Multi-scene combined flowable soil transportation system and method

Abstract

The application belongs to the technical field of building engineering, and discloses a multi-scene combined flowable soil transportation system and method, which comprises a starting robot, a relay robot and a terminal robot. The starting robot is used for feeding, primary distribution, backflow receiving and system cleaning of the whole transportation system. The relay robot is used for transferring, buffering, pressurizing, feeding, secondary distribution and backflow relay of the flowable soil. The terminal robot is used for outputting, mechanical arm fixed-point discharging and auxiliary pipeline laying of the flowable soil at the terminal of the system. The starting robot directly receives the flowable soil from the flowable soil production line of the construction site to backfill. The application can cope with various flowable soil backfilling scenes of the construction site through different connection modes of the three robots, namely single-point small amount long-distance backfilling, multi-point large amount short-distance long-time backfilling and multi-point long-distance long-time backfilling. The application has a wide application range and high equipment reuse rate.

Description

Technical Field

[0001] This invention relates to the technical field of construction engineering, and in particular to a multi-scenario combined fluid soil transportation system and a multi-scenario combined fluid soil transportation method. Background Technology

[0002] Existing methods for backfilling fluidized soil typically include: direct pouring nearby, where a mixer truck moves to the backfill point and uses a chute or short hose for gravity backfilling, primarily used for small-volume, short-distance fluidized soil backfilling; and truck-mounted pumps with temporary pipelines, where fluidized soil is discharged from the on-site production point and then transported to the backfill point via a mixing pump and pipeline network, but this method involves complex, expensive, and difficult-to-remove pipelines. Existing equipment is ill-suited to effectively handle the complex and varied backfilling needs at construction sites, such as simultaneous single-point, small-volume, long-distance backfilling; single-point, large-volume, long-distance backfilling; and multiple-point, small-volume, long-distance backfilling.

[0003] Existing equipment requires switching between multiple devices, which is time-consuming, labor-intensive, occupies a large construction space, and is inefficient. Therefore, there is a need for a combined fluid soil transportation system and method that can meet the needs of various fluid soil backfilling scenarios on construction sites. Summary of the Invention

[0004] Based on the shortcomings of the existing technology, the technical problem to be solved by the present invention is to provide a multi-scenario combined fluid soil transportation system to solve the problem that existing equipment needs to switch back and forth between multiple devices when dealing with various construction scenarios, which is time-consuming, labor-intensive, occupies a large construction space, and has low efficiency. The system uses the largest starting robot to be responsible for the overall material supply, and small relay robots as transfer and reprocessing base stations, so that the fluid soil whose performance has been lost due to long-distance transportation can be restored to its performance and transported back to each small end robot station. Then, the gripper robotic arm performs follow-up backfilling, which effectively improves the backfilling efficiency and accuracy.

[0005] Another objective of this invention is to provide a multi-scenario combined fluid soil transportation method that can be directly applied to fluid soil transportation at existing construction sites. Through three different connection forms of robots, it can deal with various fluid soil backfilling scenarios at construction sites, namely single-point small volume long-distance backfilling, multi-point large volume short-distance long-term backfilling, and multi-point long-distance long-term backfilling. It has a wide range of applications and a high equipment reuse rate.

[0006] To achieve the above objectives, the present invention employs the following technical measures: The multi-scenario combined fluid soil transportation system of the present invention includes a starting robot, a relay robot, and an end robot. The starting robot is used for feeding, primary distribution, return receiving, and system cleaning of the entire transportation system; the relay robot is used for transferring, buffering, pressurizing, adding, secondary distribution, and return relay of the fluid soil; the end robot is used for outputting the fluid soil at the end of the system, fixed-point material feeding by the robotic arm, and assisting in pipeline laying; the starting robot directly receives fluid soil from the fluid soil production line at the construction site for backfilling, and it exists in three forms for different application scenarios: when... When used for single-point, small-volume, long-distance backfilling, it automatically travels to the backfilling point after the fluid soil is connected to the production line. When used for multi-point, large-volume, short-distance, long-term backfilling, it is connected to several end-effector robots after being fixedly connected to the production line. The end-effector robots carry the fluid soil from the discharge port to different backfilling points for backfilling. When used for multi-point, long-distance, long-term backfilling, it is connected to several relay robots after being fixedly connected to the production line. The relay robots perform secondary mixing, pressurization, and feeding of the fluid soil in the pipeline to ensure the quality of the fluid soil during long-distance transportation. Then, the relay robots are connected to several end-effector robots to transport the fluid soil to various parts of the construction site.

[0007] Preferably, the starting robot includes a tracked chassis, a large robot base mounted on the tracked chassis, a large fluid soil mixing tank mounted on the lower left corner of the large robot base, a starting discharge pump mounted on the right side of the large fluid soil mixing tank, a starting distribution manifold mounted on a large protrusion mounted on the right side of the starting discharge pump, a starting backfilling mechanism mounted on the large robot base on the right side of the large protrusion, a small CIP cleaning device mounted on the large robot base above the large protrusion, a starting return manifold mounted on a small protrusion in the upper right corner of the small CIP cleaning device, a starting return pump mounted on the left side of the starting return manifold, a recovery tank mounted on the left side of the starting return pump, and a pipeline support plate mounted between the small CIP cleaning device and the large fluid soil mixing tank.

[0008] Furthermore, the large fluidized soil mixing tank has a large feed inlet on the top left side, a large discharge outlet on the bottom right side, and a large reflux outlet on the top upper side. The large feed inlet and large reflux outlet extend outwards via pipes, the ends of which are all dry quick-connect couplings, each equipped with an electric valve near its end. The large discharge outlet is directly connected to the feed inlet of the starting discharge pump via a pipe, and the discharge outlet of the starting discharge pump is connected to the starting distribution manifold via a pipe. The right end of the starting distribution manifold has four branch ports, each with an electric valve on a branch pipe near it. A three-way valve is located on the main pipe near the starting discharge pump, and the third branch port of this three-way valve is connected via a pipe to the internal pump of a small CIP cleaning device. The system is connected to the machine, and electric valves are installed on both the pipe near the third branch port and the main pipe near the starting discharge pump. Another three-way valve is also installed on the pipe extending from the third branch port before connecting to the internal pump. The third branch port of the three-way valve extends vertically upward through the pipe. Electric valves are also installed on the pipe near the third branch port and are fixed by the pipe support plate. Finally, it extends to the vicinity of the large return port. A dry quick connector is installed at the end of the pipe. Electric valves are installed on the pipe near the dry quick connector. When it is necessary to clean the inside of the large fluid soil mixing tank, the pipe is connected to the large return port through the pipe, and the small CIP cleaning equipment directly cleans the inside of the large fluid soil mixing tank.

[0009] Furthermore, the initial backfilling mechanism is composed of an electric push rod, a rotary motor, and a backfill pipe mounting base connected sequentially from bottom to top. The backfill pipe is fixed on the backfill pipe mounting base, and a dry quick connector is provided at one end of the backfill pipe near the initial distribution manifold. When the initial robot needs to perform independent operation, the backfill pipe is connected to a branch port of the initial distribution manifold through a pipe. The height of the backfill pipe is controlled by the electric push rod, enabling the initial robot to quickly switch between independent operation and combined operation modes. The rotary motor controls the direction of the backfill pipe.

