In-situ curing device and in-situ curing process for mud flat silt soft soil

Abstract

The invention discloses an in-situ solidification device for mud flat silt soft soil. The in-situ solidification device comprises a mechanical arm, a first rotary stirring head, a second rotary stirring head and a stirring head support. The first rotary stirring head and the second rotary stirring head are symmetrical to two inclined lower sides of the stirring head support; a driving device in the stirring head support can drive the first rotary stirring head and the second rotary stirring head to rotate along respective axes; a curing agent grouting nozzle is arranged on the stirring head support; the upper end of the stirring head support is fixed to a vertical main shaft, the lower end of the mechanical arm is connected with an extending base in the length direction, and a transmission structure in the extending base can drive the main shaft to rotate along the axis. A rotating ring is coaxially arranged at the joint of the mechanical arm and the extension seat, and a transmission structure in the mechanical arm can drive the rotating ring to rotate along the axis; and the problems of non-uniform mixing, material waste and the like existing in traditional open type stirring are solved.

Description

Technical Field

[0001] This invention belongs to the field of tidal flat silt reinforcement. Background Technology

[0002] Traditional in-situ solidification of tidal flat silt and soft soil often employs open mixing piles or jet mixing processes. During construction, the solidifying agent is directly injected into the open soil mass, relying on mixing blades for mixing. This method has significant drawbacks. Firstly, in fluid silt, the solidifying agent easily diffuses into surrounding untreated areas, resulting in insufficient actual mixing in the target area and pollution of surrounding areas. Material utilization is low, and the mixing ratio is difficult to control. Secondly, the mixing process causes extensive soil disturbance, with adjacent construction areas interfering with each other, making it difficult to form well-shaped, uniformly strong solidified soil units, affecting the overall uniformity and bearing capacity of the foundation. Furthermore, traditional methods have weak control over the work boundary, easily leading to missed mixing or repeated mixing, resulting in poor construction quality stability. Therefore, a new in-situ solidification technology that can achieve precise quantitative mixing, clear boundaries, and uniform mixing is urgently needed. Summary of the Invention

[0003] Purpose of the invention: In order to overcome the shortcomings of the existing technology, the present invention provides an in-situ solidification device and in-situ solidification process for tidal flat silt and soft soil, which overcomes the problems of uneven mixing and material waste that exist in traditional open mixing.

[0004] Technical Solution: To achieve the above objectives, the present invention provides an in-situ solidification device for tidal flat silt and soft soil, comprising a robotic arm, a first rotary mixing head, a second rotary mixing head, and a mixing head support; the first and second rotary mixing heads are symmetrically positioned on the two lower inclined sides of the mixing head support; a driving device within the mixing head support can drive the first and second rotary mixing heads to rotate along their respective axes; a solidifying agent injection nozzle is provided on the mixing head support; the upper end of the mixing head support is fixed to a vertical main shaft, and an extension seat is connected to the lower end of the robotic arm along its length, the transmission structure within the extension seat driving the main shaft to rotate along its axis; a rotating ring is coaxially arranged at the connection between the robotic arm and the extension seat, the transmission structure within the robotic arm driving the rotating ring to rotate along its axis; a cage frame is provided around the periphery of the integral structure formed by the mixing head support, the first rotary mixing head, and the second rotary mixing head.

[0005] Furthermore, the upper part of the cage frame is synchronously connected to the rotating ring and rotates synchronously with the rotating ring.

[0006] Furthermore, as the stirring head support, the first rotating stirring head, and the second rotating stirring head rotate together with the main shaft, they are always within the enclosure of the cage frame.

[0007] Furthermore, the cage frame includes an upper regular hexagonal frame and a lower regular hexagonal frame whose outlines overlap from a top-down view; the six vertices of the upper regular hexagonal frame and the six vertices of the lower regular hexagonal frame are respectively fixedly connected by six vertical cage columns; the six vertices of the upper regular hexagonal frame are respectively fixedly connected to rotating rings by six support arms; the six vertical cage columns are the first cage column, the second cage column, the third cage column, the fourth cage column, the fifth cage column, and the sixth cage column; a scroll is arranged parallel to the outside of the first cage column, and a scroll driver is also included to drive the scroll to rotate along the axis; the two ends of the scroll are rotatably mounted on the scroll support through bearings; a cloth strip is wound around the outside of the scroll, and the cloth strip is made of high-strength composite material. The innermost end of the cloth strip wound around the outside of the scroll is fixedly connected to the scroll; the end of the outermost part of the cloth strip wound around the outside of the scroll is taut and fixedly connected to the first cage column; the scroll driver, the blade-shaped push head, and the scroll driver are fixedly connected to the lower end of the robotic arm through a connecting arm.

