean currents and waves, the seabed is eroded. Silt on the seabed in front of the subsea pile foundations is washed away and accumulates on the seabed behind them, gradually forming scour pits. As these scour pits continue to grow, they can affect the stability of the superstructure. Therefore, it is necessary to implement preventative scour protection measures before the subsea pile foundations of the bridge piers are completed. Most existing protective technologies for subsea pile foundations of bridge piers involve using fluidized bed soil to solidify the soil after the scour pits have formed. Chemical protection technology involves filling and covering scour pits with fluidized solidified soil, concrete, or riprap around the subsea pile foundations of bridge piers to form a protective structure. However, in practical applications, it has been found that due to ocean currents and waves, the area around the subsea pile foundations of bridge piers is not a relatively still water zone. Furthermore, the fluidized solidified soil is a flowing material, and most of it is washed away by ocean currents before it solidifies. This results in a serious waste of construction materials and significantly increases the overall construction cost. In view of this, an in-depth study of this problem has been conducted, leading to this case. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a robot and construction method for in-situ mixing and solidification construction of cross-sea bridge scour protection, which can form a small-scale construction relatively calm water zone on the water-facing side of the seabed pile foundation, significantly reduce the amount of scour loss of the in-situ mixed and solidified soil in the scour area of ​​the seabed pile foundation, improve the retention effect, greatly reduce material waste, construction costs and expenses, and can actively adjust the mixing area and depth according to the range of scour protection required.

[0004] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows: A cross-sea bridge scour protection in-situ mixing and solidification construction robot, comprising a water-blocking device installed on the water-facing side of the seabed pile foundation, wherein an artificial low-speed ocean current can be formed inside the water-blocking device to create a relatively calm water zone for construction, a movable crossbeam located directly above the relatively calm water zone on the water-blocking device, the movable crossbeam being movably connected to the water-blocking device via a first movable component, a circumferential driving device being 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 being provided at the upper end of the movable crossbeam, the movable seat being connected via a first movable component... The two moving components are movably connected to the moving crossbeam. A radial drive device is provided between the moving seat and the moving crossbeam to drive the moving seat to move radially along the seabed pile foundation. An in-situ mixing device is provided on the moving seat. The in-situ mixing device is used to fully mix the seabed silt in the relatively still water area of ​​the construction site with the solidifying agent transported from the construction vessel to form solidified soil. The in-situ mixing device is connected to the moving seat to move up and down through the third moving component. A second lifting drive device is provided between the moving seat and the in-situ mixing device to drive the in-situ mixing device to move up and down. 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. An inner arc-shaped limiting guide groove penetrating both ends is provided on the outer circumferential surface of the inner arc-shaped guide rail. Multiple rotatable inner guide wheels are fixedly installed on one end of the moving beam, and the inner guide wheels are embedded in the inner arc-shaped limiting guide grooves, with rolling engagement between them. The outer arc-shaped guide rail is fixedly installed on the upper end of the outer baffle plate. An outer arc-shaped limiting guide groove penetrating both ends is provided on the inner circumferential surface of the outer arc-shaped guide rail. Multiple rotatable outer guide wheels are fixedly installed on the other end of the moving beam, and the outer guide wheels are embedded in the outer arc-shaped limiting guide grooves, with rolling engagement between them. The circumferential drive device includes an inner circumferential gear, an inner circumferential arc-shaped rack, and an inner circumferential brake. The system includes a motor, an outer circumferential gear, an outer circumferential arc rack, and an outer circumferential brake motor. The inner circumferential arc 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 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 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 rack for transmission. The outer circumferential brake motor is electrically connected to the controller through a third power transmission motor wire.

[0008] Furthermore, there are two second moving components, respectively located on the left and right sides of the moving base. Each second moving component includes a second slide rail and a second slider. The second slide rail is radially arranged along the bottom 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. There are two radial drive devices, respectively located on the left and right sides of the moving base. Each radial drive device includes a radial gear, a radial rack, and a radial brake motor. The radial rack is radially arranged along the bottom pile foundation and fixedly installed on the upper end of the moving crossbeam. The radial brake motor is fixedly installed on the moving 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.

[0009] 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.

