Underwater robot, system and method for grouting offshore wind power jacket

Abstract

The invention discloses an underwater robot, system and method for grouting of an offshore wind power jacket. The underwater robot at least comprises an operation arm, a fixed arm, a propelling assembly and a monitoring assembly which are arranged on a body. The operating arm comprises a first driving assembly and an operating end, the first driving assembly drives the operating end to move the grouting pipe, and the operating end is connected with the body through a first connecting arm; the fixing arm comprises a second driving assembly and a clamping end, the second driving assembly drives the clamping end to fix the body, and the clamping end is connected with the body through a second connecting arm. In the application, the underwater robot enables the grouting pipe to be accurately inserted into the annular space for grouting operation, so that the safety risk of the grouting operation is reduced, the cost can be effectively reduced, the processing of prefabricated pipelines in the prior art is reduced, and the operation efficiency is improved.

Description

Technical Field

[0001] The present application belongs to the field of offshore wind power technology, and specifically relates to an underwater robot, system and method for grouting offshore wind power conductor frames. Background Art

[0002] Offshore wind power has received extensive attention as a key area of ​​renewable energy development. Offshore wind power has the characteristics of rich resources, high power generation hours, no land occupation and suitability for large-scale development. It is the latest frontier of global wind power development.

[0003] The existing annular space grouting between the main legs and steel pipe piles of offshore wind turbine conductor frames mostly adopts prefabricated pipeline grouting, which has many disadvantages, such as the complex processing and high cost of prefabricated grouting pipelines, the grouting construction is greatly affected by sea conditions, and the efficiency is low. In addition, it is usually necessary to dive underwater to complete underwater operations, which poses operational safety risks and is very inconvenient.

[0004] Therefore, there is an urgent need to propose an underwater robot, system and method for grouting of offshore wind turbine conductor frames, which can use a special underwater robot to carry pipelines underwater for grouting operations, monitor the grouting surface height and overflow conditions, reduce safety hazards in operations, and be able to adapt to more sea conditions. Summary of the invention

[0005] In view of the above-mentioned shortcomings or deficiencies of the prior art, the technical problem to be solved by the present application is to provide an underwater robot, system and method for grouting offshore wind turbine conductor frames.

[0006] To solve the above technical problems, this application is implemented through the following technical solutions:

[0007] The present application proposes an underwater robot for grouting of offshore wind power conductor frames, which comprises at least: an operating arm, a fixed arm, a propulsion assembly and a monitoring assembly arranged on a main body; the operating arm comprises: a first driving assembly and an operating end, the first driving assembly drives the operating end to move the grouting pipe, and the operating end is connected to the main body through a first connecting arm; the fixed arm comprises: a second driving assembly and a clamping end, the second driving assembly drives the clamping end to fix the main body, and the clamping end is connected to the main body through a second connecting arm.

[0008] Optionally, the above-mentioned underwater robot further includes: an auxiliary arm, a working end of the auxiliary arm assists the operating arm in fixing the relative position of the grouting pipe and the operating arm.

[0009] Optionally, the above-mentioned underwater robot further includes: a mobile platform, wherein the mobile platform is arranged between the main body and the operating arm.

[0010] Optionally, in the above-mentioned underwater robot, the first driving component includes: a first rack, a second rack, a first driving wheel, a second driving wheel, a first driven wheel, a second driven wheel and a third driven wheel; the first rack is arranged opposite to the second rack, the first driving wheel is coaxially arranged with the second driving wheel, the first driven wheel is meshed with the first rack and the first driving wheel, the second driven wheel is coaxially arranged with the third driven wheel, the second driven wheel is meshed with the second rack, and the third driven wheel is meshed with the second driving wheel through a chain; or, the first driving component includes: a first rack, a second rack, a third driving wheel, a fourth driving wheel, a fourth driven wheel and a fifth driven wheel; the first rack is arranged opposite to the second rack, the fourth driven wheel is meshed with the first rack and the third driving wheel, and the fifth driven wheel is meshed with the second rack and the fourth driving wheel.

[0011] Optionally, in the above-mentioned underwater robot, the second connecting arm includes: a first rod and a second rod, one end of the first rod is connected to one end of the second rod, the other end of the first rod is connected to the clamping end, and the other end of the second rod is connected to the body.