[0008] Furthermore, the outer periphery of the first and second rotary mixing heads is provided with helical blades, and a plurality of mixing piles are integrally provided on the helical blades along the length direction.

[0009] Furthermore, the curing agent injection nozzle is located between the first rotary mixing head and the second rotary mixing head.

[0010] Furthermore, a blade-shaped push head is integrally provided on the side of the two roller supports away from the first cage column.

[0011] Furthermore, a working method for an in-situ solidification device for tidal flat silt and soft soil: Step 1, the target silt area to be solidified is divided into several adjacent regular hexagonal virtual unit areas using a honeycomb grid from a top-down perspective; the area within the outline of each regular hexagonal virtual unit area from a top-down perspective is the same as the area within the outline of the regular hexagonal frame from a top-down perspective.

[0012] Step 2: Under the displacement of the robotic arm, the combined structure consisting of the first rotating stirring head, the second rotating stirring head, the stirring head support, and the cage frame is moved to the top of any regular hexagonal virtual unit area, and the hexagonal outer contour of the cage frame coincides with the regular hexagonal contour of the regular hexagonal virtual unit area below.

[0013] Step 3: Under the displacement of the robotic arm, the combined structure consisting of the first rotating stirring head, the second rotating stirring head, the stirring head support, and the cage frame descends and completely sinks into the silt at the location of the corresponding regular hexagonal virtual unit area.

[0014] Step 4: The transmission structure inside the robotic arm drives the rotating ring to rotate in the forward direction, causing the cage frame to rotate at least (360+60N)° around the main axis, where N is any positive number;

[0015] At the same time, the reel driver operates adaptively. As the cage frame rotates around the main shaft axis, the reel gradually releases the taut cloth strip, which, under the traction of the first cage column, eventually forms a regular hexagonal enclosure that surrounds the silt area within the corresponding regular hexagonal virtual unit area. Thus, the silt within the regular hexagonal virtual unit area is surrounded by the hexagonal cloth strip.

[0016] Step 5: The curing agent injection nozzle on the mixing head support injects a predetermined amount of curing agent into the area surrounded by the hexagonal cloth strip. At the same time, the drive device inside the mixing head support drives the first and second rotating mixing heads to rotate along their respective axes, while the transmission structure inside the extension seat drives the main shaft to rotate. Thus, the first and second rotating mixing heads rotate along their respective axes and also rotate together circumferentially along the main shaft. The sludge in the area surrounded by the hexagonal cloth strip is fully mixed with the predetermined amount of curing agent under the continuous stirring of the first and second rotating mixing heads.

[0017] Step six: The reel driver drives the reel to rewind, and at the same time, the transmission structure inside the robotic arm drives the rotating ring to rotate in the opposite direction, causing the cage frame to rotate in the opposite direction back to the initial state of "Step four"; thus, the reel completely retracts the pulled-out fabric strip, and the cage frame returns to the exposed state.

[0018] Step 7: Choose one of the following two methods:

[0019] The first method involves controlling the horizontal displacement of the robotic arm directly if the silt is thin and the translational resistance is low. This allows the combined structure consisting of the first rotating stirring head, the second rotating stirring head, the stirring head support, and the cage frame to be translated along the cutting direction of the blade-shaped propulsion head into the silt of the adjacent hexagonal virtual unit area.

[0020] In the second method, the robotic arm first moves the combined structure consisting of the first rotating stirring head, the second rotating stirring head, the stirring head support, and the cage frame upwards to leave the silt. Then, the robotic arm is controlled to move horizontally, and the combined structure consisting of the first rotating stirring head, the second rotating stirring head, the stirring head support, and the cage frame moves to directly above another adjacent regular hexagonal virtual unit area. Then, with the downward movement of the robotic arm, the combined structure consisting of the first rotating stirring head, the second rotating stirring head, the stirring head support, and the cage frame descends to completely sink into the silt at the location of the new regular hexagonal virtual unit area.