[0010] Furthermore, the in-situ mixing device includes a lifting rod, a mixing seat, a mixing shaft, mixing spiral blades, a mixing motor, and a curing agent delivery hose. The mixing seat is coaxially fixedly installed at the bottom end of the lifting rod. The mixing seat has an upward-opening mounting cavity and multiple rotating cavities that penetrate its outer side and communicate with the mounting cavity. The multiple rotating cavities are evenly arranged along the circumference of the mixing seat. Each of the multiple rotating cavities of the mixing seat has a rotatable mixing shaft installed in it via bearings. The central axis of the mixing shaft intersects with the central axis of the lifting rod, forming an included angle α between them. The mixing motor is fixedly installed on a mounting plate, which is fixedly installed on the mixing seat. The mixing motor is electrically connected to the controller via an eleventh power transmission motor wire. The bottom end of the lifting rod has a receiving cavity for accommodating the mixing motor. The motor shaft of the mixing motor is connected to the controller via a bevel gear transmission component. Multiple stirring shafts are connected at one end for transmission. One end of the stirring shaft extends outward and passes through the stirring seat, and is fixedly equipped with stirring spiral blades. An annular rotary sealing end cap fitted on the stirring shaft is fixedly installed on the outside of the stirring seat at the opening of the rotating cavity. Multiple curing agent delivery hoses are provided and are set one-to-one with the multiple stirring shafts. The curing agent delivery hoses are fixedly installed on the outer circumference of the lifting rod. The stirring shaft is provided with a discharge channel. One end of the curing agent delivery hose is connected to the curing agent supply system on the construction vessel through the first connecting pipe. The other end of the curing agent delivery hose is connected to one end of the feed pipe and communicates with it. The other end of the feed pipe is connected to one end of the discharge channel in the stirring shaft through a rotary joint. The stirring spiral blades are provided with a discharge chamber communicating with the discharge channel. The surface of the stirring spiral blades is provided with multiple discharge holes communicating with the discharge chamber.

[0011] Furthermore, the in-situ mixing device also includes multiple carbon dioxide delivery hoses, which are arranged one-to-one with the multiple mixing shafts. The carbon dioxide delivery hoses are fixedly installed on the outer circumference of the lifting rod. One end of the carbon dioxide delivery hose is connected to the carbon dioxide supply system on the construction vessel through a second connecting pipe, and the other end of the carbon dioxide delivery hose is connected to one end of the feed pipe and is equipped with a one-way valve.

[0012] Furthermore, there are two second lifting drive devices symmetrically arranged on both sides of the lifting rod. 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 lifting rod. 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 through the twelfth power transmission motor wire. There are two third moving components symmetrically arranged on both sides of the lifting rod. 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 lifting rod, 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, and the two slide in a sliding fit.

[0013] The in-situ mixing and curing construction method for scour protection of cross-sea bridges, using any of the above-mentioned robots for in-situ mixing and curing construction of scour protection of cross-sea bridges, includes the following steps:

[0014] Step 1: Based on the seabed pile foundation survey data of the cross-sea bridge piers, determine the distribution of surrounding ocean currents and waves throughout the year and the seabed pile foundation protection design requirements, determine the mixing and solidification range that needs to be protected against scour.

[0015] Step 2: Position the construction vessel at a suitable distance from the seabed pile foundation to allow for efficient construction operations, and then anchor it in place.

[0016] Step 3: Using the Beidou positioning system on the construction robot, the construction robot is submerged into the seabed and finely adjusted to a location on the water-facing side of the seabed pile foundation where efficient construction and mixing can be carried out. 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 a relatively calm water zone can be formed within the effective mixing range of the construction robot. The maximum mixing depth of the in-situ mixing device on the construction robot is 5 meters.

[0017] Step 4: The pre-mixed curing agent on the construction vessel is transported through the curing agent delivery hose to the seabed silt mixed by the in-situ mixing device in the relatively still water area of ​​the construction site. The carbon dioxide supplied by the carbon dioxide supply device on the construction vessel is transported through the carbon dioxide delivery hose to the seabed silt mixed by the in-situ mixing device in the relatively still water area of ​​the construction site.

[0018] Step 5: The circumferential drive device drives the moving crossbeam to move circumferentially along the circumference of the seabed pile foundation, the radial drive device drives the moving seat to move radially along the radial direction of the seabed pile foundation, and the second lifting drive device drives the in-situ mixing device to move up and down. This achieves the up-and-down, left-and-right, and forward-and-backward swing mixing of the in-situ mixing device and the 180-degree back-and-forth movement of the seabed pile foundation. The seabed silt, solidifying agent, and carbon dioxide in the mixing and solidification range are fully mixed together to form fluidized solidified soil. At the same time, the fluidized solidified soil after mixing will further cover the mixing and solidification range by gravity flow under its own weight.

[0019] Step Six: During the construction and mixing process, the construction and mixing situation within the mixing and curing range that needs to be protected is observed through a high-definition camera. For areas that do not meet the design requirements, the construction robot can be moved and rotated to actively adjust the construction area of ​​the mixing and curing range in order to achieve complete mixing coverage within the mixing and curing range.

[0020] Step 7: After the construction mixing is completed, the fluidized solidified soil within the mixing and solidification range will solidify for 3-14 days. Then, the construction robot can be moved to the next subsea pile foundation to be mixed and solidified.