[0012] Optionally, in the above-mentioned underwater robot, the second driving component includes: a hydraulic component or a pneumatic component.

[0013] Optionally, in the above-mentioned underwater robot, the propulsion assembly includes: a plurality of propellers, and the plurality of propellers are distributed in the circumference of the body.

[0014] Optionally, in the above-mentioned underwater robot, the grouting pipe comprises: a first pipe and a second pipe, the second pipe connects the first pipe and the grouting equipment, and the operating arm clamps the first pipe.

[0015] The present application also proposes a system for grouting offshore wind turbine conductor frames, comprising: the above-mentioned underwater robot, construction ship, grouting equipment, pulping equipment and lifting equipment, the above-mentioned underwater robot, construction ship, grouting equipment, pulping equipment and lifting equipment, the grouting equipment, the pulping equipment and the lifting equipment are arranged on the construction ship, the grouting equipment is connected to the pulping equipment, the lifting equipment lifts the slurry to the pulping equipment, the grouting equipment is connected to a grouting pipe, and the underwater robot carries the grouting pipe to a preset position for grouting operations.

[0016] The present application also proposes a grouting method based on the above-mentioned underwater robot for grouting of offshore wind power conductor frames, comprising the following steps:

[0017] Step 1: Using the underwater robot to carry the grouting pipe to a preset underwater position;

[0018] Step 2, locking the body to the ring plate of the main leg of the catheter rack through the fixing arm;

[0019] Step 3: roughly adjusting the posture and position of the body through the fixed arm so that the grouting pipe and the grouting port are preliminarily aligned;

[0020] Step 4: fine-adjust the position of the operating end by using the mobile platform and the operating arm so that the grouting pipe is centered with the grouting port;

[0021] Step 5, inserting the grouting pipe into the bottom of the annular space between the main leg of the conductor frame and the steel pipe pile through the operating end;

[0022] Step 6: Start the pulping equipment and the grouting equipment to fill the annular space with grouting material;

[0023] Step 7: The monitoring component monitors the height of the grouting surface and the overflow situation.

[0024] Compared with the prior art, this application has the following technical effects:

[0025] In the present application, an operating arm, a fixed arm and a propulsion assembly are arranged on the main body to form an underwater robot, wherein the operating arm is used to carry the grouting pipe, and sinks to a preset underwater position with the assistance of the main body, and the fixed arm is connected to the ring plate of the main leg stop of the conductor frame to ensure that the relative position of the operating arm and the conductor frame remains unchanged, so as to complete the grouting operation. The underwater robot of the present application can be positioned and locked so that the grouting pipe can be accurately inserted into the annular space for grouting operations. The use of the underwater robot proposed in the present application for grouting operations has significant advantages, reduces the safety risks of grouting operations, can effectively reduce costs, reduces the processing of prefabricated pipelines in the prior art, and improves operating efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Other features, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:

[0027] Figure 1 : A schematic diagram of the structure of an underwater robot in one embodiment of the present application;

[0028] Figure 2 :like Figure 1 a top view of the structure shown;

[0029] Figure 3 :like Figure 1 a side view of the structure shown;

[0030] Figure 4 :like Figure 1 A front view of the structure shown;

[0031] Figure 5 : A schematic diagram of the structure of the first driving assembly in Example 1 of the present application;

[0032] Figure 6 : A schematic diagram of the structure of the first driving assembly in Example 2 of the present application;

[0033] Figure 7 : A schematic diagram of the structure of Example 3 of the present application;

[0034] Figure 8 :like Figure 7 A partial schematic diagram of the structure shown;

[0035] In the figure: main body 1, first driving assembly 2, first rack 201, second rack 202, first driving wheel 203, second driving wheel 204, first driven wheel 205, second driven wheel 206, third driven wheel 207, third driving wheel 208, fourth driving wheel 209, fourth driven wheel 210, fifth driven wheel 211, operating end 3, first connecting arm 4, clamping end 5, first rod 6, second rod 7, auxiliary arm 8, mobile platform 9, thruster 10, first pipe 11, second pipe 12, construction ship 13, grouting equipment 14, pulping equipment 15, lifting equipment 16, working end 17, ring plate 18, grouting material 19, remote control system 20, chain 21, grouting port 22. DETAILED DESCRIPTION