[0021] Step eight: Repeat steps five and six once to complete the solidification process of another regular hexagonal virtual unit area; then return to step seven.

[0022] By repeating the above pattern continuously, the sludge solidification process of all hexagonal virtual unit areas can be achieved.

[0023] Beneficial effects: This invention uses a hexagonal cage frame combined with high-strength fabric strips to physically divide and isolate independent hexagonal treatment units within the silt. Then, a built-in dual-stirring head is used to inject and compound-mix the curing agent within each enclosed unit. This method ensures precise quantitative mixing of the curing agent and silt within each unit, effectively preventing material loss to the surrounding soil.

[0024] The device features a fabric belt system that unfolds and retracts synchronously with the rotating frame, enabling rapid formation and restoration of processing units. It also incorporates a composite motion mode where the mixing head rotates and revolves within the space defined by the frame, significantly improving mixing uniformity. The entire process combines hexagonal grid division with sequential advancement, resulting in large-area tidal flat soft soil solidification operations that offer high uniformity, high efficiency, and clear boundary control, overcoming the problems of uneven mixing and material waste inherent in traditional open-type mixing systems. Attached Figure Description

[0025] Figure 1 A schematic diagram showing how a honeycomb grid is used to divide the target sludge area to be solidified into several adjacent hexagonal virtual unit areas from a top-down perspective;

[0026] Figure 2 This is a schematic diagram of the overall device;

[0027] Figure 3 This is a schematic diagram of the process for "Step Four";

[0028] Figure 4 This is a cross-sectional view taken from a low angle in "Step Four". Detailed Implementation

[0029] The invention will now be further described with reference to the accompanying drawings.

[0030] like Figures 1 to 4 As shown, an in-situ solidification device for tidal flat silt and soft soil includes a robotic arm 1, a first rotary mixing head 11, a second rotary mixing head 8, and a mixing head support 2; the first rotary mixing head 11 and the second rotary mixing head 8 are symmetrical about the two lower inclined sides of the mixing head support 2; the driving device inside the mixing head support 2 can drive the first rotary mixing head 11 and the second rotary mixing head 8 to rotate along their respective axes; the driving device is preferably a hydraulic motor with a bidirectional output shaft or a sealed servo motor, and its output torque needs to be matched and designed according to the silt resistance to ensure effective operation in dense silt.

[0031] A curing agent injection nozzle 34 is provided on the mixing head support 2; the curing agent injection nozzle 34 is located between the first rotary mixing head 11 and the second rotary mixing head 8. The outlet of the injection nozzle 34 is designed as an adjustable multi-hole spray structure, which can realize the quantitative and directional spraying of curing agents, such as cement slurry, water glass, and polymers, according to the program control, so as to ensure that they can be evenly penetrated into the mixing area.

[0032] The upper end of the stirring head support 2 is fixed on the vertical main shaft 7. The lower end of the robotic arm 1 is connected to the extension seat 2 along the length direction. The transmission structure inside the extension seat 2 can drive the main shaft 7 to rotate along the axis. The extension seat 2 integrates a gear transmission box or hydraulic rotary mechanism as the main drive unit.

[0033] The outer periphery of the first rotary mixing head 11 and the second rotary mixing head 8 is provided with helical blades, and a plurality of mixing piles are integrally provided on the helical blades along the length direction.

[0034] A rotating ring 5 is coaxially mounted at the connection between the robotic arm 1 and the extension base 2. The transmission structure inside the robotic arm 1 can drive the rotating ring 5 to rotate along the axis. This transmission structure is usually implemented by a built-in servo motor or hydraulic motor driving a harmonic reducer, ensuring that the rotating ring 5 can perform precise angular positioning and continuous rotation, with a rotation angle control accuracy of ±1°.

[0035] The stirring head support 2, the first rotating stirring head 11, and the second rotating stirring head 8 form an integral whole, with a cage frame 4 surrounding the outer periphery. The cage frame 4 is a high-strength structure, and its upper end is synchronously connected to the rotating ring 5 and rotates synchronously with the rotating ring 5. The cage frame 4 is welded from Q345B low-alloy high-strength structural steel or higher grade steel, and has sufficient rigidity and toughness to withstand the uneven lateral pressure of the sludge and the vibration load during the stirring process.