[0021] As can be seen from the above description, the in-situ mixing and curing construction robot and construction method for cross-sea bridge scour protection provided by the present invention have the following beneficial effects:

[0022] 1. By using a water-blocking device to block ocean currents and creating a small-scale artificial low-velocity current zone on the water-facing side of the seabed pile foundation, a relatively still water zone can be formed. This allows the seawater in the relatively still water zone to be in a relatively static or low-velocity current state. Therefore, when the seabed silt in the relatively still water zone is thoroughly mixed with the solidifying agent transported from the construction vessel using an in-situ mixing device, raw material costs can be further reduced. Furthermore, a fluidized solidified soil can be formed on the water-facing side of the seabed pile foundation, effectively reducing the erosion of the fluidized solidified soil formed by ocean currents and waves in the relatively still water zone. This allows most of the fluidized solidified soil to be retained around the seabed pile foundation, while simultaneously... The mixed fluidized solidified soil will further cover the entire perimeter of the seabed pile foundation under its own weight. After solidification for 3-14 days, the construction robot can be removed, forming an effective scour protection solidification structure. This allows for preventative scour protection mixing and solidification construction before scour pits are formed during the construction of the cross-sea bridge. It can also be used for remedial scour protection mixing and solidification construction after scour pits are formed on the water-facing side of the seabed pile foundation of the cross-sea bridge piers due to ocean currents, covering the scour pits and preventing them from being washed away by ocean currents. This greatly reduces the waste of construction materials such as the fluidized solidified soil formed by mixing and significantly reduces the overall construction cost and price.

[0023] Second, the circumferential drive device facilitates the movement of the moving crossbeam along the circumference of the seabed pile foundation, the radial drive device facilitates the movement of the moving seat along the radial direction of the seabed pile foundation, and the second lifting drive device facilitates the up-and-down movement of the in-situ mixing device. This enables the in-situ mixing device to perform three-dimensional oscillating mixing in the relatively still water area of ​​the construction site, as well as a 180-degree back-and-forth mixing angle along the circumference of the seabed pile foundation. This effectively ensures thorough mixing and mixing effect. Furthermore, the mixing area and mixing depth of the in-situ mixing device can be actively adjusted according to the range of protection required by ocean current erosion, which helps to save construction materials, costs, and construction expenses. Attached Figure Description

[0024] Figure 1 This is a three-dimensional structural diagram of the in-situ mixing and curing construction robot for cross-sea bridge scour protection, based on the present invention, from one angle.

[0025] Figure 2 for Figure 1 A magnified view of a portion of point A in the middle.

[0026] Figure 3 This is a three-dimensional structural diagram of the in-situ mixing and curing construction robot for cross-sea bridge scour protection, based on the present invention.

[0027] Figure 4This is a partial three-dimensional structural diagram of the in-situ stirring device, the third moving component, and the third moving component mounted on the moving base.

[0028] Figure 5 This is a schematic diagram showing the usage status of the in-situ mixing and curing construction robot for cross-sea bridge scour protection according to the present invention.

[0029] Figure 6 for Figure 5 A magnified view of a portion of point B in the middle.

[0030] Figure 7 for Figure 5 A magnified view of a portion of point C.

[0031] Figure 8 for Figure 5 A magnified view of a portion of point D.

[0032] 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-shaped rack; 236-Outer circumferential brake motor; 31-Moving seat; 32-Second moving assembly; 321-Second slide rail; 322-Second slider; 33-Radial drive device; 331-Radial gear; 332-Radial... 333-Radial brake motor; 41-In-situ mixing device; 411-Lifting rod; 4111-Receiving cavity; 412-Mixing seat; 4121-Mounting cavity; 4122-Rotating cavity; 413-Mixing shaft; 4131-Discharge channel; 4132-Infeed pipe; 4133-Rotary joint; 414-Mixing spiral blade; 4141-Discharge cavity; 4142-Discharge hole; 415-Mixing motor; 4161-Curing agent delivery hose; 4162-Carbon dioxide delivery hose; 4163-Check valve; 417-Safety... Mounting plate; 418-Bevel gear transmission component; 419-Annular rotary sealing end cap; 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

[0033] The present invention will be further described below through specific embodiments.

[0034] like Figures 1 to 8As shown, the in-situ mixing and curing construction robot for cross-sea bridge scour protection according to 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 calm water zone for construction with an artificial low-speed ocean current. A movable crossbeam 21 is provided on the water-blocking device 1, located directly above the relatively calm water zone. The movable crossbeam 21 is movably connected to the water-blocking device 1 via a first movable component 22. A circumferential driving device 23 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 movable seat 31 is provided at the upper end of the movable crossbeam 21, and the movable seat 31 is connected to the movable crossbeam via a second movable component 32. 21. 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 seabed pile foundation 9. An in-situ mixing device 41 is provided on the movable seat 31. The in-situ mixing device 41 is used to fully mix the seabed silt in the relatively still water area of ​​the construction site with the solidifying agent transported from the construction vessel to form solidified soil. The in-situ mixing device 41 is connected to the movable seat 31 vertically via a third movable component 42. A second lifting drive device 43 is provided between the movable seat 31 and the in-situ mixing device 41 to drive the in-situ mixing device 41 to move up and down. A controller is provided on the construction vessel.

