Coastal cement soil in-situ modification and solidification system and technology

Abstract

The invention discloses a coastal cement soil in-situ modification and solidification system which comprises a mechanical arm, the lower end of the mechanical arm is an in-situ solidification execution unit, the in-situ solidification execution unit comprises a stirring head driving seat fixedly installed at the lower end of the mechanical arm, and a first rotary stirring head and a second rotary stirring head are symmetrically arranged on the two sides of the stirring head driving seat; a curing agent grouting head is arranged on the stirring head driving seat; a first vertical fluctuation plate and a second vertical fluctuation plate which can swing are respectively arranged on two sides of a combined structure formed by the first rotary stirring head and the second rotary stirring head. The problem that overall homogenization control is difficult in large-range coastal sludge in-situ solidification is solved.

Description

Technical Field

[0001] This invention belongs to the field of silt reinforcement and modification. Background Technology

[0002] Traditional coastal silt solidification often employs in-situ mixing solidification technology, which mixes the solidifying agent with the silt through mechanical stirring. Existing mixing equipment typically operates intermittently, meaning that mixing is completed at one fixed location before moving to the next. This process is discontinuous, inefficient, and prone to creating weak zones in the overlapping areas between mixing piles. For large-scale treatment, it is difficult to precisely control the amount of solidifying agent added to each local area, easily leading to uneven overall solidification results and the risk of localized excessive or insufficient solidification, thus affecting the overall stability of the project. Summary of the Invention

[0003] Purpose of the invention: In order to overcome the shortcomings of the existing technology, the present invention provides a system and process for in-situ modification and solidification of coastal cement soil, which solves the problem of difficulty in controlling the overall homogenization in the in-situ solidification of large-scale coastal silt.

[0004] Technical Solution: To achieve the above objectives, the coastal cement-soil in-situ modification and solidification system of the present invention includes an in-situ solidification execution unit at the lower end of a robotic arm. The in-situ solidification execution unit includes a stirring head drive seat fixedly installed at the lower end of the robotic arm. A first stirring head and a second rotating stirring head are symmetrically arranged on both sides of the stirring head drive seat. A curing agent injection head is provided on the stirring head drive seat. A first vertical oscillating plate and a second vertical oscillating plate capable of swinging motion are respectively provided on both sides of the combined structure formed by the first stirring head and the second rotating stirring head.

[0005] Furthermore, both the first and second vertical undulating plates have horizontally hollowed-out grooves at their geometric centers; a first and a second horizontal swing shaft are integrally formed at their midpoint heights; a first support arm and a second support arm are integrally formed on the side of the stirring head drive seat near the first and second vertical undulating plates, respectively; the ends of the first and second support arms are provided with swing shaft through holes for the horizontal tube; the first swing shaft rotates coaxially through the swing shaft through hole on the first support arm, and the second swing shaft rotates coaxially through the swing shaft through hole on the second support arm; thus, supported by the first and second support arms, the first and second vertical undulating plates swing around the axes of the first and second swing shafts, respectively.

[0006] Furthermore, the outer periphery of the first and second rotating mixing heads is integrally provided with the first auger blade and the second auger blade, respectively; and the first and second auger blades are provided with mixing piles along the blade extension direction.

[0007] Furthermore, both the first and second rotating stirring heads are angled downwards, and the axis of the first rotating stirring head forms an obtuse angle with the axis of the second rotating stirring head; furthermore, it also includes a first and second bottom undulating plate that are symmetrically arranged on the left and right, with the ends of the first and second bottom undulating plates close to each other being hinged by a central hinge; the ends of the first and second bottom undulating plates far from each other are respectively hinged to the lower ends of the first and second vertical undulating plates by lower left and lower right hinges, respectively.

[0008] In the initial state, the central hinge is lower than the lower left and lower right hinges; it also includes a first and second symmetrically symmetrical upper inclined wave plate; the first and second upper inclined wave plates are in a figure-eight shape with their upper parts close to each other and their lower parts far apart; the lower ends of the first and second upper inclined wave plates are respectively hinged to the upper ends of the first and second vertical wave plates through the first upper left hinge and the second upper right hinge; the upper ends of the first and second upper inclined wave plates are respectively rotatably engaged on the first and second lifting hinge seats through the first and second hinge shafts.