[0036] As the stirring head support 2, the first rotating stirring head 11, and the second rotating stirring head 8 rotate together with the main shaft 7, they are always within the enclosure of the cage frame 4.

[0037] The cage frame 4 includes an upper regular hexagonal frame 16 and a lower regular hexagonal frame 17 with overlapping outlines when viewed from above. The regular hexagonal structure was chosen because it has the best filling efficiency and structural stability on a plane, can seamlessly divide the working area, and the force is uniform on each side.

[0038] The six vertices of the upper regular hexagonal frame 16 and the six vertices of the lower regular hexagonal frame 17 are respectively fixedly connected by six vertical cage columns 14; the six vertices of the upper regular hexagonal frame 16 are respectively fixedly connected to the rotating ring 5 by six support arms 15.

[0039] The six vertical cage columns 14 are designated as first cage column 14a, second cage column 14b, third cage column 14c, fourth cage column 14d, fifth cage column 14e, and sixth cage column 14f. A reel 10 is arranged parallel to the outer side of the first cage column 14a. The reel driver 35 is also included, which can drive the reel 10 to rotate along the axis. The reel driver 35 can be a servo motor or a micro hydraulic motor with braking function, which has precise winding and unwinding control capabilities.

[0040] Both ends of the reel 10 are rotatably mounted on the reel support 12 via bearings; a blade-shaped propulsion head 9 is integrally provided on the side of the two reel supports 12 away from the first cage column 14a. The tip of the blade-shaped propulsion head 9 is designed with a large front angle and is made of wear-resistant alloy steel, which facilitates cutting through the silt during translation and reduces movement resistance.

[0041] A fabric tape 13 is wound around the outside of the reel 10. The fabric tape 13 is made of a high-strength composite material. Specifically, the fabric tape 13 is usually woven from high-strength polyester or nylon fibers as the base, and the surface is coated with a waterproof, corrosion-resistant, and low-friction coefficient coating such as PVC, polyurethane, or rubber, which gives it high tensile strength, a radial tensile strength of not less than 100 kN / m, good flexibility, and resistance to abrasion from silt and sand particles.

[0042] The innermost end of the fabric strip 13 wound around the outer edge of the reel 10 is fixedly connected to the reel 10; the outermost end of the fabric strip 13 wound around the outer edge of the reel 10 is taut and fixedly connected to the first cage column 14a; the reel driver 35, the blade-shaped push head 9 and the reel driver 35 are fixedly connected to the lower end of the robotic arm 1 through the connecting arm 6.

[0043] Work methods:

[0044] Step 1, as follows Figure 1 As shown, the target silt area to be solidified is divided into several adjacent regular hexagonal virtual unit areas 37 from a top-down view using a honeycomb grid. The in-line area of ​​each regular hexagonal virtual unit area 37 from a top-down view is the same as the in-line area of ​​the regular hexagonal outline of the cage skeleton 4 from a top-down view. The division is based on the foundation bearing capacity or settlement control standards required by the engineering design, calculating the required volume and planar dimensions of a single solidified soil body, thereby determining the side length of the regular hexagonal virtual unit area 37, which is usually adjustable between 0.8m and 1.5m.

[0045] Step two: Under the displacement of the robotic arm, the combined structure 41 consisting of the first rotating stirring head 11, the second rotating stirring head 8, the stirring head support 2, and the cage frame 4 is moved to directly above any one of the regular hexagonal virtual unit areas 37, so that the hexagonal outer contour of the cage frame 4 coincides with the regular hexagonal contour of the regular hexagonal virtual unit area 37 below. The displacement of the robotic arm is controlled by an external walking chassis or pile frame system, and positioning can be achieved through an RTK-GNSS system or a laser ranging system, ensuring that the planar positioning accuracy is within ±5cm.

[0046] Step three: Under the displacement of the robotic arm, the combined structure 41, consisting of the first rotating stirring head 11, the second rotating stirring head 8, the stirring head support 2, and the cage frame 4, descends and completely sinks into the silt at the location of the corresponding regular hexagonal virtual unit area 37. The sinking depth is determined according to the thickness of the soil layer to be solidified, and usually needs to penetrate the soft soil layer.