[0035] By using the water-blocking device 1 to block ocean currents and creating a small-scale artificial low-velocity ocean current zone on the water-facing side of the seabed pile foundation 9 within the water-blocking device 1, the seawater in the relatively still water zone can be kept in a relatively static or low-velocity current state. Therefore, when the in-situ mixing device 41 thoroughly mixes the seabed silt in the relatively still water zone with the solidifying agent transported from the construction vessel, raw material costs can be further reduced. Furthermore, fluidized solidified soil can be formed on the water-facing side of the seabed pile foundation 9, effectively reducing the erosion of the fluidized solidified soil formed by ocean currents and waves in the relatively still water zone. This allows most of the fluidized soil to be retained around the seabed pile foundation 9. The solidified soil, after mixing, will further cover the entire perimeter of the seabed pile foundation 9 under its own weight through gravity flow. After solidification for 3-14 days, the construction robot can be removed, forming an effective scour protection solidification structure. This allows for preventative scour protection mixing and solidification construction before scour pits are formed during the construction of the cross-sea bridge. It can also be used for remedial scour protection mixing and solidification construction after scour pits are formed on the water-facing side of the seabed pile foundation 9 of the cross-sea bridge piers due to ocean currents, covering the scour pits and preventing them from being washed away by ocean currents. This greatly reduces the waste of construction materials such as the solidified soil formed by mixing and significantly reduces the overall construction cost and price.

[0036] The circumferential drive device 23 facilitates the circumferential movement of the movable crossbeam 21 along the circumference of the seabed pile foundation 9. The radial drive device 33 facilitates the radial movement of the movable seat 31 along the radial direction of the seabed pile foundation 9. The second lifting drive device 43 facilitates the vertical movement of the in-situ mixing device 41. This enables the in-situ mixing device 41 to perform three-dimensional spatial oscillation mixing in the relatively still water area of ​​the construction site, as well as the mixing angle of 180-degree back-and-forth movement along the circumference of the seabed pile foundation 9. This effectively ensures thorough mixing and mixing effect. Furthermore, the mixing area and mixing depth of the in-situ mixing device 41 can be actively adjusted according to the range of protection required by ocean current erosion, which helps to save construction materials, costs, and construction expenses.

[0037] Furthermore, the controller installed on the construction vessel facilitates effective control of the construction robot's movements.

[0038] Correspondingly, the movable seat 31 is provided with a first clearance hole for avoiding the in-situ stirring device 41, and the movable crossbeam 21 is provided with a second clearance hole for avoiding the in-situ stirring device 41. The second clearance hole is elongated, so that the in-situ stirring device 41 can pass through the first clearance hole and the second clearance hole and extend downward to smoothly stir the seabed silt.

[0039] Correspondingly, the curing agent is an inorganic composite curing agent, which is uniformly mixed with 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.

[0040] 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. 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. In actual use, the outer water-blocking plate 11 and the inner support plate 12... Under its own weight, the outer water-blocking plate 11 and the inner support plate 12 can be stably inserted into the seabed to a certain depth. At the same time, the use of the semi-circular outer water-blocking plate 11 and the inner support plate 12 can effectively ensure the stability of the construction position of the water-blocking device 1 during construction and play a self-protection role. In addition, multiple fixed rods that are spaced apart and can be inserted into the seabed to a certain depth can be fixed at the bottom of the outer water-blocking plate 11 and the inner support plate 12 to further ensure the stability of the construction position of the water-blocking device 1 during construction.

[0041] 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 mixing and solidification range on the water-facing side of 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. This allows the in-situ mixing device 41 to have a mixing angle that moves back and forth 180 degrees around the seabed pile foundation 9. 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 formed by mixing in the relatively still water area can flow through. The mixed fluidized solidified soil will further cover the entire circle around the seabed pile foundation 9 under its own weight.

[0042] 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 a small area of ​​relatively calm water is formed on the water-facing side of the seabed pile foundation 9. 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.

[0043] 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.

[0044] The first lifting drive device 15 is a plurality of devices and is evenly spaced along the circumference of the lifting baffle 14, thereby enabling the lifting baffle 14 to be lifted and lowered more effectively and ensuring the stability during lifting and lowering. Preferably, there are 4-8 first lifting drive devices 15.

[0045] The 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 circumferential surface 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. 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 reverse, it can drive the first lifting gear 151 to rotate forward or reverse synchronously. At the same time, the first lifting rack 152 and the first lifting gear 152 mesh with the first lifting rack 152. The meshing transmission of the gear 151 and the first lifting gear 151 being in a relatively fixed position drive 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 a self-locking effect, ensuring the lifting baffle 14 remains stably at the corresponding lifting height. The gear and rack 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, and a first sealing cover can be installed on the lifting baffle 14 to cover the lifting drive device 15 for relative sealing, thereby improving the usage frequency and durability of the first lifting drive device 15.

[0046] 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.

[0047] Correspondingly, the inner guide wheel 223 is rotatably mounted on the inner fixed shaft 211, which is fixed to 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 slot 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 slot, thus providing a corresponding limiting function and preventing the inner guide wheel 223 from accidentally detaching from 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 2222 are fixedly provided 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 2222, 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.

[0048] 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.

[0049] 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.

[0050] 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.

[0051] 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.