[0010] Preferably, the main pipe of the starting reflux manifold is directly connected to the inlet of the starting reflux pump. The outlet of the starting reflux pump is connected to a three-way valve through a pipe. The horizontal branch of the three-way valve is connected to the recovery tank through a pipe, and an electric valve is installed on the pipe near the branch. The vertical branch of the three-way valve extends upward through a pipe to the same height as the large reflux port, and is then fixed to the pipe support plate by a horizontal bend. Finally, the end of the pipe is close to the large reflux port and connected to a dry quick connector. An electric valve is also installed on the pipe near the vertical branch.

[0011] Furthermore, the relay robot includes rollers, a small robot base mounted on several rollers, hydraulic support legs mounted at the four corners of the small robot base, a small fluid soil mixing tank mounted on the right side of the small robot base, a feeding mechanism mounted on the left side of the small fluid soil mixing tank, a relay return pipe reel mounted on the upper side of the small robot base, a relay return manifold mounted on the boss to the right of the relay return pipe reel, a relay discharge pump mounted near the bottom of the small fluid soil mixing tank, and a relay discharge manifold mounted on the boss to the right of the relay discharge pump; the small fluid soil mixing tank has a small inlet on the lower side of its top, a small feeding port on the left side of its top, and a small feeding port on the rear side of its bottom. It has a small discharge port; a small inlet port extends outward through a pipe, and a dry quick connector is provided at the end of the pipe; a small feeding port is connected to the feeding mechanism through a pipe, and an electric valve is provided on the pipe; the small discharge port is connected to the inlet of the relay discharge pump through a pipe, and the discharge port of the relay discharge pump is connected to the relay discharge manifold through a pipe; the main pipe of the relay return manifold is directly connected to the relay return pipe reel, and the pipe on the relay return pipe reel is quickly wound and unwound through the relay return pipe reel. One end of the pipe on the relay return pipe reel is connected to the relay return manifold, and the other end is provided with a dry quick connector. The pipe of the relay return reel is unwound and connected to the starting return manifold.

[0012] Furthermore, the feeding mechanism consists of a loss-in-weight screw feeder mounted on a high support, an automatic quantitative liquid dispenser, and a static mixer. The loss-in-weight screw feeder and the automatic quantitative liquid dispenser are connected to the static mixer via pipelines, and the static mixer is connected to a small feeding port via a pipeline. The loss-in-weight screw feeder automatically adjusts the feeder speed by measuring the weight loss rate of the fluidized soil additive, thereby achieving uniform, accurate, and continuous feeding of the additive into the small fluidized soil mixing tank. The automatic quantitative liquid dispenser can periodically and quantitatively add liquid to the static mixer to control the quality of the fluidized soil. The static mixer is used to mix the materials fed by the loss-in-weight screw feeder and the automatic quantitative liquid dispenser and then transport them to the small fluidized soil mixing tank.

[0013] Furthermore, the end effector includes rollers similar to those of the relay robot, a small robot base mounted on several rollers, hydraulic outriggers mounted at the four corners of the small robot base, a pipe fixing seat mounted on the right side of the small robot base, an end return pipe reel mounted on the lower left side of the pipe fixing seat, a gripper robotic arm mounted on the upper left side of the pipe fixing seat, and a U-shaped structure mounted on the pipe fixing seat. This U-shaped structure includes an end feed pipe and an end return pipe connected counterclockwise via a three-way valve. The third branch of the three-way valve is connected to the end discharge pipe. Both the end return pipe and the end discharge pipe are equipped with electric valves on the pipes near the three-way valve. The end of the end return pipe is connected to the end return pipe reel. The structure of the end return pipe reel is the same as that of the relay return pipe reel. It is connected to the branch port of the relay return manifold by extending a pipe with a dry quick connector. The end discharge pipe can extend a certain length outside the machine body. The follow-up fluidized soil backfilling can be achieved by gripping the pipe head of the end discharge pipe with a gripper robotic arm.

[0014] Accordingly, the present invention also provides a multi-scenario combined fluidized soil transportation method, which employs the above-mentioned multi-scenario combined fluidized soil transportation system, and its steps are as follows: S1. First, classify the backfilling scenarios of fluid soil at the construction site: single-point small volume long-distance backfilling, multi-point large volume short-distance long-term backfilling, and multi-point long-distance long-term backfilling. Single-point small-volume long-distance backfilling is mainly used to meet the backfilling needs of small amounts of fluid soil in various corners of the construction site, requiring a single robot to carry out back-and-forth construction operations. Multi-point, large-volume, close-range, long-term backfilling is mainly designed to address the close-range backfilling needs near the fluid soil production line at the construction site. It modifies the number of end robots connected to the starting robot according to the actual location requirements, forming a tree-like backfilling network. Multi-point, long-distance, long-term backfilling is mainly used to deal with the most complex long-distance and scattered backfilling at construction sites. In this case, there are problems such as insufficient pressure of fluid soil in long transportation pipelines, reduced pumping efficiency, and changes in the properties of fluid soil. It is necessary to use an initial robot to connect several relay robots to transfer, buffer, pressurize, add, secondary distribute, and return the fluid soil. Then, the end robot outputs the fluid soil at the end of the system, and the robotic arm delivers the material at a fixed point. S2. Single-point, small-volume, long-distance backfilling: In this case, the starting robot performs the operation independently. First, the starting robot is controlled to approach the fluidized soil production line, connecting the production line's discharge pipe to the dry quick-connect coupling at the large inlet. The electric valve near the large inlet is opened to discharge fluidized soil into the large fluidized soil mixing tank. Simultaneously, the large fluidized soil mixing tank is started to continuously mix and buffer the fluidized soil. At the same time, the electric push rod of the starting backfilling mechanism is extended, raising the backfill pipe to a suitable height. The backfill pipe is then connected to a branch of the starting distribution manifold via a pipe and dry quick-connect coupling. After receiving sufficient fluidized soil, the connection to the production line is disconnected. The starting robot is then controlled to approach the backfilling point, and the fluidized soil is moved from the large fluidized soil mixing tank to the starting discharge pump by activating the electric valves on the starting discharge pump and nearby pipes. The fluidized soil is then transported through the starting distribution manifold... The main pipe moves to its opened branch port, and finally the material is discharged from the backfill pipe to the backfill point. During the backfilling process, the backfilling angle of the backfill pipe is adjusted by controlling the rotary motor of the starting backfilling mechanism to ensure the accuracy of backfilling. After all backfilling is completed, the system flushing work is carried out. The electric valve on the side of the three-way valve of the main pipe of the starting distribution manifold near the internal pump of the small CIP cleaning equipment is closed. The electric valve on the vertical pipeline of the three-way valve near the internal pump is opened. The pipeline extending from the internal pump of the small CIP cleaning equipment near the large return port is connected to the large return port through the pipeline. The small CIP cleaning equipment is started. The cleaning fluid moves from the internal pump to the large return port and then flushes the inside of the large fluid soil mixing tank. Then it enters the starting discharge pump from the large discharge port and finally flushes the backfill pipe through the starting distribution manifold and flows out of the machine body to achieve system cleaning. S3. Multi-point, large-volume, short-distance, long-term backfilling: At this time, the number of end robots is configured according to the actual backfilling points. After the starting robot is connected to the production line in the same way as in step S2, it will not disconnect from the production line and will be fixed on the ground without moving. By controlling the movement of the end robots and cooperating with the gripper robotic arm, the connecting pipes are gripped to assist the construction personnel in connecting the pipes. When only one end robot is used to assist in laying, it grips one end of the pipe and drags it on the ground to the vicinity of the pipe connection point of other robots to assist in the connection. When two end robots are used to assist in laying, they grip both ends of the pipe and lift it to a suitable height for the connection of the pipe with other robot pipes to assist in the connection. The specific pipes connected include: each branch of the starting feed manifold is connected to the end feed pipe of one end robot, and each branch of the starting return manifold is connected to the pipe on the end return pipe reel of one end robot. When backfilling, the same method as in step S2 is used to supply the fluid soil to the starting distribution manifold, then transport it to the end feed pipe, open the electric valve on the end discharge pipe, close the electric valve on the end return pipe, and control the gripper robotic arm to grip the end discharge pipe head for follow-up fixed-point backfilling. When performing the cleaning operation, close the electric valve on the end discharge pipe and open the electric valve on the end return pipe. If there is still fluid soil being stirred in the large fluid soil mixing tank at this time, only the system pipeline after the starting discharge pump is cleaned. After the fluid soil in the large fluid soil mixing tank is used up or cleaned into the recovery tank, clean it in the same way as step S2. When only the system pipeline after the starting discharge pump is cleaned, close the electric valve on the side of the three-way valve of the main pipe of the starting distribution manifold near the starting discharge pump, open the electric valve on the side of the three-way valve of the main pipe of the starting distribution manifold near the internal pump, and at the same time close the electric valve on the vertical pipeline of the three-way valve near the internal pump. Close the vertical electric valve near the three-way valve at the output end of the starting return pump, start the small CIP cleaning equipment to clean the system, and the cleaning liquid is finally returned to the recovery tank for collection. S4. Multi-point, long-distance, long-term backfilling: The starting robot is fixed near the production line and connected to it in the same way as in step S3 to receive materials. Then, the number of relay robots and end robots required is determined based on the actual backfilling points of the fluid soil on site. A single starting robot can connect to several relay robots, and a single relay robot can connect to several end robots. The pipeline connection is done in the same way as in step S3, i.e., end robots assist in pipeline laying. The specific pipeline connection method is as follows: the branch port of the starting material distribution manifold connects to the small inlet; the branch port of the relay discharge manifold connects to the end inlet pipe; the end return pipe reel connects to the branch port of the relay return manifold; and the relay return pipe reel connects to the branch port of the starting return manifold. The end robots are driven to the required backfilling locations to wait for backfilling, and the relay robots... Long-distance fluidized soil buffering and pressurization are performed. When it is necessary to add fluidized soil transported over long distances, the loss-in-weight screw feeder and automatic quantitative liquid dispenser are controlled to feed the static mixer, and then the static mixer feeds the fluidized soil into the small fluidized soil mixing tank through the small feeding port. When backfilling, the mechanisms used for feeding by the starting robot and the end robot are started in the same way as in step S3. At the same time, the fluidized soil is buffered by the small fluidized soil mixing tank of the relay robot and pressurized by the relay discharge pump before being discharged through the end discharge pipe. When cleaning, the mechanisms used for cleaning by the starting robot and the end robot are started in the same way as in step S3. For the starting robot and the end robot, the relay robot is like a connecting channel, and the movement of its fluidized soil and cleaning fluid is directly through the pipeline of the relay robot.