[0047] Step four: The transmission structure inside the robotic arm 1 drives the rotating ring 5 to rotate forward, causing the cage frame 4 to rotate at least (360+60N)° around the main axis 7, where N is any positive number; in this scheme, N=1. This ensures that the outline of the cage frame 4 remains unchanged from the top-down view before and after rotation. The (360+60)° rotation angle design ensures that the fabric belt 13 can completely bypass all corners of the regular hexagon, forming a complete enclosure.

[0048] Simultaneously, the reel driver 35 operates adaptively. As the cage frame 4 rotates around the axis of the main shaft 7, the reel 10 gradually releases the taut cloth strip 13, which, under the traction of the first cage column 14a, ultimately forms a hexagonal enclosure surrounding the silt area within the corresponding hexagonal virtual unit area 37. This surrounds the silt within the hexagonal virtual unit area 37 with the hexagonal cloth strip 13, isolating it from other silt on the outside, and creating a relatively independent state for the silt within the hexagonal virtual unit area 37. Figure 3 and Figure 4 As shown. This isolation effectively prevents the curing agent from flowing into adjacent untreated areas and constrains the lateral flow of the soil during mixing, creating conditions for the formation of regular, uniform cured soil units.

[0049] Step 5: The curing agent injection nozzle 34 on the mixing head support 2 injects a predetermined amount of curing agent into the area surrounded by the hexagonal cloth strip 13. The injection amount is precisely metered and pumped by the control system according to the volume of sludge, natural water content and target curing strength in the hexagonal unit area. At the same time, the drive device in the mixing head support 2 drives the first rotating mixing head 11 and the second rotating mixing head 8 to rotate along their respective axes. Meanwhile, the transmission structure in the extension seat 2 drives the main shaft 7 to rotate, so that the first rotating mixing head 11 and the second rotating mixing head 8 rotate along their respective axes and also rotate together around the main shaft 7. This combined rotation and revolution motion mode generates strong vortex mixing and radial shearing effects, which enables the curing agent and sludge to mix quickly and uniformly in three-dimensional space. The sludge in the area enclosed by the hexagonal cloth strip 13 is thoroughly mixed with a predetermined amount of curing agent under the continuous stirring of the first rotary stirring head 11 and the second rotary stirring head 8; thus, the curing process of a hexagonal virtual unit area 37 is completed. Compared with the traditional open in-situ stirring curing, this enclosed process can make the mixing ratio of curing agent and sludge more consistent and stable, avoid the waste of curing agent, and avoid omissions in the curing process.

[0050] Step six: The reel driver 35 drives the reel 10 to perform a winding action. At the same time, the transmission structure inside the robotic arm 1 drives the rotating ring 5 to rotate in the opposite direction, causing the cage frame 4 to rotate in the opposite direction back to the initial state of "Step four". The winding and reversing processes must be synchronized and coordinated to ensure that the fabric strip 13 can be rewound smoothly and orderly onto the reel 10 without twisting or breaking. This allows the reel 10 to completely retract the fabric strip 13, and the cage frame 4 returns to the exposed state.

[0051] Step 7: Choose one of the following two methods:

[0052] The first method is to directly control the horizontal displacement of the robotic arm if the silt is relatively thin and the translational resistance is small. This allows the combined structure 41, consisting of the first rotating stirring head 11, the second rotating stirring head 8, the stirring head support 2, and the cage frame 4, to be translated along the cutting direction of the blade-shaped push head 9 into the silt where another adjacent regular hexagonal virtual unit area 37 is located.

[0053] In the second method, the robotic arm first moves the combined structure 41 consisting of the first rotating stirring head 11, the second rotating stirring head 8, the stirring head support 2, and the cage frame 4 upward to leave the silt. Then, the robotic arm is controlled to move horizontally, and the combined structure 41 consisting of the first rotating stirring head 11, the second rotating stirring head 8, the stirring head support 2, and the cage frame 4 moves to directly above another adjacent regular hexagonal virtual unit area 37. Then, with the downward movement of the robotic arm, the combined structure 41 consisting of the first rotating stirring head 11, the second rotating stirring head 8, the stirring head support 2, and the cage frame 4 descends and completely sinks into the silt at the location of the new regular hexagonal virtual unit area 37.