[0009] Furthermore, the robotic arm has a first set of hydraulic telescopic joints and a second set of hydraulic telescopic joints fixedly installed on both sides via a first support and a second support, respectively; the lower ends of the first set of telescopic rods and the second set of telescopic rods of the first set of hydraulic telescopic joints and the second set of hydraulic telescopic joints are fixedly connected to a first lifting hinge seat and a second lifting hinge seat, respectively; the area surrounded by the first upper inclined wave plate, the second upper inclined wave plate, the first vertical wave plate, the second vertical wave plate, the first bottom wave plate and the second bottom wave plate forms a transversely penetrating dynamic mixing tank, and the first stirring head and the second rotating stirring head are both in the dynamic mixing tank.

[0010] Furthermore, the working method of the coastal cement-soil in-situ modification and solidification system:

[0011] Step 1: Based on the initial state, synchronously control the first and second sets of hydraulic expansion joints to make the first and second lifting hinge seats move downwards synchronously. The downward-moving first and second lifting hinge seats push the upper ends of the first and second vertical wave plates in a direction away from each other through the first and second upward-sloping wave plates, respectively. This causes the upper ends of the first and second vertical wave plates to swing away from each other around the first and second swing axes, respectively. This causes the lower left and lower right hinges at the lower ends of the first and second vertical wave plates to move closer to each other. The movement of the lower left and lower right hinges towards each other causes the central hinge to descend relatively, and transforms the originally horizontal first and second bottom wave plates into downward-facing pointed structures. The first and second vertical wave plates become inclined surfaces with their lower ends approaching each other. The in-situ solidification actuator is transformed into a structure that is easier to insert into the silt with a pointed bottom and a thicker top.

[0012] Step 2: The target coastal biochar modification and solidification area is virtually divided into several rows of adjacent, parallel, straight strip-shaped sludge zones; the width of the straight strip-shaped sludge zone is equal to the distance between the first and second vertical undulating plates in the initial state; the robotic arm drives the in-situ solidification execution unit with a pointed bottom and a thicker top to translate directly above one end of any straight strip-shaped sludge zone, and makes the transverse penetration direction of the dynamic mixing tank parallel to the extension direction of the straight strip-shaped sludge zone.

[0013] Step 3: The robotic arm drives the in-situ solidification unit, which is tapered at the bottom and thickened at the top, to smoothly insert downwards into the corresponding straight strip of sludge at one end of the sludge to be solidified and modified. As the in-situ solidification unit sinks into the sludge, once it is fully inserted, the first and second sets of hydraulic telescopic joints are simultaneously controlled to move the first and second lifting hinge seats upwards to their initial positions. The first and second vertical undulating plates return to their initial vertical state, so that the first and second vertical undulating plates coincide with the two edges of the straight strip of sludge from a top-down perspective. At the same time, the first and second bottom undulating plates return to their initial horizontal state. At this point, the sludge contained in the dynamic mixing tank is surrounded by the first and second upward undulating plates, the first and second vertical undulating plates, the first and second vertical undulating plates, the first and second bottom undulating plates, and the second bottom undulating plates, forming a cubic shape.

[0014] Step four: The curing agent injection head continuously injects biochar-modified cement slurry into the dynamic mixing tank; simultaneously, two sets of transmission structures within the mixing head drive seat drive the first and second rotating mixing heads to rotate around their respective axes, thereby ensuring that the sludge contained in the dynamic mixing tank is fully mixed with the biochar-modified cement slurry under the combined stirring of the first and second rotating mixing heads; at the same time, the first and second sets of hydraulic expansion joints are periodically and synchronously controlled with small amplitudes, causing the first and second lifting hinge seats to perform synchronous, small-amplitude, periodic up-and-down displacements; thereby causing the first upward inclined undulating plate, Driven by the transmission chain, the second upper inclined wave plate, the first vertical wave plate, the second vertical wave plate, the first bottom wave plate, and the second bottom wave plate periodically swing back and forth with small amplitudes. This causes the sludge at the edge of the dynamic mixing tank away from the mixing center to be continuously subjected to periodic fluctuations, promoting the flow of the sludge mixture in the area attached to the wave plate in the dynamic mixing tank. At the same time, the robotic arm drives the in-situ solidification execution unit to slowly advance and displace along the extension direction a of the straight strip-shaped sludge area, so that one end of the dynamic mixing tank that is transversely connected continuously swallows fresh sludge, while the other end continuously and slowly expels the fully mixed modified sludge.