[0015] Based on the above, the beneficial effects of the multi-scenario combined fluid soil transportation system and method of the present invention are as follows: 1. The starting robot designed in this invention has three forms, which can be used to deal with various construction site backfilling scenarios of fluid soil, namely single-point small volume long-distance backfilling, multi-point large volume short-distance long-term backfilling, and multi-point long-distance long-term backfilling. It has a wide range of applications and a high equipment reuse rate.

[0016] 2. The robot of this invention can handle single-point, small-volume, long-distance backfilling of fluid soil on its own. It has integrated functions of self-receiving, self-moving, self-discharging, and self-cleaning, achieving high backfilling efficiency while maintaining low maintenance costs.

[0017] 3. The relay robot of this invention performs secondary mixing, pressurization and feeding of the fluid soil in the pipeline to ensure the quality of the fluid soil during long-distance transportation and prevent the fluid soil from solidifying, deteriorating in quality and reducing flow rate during long-distance transportation, which would affect construction efficiency.

[0018] 4. This invention connects a starting robot to the fluid soil production line and then extends into a tree-like robot backfilling system, which can effectively cover the different volumes of fluid soil backfilling needs at various locations on the construction site.

[0019] 5. The three robot designs of this invention are progressive. The largest starting robot is responsible for the overall material supply, while the smaller relay robots serve as transfer and reprocessing base stations. This allows the fluid soil that has lost performance due to long-distance transportation to recover its performance and be transported back to each end robot station. Then, the gripper robotic arm performs follow-up backfilling, effectively improving backfilling efficiency and accuracy.

[0020] 6. The pipeline design of this invention is consistent with the previous one. Through the cooperation of several electric valves, three-way valves and manifolds, the fluid soil and cleaning fluid can be flushed throughout the entire system at the same time, so that the backfilling and cleaning efficiency are guaranteed, and it is green and environmentally friendly. Attached Figure Description

[0021] The accompanying drawings, which are provided to further illustrate this application and form part of this application, illustrate exemplary embodiments of this application and are used to explain this application, but do not constitute an undue limitation of this application.

[0022] Figure 1 This is a schematic diagram of the multi-scenario combined fluid soil transportation system of the present invention; Figure 2 This is a front structural diagram of the starting robot of the present invention; Figure 3 This is a schematic diagram of the rear structure of the starting robot of the present invention; Figure 4 This is a front view of the relay robot of the present invention. Figure 5 This is a schematic diagram of the rear structure of the relay robot of the present invention; Figure 6 This is a schematic diagram of the end effector robot of the present invention; Figure 7 This is a schematic diagram showing the relative positions of the three robots of the present invention when performing multi-point combined construction.

[0023] Explanation of reference numerals in the attached figures: A-Starting Robot: 101-Tracked chassis; 102-Large robot base; 103-Large fluidized soil mixing tank; 103a-Large feed inlet; 103b-Large discharge outlet; 103c-Large reflux outlet; 104-Initiating discharge pump; 105-Initiating distribution manifold; 106-Initiating backfilling mechanism; 107-Small CIP cleaning equipment; 108-Initiating reflux manifold; 109-Recovery tank; 110-Pipeline support plate; 111-Initiating reflux pump; B-Relay Robot: 201-Roller; 202-Small robot base; 203-Hydraulic outriggers; 204-Small fluidized soil mixing tank; 204a-Small feed inlet; 204b-Small discharge outlet; 204c-Small feeding port; 205a-Loss-in-weight screw feeder; 205b-Automatic metering liquid dispenser; 205c-Static mixer; 206-Relay reflux pipe reel; 207-Relay reflux manifold; 208-Relay discharge pump; 209-Relay discharge manifold; C-End-effector: 301-Pipe fixing seat; 302-End feed pipe; 303-End discharge pipe; 304-End return pipe; 305-End return pipe reel; 306-Grip robotic arm. Detailed Implementation

[0024] Below, in conjunction with Figures 1 to 7 This invention provides a detailed description of a multi-scenario combined fluid soil transportation system and method.