[0052] The outer periphery of the outer baffle 11 is provided with a plurality of spaced-apart outer airbags 51 and a plurality of spaced-apart outer ship electric turbine actuators 61. Each of the outer airbags 51 is connected to an outer inflation / deflation device 52, which is mounted on the outer baffle 11 and used to synchronously inflate and deflate the multiple outer airbags 51. The outer inflation / deflation device 52 is electrically connected to the controller via a fifth power transmission motor wire, and the outer ship electric turbine actuators 61 are electrically connected to the controller via a sixth power transmission motor wire. The inner periphery of the inner support plate 12 is provided with a plurality of spaced-apart inner airbags 53 and a plurality of spaced-apart inner ship electric turbine actuators 62. Each of the inner airbags 53 is connected to an inner 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 rotation or translation of the construction robot is required, the external inflation / deflation device 52 is first used to inflate and deflate multiple internal airbags 53. The external airbags 51 are inflated simultaneously, and the internal airbags 53 are also inflated simultaneously via the internal inflation / deflation device 54, causing the construction robot to float and the bottom of the internal support plate 12 and the external baffle plate 11 to detach from the seabed. At this point, the corresponding internal and external electric turbine drives 62 and 61 can be controlled to operate, driving the construction robot to rotate or translate. Once the construction robot has rotated or translated to its designated position, the corresponding internal and external electric turbine drives 62 and 61 can be stopped, and the external airbags 51 can be inflated simultaneously via the external inflation / deflation device 52. The internal inflation / deflation 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 to a certain depth, thus restoring the construction robot to a stable working position. Therefore, after mixing is completed, areas that do not meet design requirements can be further mixed by rotating or translating the construction robot to achieve complete mixing, solidification, and coverage of the mixing area. Furthermore, rotating or translating the construction robot allows it to adapt to a wider range of bridge pier seabed pile foundations 9 with varying outer diameters, demonstrating its broad 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.

[0053] 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 units, the number of the inner ship electric turbine drive 62 is 4-8 units. Correspondingly, the inner inflation / deflation device 54 and the outer inflation / deflation device 52 can be products of the prior art to realize the inflation / deflation of the inner airbag 53 and the outer airbag 51 respectively. Therefore, they will not be described in detail here. The inner ship electric turbine drive 62 and the outer ship electric turbine drive 61 can be products of the prior art. They both include electric motors, turbines and transmission systems, electric power and conversion of electrical energy into mechanical energy to drive the turbine, and propulsion is achieved through propellers or thrusters. Therefore, they will not be described in detail here.

[0054] 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.

[0055] 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 and observation 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 through the tenth transmission motor wire, which facilitates the controller to control the video monitoring of the high-definition cameras 8. Through the video monitoring and observation of the high-definition cameras 8, the mixing quality can be evaluated to check whether the mixing is sufficient and whether the quality evaluation requirements and design requirements are met. In addition, the high-definition cameras 8 can be products with waterproof function from the prior art.

[0056] The in-situ mixing device 41 includes a lifting rod 411, a mixing seat 412, a mixing shaft 413, a mixing spiral blade 414, a mixing motor 415, and a curing agent delivery hose 4161. The mixing seat 412 is coaxially fixedly installed at the bottom end of the lifting rod 411. Correspondingly, an annular sealing gasket is provided at the connection between the mixing seat 412 and the lifting rod 411 to improve the sealing performance when the two are connected. The mixing seat 412 has an upwardly open mounting cavity 4121 and multiple rotating cavities 4122 that penetrate its outer side and communicate with the mounting cavity 4121. The multiple rotating cavities 4122 are evenly arranged along the circumference of the mixing seat 412. Each of the multiple rotating cavities 4122 has a rotatable stirring shaft 413 mounted on a bearing. The central axis of the stirring shaft 413 intersects the central axis of the lifting rod 411, forming an angle α between them, thus causing the stirring shaft 413 to be tilted. The stirring motor 415 is fixedly mounted on a mounting plate 417, which is fixedly mounted on the stirring base 412. The stirring motor 415 is electrically connected to the controller via an eleventh power transmission motor wire, thereby facilitating the control of the rotation of the stirring motor 415 by the controller. The bottom end of the lifting rod 411 has a receiving cavity 41 for accommodating the stirring motor 415. 11. The motor shaft of the stirring motor 415 is connected to one end of one of the multiple stirring shafts 413 via a bevel gear transmission component 418. One end of the stirring shaft 413 extends outward and passes through the stirring base 412, and is fixedly provided with the stirring spiral blade 414. By tilting the stirring spiral blade 414, it is also beneficial to improve its stirring effect. An annular rotary sealing end cap 419 sleeved on the stirring shaft 413 is fixedly installed on the outside of the stirring base 412 at the opening of the rotating cavity 4122. There are multiple curing agent delivery hoses 4161, which are arranged one-to-one with the multiple stirring shafts 413. The curing agent delivery hoses 4161 are fixedly installed on the lifting mechanism. On the outer circumference of the rod 411, the stirring shaft 413 is provided with a discharge channel 4131. One end of the curing agent delivery hose 4161 is connected to the curing agent supply system on the construction vessel through a first connecting pipe. The other end of the curing agent delivery hose 4161 is connected to and communicates with one end of the feed pipe 4132. The other end of the feed pipe 4132 is connected to one end of the discharge channel 4131 in the stirring shaft 413 through a rotary joint 4133. The stirring spiral blade 414 is provided with a discharge chamber 4141 communicating with the discharge channel 4131. The surface of the stirring spiral blade 414 is provided with a plurality of discharge holes 4142 communicating with the discharge chamber 4141.