[0015] Beneficial effects: The present invention designs a dynamic mixing tank surrounded by multiple hinged undulating plates. Driven synchronously by a top hydraulic telescoping device, the cross-section of the tank can seamlessly switch between a pointed bottom shape that facilitates insertion and a rectangular container shape that facilitates mixing, reducing insertion resistance and forming a controllable mixing space.

[0016] During the mixing stage, dynamic boundary stirring with periodic small-amplitude oscillation of the driven oscillating plate actively disturbs the material at the edge of the mixing tank, achieving uniform mixing of materials within the mixing space.

[0017] During construction, the area to be treated is virtually divided into strip-shaped zones of equal width. The system, with a pointed bottom, is inserted into the end of each strip and then transforms into a rectangular container. Simultaneously, a three-dimensional flow field created by two inclined mixing heads provides core mixing, while dynamic boundary disturbance from a wave plate further facilitates the continuous and slow advancement of the entire execution unit along the strip-shaped zones. This achieves a continuous, integrated operation of ingesting fresh sludge, modifying and mixing it, and expelling solidified soil. This solves the problem of controlling overall homogeneity in large-scale in-situ solidification of coastal sludge. Attached Figure Description

[0018] Figure 1 A schematic diagram illustrating the virtual division of the target coastal biochar modification and solidification area into several adjacent, parallel, straight strip-shaped sludge zones;

[0019] Figure 2 This is a schematic diagram of the overall device;

[0020] Figure 3These are schematic diagrams before and after deformation;

[0021] Figure 4 This is a schematic diagram of the combined structure of the first and second rotary mixing heads. Detailed Implementation

[0022] The invention will now be further described with reference to the accompanying drawings.

[0023] like Figures 2 to 4 The system shown is a coastal cement-soil in-situ modification and solidification system, including an in-situ solidification execution unit 62 at the lower end of a robotic arm 1. The in-situ solidification execution unit 62 includes a mixing head drive seat 2 fixedly installed at the lower end of the robotic arm 1. A first stirring head 20a and a second stirring head 20b are symmetrically arranged on both sides of the mixing head drive seat 2. The mixing head drive seat 2 is provided with two sets of transmission structures for driving the first stirring head 20a and the second stirring head 20b to rotate around their respective axes. A first auger blade 21a and a second auger blade 21b are integrally provided on the outer periphery of the first stirring head 20a and the second stirring head 20b, respectively. A mixing pile 22 is provided on the first auger blade 21a and the second auger blade 21b along the blade extension direction. A curing agent injection head 18 is provided on the mixing head drive seat 2.

[0024] Both the first rotating agitator 20a and the second rotating agitator 20b are angled downwards, and the axis of the first rotating agitator 20a and the axis of the second rotating agitator 20b form an obtuse angle. This symmetrical, angled configuration allows the axial force generated by the blades of the two agitators to collectively form a material flow that converges towards the center of the bottom of the dynamic mixing tank 4 when the two agitators rotate, while the radial force promotes the horizontal tumbling of the material in the tank, thereby creating a three-dimensional mixing flow field within the tank.

[0025] The combined structure consisting of the first rotating mixing head 20a and the second rotating mixing head 20b is provided with a first vertical oscillating plate 12a and a second vertical oscillating plate 12b on both sides, which are capable of swinging motion; the geometric center of the first vertical oscillating plate 12a and the second vertical oscillating plate 12b is hollowed out with a horizontal hollow groove 5; the first vertical oscillating plate 12a and the second vertical oscillating plate 12b are integrally provided with a horizontal first swing shaft 13a and a second swing shaft 13b at the middle height of the first vertical oscillating plate 12a and the second vertical oscillating plate 12b, respectively.