[0025] Depend on Figure 1 , Figure 7As shown, the multi-scenario combined fluid soil transportation system of the present invention includes a starting robot A, a relay robot B, and an end robot C. The starting robot A is a large robot that directly receives fluid soil from the fluid soil production line at the construction site for backfilling. It has three forms for different application scenarios. When used for single-point, small-volume, long-distance backfilling, it automatically goes to the backfilling point after receiving sufficient fluid soil from the production line. When used for multi-point, large-volume, short-distance, long-term backfilling, it is fixedly connected to the production line and then connected to several end robots C. The end robots C carry the fluid soil discharge port to different backfilling points for backfilling. When used for multi-point, long-distance, long-term backfilling, it is fixedly connected to the production line and then connected to several relay robots B. The relay robots B perform secondary mixing, pressurization, and feeding of the fluid soil in the pipeline to ensure the quality of the fluid soil during long-distance transportation. Then, the relay robots B are connected to several end robots C to transport the fluid soil to various locations on the construction site.

[0026] The relay robot B and the end-effector robot C are small robots. The fluid soil is supplied through the pipeline of the starting robot A. After the distribution positions of each robot are determined, the small robots are fixed by hydraulic outriggers 203 to ensure the stability of the entire system during the transportation of fluid soil. The function of the starting robot A is to supply, distribute, receive, and clean the entire transportation system. The function of the relay robot B is to transfer, buffer, pressurize, add, distribute, and relay the fluid soil. The function of the end-effector robot C is to output the fluid soil at the end of the system, perform fixed-point unloading by the robotic arm, and assist in pipeline laying. The pipeline laying between the robots in the system is assisted by the gripper robotic arm 306 of the end-effector robot C. When only one end-effector robot C is used to assist in laying, it grips one end of the pipeline and drags it on the ground to the vicinity of the pipeline connection point of other robots to assist in the connection. When two end-effector robots C are used to assist in laying, they grip both ends of the pipeline and lift it to a suitable height for the connection between the pipeline and the pipeline of other robots to assist in the connection.

[0027] Depend on Figure 2 , Figure 3As shown, the starting robot A includes a tracked chassis 101, a large robot base 102 mounted on the tracked chassis 101, a large fluid soil mixing tank 103 mounted on the lower left corner of the large robot base 102, a starting discharge pump 104 mounted on the right side of the large fluid soil mixing tank 103, a starting distribution manifold 105 mounted on a large boss on the right side of the starting discharge pump 104, and a starting backfill machine mounted on the large robot base 102 on the right side of the large boss. Structure 106, a small CIP cleaning device 107 mounted on a large robot base 102 above a large protrusion, an initial return manifold 108 mounted on a small protrusion at the upper right corner of the small CIP cleaning device 107, an initial return pump 111 mounted on the left side of the initial return manifold 108, a recovery tank 109 mounted on the left side of the initial return pump 111, and a pipeline support plate 110 mounted between the small CIP cleaning device 107 and the large fluid soil mixing tank 103.

[0028] It should be noted that the terms "up," "down," "left," and "right" here are based on... Figure 2 The diagram shows the frontal structural design of the starting robot A, and similarly for the relay robot B and the end effector C; all descriptions are based on their frontal structural diagrams. The large fluidized soil mixing tank 103 has a large feed inlet 103a on its top left side, a large discharge outlet 103b on its bottom right side, and a large return outlet 103c on its top upper side. The large feed inlet 103a and the large return outlet 103c extend outwards via pipes, the ends of which are all dry-type quick connectors, and electric valves are installed near the ends. The large discharge outlet 103b is directly connected to the feed inlet of the starting discharge pump 104 via a pipe. The discharge outlet of the starting discharge pump 104 is connected to the starting distribution manifold 105 via a pipe. The starting distribution manifold 105 has four branch outlets at its right end, each with an electric valve on a branch pipe near the branch outlet. A three-way valve is installed on the main pipe near the starting discharge pump 104. The third branch of the three-way valve is connected to the internal pump of the small CIP cleaning equipment 107 via a pipeline. Electric valves are installed on the pipeline near the third branch and on the main pipe near the starting discharge pump 104. Another three-way valve is installed on the pipeline extending from the third branch and before connecting to the internal pump. The third branch of this three-way valve extends vertically upward via a pipeline. Electric valves are also installed on the pipeline near the third branch and are fixed by the pipeline support plate 110. The pipeline eventually extends to the vicinity of the large return port 103c. A dry quick connector is installed at the end of the pipeline. An electric valve is installed on the pipeline near the dry quick connector. When it is necessary to clean the inside of the large fluid soil mixing tank 103, the pipeline is connected to the large return port 103c via a pipeline, and the small CIP cleaning equipment 107 directly cleans the inside of the large fluid soil mixing tank 103.

[0029] The small CIP cleaning equipment 107 is a general-purpose component, which is usually composed of a cleaning tank and an internal pump. It can clean the inside of pipelines and combines the advantages of acid-alkali-water cleaning to quickly and efficiently clean the inside of fluid soil pipelines and large fluid soil mixing tanks 103.

[0030] The initial backfilling mechanism 106 is composed of an electric push rod, a rotary motor, and a backfill pipe mounting base connected from bottom to top. A long backfill pipe is fixed on the backfill pipe mounting base. A dry quick connector is provided at one end of the backfill pipe near the initial distribution manifold 105. When the initial robot A needs to perform independent operation, the backfill pipe is connected to a branch port of the initial distribution manifold 105 through a pipe. The height of the backfill pipe is controlled by the electric push rod, which allows the initial robot A to quickly switch between independent operation and combined operation mode. The rotary motor controls the direction of the backfill pipe, making backfilling more flexible and controllable when the robot is operating alone.

[0031] The general structure of the initial return manifold 108 is the same as that of the initial distribution manifold 105, but its pipe diameter is smaller than that of the initial distribution manifold 105 because the flow rate of the fluidized soil return is much smaller than the flow rate of the discharge. The main pipe of the initial return manifold 108 has no three-way valve, only a single electric valve, and this main pipe is directly connected to the inlet of the initial return pump 111. The outlet of the initial return pump 111 is connected to a three-way valve via a pipe. The horizontal branch of this three-way valve is connected to the recovery tank 109 via a pipe, and an electric valve is installed on the pipe near the branch. The vertically upward branch of the three-way valve extends upward through the pipeline to the same height as the large return port 103c, and is then fixed to the pipeline support plate 110 by a horizontal bend. Finally, the end of the pipeline is close to the large return port 103c and connected to a dry quick connector. An electric valve is also installed on the pipeline near the vertically upward branch. The dry quick connector is a universal component. Through the self-closing valve and mechanical interlock design of the male and female ends, it ensures that the valves open and close synchronously, achieving drip-free operation. Its inner wall is smooth and its structure is simple, which can reduce pressure drop and is suitable for transporting fluid soil.

[0032] The recovery tank 109 is mainly used to receive the returned excess fluidized soil and cleaning fluid from the cleaning system. The entire system consists of two pipelines: a discharge pipeline and a return pipeline. Each pair of robots is connected by at least two pipelines: a larger discharge pipeline and a smaller return pipeline. The entire system starts discharging from the initial robot A. The fluidized soil or cleaning fluid is transported via relay robot B to the final robot C, where its U-shaped structure connects the discharge and return pipelines, and then flows back to the initial robot A in the opposite direction. The returned fluidized soil has two destinations: one is... During the backfilling process, the large return port 103c is connected to the discharge pipeline of the starting return pump 111, allowing the returned fluid soil to be directly put into the large fluid soil mixing tank 103 for secondary use. Secondly, after the backfilling is completed, the discharge pipeline of the starting return pump 111 is connected to the recovery tank 109 to transport the excess fluid soil to the recovery tank 109 for storage. Then, the large return port 103c is connected to the pipeline of the internal water pump of the small CIP cleaning equipment 107, and the cleaning liquid is used to replace the fluid soil for overall system flushing. Finally, the cleaning liquid is sent to the recovery tank 109 for storage.