[0057] Therefore, when the stirring motor 415 is rotated, the bevel gear transmission component 418 drives multiple stirring shafts 413 to rotate synchronously, thereby driving the stirring spiral blades 414 to rotate. This allows for the stirring of seabed silt in the relatively still water area of ​​the construction site. Simultaneously, the curing agent supply system on the construction vessel delivers liquid curing agent through the first connecting pipe, the curing agent delivery hose 4161, and the feed pipe 4132 into the discharge channel 4131 of the stirring shaft 413. The material enters the discharge chamber 4141 of the stirring spiral blade 414 and is discharged from the discharge hole 4142, thereby fully mixing with the seabed silt in the stirring process to form fluidized solidified soil. In this way, the seabed silt around the seabed pile foundation 9 can be stirred in situ, which can greatly save raw material costs. After solidification for 3-14 days, an effective scour protection solidification structure can be formed. In addition, the overall length of the in-situ stirring device 41 is more than 5 meters greater than the installation height of the moving crossbeam 21 on the water blocking device 1.

[0058] Preferably, the number of the rotating cavity 4122, the stirring shaft 413, and the stirring blades are all two and symmetrically arranged. In addition, the included angle α is 55-70 degrees. Furthermore, the stirring motor 415 can be a geared motor. The curing agent supply system can use products in the prior art, so it will not be described in detail here. The first connecting pipe is a first flexible hose. Correspondingly, the bevel gear transmission component 418 includes a driving bevel gear and a driven bevel gear. The driving bevel gear is fixedly installed on the motor shaft of the stirring motor 415, and the driven bevel gear is fixedly installed on the stirring shaft 413. The driving bevel gear and the driven bevel gear mesh and transmit power together.

[0059] The in-situ mixing device 41 also includes multiple carbon dioxide delivery hoses 4162, each corresponding to one of the multiple mixing shafts 413. Each carbon dioxide delivery hose 4162 is fixedly installed on the outer circumference of the lifting rod 411. One end of each carbon dioxide delivery hose 4162 is connected to the carbon dioxide supply system on the construction vessel via a second connecting pipe. The other end of each carbon dioxide delivery hose 4162 is connected to one end of the feed pipe 4132 and is equipped with a one-way valve 4163. The one-way valve 4163 allows carbon dioxide to enter the feed pipe 4132 while effectively preventing the curing agent from entering the carbon dioxide delivery hose 4162. The carbon dioxide supply system on the construction vessel delivers carbon dioxide into the discharge channel 4131 of the mixing shaft 413 via the second connecting pipe, the carbon dioxide delivery hose 4162, and the feed pipe 4132. The carbon dioxide then enters the discharge chamber 4141 of the mixing spiral blade 414 and is discharged through the discharge hole 4142. This carbon dioxide injection allows the fluidized solidified soil to store carbon during the mixing and solidification process, accelerating the chemical reaction and improving the efficiency of solidification and erosion prevention. Preferably, there are two carbon dioxide delivery hoses 4162. Furthermore, the second connecting pipe is a second hose. The carbon dioxide supply system can utilize existing technologies, so further details are omitted here.

[0060] The second lifting drive device 43 consists of two symmetrically arranged on both sides of the lifting rod 411. 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 lifting rod 411. The second lifting brake motor 433 is fixedly installed on the upper end of the movable seat 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 a twelfth 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 self-locking, ensuring the lifting rod 411 remains stable 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 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.

[0061] Preferably, there are two third moving components 42 symmetrically arranged on both sides of the lifting rod 411. 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 lifting rod 411, 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 can play a good guiding role in the up and down movement of the lifting rod 411 and effectively ensure the stability and smoothness of the up and down movement of the lifting rod 411.

[0062] The in-situ mixing and curing construction method for scour protection of cross-sea bridges, using any one of the above-mentioned robots for in-situ mixing and curing construction of scour protection of cross-sea bridges, includes the following steps:

[0063] Step 1: Based on the survey data of the seabed pile foundation 9 of the cross-sea bridge pier, determine the distribution of the surrounding ocean currents and waves throughout the year and the protection design requirements of the seabed pile foundation 9, determine the mixing and solidification range that needs to be protected against scour.

[0064] Step 2: Sail the construction vessel to a suitable distance of 9 meters from the seabed pile foundation to carry out construction operations efficiently, and anchor for positioning;

[0065] 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 mixing 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 14 is raised so that the construction robot can form a relatively calm water zone within the effective mixing range. The maximum mixing depth of the in-situ mixing device 41 on the construction robot is 5 meters.

[0066] Step 4: The pre-mixed curing agent on the construction vessel is transported through the curing agent delivery hose 4161 to the seabed silt mixed by the in-situ mixing device 41 and located in the relatively calm water area of ​​the construction site. The carbon dioxide supplied by the carbon dioxide supply device on the construction vessel is transported through the carbon dioxide delivery hose 4162 to the seabed silt mixed by the in-situ mixing device 41 and located in the relatively calm water area of ​​the construction site.