[0026] The stirring head drive base 2 has a first support arm 14a and a second support arm 14b integrally provided on the side near the first vertical undulating plate 12a and the side near the second vertical undulating plate 12b, respectively. The ends of the first support arm 14a and the second support arm 14b are provided with swing shaft through holes 51 for the horizontal tube body. The ends of the first support arm 14a and the second support arm 14b extend into the horizontal hollow grooves 5 on the first vertical undulating plate 12a and the second vertical undulating plate 12b, respectively. The first swing shaft 13a rotates coaxially through the swing shaft through hole 51 on the first support arm 14a, and the second swing shaft 13b rotates coaxially through the swing shaft through hole 51 on the second support arm 14b. Thus, under the support of the first support arm 14a and the second support arm 14b, the first vertical undulating plate 12a and the second vertical undulating plate 12b swing around the axes of the first swing shaft 13a and the second swing shaft 13b, respectively. The swing connection design is the basis for the variable shape of the dynamic mixing tank 4. The hollowed-out groove 5 provides the necessary space for swinging while ensuring the stability of the supporting structure.

[0027] It also includes a first bottom wave plate 16a and a second bottom wave plate 16b that are symmetrical from left to right. The ends of the first bottom wave plate 16a and the second bottom wave plate 16b that are close to each other are hinged by a central hinge 3. The ends of the first bottom wave plate 16a and the second bottom wave plate 16b that are far from each other are respectively hinged to the lower ends of the first vertical wave plate 12a and the second vertical wave plate 12b by the lower left hinge 15a and the lower right hinge 15b, respectively.

[0028] In the initial state, in order to ensure that the central hinge 3 can make a deterministic downward displacement when the upper ends of the first vertical wave plate 12a and the second vertical wave plate 12b swing away from each other, the first bottom wave plate 16a and the second bottom wave plate 16b are approximately horizontal, and the central hinge 3 needs to be slightly lower than the lower left hinge 15a and the lower right hinge 15b; it also includes the left and right symmetrical first upper inclined wave plate 10a and second upper inclined wave plate 10b.

[0029] The first upward-sloping wave plate 10a and the second upward-sloping wave plate 10b are in the shape of an "eight" with their upper parts close to each other and their lower parts far apart. The lower ends of the first upward-sloping wave plate 10a and the second upward-sloping wave plate 10b are respectively hinged to the upper ends of the first vertical wave plate 12a and the second vertical wave plate 12b through the first upper left hinge 11a and the second upper right hinge 11b.

[0030] The upper ends of the first upward inclined wave plate 10a and the second upward inclined wave plate 10b are respectively rotatably engaged with the first lifting hinge seat 9a and the second lifting hinge seat 9b via the first hinge shaft 47a and the second hinge shaft 47b; the two sides of the robotic arm 1 are respectively fixedly installed with the first set of downward extending hydraulic telescopic devices 7a and the second set of hydraulic telescopic devices 7b via the first support 6a and the second support 6b.

[0031] The lower ends of the first set of telescopic rods 8a and 8b of the first set of hydraulic expansion joints 7a and 7b are respectively fixedly connected to the first lifting hinge seat 9a and the second lifting hinge seat 9b. The area surrounded by the first upward inclined wave plate 10a, the second upward inclined wave plate 10b, the first vertical wave plate 12a, the second vertical wave plate 12b, the first bottom wave plate 16a, and the second bottom wave plate 16b forms a transversely penetrating dynamic mixing tank 4. The first rotating stirring head 20a and the second rotating stirring head 20b are both located in the dynamic mixing tank 4. Through the synchronous drive of the top hydraulic expansion joint, the cross-sectional shape of the entire tank can be seamlessly transformed from a "pointed bottom open" shape that facilitates insertion to a rectangular container shape that facilitates stirring and material conveying.

[0032] Working principle:

[0033] Step 1: To allow the in-situ solidification execution unit 62 to sink more smoothly into the coastal silt, based on the initial state, the first set of hydraulic expansion joints 7a and the second set of hydraulic expansion joints 7b are synchronously controlled, causing the first lifting hinge seat 9a and the second lifting hinge seat 9b to move downwards synchronously. The downwardly moving first lifting hinge seat 9a and the second lifting hinge seat 9b respectively push the upper ends of the first vertical wave plate 12a and the second vertical wave plate 12b in a direction away from each other through the first upward inclined wave plate 10a and the second upward inclined wave plate 10b, thereby causing the upper ends of the first vertical wave plate 12a and the second vertical wave plate 12b to rotate around the first swing axis 13. The second swing axis 13b swings away from each other, causing the lower left hinge 15a and lower right hinge 15b at the lower ends of the first vertical undulating plate 12a and the second vertical undulating plate 12b to move closer to each other. The movement of the lower left hinge 15a and lower right hinge 15b closer to each other causes the central hinge 3 to descend relatively, and transforms the originally horizontal first bottom undulating plate 16a and the second bottom undulating plate 16b into a downward-facing pointed structure 58. The first vertical undulating plate 12a and the second vertical undulating plate 12b become inclined surfaces with their lower ends close to each other. In this state, the in-situ solidification execution unit 62 is transformed into a structure that is easier to insert into the silt with a pointed bottom and a thicker top. This deformation process greatly reduces the insertion resistance, and the pointed structure 58 plays a role in breaking the soil and guiding, enabling the entire execution unit to quickly reach the predetermined depth with minimal disturbance, creating ideal starting conditions for subsequent mixing.

[0034] Step two, as Figure 1The target coastal biochar modification and solidification area is virtually divided into several rows of adjacent, straight strip-shaped sludge zones 71. The width of the straight strip-shaped sludge zone 71 is equal to the distance between the first vertical wave plate 12a and the second vertical wave plate 12b in the initial state. The robotic arm 1 drives the in-situ solidification execution unit 62, which is pointed at the bottom and thick at the top, to translate directly above one end of any straight strip-shaped sludge zone 71, and makes the transverse penetrating direction of the dynamic mixing tank 4 parallel to the extension direction of the straight strip-shaped sludge zone 71.

[0035] Step 3: The robotic arm 1 drives the in-situ solidification execution unit 62, which is tapered at the bottom and thickened at the top, to smoothly insert downwards into the corresponding straight strip of sludge 71 at one end of the sludge to be solidified and modified. As the in-situ solidification execution unit 62 sinks into the sludge, the sludge on both sides is replenished into the dynamic mixing tank 4 under the action of gravity. In this case, whether the sludge is completely replenished into the dynamic mixing tank 4 at the initial stage does not affect the overall working process. After the in-situ solidification execution unit 62 is completely inserted into the sludge, the first set of hydraulic expansion joints 7a and the second set of hydraulic expansion joints 7b are synchronously controlled to make the first lifting hinge seat 9a and the second lifting hinge seat 9b move upwards synchronously to the initial position. Initial position; the first vertical undulating plate 12a and the second vertical undulating plate 12b return to their initial vertical state, so that the first vertical undulating plate 12a and the second vertical undulating plate 12b coincide with the two edges of the straight strip-shaped sludge area 71 from a top-down view. At the same time, the first bottom undulating plate 16a and the second bottom undulating plate 16b return to their initial near-horizontal state. At this time, the sludge contained in the dynamic mixing tank 4 is surrounded by the first upward sloping undulating plate 10a, the second upward sloping undulating plate 10b, the first vertical undulating plate 12a, the second vertical undulating plate 12b, the first bottom undulating plate 16a, and the second bottom undulating plate 16b, forming an approximately cubic shape. This step completes the transformation of the working state. The dynamic mixing tank 4 returns from the insertion state to the mixing state, forming a temporary mixing chamber with a slightly open top and closed bottom and sides. This mixing chamber precisely corresponds to the width of the virtually divided strip-shaped area, confining the sludge to be treated within a controllable space, preventing the ineffective diffusion of slurry and sludge into untreated areas, and ensuring the accuracy of the treatment range.

[0036] In step four, the curing agent injection head 18 continuously injects biochar-modified cement slurry into the dynamic mixing tank 4. Simultaneously, two transmission structures within the stirring head drive seat 2 drive the first rotating stirring head 20a and the second rotating stirring head 20b to rotate around their respective axes. This ensures that the sludge contained in the dynamic mixing tank 4 is fully mixed with the biochar-modified cement slurry under the combined stirring of the first rotating stirring head 20a and the second rotating stirring head 20b. The three-dimensional flow field formed by the dual stirring heads ensures that the material in the central area of ​​the dynamic mixing tank 4 is subjected to intense shearing, mixing, and axial transport. The simultaneous injection and mixing achieves immediate injection and mixing, preventing localized accumulation of the slurry.