[0033] Depend on Figure 4 , Figure 5 As shown, the relay robot B includes rollers 201, a small robot base 202 mounted on several rollers 201, hydraulic outriggers 203 mounted at the four corners of the small robot base 202, a small fluid soil mixing tank 204 mounted on the right side of the small robot base 202, a feeding mechanism mounted on the left side of the small fluid soil mixing tank 204, a relay return pipe reel 206 mounted on the upper side of the small robot base 202, a relay return manifold 207 mounted on the boss on the right side of the relay return pipe reel 206, a relay discharge pump 208 mounted near the bottom of the small fluid soil mixing tank 204, and a relay discharge pump... The relay discharge manifold 209 is located on the protrusion on the right side of the machine 208; the small fluid soil mixing tank 204 has a small inlet 204a on the lower side of its top, a small feed port 204c on the left side of its top, and a small discharge port 204b on the rear side of its bottom; the small inlet 204a extends outward through a pipe, and a dry quick connector is provided at the end of the pipe; the small feed port 204c is connected to the feeding mechanism through a pipe, and an electric valve is provided on the pipe; the small discharge port 204b is connected to the inlet of the relay discharge pump 208 through a pipe, and the discharge port of the relay discharge pump 208 is connected to the relay discharge manifold 209 through a pipe.

[0034] The intermediate discharge manifold 209 and intermediate return manifold 207 have the same structure as the initial return manifold 108. Both of them are equipped with electric valves on their main pipes. The main pipe of the intermediate return manifold 207 is directly connected to the intermediate return pipe reel 206. The pipe diameter on the intermediate return pipe reel 206 is small and easy to bend. It is quickly wound and unwound through the intermediate return pipe reel 206. One end of the pipe on the intermediate return pipe reel 206 is connected to the intermediate return manifold 207, and the other end is equipped with a dry quick connector. The pipe of the intermediate return reel 206 is unwound and connected to the initial return manifold 108.

[0035] The feeding mechanism consists of a loss-in-weight screw feeder 205a, an automatic quantitative liquid dispenser 205b, and a static mixer 205c, all mounted on a high support. The loss-in-weight screw feeder 205a and the automatic quantitative liquid dispenser 205b are connected to the static mixer 205c via pipes. The static mixer 205c is connected to a small feeding port 204c via a pipe. The loss-in-weight screw feeder 205a is a general-purpose component that automatically adjusts the feeder speed by measuring the weight loss rate of the fluidized soil additive, thereby achieving uniform, accurate, and continuous feeding of the additive into the small fluidized soil mixing tank 204. The automatic quantitative liquid dispenser 205b is a general-purpose component that can periodically and quantitatively add liquid, such as water, to the static mixer 205c to control the quality of the fluidized soil. The static mixer 205c is a general-purpose component that mixes the materials fed in by the loss-in-weight screw feeder 205a and the automatic metering liquid dispenser 205b and then transports them to the small fluidized soil mixing tank 204.

[0036] The hydraulic outrigger 203 includes a hydraulic push rod mounting base fixed to the small robot base 202, a horizontal hydraulic push rod mounted on the hydraulic push rod mounting base, a longitudinal hydraulic push rod mounted at the end of the output shaft of the horizontal hydraulic push rod, and a support plate mounted at the end of the output shaft of the longitudinal hydraulic push rod. When the robot body needs to be fixed, the horizontal hydraulic push rod is controlled to push the longitudinal hydraulic push rod out of the robot body, and the output shaft of the longitudinal hydraulic push rod extends downward so that the support plate contacts the ground and applies pressure to the ground, thereby achieving the support and fixation of the robot.

[0037] Depend on Figure 6As shown, the end-effector C includes rollers 201 identical to those of the relay robot B, a small robot base 202 mounted on several rollers 201, hydraulic outriggers 203 mounted at the four corners of the small robot base 202, a pipe fixing seat 301 mounted on the right side of the small robot base 202, an end-effector return pipe reel 305 mounted on the lower left side of the pipe fixing seat 301, a gripper robotic arm 306 mounted on the upper left side of the pipe fixing seat 301, and a U-shaped structure mounted on the pipe fixing seat 301. This U-shaped structure includes an end-effector feed pipe 302 and an end-effector return pipe 304 connected counterclockwise via a three-way valve. The third branch of the three-way valve is connected to the end discharge pipe 303. Both the end return pipe 304 and the end discharge pipe 303 are equipped with electric valves on the pipes near the three-way valve. The end of the end return pipe 304 is connected to the end return pipe reel 305. The structure of the end return pipe reel 305 is the same as that of the relay return pipe reel 206. It is connected to the branch port of the relay return manifold 207 by extending a pipe with a dry quick connector. The end discharge pipe 303 is relatively long and can extend a certain length outside the machine body. The end discharge pipe 303 can be backfilled with fluid soil by gripping the end discharge pipe 303 with the gripper robotic arm 306.