[0054] Step 8: Repeat Step 5 and Step 6 once to complete the solidification process of another regular hexagonal virtual unit area 37; then return to Step 7.

[0055] By repeating the above pattern continuously, the silt solidification process of all the regular hexagonal virtual unit areas 37 can be achieved. Ultimately, all the independently solidified regular hexagonal soil units interlock with each other after hardening, forming a composite foundation with good integrity and uniformity, which significantly improves the bearing capacity and stability of the soft soil foundation in the tidal flats.

[0056] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. An in-situ solidification device for tidal flat silt and soft soil, characterized in that: It includes a robotic arm (1), a first rotary stirring head (11), a second rotary stirring head (8), and a stirring head support (2); the first rotary stirring head (11) and the second rotary stirring head (8) are symmetrical about the two lower inclined sides of the stirring head support (2); the driving device inside the stirring head support (2) can drive the first rotary stirring head (11) and the second rotary stirring head (8) to rotate along their respective axes; the stirring head support (2) is provided with a curing agent injection nozzle (34); The upper end of the stirring head support (2) is fixed on the vertical main shaft (7), and the lower end of the robotic arm (1) is connected to the extension seat (2) along the length direction. The transmission structure inside the extension seat (2) can drive the main shaft (7) to rotate along the axis. A rotating ring (5) is coaxially arranged at the connection between the robotic arm (1) and the extension seat (2), and the transmission structure inside the robotic arm (1) can drive the rotating ring (5) to rotate along the axis. The cage frame (4) surrounds the entire structure consisting of the stirring head support (2), the first rotating stirring head (11), and the second rotating stirring head (8).

2. The in-situ solidification device for tidal flat silt and soft soil according to claim 1, characterized in that: The upper end of the cage frame (4) is synchronously connected to the rotating ring (5) and rotates synchronously with the rotating ring (5).

3. The in-situ solidification device for tidal flat silt and soft soil according to claim 1, characterized in that: During the process of the stirring head support (2), the first rotating stirring head (11) and the second rotating stirring head (8) rotating together with the main shaft (7), they are always within the range surrounded by the cage frame (4).

4. The in-situ solidification device for tidal flat silt and soft soil according to claim 2, characterized in that: The cage frame (4) includes an upper regular hexagonal frame (16) and a lower regular hexagonal frame (17) whose outlines overlap from a top-down view; the six vertices of the upper regular hexagonal frame (16) and the six vertices of the lower regular hexagonal frame (17) are respectively fixedly connected by six vertical cage columns (14); the six vertices of the upper regular hexagonal frame (16) are respectively fixedly connected by six support arms (15) to a rotating ring (5); the six vertical cage columns (14) are respectively the first cage column (14a), the second cage column (14b), the third cage column (14c), the fourth cage column (14d), the fifth cage column (14e) and the sixth cage column (14f); A reel (10) is arranged parallel to the outside of the first cage column (14a), and a reel driver (35) is also included to drive the reel (10) to rotate along the axis. The two ends of the reel (10) are rotatably mounted on the reel support (12) through bearings. A cloth strip (13) is wound around the outside of the reel (10). The innermost end of the cloth strip (13) wound around the outside of the reel (10) is fixedly connected to the reel (10). The end of the outermost part of the cloth strip (13) wound around the outside of the reel (10) is taut and fixedly connected to the first cage column (14a). The reel driver (35), the blade-shaped push head (9) and the reel driver (35) are fixedly connected to the lower end of the robotic arm (1) through the connecting arm (6).

5. The in-situ solidification device for tidal flat silt and soft soil according to claim 4, characterized in that: The outer periphery of the first rotary mixing head (11) and the second rotary mixing head (8) is provided with helical blades, and a number of mixing piles are integrally provided on the helical blades along the length direction.

6. The in-situ solidification device for tidal flat silt and soft soil according to claim 5, characterized in that: The curing agent injection nozzle (34) is located between the first rotary mixing head (11) and the second rotary mixing head (8).

7. The in-situ solidification device for tidal flat silt and soft soil according to claim 6, characterized in that: The two roller supports (12) are integrally provided with blade-shaped push heads (9) on the side away from the first cage column (14a).