[0036] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0037] Example 1

[0038] like Figures 1 to 5 As shown, one of the embodiments of the present application, an underwater robot for grouting of offshore wind power conductor frames, comprises at least: an operating arm, a fixed arm, a propulsion assembly and a monitoring assembly arranged on a main body 1; the operating arm comprises: a first driving assembly 2 and an operating end 3, the first driving assembly 2 drives the operating end 3 to move the grouting pipe, and the operating end 3 is connected to the main body 1 through a first connecting arm 4; the fixed arm comprises: a second driving assembly and a clamping end 5, the second driving assembly drives the clamping end 5 to fix the main body 1, and the clamping end 5 is connected to the main body 1 through a second connecting arm.

[0039] Optionally, the monitoring component includes but is not limited to a camera module, a radar and / or a temperature sensor. Those skilled in the art may set underwater monitoring and positioning equipment such as a camera module and a radar on the body 1. The camera module may be used to monitor the overflow during the grouting process, and the temperature sensor is used to monitor the height of the grouting surface. Specifically, the temperature sensor is set on the side of the first rack 201 and / or the second rack 202 described below, so that it can be submerged together with the body 1 for monitoring, and will not hinder the gears from moving along the first rack 201 and the second rack 202 described below.

[0040] Optionally, the temperature sensor includes but is not limited to a resistance temperature sensor or an optical fiber temperature sensor. When a resistance temperature sensor is used, a plurality of resistance temperature sensors are evenly distributed on the side of the first rack 201 and / or the second rack 202 to monitor the height of the grouting surface; when an optical fiber temperature sensor is used, a distributed optical fiber temperature sensor is set on the side of the first rack 201 and / or the second rack 202 to monitor the height of the grouting surface.

[0041] In this embodiment, an operating arm, a fixed arm and a propulsion assembly are arranged on the main body 1 to form an underwater robot, wherein the operating arm is used to carry the grouting pipe, and sinks to a preset underwater position with the assistance of the main body 1, and the fixed arm is connected to the ring plate 18 of the main leg stop of the conductor frame to ensure that the relative position of the operating arm and the conductor frame remains unchanged, so as to complete the grouting operation. The underwater robot of this embodiment can be positioned to a preset position, such as the main leg stop of the conductor frame, by the monitoring assembly, and the clamping end 5 is placed on the ring plate 18 of the main leg stop of the conductor frame by adjusting the fixed arm, and the clamping end 5 is locked on the ring plate 18 by the second driving assembly, so that the grouting pipe is accurately inserted into the annular space for grouting operation. The use of the underwater robot proposed in this embodiment for grouting operation has significant advantages, reduces the safety risks of grouting operation, can effectively reduce costs, reduces the processing of prefabricated pipelines in the prior art, and improves operation efficiency.

[0042] Specifically, the first driving assembly 2 includes: a first rack 201, a second rack 202, a first driving wheel 203, a second driving wheel 204, a first driven wheel 205, a second driven wheel 206 and a third driven wheel 207; the first rack 201 is arranged opposite to the second rack 202, the first driving wheel 203 is coaxially arranged with the second driving wheel 204, the first driven wheel 205 is meshed with the first rack 201 and the first driving wheel 203, the second driven wheel 206 is coaxially arranged with the third driven wheel 207, the second driven wheel 206 is meshed with the second rack 202, and the third driven wheel 207 is meshed with the second driving wheel 204 through a chain 21.

[0043] In this embodiment, the first rack 201 and the second rack 202 are fixedly arranged on the opposite sides of the grouting pipe, respectively, the first rack 201 and the second rack 202 clamp the grouting pipe, and the motor provides power to the first driving wheel 203 and the second driving wheel 204, so that the first driving assembly 2 can drive the operating end 3 to move the position of the grouting pipe along the direction set by the first rack 201 and the second rack 202. Specifically, the first connecting arm 4 is L-shaped and is rotatably connected to the body 1 to realize the rotation of the operating end 3 in the Z-axis direction to fine-tune the relative position of the grouting pipe and the ring plate 18.

[0044] Optionally, the underwater robot of this embodiment further includes: an auxiliary arm 8, wherein the working end 17 of the auxiliary arm 8 assists the operating arm in fixing the relative position of the grouting pipe and the operating arm.