[0038] Based on the above-mentioned multi-scenario combined fluid soil transportation system, this invention proposes a multi-scenario combined fluid soil transportation method, comprising the following steps: S1. First, classify the backfilling scenarios of fluid soil at the construction site: single-point small volume long-distance backfilling, multi-point large volume short-distance long-term backfilling, and multi-point long-distance long-term backfilling. Single-point small volume long-distance backfilling is mainly used to meet the backfilling needs of small amounts of fluid soil in various corners of the construction site. It has low backfilling volume requirements but wide location distribution, requiring the initial robot A to carry out back and forth construction operations. The multi-point, large-volume, close-range, long-term backfilling mainly addresses the numerous close-range backfilling needs near the fluid soil production line at the construction site. It modifies the number of end robots C connected to the starting robot A according to the actual location requirements, forming a tree-like backfilling network. Multi-point, long-distance, long-term backfilling is mainly used to deal with the most complex long-distance and scattered backfilling at construction sites. In this case, there are problems such as insufficient pressure of fluid soil in long transportation pipelines, reduced pumping efficiency, and changes in the properties of fluid soil. It is necessary to use an initial robot A to connect several relay robots B to transfer, buffer, pressurize, add, secondary distribute, and return the fluid soil. Then, the end robot C outputs the fluid soil at the end of the system and the robotic arm delivers it at a fixed point. S2. Single-point, small-volume, long-distance backfilling: In this case, the starting robot A operates independently. First, it moves to the vicinity of the fluidized soil production line, connecting the production line's discharge pipe to the dry quick-connect fitting of the large inlet 103a. It then opens the electric valve near the large inlet 103a to discharge fluidized soil into the large fluidized soil mixing tank 103. Simultaneously, the large fluidized soil mixing tank 103 is started to continuously mix and buffer the fluidized soil. At the same time, the electric push rod of the starting backfilling mechanism 106 is extended, raising the backfill pipe to a suitable height. The backfill pipe is then connected to a branch of the starting distribution manifold 105 via a pipe and dry quick-connect fitting. After receiving sufficient fluidized soil, the connection to the production line is disconnected. The starting robot A moves to the vicinity of the backfilling point, and by activating the electric valves on the starting discharge pump 104 and its nearby pipes, the fluidized soil is moved from the large fluidized soil mixing tank 103 into the starting discharge pump 104. Finally, the fluidized soil is moved through the main pipe of the starting distribution manifold 105. The material is moved to the branch port that is opened, and finally discharged from the backfill pipe to the backfill point. During the backfilling process, the backfilling angle of the backfilling pipe is adjusted by controlling the rotating motor of the starting backfilling mechanism 106 to ensure the accuracy of backfilling. After all backfilling is completed, the system is flushed. The electric valve on the side of the three-way valve of the main pipe of the starting distribution manifold 105 near the internal pump of the small CIP cleaning equipment 107 is closed. The electric valve on the vertical pipeline of the three-way valve near the internal pump is opened. The pipeline extending from the internal pump of the small CIP cleaning equipment 107 near the large return port 103c is connected to the large return port 103c through the pipeline. The small CIP cleaning equipment 107 is started. The cleaning fluid moves from the internal pump to the large return port 103c and then flushes the inside of the large fluid soil mixing tank 103. Then it enters the starting discharge pump 104 from the large discharge port 103b and finally flushes the backfilling pipe through the starting distribution manifold 105 and flows out of the machine body to achieve system cleaning. S3. Multi-point, large-volume, short-distance, long-term backfilling: At this time, the number of end robots C is configured according to the actual backfilling points. After the starting robot A is connected to the production line in the same way as in step S2, it will not disconnect from the production line and will be fixed on the ground and will not move. By controlling the movement of the end robot C and cooperating with the gripper robot arm 306, the connecting pipe is gripped to assist the construction personnel in connecting the pipe. When only one end robot C is used to assist in laying, it grips one end of the pipe and drags it on the ground to the vicinity of the connection point of other robot pipes to assist in the connection. When two end robots C are used to assist in laying, they grip both ends of the pipe and lift it to a suitable height for the connection of the pipe with other robot pipes to assist in the connection. The specific connected pipes include: each branch of the starting distribution manifold 105 is connected to the end feed pipe 302 of one end robot C, and each branch of the starting return manifold 108 is connected to the pipe on the end return pipe reel 305 of one end robot C. When backfilling is performed, the same method as in step S2 is used to supply the fluid soil to the initial distribution manifold 105, and then transport it to the end feed pipe 302. The electric valve on the end discharge pipe 303 is opened, the electric valve on the end return pipe 304 is closed, and the gripper robotic arm 306 is controlled to grip the pipe head of the end discharge pipe 303 for follow-up fixed-point backfilling. When performing the cleaning operation, close the electric valve on the end discharge pipe 303 and open the electric valve on the end return pipe 304. If there is still fluid soil being mixed in the large fluid soil mixing tank 103 at this time, only the system pipeline after the starting discharge pump 104 is cleaned. The large fluid soil mixing tank 103 is cleaned in the same way as step S2 after the fluid soil inside is used up or cleaned into the recovery tank 109. When only the system pipeline after the starting discharge pump 104 is cleaned, close the starting distribution manifold. The electric valve on the side of the main three-way valve of the starting feed manifold 105 near the starting discharge pump 104 is opened, the electric valve on the side of the main three-way valve of the starting feed manifold 105 near the internal pump is closed, and the electric valve on the vertical pipeline of the three-way valve near the internal pump is closed. The electric valve on the vertical pipeline near the output of the starting return pump 111 is closed, and the small CIP cleaning equipment 107 is started to clean the system. The cleaning fluid is finally returned to the recovery tank 109 and collected. S4. Multi-point, long-distance, long-term backfilling: At this point, the starting robot A is fixed near the production line and connected to it in the same manner as in step S3 to receive materials. Then, based on the actual backfilling points of the fluid soil on site, the required number of relay robots B and end robots C are determined. A single starting robot A can connect to several relay robots B, and a single relay robot B can connect to several end robots C. The number that can be connected depends on the starting material distribution manifold 105, the starting return manifold 108, and the relay discharge manifold 20. 9. The number of branch ports of the relay return manifold 207 is determined by connecting the pipeline in the same manner as in step S3, i.e., using the end effector robot C to assist in pipeline laying. Specifically, the pipeline connection method is as follows: the branch port of the initial feed manifold 105 is connected to the small feed inlet 204a; the branch port of the relay discharge manifold 209 is connected to the end feed pipe 302; the end return pipe reel 305 is connected to the branch port of the relay return manifold 207; and the relay return pipe reel 206 is connected to the branch port of the initial return manifold 108. The end effector... Robot C moves to the location where backfilling is needed and waits for backfilling. Relay robot B performs long-distance buffering and pressurization of the fluidized soil. When it is necessary to add fluidized soil transported over a long distance, the loss-in-weight screw feeder 205a and automatic quantitative liquid dispenser 205b are controlled to feed material into the static mixer 205c. The static mixer 205c then adds fluidized soil into the small fluidized soil mixing tank 204 through the small feeding port 204c. When backfilling is performed, the starting robot A and... are started in the same manner as in step S3. The mechanism used when the end-effector C unloads materials is used to buffer the fluidized soil through the small fluidized soil mixing tank 204 of the relay robot B and pressurize it through the relay discharge pump 208 before it is discharged through the end discharge pipe 303. When cleaning is performed, the mechanism used when the starting robot A and the end-effector C are started in the same way as in step S3. For the starting robot A and the end-effector C, the relay robot B is similar to a connecting channel, and the movement of the fluidized soil and cleaning fluid is directly through the pipe of the relay robot B.

[0039] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any transformations or substitutions that can be understood by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of the present invention.