[0067] Step 5: The circumferential drive device 23 drives the moving crossbeam 21 to move circumferentially along the circumference of the seabed pile foundation 9, the radial drive device 33 drives the moving seat 31 to move radially along the radial direction of the seabed pile foundation 9, and the second lifting drive device 43 drives the in-situ mixing device 41 to move up and down, thereby realizing the up and down, left and right and back and forth swing mixing of the in-situ mixing device 41 and the 180-degree back and forth mixing angle of the seabed pile foundation 9. The seabed silt, solidifying agent and carbon dioxide in the mixing and solidification range are fully mixed together to form fluid solidified soil. At the same time, the fluid solidified soil after mixing will further cover the mixing and solidification range by gravity under its own weight.

[0068] Step 6: During the construction and mixing process, the construction and mixing situation within the mixing and curing range that needs to be protected is observed through high-definition camera 8. For areas that do not meet the design requirements, the construction robot can be moved and rotated to actively adjust the construction area of ​​the mixing and curing range in order to achieve complete mixing coverage within the mixing and curing range.

[0069] Step 7: After the construction mixing is completed, the fluidized solidified soil within the mixing and solidification area will solidify for 3-14 days. Then, the construction robot can be moved to the next subsea pile foundation site to be mixed and solidified.

[0070] 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 robot for in-situ mixing and curing construction of scour protection for cross-sea bridges, characterized in that: The system includes a water-retaining device installed 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-velocity ocean current. A movable crossbeam is installed on the water-retaining device, directly above the relatively calm water zone. 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 along the circumference of the subsea pile foundation. A movable seat is provided at the upper end of the movable crossbeam, and the movable seat is movably connected to the movable crossbeam via a second movable component. A radial drive device is provided between the movable crossbeams to drive the movable seat to move radially along the seabed pile foundation. An in-situ mixing device is provided on the movable seat. The in-situ mixing device is used to fully mix the seabed silt in the relatively still water area of ​​the construction site with the solidifying agent transported from the construction vessel to form solidified soil. The in-situ mixing device is connected to the movable seat for vertical movement through a third movable component. A second lifting drive device is provided between the movable seat and the in-situ mixing device to drive the in-situ mixing device to move up and down. A controller is provided on the construction vessel.

2. The in-situ mixing and curing construction robot for cross-sea bridge scour protection as described in 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 in-situ mixing and curing construction robot for cross-sea bridge scour protection as described in 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 in-situ mixing and curing construction robot for cross-sea bridge scour protection as described in claim 3, 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. An inner arc-shaped limiting guide groove penetrating both ends is provided on the outer circumferential surface of the inner arc-shaped guide rail. Multiple rotatable inner guide wheels are fixedly installed at one end of the moving beam. The inner guide wheels are embedded in the inner arc-shaped limiting guide groove and roll over each other. The outer arc-shaped guide rail is fixedly installed on the upper end of the outer baffle plate. An outer arc-shaped limiting guide groove penetrating both ends is provided on the inner circumferential surface of the outer arc-shaped guide rail. Multiple rotatable outer guide wheels are fixedly installed at the other end of the moving beam. The outer guide wheels are embedded in the outer arc-shaped limiting guide groove and roll over each other. The circumferential driving device includes an inner circumferential gear, an inner circumferential arc-shaped rack, an inner circumferential brake motor, and an outer... The system comprises a 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 coaxial with it. 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. The inner circumferential brake motor is electrically connected to the controller via 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 coaxial with it. 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. The outer circumferential brake motor is electrically connected to the controller via a third power transmission motor wire.

5. The in-situ mixing and curing construction robot for cross-sea bridge scour protection according to claim 4, characterized in that: The second moving component comprises two parts, respectively located on the left and right sides of the moving base. Each second moving component includes a second slide rail and a second slider. The second slide rail is arranged radially along the subsea pile foundation and fixedly installed on the upper end of the moving crossbeam. The second slider comprises 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 engagement. The radial driving device comprises two parts, respectively located on the left and right sides of the moving base. Each radial driving 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 moving crossbeam. The radial brake motor is fixedly installed on the moving 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.

6. The in-situ mixing and curing construction robot for cross-sea bridge scour protection as described in claim 5, 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.