[0037] Simultaneously, the first set of hydraulic expansion joints 7a and 7b are controlled periodically with small amplitudes, causing the first lifting hinge seat 9a and 9b to move up and down synchronously with small amplitudes. This, in turn, causes the first upward-sloping undulating plate 10a, the second upward-sloping undulating plate 10b, the first vertical undulating plate 12a, the second vertical undulating plate 12b, the first bottom undulating plate 16a, and the second bottom undulating plate 16b to swing back and forth periodically with small amplitudes under the drive of the transmission chain. This results in the sludge at the edge of the dynamic mixing tank 4, far from the mixing center, being continuously subjected to periodic fluctuations, promoting the flow of the sludge mixture in the area adjacent to the undulating plates within the dynamic mixing tank 4, thereby improving the overall mixing uniformity. The periodic oscillation of the undulating plates constituting the boundary of the dynamic mixing tank 4 actively disturbs the boundary layer material, breaking the velocity gradient. This causes the edge material to be continuously drawn into the central strong mixing zone, while the already mixed material in the center is pushed to the edge for renewal. This achieves full-area circulation and ultra-uniform mixing of materials across the entire cross-section of the dynamic mixing tank 4, significantly improving the mixing quality.

[0038] Simultaneously, the robotic arm 1 drives the in-situ solidification execution unit 62 to slowly advance and displace along the extension direction a of the straight strip-shaped sludge zone 71, causing fresh sludge to continuously enter one end of the transversely penetrating dynamic mixing tank 4, while the other end continuously and slowly discharges the fully mixed modified sludge. While maintaining high-intensity mixing and dynamic boundary disturbance within the dynamic mixing tank 4, the entire execution unit advances at a uniform speed, enabling the mixing process to proceed continuously in space, achieving higher efficiency than traditional segmented and intermittent mixing processes.

[0039] When the in-situ solidification execution unit 62 traverses the entire straight strip of silt 71, the silt within that strip is uniformly mixed with biochar-modified cement, thus achieving solidification and modification of the entire straight strip of silt 71. The advantage of this approach is that solidification and modification of the silt within any one straight strip of silt 71 does not affect other straight strips of silt 71, ensuring a balanced amount of biochar-modified cement slurry injected into each local area. This improves overall mixing uniformity and avoids problems of excessively high or low proportions of biochar-modified cement slurry in certain areas. Through the combination of virtual zoning and linear continuous construction, the system achieves independent treatment of each area, matching the slurry dosage with the travel speed, ensuring the uniformity of the solidifier content within the unit soil, and macroscopically eliminating the potential for uneven settlement or strength differences.

[0040] Using the above method, the sludge in each straight strip of sludge zone 71 is continuously solidified and modified, thereby realizing the in-situ solidification and modification process of the sludge in the entire target area.

[0041] 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. A coastal cement-soil in-situ modification and solidification system, characterized in that: The in-situ curing execution unit (62) is located at the lower end of the robotic arm (1). The in-situ curing execution unit (62) includes a stirring head drive seat (2) fixedly installed at the lower end of the robotic arm (1). A first stirring head (20a) and a second stirring head (20b) are symmetrically arranged on both sides of the stirring head drive seat (2). A curing agent injection head (18) is provided on the stirring head drive seat (2). The combined structure consisting of the first rotating mixing head (20a) and the second rotating mixing head (20b) is provided with a first vertical oscillating plate (12a) and a second vertical oscillating plate (12b) on both sides, which are capable of oscillating motion.

2. The coastal cement-soil in-situ modification and solidification system according to claim 1, characterized in that: The geometric center of the first vertical wave plate (12a) and the second vertical wave plate (12b) is provided with a horizontal hollow groove (5); the first vertical wave plate (12a) and the second vertical wave plate (12b) are respectively provided with a horizontal first swing shaft (13a) and a second swing shaft (13b) at the middle height of the first vertical wave plate (12a) and the second vertical wave plate (12b). The stirring head drive base (2) has a first support arm (14a) and a second support arm (14b) integrally provided on the side near the first vertical wave plate (12a) and the side near the second vertical wave plate (12b), respectively; the ends of the first support arm (14a) and the second support arm (14b) are provided with swing shaft through holes (51) of the horizontal tube body; the first swing shaft (13a) rotates coaxially through the swing shaft through hole (51) on the first support arm (14a), and the second swing shaft (13b) rotates coaxially through the swing shaft through hole (51) on the second support arm (14b); thus, under the support of the first support arm (14a) and the second support arm (14b), the first vertical wave plate (12a) and the second vertical wave plate (12b) swing around the axis of the first swing shaft (13a) and the second swing shaft (13b), respectively.