Claims

1. A multi-scenario combined fluid soil transportation system, characterized in that, The system includes a starting robot (A), a relay robot (B), and an end-effector robot (C). The starting robot (A) is used for feeding, primary distribution, return receiving, and system cleaning of the entire transportation system. The relay robot (B) is used for transferring, buffering, pressurizing, adding, secondary distribution, and return relay of the fluid soil. The end-effector robot (C) is used for outputting the fluid soil at the end of the system, positioning the robotic arm for material feeding, and assisting in pipeline laying. The initial robot (A) backfills by directly receiving fluid soil from the fluid soil production line at the construction site, and it exists in three forms for different application scenarios: When applied to backfilling a small volume at a single point over a long distance, it will automatically travel to the backfilling point after the fluid soil is connected to the production line. When applied to backfilling large volumes at multiple points over short distances for extended periods, it is connected to several end-effectors (C) after being fixedly connected to the production line. The end-effectors (C) then carry the discharge port of the fluid soil to different backfilling points for backfilling. When it is used for backfilling at multiple points over long distances for extended periods, it is connected to the production line and then to several relay robots (B). The relay robots (B) perform secondary mixing, pressurization, and feeding of the fluid soil in the pipeline to ensure the quality of the fluid soil during long-distance transportation. Then, the relay robots (B) are connected to several end robots (C) to transport the fluid soil to various parts of the construction site. The starting robot (A) includes a tracked chassis (101), a large robot base (102) mounted on the tracked chassis (101), a large fluid soil mixing tank (103) mounted on the lower left corner of the large robot base (102), a starting discharge pump (104) mounted on the right side of the large fluid soil mixing tank (103), a starting distribution manifold (105) mounted on a large boss on the right side of the starting discharge pump (104), and a starting backfilling mechanism mounted on the large robot base (102) on the right side of the large boss. 106) A small CIP cleaning device (107) installed on the large robot base (102) above the large protrusion, a starting return manifold (108) installed on the small protrusion at the upper right corner of the small CIP cleaning device (107), a starting return pump (111) installed on the left side of the starting return manifold (108), a recovery tank (109) installed on the left side of the starting return pump (111), and a pipeline support plate (110) installed between the small CIP cleaning device (107) and the large fluid soil mixing tank (103). The large fluid soil mixing tank (103) has a large feed inlet (103a) on the top left side, a large discharge outlet (103b) on the bottom right side, and a large return outlet (103c) on the top upper side. The large feed inlet (103a) and the large return outlet (103c) extend outward through pipes. The ends of the pipes are all dry quick connectors, and electric valves are provided near the ends. The large discharge outlet (103b) is directly connected to the feed inlet of the starting discharge pump (104) through a pipe. The discharge outlet of the starting discharge pump (104) is connected to the starting distribution manifold (105) through a pipe. The right end of the starting manifold (105) has four branch ports, each with an electric valve on a branch pipe near the branch port. A three-way valve is located on the main pipe near the starting discharge pump (104). The third branch port of this three-way valve is connected to the internal pump of the small CIP cleaning device (107) via a pipe. Electric valves are also located on the pipe near this third branch port and on the main pipe near the starting discharge pump (104). Another three-way valve is located on the pipe extending from this third branch port before connecting to the internal pump. The third branch port of this three-way valve is connected to... The pipeline extends vertically upwards, and an electric valve is also installed on the pipeline near the third branch port. It is fixed by the pipeline support plate (110) and eventually extends to the vicinity of the large return port (103c). A dry quick connector is provided at the end of the pipeline, and an electric valve is installed on the pipeline near the dry quick connector. When it is necessary to clean the inside of the large fluid soil mixing tank (103), the pipeline is connected to the large return port (103c) through the pipeline, and the small CIP cleaning equipment (107) directly cleans the inside of the large fluid soil mixing tank (103).

2. The multi-scenario combined fluid soil transportation system according to claim 1, characterized in that, The starting backfilling mechanism (106) is composed of an electric push rod, a rotary motor, and a backfilling pipe mounting base connected from bottom to top. The backfilling pipe is fixed on the backfilling pipe mounting base. The backfilling pipe is provided with a dry quick connector at one end near the starting material distribution manifold (105). When the starting robot (A) needs to perform independent operation, the backfilling pipe is connected to a branch port of the starting material distribution manifold (105) through a pipe. The height of the backfilling pipe is controlled by the electric push rod, so that the starting robot (A) can quickly switch between independent operation and combined operation mode. The rotary motor controls the direction of the backfilling pipe.

3. The multi-scenario combined fluid soil transportation system according to claim 2, characterized in that, The main pipe of the starting reflux manifold (108) is directly connected to the inlet of the starting reflux pump (111). The outlet of the starting reflux pump (111) is connected to a three-way valve through a pipe. The horizontal branch of the three-way valve is connected to the recovery tank (109) through a pipe. An electric valve is provided on the pipe near the branch. The vertical branch of the three-way valve extends upward through a pipe to the same height as the large reflux port (103c), and is then fixed to the pipe support plate (110) by a horizontal bend. Finally, the end of the pipe is close to the large reflux port (103c) and connected to a dry quick connector. An electric valve is also provided on the pipe near the vertical branch.

4. The multi-scenario combined fluid soil transportation system according to claim 3, characterized in that, The relay robot (B) includes rollers (201), a small robot base (202) mounted on several rollers (201), hydraulic outriggers (203) mounted at the four corners of the small robot base (202), a small fluid soil mixing tank (204) mounted on the right side of the small robot base (202), a feeding mechanism mounted on the left side of the small fluid soil mixing tank (204), a relay return pipe reel (206) mounted on the upper side of the small robot base (202), a relay return manifold (207) mounted on the boss on the right side of the relay return pipe reel (206), a relay discharge pump (208) mounted near the bottom of the small fluid soil mixing tank (204), and a relay discharge manifold (209) mounted on the boss on the right side of the relay discharge pump (208). The small fluid soil mixing tank (204) has a small inlet (204a) on the lower side of its top, a small feed port (204c) on the left side of its top, and a small outlet (204b) on the rear side of its bottom. The small inlet (204a) extends outward through a pipe, and a dry quick connector is provided at the end of the pipe. The small feed port (204c) is connected to the feeding mechanism through a pipe, and an electric valve is provided on the pipe. The small outlet (204b) is connected to the inlet of the relay discharge pump (208) through a pipe, and the outlet of the relay discharge pump (208) is connected to the relay discharge manifold (209) through a pipe. The main pipe of the relay return manifold (207) is directly connected to the relay return pipe reel (206). The pipe on the relay return pipe reel (206) is quickly wound up and down through the relay return pipe reel (206). One end of the pipe on the relay return pipe reel (206) is connected to the relay return manifold (207), and the other end is provided with a dry quick connector. The pipe is released from the relay return pipe reel (206) and connected to the starting return manifold (108).

5. The multi-scenario combined fluid soil transportation system according to claim 4, characterized in that, The feeding mechanism consists of a loss-in-weight screw feeder (205a), an automatic metering liquid dispenser (205b), and a static mixer (205c) mounted on a high support. The loss-in-weight screw feeder (205a) and the automatic metering liquid dispenser (205b) are connected to the static mixer (205c) through pipes. The static mixer (205c) is connected to a small feeding port (204c) through a pipe. The weightless screw feeder (205a) automatically adjusts the feeder speed by measuring the weight loss rate of the fluid soil additive, so as to uniformly and accurately feed the additive into the small fluid soil mixing tank (204) continuously. The automatic quantitative liquid dispenser (205b) can dispense liquid at regular intervals and in a quantitative manner, and add additives to the static mixer (205c) to control the quality of the fluid soil; The static mixer (205c) is used to mix the materials fed by the loss-in-weight screw feeder (205a) and the automatic metering liquid dispenser (205b) and then transport them to the small fluidized soil mixing tank (204).

6. The multi-scenario combined fluid soil transportation system according to claim 5, characterized in that, The end effector (C) includes rollers (201) identical to those of the relay robot (B), a small robot base (202) mounted on several rollers (201), hydraulic outriggers (203) mounted at the four corners of the small robot base (202), a pipe fixing seat (301) mounted on the right side of the small robot base (202), an end return pipe reel (305) mounted on the lower left side of the pipe fixing seat (301), a gripper robotic arm (306) mounted on the upper left side of the pipe fixing seat (301), and a U-shaped structure mounted on the pipe fixing seat (301). The U-shaped structure includes an end feed pipe (302) connected counterclockwise by a three-way valve, and an end... The return pipe (304) is connected to the third branch port of the three-way valve and the end discharge pipe (303). Both the end return pipe (304) and the end discharge pipe (303) are equipped with electric valves on the pipes near the three-way valve. The end of the end return pipe (304) is connected to the end return pipe reel (305). The structure of the end return pipe reel (305) is the same as that of the relay return pipe reel (206). It is connected to the branch port of the relay return manifold (207) by extending a pipe with a dry quick connector. The end discharge pipe (303) can extend a certain length outside the machine body. The end discharge pipe (303) can be gripped by the gripper arm (306) to achieve fluidized soil backfilling.