8. The working method of the in-situ solidification device for tidal flat silt and soft soil according to claim 6, characterized in that: Step 1: Divide the target silt area to be solidified into several adjacent hexagonal virtual unit areas (37) using a honeycomb grid from a top-down perspective; the area inside the outline of each hexagonal virtual unit area (37) from a top-down perspective is the same as the area inside the outline of the hexagonal frame of the cage (4) from a top-down perspective. Step 2: Under the displacement of the robotic arm, the combined structure (41) consisting of the first rotating stirring head (11), the second rotating stirring head (8), the stirring head support (2), and the cage frame (4) is moved to the top of any regular hexagonal virtual unit area (37), and the hexagonal outer contour of the cage frame (4) coincides with the regular hexagonal contour of the regular hexagonal virtual unit area (37) below. Step 3: Under the displacement of the robotic arm, the combined structure (41) consisting of the first rotating stirring head (11), the second rotating stirring head (8), the stirring head support (2), and the cage frame (4) descends into the silt at the location of the corresponding regular hexagonal virtual unit area (37). Step 4: The transmission structure inside the robotic arm (1) drives the rotating ring (5) to rotate in the forward direction, so that the cage frame (4) rotates at least (360+60N)° around the axis of the main shaft (7), where N is any positive number; At the same time, the reel driver (35) operates adaptively. As the cage frame (4) rotates around the axis of the main shaft (7), the reel (10) gradually releases the taut cloth strip (13), which, under the traction of the first cage column (14a), eventually forms a regular hexagonal enclosure that surrounds the silt area within the corresponding regular hexagonal virtual unit area (37). Thus, the silt within the regular hexagonal virtual unit area (37) is surrounded by the regular hexagonal cloth strip (13). Step 5: The curing agent injection nozzle (34) on the stirring head support (2) injects a predetermined amount of curing agent into the area surrounded by the hexagonal cloth strip (13); at the same time, the driving device in the stirring head support (2) drives the first rotating stirring head (11) and the second rotating stirring head (8) to rotate along their respective axes, while the transmission structure in the extension seat (2) drives the main shaft (7) to rotate, so that the first rotating stirring head (11) and the second rotating stirring head (8) rotate along their respective axes and also rotate together around the main shaft (7); the sludge in the area surrounded by the hexagonal cloth strip (13) and the predetermined amount of curing agent are fully mixed under the continuous stirring of the first rotating stirring head (11) and the second rotating stirring head (8).

9. The working method of the in-situ solidification device for tidal flat silt and soft soil according to claim 8, characterized in that: Step six, the reel driver (35) drives the reel (10) to perform a winding action. At the same time, the transmission structure inside the robotic arm (1) drives the rotating ring (5) to rotate in the opposite direction, so that the cage frame (4) rotates in the opposite direction to the initial state of "step four"; thereby so that the reel (10) completely retracts the pulled-out cloth strip (13), and the cage frame (4) re-enters the exposed state. Step 7: Choose one of the following two methods: The first method is to directly control the horizontal displacement of the robotic arm if the silt is thin and the translational resistance is small. This allows the combined structure (41) consisting of the first rotating stirring head (11), the second rotating stirring head (8), the stirring head support (2), and the cage frame (4) to be translated along the cutting direction of the blade-shaped pusher head (9) into the silt where another adjacent regular hexagonal virtual unit area (37) is located. In the second method, the robotic arm first moves the combined structure (41) consisting of the first rotating stirring head (11), the second rotating stirring head (8), the stirring head support (2), and the cage frame (4) upward to leave the silt. Then, the robotic arm is controlled to move horizontally, and the combined structure (41) consisting of the first rotating stirring head (11), the second rotating stirring head (8), the stirring head support (2), and the cage frame (4) moves to the top of another adjacent regular hexagonal virtual unit area (37). Then, under the downward movement of the robotic arm, the combined structure (41) consisting of the first rotating stirring head (11), the second rotating stirring head (8), the stirring head support (2), and the cage frame (4) descends to the silt where it is completely embedded in the new regular hexagonal virtual unit area (37). Step 8: Repeat Step 5 and Step 6 once to complete the solidification process of another regular hexagonal virtual unit area (37); then return to Step 7; The above pattern is repeated continuously to achieve the solidification process of silt in all hexagonal virtual unit areas (37).

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