7. The in-situ mixing and curing construction robot for cross-sea bridge scour protection as described in claim 6, characterized in that: The in-situ mixing device includes a lifting rod, a mixing seat, a mixing shaft, mixing spiral blades, a mixing motor, and a curing agent delivery hose. The mixing seat is coaxially fixedly installed at the bottom end of the lifting rod. The mixing seat has an upward-opening mounting cavity and multiple rotating cavities penetrating its outer side and communicating with the mounting cavity. The multiple rotating cavities are evenly arranged along the circumference of the mixing seat. Each of the multiple rotating cavities of the mixing seat has a rotatable mixing shaft installed in it via bearings. The central axis of the mixing shaft intersects with the central axis of the lifting rod, forming an included angle α between them. The mixing motor is fixedly installed on a mounting plate, which is fixedly installed on the mixing seat. The mixing motor is electrically connected to the controller via an eleventh power transmission motor wire. The bottom end of the lifting rod has a receiving cavity for accommodating the mixing motor. The motor shaft of the mixing motor is connected to the multiple rotating cavities via a bevel gear transmission component. One end of the stirring shaft is connected to a drive mechanism. The other end of the stirring shaft extends outward and passes through the stirring seat, and is fixedly equipped with the stirring spiral blade. An annular rotary sealing end cap fitted onto the stirring shaft is fixedly installed on the outside of the stirring seat at the opening of the rotating cavity. Multiple curing agent delivery hoses are provided, each corresponding to one of the multiple stirring shafts. The curing agent delivery hoses are fixedly installed on the outer circumference of the lifting rod. The stirring shaft has a discharge channel. One end of the curing agent delivery hose is connected to the curing agent supply system on the construction vessel through a first connecting pipe. The other end of the curing agent delivery hose is connected to and communicates with one end of the feed pipe. The other end of the feed pipe is connected to one end of the discharge channel inside the stirring shaft through a rotary joint. The stirring spiral blade has a discharge chamber communicating with the discharge channel. The surface of the stirring spiral blade has multiple discharge holes communicating with the discharge chamber.

8. The in-situ mixing and curing construction robot for cross-sea bridge scour protection according to claim 7, characterized in that: The in-situ mixing device also includes a carbon dioxide delivery hose, which is provided in multiple ways and is arranged in a one-to-one correspondence with the multiple mixing shafts. The carbon dioxide delivery hose is fixedly installed on the outer circumference of the lifting rod. One end of the carbon dioxide delivery hose is connected to the carbon dioxide supply system on the construction vessel through a second connecting pipe, and the other end of the carbon dioxide delivery hose is connected to one end of the feed pipe and is connected to it and is equipped with a one-way valve.

9. The in-situ mixing and curing construction robot for cross-sea bridge scour protection according to claim 8, characterized in that: The second lifting drive device consists of two components symmetrically arranged on both sides of the lifting rod. 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 lifting rod. The second lifting brake motor is fixedly installed on the upper end of the movable 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 through a twelfth power transmission motor wire. The third moving component consists of two components symmetrically arranged on both sides of the lifting rod. 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 lifting rod, respectively. The sliding sleeve is fixedly installed on the movable base. The sliding rod and the sliding sleeve are adapted to each other and pass through the sliding sleeve, with the two components slidingly engaged.

10. A method for in-situ mixing and curing construction for scour protection of cross-sea bridges, characterized in that: The construction using the in-situ mixing and solidification construction robot for cross-sea bridge scour protection as described in claim 9 includes the following steps: Step 1: Based on the seabed pile foundation survey data of the cross-sea bridge piers, determine the distribution of surrounding ocean currents and waves throughout the year and the seabed pile foundation protection design requirements, determine the mixing and solidification range that needs to be protected against scour. Step 2: Position the construction vessel at a suitable distance from the seabed pile foundation to allow for efficient construction operations, and then anchor it in place. Step 3: Using the Beidou positioning system on the construction robot, the construction robot is submerged into the seabed and finely adjusted to a location on the water-facing side of the seabed pile foundation where efficient construction and mixing can be carried out. 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 a relatively calm water zone can be formed within the effective mixing range of the construction robot. The maximum mixing depth of the in-situ mixing device on the construction robot is 5 meters. Step 4: The pre-mixed curing agent on the construction vessel is transported through the curing agent delivery hose to the seabed silt mixed by the in-situ mixing device in the relatively still water area of ​​the construction site. The carbon dioxide supplied by the carbon dioxide supply device on the construction vessel is transported through the carbon dioxide delivery hose to the seabed silt mixed by the in-situ mixing device in the relatively still water area of ​​the construction site. Step 5: The circumferential drive device drives the moving crossbeam to move circumferentially along the circumference of the seabed pile foundation, the radial drive device drives the moving seat to move radially along the radial direction of the seabed pile foundation, and the second lifting drive device drives the in-situ mixing device to move up and down. This achieves the up-and-down, left-and-right, and forward-and-backward swing mixing of the in-situ mixing device and the 180-degree back-and-forth movement of the seabed pile foundation. The seabed silt, solidifying agent, and carbon dioxide in the mixing and solidification range are fully mixed together to form fluidized solidified soil. At the same time, the fluidized solidified soil after mixing will further cover the mixing and solidification range by gravity flow under its own weight. Step Six: During the construction and mixing process, the construction and mixing situation within the mixing and curing range that needs to be protected is observed through a high-definition camera. For areas that do not meet the design requirements, the construction robot can be moved and rotated to actively adjust the construction area of ​​the mixing and curing range in order to achieve complete mixing coverage within the mixing and curing range. Step 7: After the construction mixing is completed, the fluidized solidified soil within the mixing and solidification range will solidify for 3-14 days. Then, the construction robot can be moved to the next subsea pile foundation to be mixed and solidified.

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