7. A multi-scenario combined fluid soil transportation method using the system described in claim 6, characterized in that, The steps are as follows: S1. First, classify the backfilling scenarios of fluid soil at the construction site: single-point small volume long-distance backfilling, multi-point large volume short-distance long-term backfilling, and multi-point long-distance long-term backfilling. Single-point small volume long-distance backfilling mainly addresses the need for backfilling small amounts of fluid soil in various corners of the construction site, requiring a single robot (A) to perform back-and-forth construction operations. Multi-point, large-volume, close-range, long-term backfilling is mainly designed to address the close-range backfilling needs near the fluid soil production line at the construction site. It modifies the number of end robots (C) connected to the starting robot (A) according to the actual location requirements, forming a tree-like backfilling network. Multi-point long-distance long-term backfilling is mainly used to deal with the most complex long-distance and scattered backfilling at construction sites. In this case, there are problems such as insufficient pressure of fluid soil in long transportation pipelines, reduced pumping efficiency, and changes in the properties of fluid soil. It is necessary to use an initial robot (A) to connect several relay robots (B) to transfer, buffer, pressurize, add, secondary distribute, and return the fluid soil. Then, the end robot (C) outputs the fluid soil at the end of the system and the robotic arm delivers the material at a fixed point. S2. Single-point small-volume long-distance backfilling: At this time, the starting robot (A) performs the operation alone. First, the starting robot (A) is controlled to come to the vicinity of the fluid soil production line, and the discharge pipe of the production line is connected to the dry quick connector of the large feed port (103a). The electric valve near the large feed port (103a) is opened to realize the discharge of fluid soil into the large fluid soil mixing tank (103). At the same time, the large fluid soil mixing tank (103) is started to continuously mix and buffer the fluid soil. Meanwhile, the starting backfilling mechanism (106) is activated. The electric push rod is extended to raise the backfill pipe to a suitable height. The backfill pipe is then connected to a branch of the starting distribution manifold (105) via a pipe and a dry quick connector. After receiving a sufficient amount of fluid soil, the connection with the production line is disconnected. The starting robot (A) is then brought to the vicinity of the backfill point. By activating the starting discharge pump (104) and the electric valves on the nearby pipelines, the fluid soil is moved from the large fluid soil mixing tank (103) to the starting discharge pump (104), and then transported through the main pipe of the starting distribution manifold (105). Move to its opened branch port, and finally discharge material from the backfill pipe to the backfill point. During the backfilling process, adjust the backfilling angle of the backfilling pipe by controlling the rotary motor of the starting backfilling mechanism (106) to ensure the accuracy of backfilling. After all backfilling is completed, perform system flushing. Close the electric valve on the side of the three-way valve of the main pipe of the starting distribution manifold (105) near the internal pump of the small CIP cleaning equipment (107), and open the electric valve on the vertical pipeline of the three-way valve near the internal pump. The internal pump of the P cleaning equipment (107) extends into a pipe near the large return port (103c) and is connected to the large return port (103c) through a pipe. When the small CIP cleaning equipment (107) is started, the cleaning fluid moves from the internal pump to the large return port (103c), then flushes the inside of the large fluid soil mixing tank (103), and then enters the starting discharge pump (104) from the large discharge port (103b). Finally, it flushes the backfill pipe through the starting distribution manifold (105) and flows out of the machine body, thus achieving system cleaning. S3, Multi-point large volume close distance long-term backfilling: At this time, the number of end robots (C) is configured according to the actual backfilling points. After the starting robot (A) is connected to the production line in the same way as in step S2, it will not disconnect from the production line and will be fixed on the ground and will not move. By controlling the movement of the end robot (C) and cooperating with the gripper robot arm (306) to grip the connecting pipe, it assists the construction personnel in connecting the pipe. When only one end robot (C) is used to assist in laying, it grips one end of the pipe and drags it on the ground to the vicinity of the connection point of other robot pipes to assist in the connection. When two end robots (C) are used to assist in laying, they grip both ends of the pipe and lift it to the appropriate height for the connection of the pipe with other robot pipes to assist in the connection. The specific connected pipes include: each branch of the starting distribution manifold (105) is connected to the end feed pipe (302) of one end robot (C), and each branch of the starting return manifold (108) is connected to the pipe on the end return pipe reel (305) of one end robot (C). When backfilling is performed, the same method as in step S2 is used to supply the fluid soil to the starting distribution manifold (105), and then transport it to the end feed pipe (302). The electric valve on the end discharge pipe (303) is opened, the electric valve on the end return pipe (304) is closed, and the gripper robot arm (306) is controlled to grip the pipe head of the end discharge pipe (303) for follow-up fixed-point backfilling. When performing the cleaning operation, close the electric valve on the end discharge pipe (303) and open the electric valve on the end return pipe (304). If there is still fluid soil being mixed in the large fluid soil mixing tank (103) at this time, only the system pipeline after the starting discharge pump (104) is cleaned. After the fluid soil in the large fluid soil mixing tank (103) is used up or cleaned into the recycling tank (109), it is cleaned in the same way as step S2. When only the system pipeline after the starting discharge pump (104) is cleaned, close the starting distribution manifold. The electric valve on the side of the three-way valve of the main pipe of pipe (105) near the starting discharge pump (104) is opened, the electric valve on the side of the three-way valve of the main pipe of the starting distribution manifold (105) near the internal pump is opened, and the electric valve on the vertical pipeline of the three-way valve near the internal pump is closed. The electric valve on the vertical pipeline near the three-way valve at the output end of the starting return pump (111) is closed, and the small CIP cleaning equipment (107) is started to clean the system. The cleaning liquid is finally returned to the recovery tank (109) and collected. S4. Multi-point, long-distance, long-term backfilling: In this case, the starting robot (A) is fixed near the production line and connected to it in the same way as in step S3 to receive materials. Then, the number of relay robots (B) and end robots (C) required is determined according to the actual site conditions of the fluid soil backfilling points. A single starting robot (A) can be connected to several relay robots (B), and a single relay robot (B) can be connected to several end robots (C). When connecting pipelines, the same method as in step S3 is used, that is, end robots (C) are used for assistance. The pipeline laying process involves the following connections: a branch of the initial distribution manifold (105) is connected to a small inlet (204a); a branch of the intermediate discharge manifold (209) is connected to the final inlet pipe (302); the final return pipe reel (305) is connected to a branch of the intermediate return manifold (207); and the intermediate return pipe reel (206) is connected to a branch of the initial return manifold (108). The end-effector robot (C) is driven to the location where backfilling is required and awaits backfilling, while the intermediate robot (B) performs remote backfilling. Buffering and pressurizing of fluid soil over long distances; when it is necessary to add fluid soil for long-distance transportation, the loss-in-weight screw feeder (205a) and automatic quantitative liquid dispenser (205b) are controlled to feed the static mixer (205c), and then the static mixer (205c) feeds the fluid soil into the small fluid soil mixing tank (204) through the small feeding port (204c); when backfilling, the mechanism used for feeding by the starting robot (A) and the end robot (C) is started in the same way as in step S3, and the same The fluid soil is buffered by the small fluid soil mixing tank (204) of the relay robot (B) and pressurized by the relay discharge pump (208) before being discharged through the end discharge pipe (303). When cleaning is performed, the starting robot (A) and the end robot (C) are started in the same way as in step S3. For the starting robot (A) and the end robot (C), the relay robot (B) is similar to a connecting channel, and the movement of its fluid soil and cleaning fluid is directly through the pipeline of the relay robot (B).

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