3. The coastal cement-soil in-situ modification and solidification system according to claim 1, characterized in that: The first stirring head (20a) and the second stirring head (20b) are integrally provided with a first auger blade (21a) and a second auger blade (21b) on their outer periphery respectively; and a stirring pile (22) is provided on the first auger blade (21a) and the second auger blade (21b) along the blade extension direction.

4. The coastal cement-soil in-situ modification and solidification system according to claim 1, characterized in that: Both the first stirring head (20a) and the second stirring head (20b) are tilted downwards, and the axis of the first stirring head (20a) and the axis of the second stirring head (20b) form an obtuse angle.

5. The coastal cement-soil in-situ modification and solidification system according to claim 2, characterized in that: It also includes a first bottom wave plate (16a) and a second bottom wave plate (16b) that are symmetrical from left to right. The ends of the first bottom wave plate (16a) and the second bottom wave plate (16b) that are close to each other are hinged by a central hinge (3). The ends of the first bottom wave plate (16a) and the second bottom wave plate (16b) that are far apart from each other are respectively hinged to the lower ends of the first vertical wave plate (12a) and the second vertical wave plate (12b) by a lower left hinge (15a) and a lower right hinge (15b). In the initial state, the central hinge (3) is lower than the lower left hinge (15a) and the lower right hinge (15b); it also includes a first upper inclined wave plate (10a) and a second upper inclined wave plate (10b) that are symmetrical on the left and right; the first upper inclined wave plate (10a) and the second upper inclined wave plate (10b) are in the shape of an "eight" with their upper parts close to each other and their lower parts far apart. The lower ends of the first upward inclined wave plate (10a) and the second upward inclined wave plate (10b) are respectively hinged to the upper ends of the first vertical wave plate (12a) and the second vertical wave plate (12b) through the first upper left hinge (11a) and the second upper right hinge (11b). The upper ends of the first upward inclined wave plate (10a) and the second upward inclined wave plate (10b) are respectively rotatably engaged on the first lifting hinge seat (9a) and the second lifting hinge seat (9b) via the first hinge shaft (47a) and the second hinge shaft (47b).

6. The coastal cement-soil in-situ modification and solidification system according to claim 5, characterized in that: The robotic arm (1) has a first set of hydraulic telescopic devices (7a) and a second set of hydraulic telescopic devices (7b) that extend downwards, respectively, installed on both sides by a first support (6a) and a second support (6b). The lower ends of the first set of telescopic rods (8a) and the second set of telescopic rods (8b) of the first set of hydraulic expansion joints (7a) and the second set of hydraulic expansion joints (7b) are respectively fixedly connected to the first lifting hinge seat (9a) and the second lifting hinge seat (9b). The area enclosed by the first upward inclined wave plate (10a), the second upward inclined wave plate (10b), the first vertical wave plate (12a), the second vertical wave plate (12b), the first bottom wave plate (16a), and the second bottom wave plate (16b) forms a transversely penetrating dynamic mixing tank (4), and the first rotating stirring head (20a) and the second rotating stirring head (20b) are both in the dynamic mixing tank (4).

7. The working method of the coastal cement-soil in-situ modification and solidification system according to claim 6, characterized in that: Step 1: Based on the initial state, synchronously control the first set of hydraulic expansion joints (7a) and the second set of hydraulic expansion joints (7b) to make the first lifting hinge seat (9a) and the second lifting hinge seat (9b) move downward synchronously. The downwardly moving first lifting hinge seat (9a) and the second lifting hinge seat (9b) push the upper ends of the first vertical wave plate (12a) and the second vertical wave plate (12b) in a mutually distancing direction through the first upward inclined wave plate (10a) and the second upward inclined wave plate (10b), respectively. This causes the upper ends of the first vertical wave plate (12a) and the second vertical wave plate (12b) to move around the first swing axis (13a) and the second swing axis (13b), respectively. The oscillations moving away from each other cause the lower left hinge (15a) and lower right hinge (15b) at the lower ends of the first vertical wave plate (12a) and the second vertical wave plate (12b) to move closer to each other; the movement of the lower left hinge (15a) and lower right hinge (15b) closer to each other causes the central hinge (3) to descend relatively, and transforms the originally horizontal first bottom wave plate (16a) and second bottom wave plate (16b) into a downward-facing pointed structure (58); the first vertical wave plate (12a) and the second vertical wave plate (12b) become inclined surfaces with their lower ends close to each other; the in-situ solidification execution unit (62) is transformed into a structure that is easy to insert into the silt smoothly from the bottom and thicker at the top; Step 2: The target coastal biochar modified and solidified area is virtually divided into several rows of adjacent straight strip-shaped sludge zones (71); the width of the straight strip-shaped sludge zone (71) is equal to the distance between the first vertical wave plate (12a) and the second vertical wave plate (12b) in the initial state. The robotic arm (1) drives the in-situ solidification execution unit (62) with a pointed bottom and a thick top to move directly above one end of any straight strip of sludge (71), and makes the transverse direction of the dynamic mixing tank (4) parallel to the extension direction of the straight strip of sludge (71). Step 3: The robotic arm (1) drives the in-situ curing execution unit (62), which is pointed at the bottom and thick at the top, to smoothly insert downwards into the sludge to be cured and modified at one end of the corresponding straight strip-shaped sludge area (71). During the process of the in-situ curing execution unit (62) sinking downwards into the sludge, after the in-situ curing execution unit (62) is fully inserted into the sludge, the first set of hydraulic telescopic devices (7a) and the second set of hydraulic telescopic devices (7b) are controlled simultaneously to make the first lifting hinge seat (9a) and the second lifting hinge seat (9b) move upwards synchronously to the initial position; the first vertical wave plate (12a) and the second vertical wave plate (12b) return to the initial position. The initial vertical state is such that the first vertical wave plate (12a) and the second vertical wave plate (12b) coincide with the two edges of the straight strip sludge area (71) from the top view. At the same time, the first bottom wave plate (16a) and the second bottom wave plate (16b) return to the initial horizontal state. At this time, the sludge contained in the dynamic mixing tank (4) is surrounded by the first upper inclined wave plate (10a), the second upper inclined wave plate (10b), the first vertical wave plate (12a), the second vertical wave plate (12b), the first bottom wave plate (16a), and the second bottom wave plate (16b) into a cubic shape.

8. The working method of the coastal cement-soil in-situ modification and solidification system according to claim 7, characterized in that: Step 4: The curing agent injection head (18) continuously injects biochar-modified cement slurry into the dynamic mixing tank (4); At the same time, the two transmission structures in the stirring head drive seat (2) drive the first stirring head (20a) and the second stirring head (20b) to rotate around their respective axes, so that the sludge contained in the dynamic mixing tank (4) is fully mixed with the biochar modified cement slurry under the combined stirring of the first stirring head (20a) and the second stirring head (20b). At the same time, the first set of hydraulic expansion joints (7a) and the second set of hydraulic expansion joints (7b) are controlled in a periodic, small-amplitude manner, so that the first lifting hinge seat (9a) and the second lifting hinge seat (9b) move up and down in a periodic, small-amplitude manner; thereby, the first upper inclined wave plate (10a), the second upper inclined wave plate (10b), the first vertical wave plate (12a), the second vertical wave plate (12b), the first bottom wave plate (16a) and the second bottom wave plate (16b) swing back and forth in a periodic, small-amplitude manner under the drive of the transmission chain, so that the sludge at the edge position of the dynamic mixing tank (4) away from the mixing center is continuously subjected to periodic fluctuations, promoting the flow of the sludge mixture in the area of ​​the wave plate in the dynamic mixing tank (4); At the same time, the robotic arm (1) drives the in-situ solidification execution unit (62) to slowly advance and move along the extension direction of the straight strip-shaped sludge area (71), so that one end of the dynamic mixing tank (4) is continuously swallowed by fresh sludge, while the other end is continuously and slowly spit out the fully mixed modified sludge.

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