[0045] In this embodiment, the auxiliary arm 8 is connected to the operating arm, and a structure meshing with the first rack 201 and the second rack 202 is provided inside the working end 17 of the auxiliary arm 8 to ensure the stability of the connection between the operating arm and the grouting pipe and assist the operation of the operating arm.

[0046] Optionally, the second connecting arm includes: a first rod 6 and a second rod 7, one end of the first rod 6 is connected to one end of the second rod 7, the other end of the first rod 6 is connected to the clamping end 5, and the other end of the second rod 7 is connected to the body 1.

[0047] In this embodiment, the fixed arm clamps the ring plate 18 of the main leg stop of the jacket, so that the underwater robot and the grouting operation site are kept fixed relative to each other, and the first rod 6 of the second connecting arm is rotatably connected to the second rod 7, and the second rod 7 is rotatably connected to the body 1, so that the second connecting arm can achieve 180° rotation adjustment relative to the body 1 in the X-axis direction, so that when the body 1 is positioned near the main leg stop of the jacket, the second connecting arm drives the clamping end 5 to be locked on the ring plate 18. After the body 1 is locked, the first rod 6 and the second rod 7 are rotated so that the body 1 is located in the XY plane, the grouting pipe is in the same direction as the Z axis, and is preliminarily aligned with the grouting port 22.

[0048] Optionally, the second driving component includes but is not limited to a hydraulic component or a pneumatic component to achieve the clamping operation of the clamping end 5.

[0049] Optionally, the underwater robot of this embodiment further includes: a mobile platform 9, which is arranged between the main body 1 and the operating arm. The mobile platform 9 can move horizontally in the Y-axis direction relative to the main body 1, and the operating end 3 can also move horizontally in the Y-axis direction accordingly.

[0050] Specifically, the propulsion assembly includes: a plurality of propellers 10 , and the plurality of propellers 10 are distributed in the circumferential direction of the body 1 .

[0051] In this embodiment, the number of thrusters 10 is set to six, which are evenly arranged on opposite sides of the main body 1, and each thruster 10 is oriented in a different direction. Each thruster 10 can independently control steering and power output. The propulsion system can realize flexible movement and precise positioning of the underwater robot in three-dimensional space.

[0052] Optionally, the grouting pipe includes: a first pipe 11 and a second pipe 12 , the second pipe 12 connects the first pipe 11 and the grouting equipment 14 , and the operating arm clamps the first pipe 11 .

[0053] In this embodiment, the first tube 11 is a hard tube, and the second tube 12 is a soft tube. The soft tube connects the grouting equipment 14 and the hard tube, and the hard tube is convenient for fixed connection with the underwater robot. Specifically, the inner diameter of the first tube 11 is 66 mm and the outer diameter is 76 mm; the inner diameter of the second tube 12 is 82 mm and the outer diameter is 102 mm. The first tube 11 and the second tube 12 are connected by a conversion joint. Of course, those skilled in the art can adapt the specifications of the first tube 11 and the second tube 12 to meet actual construction requirements.

[0054] Specifically, a depth sensor is provided at the bottom of the first tube 11, and the depth sensor can measure the insertion depth in real time. The remote control system 20 accurately controls the operation of the operating end 3 according to the feedback data of the depth sensor, and adjusts the rise and fall of the grouting tube to keep the insertion depth within a predetermined range.

[0055] In this embodiment, those skilled in the art can control the first drive component 2 of the operating arm, the second drive component of the fixed arm, the mobile platform 9, the thruster 10, the camera, the radar, etc. provided on the main body 1 through the remote control system 20 to achieve remote control of the underwater robot without manual underwater operation.

[0056] Optionally, the main body 1 is made of high-strength corrosion-resistant material, has a low-resistance and stable appearance, and can maintain good stability in complex environments such as underwater undercurrents.

[0057] Example 2

[0058] like Figure 6As shown, compared with Example 1, the difference between this embodiment and this embodiment is that the first driving component 2 of this embodiment includes: the first driving component 2 includes: a first rack 201, a second rack 202, a third driving wheel 208, a fourth driving wheel 209, a fourth driven wheel 210 and a fifth driven wheel 211; the first rack 201 is arranged opposite to the second rack 202, the fourth driven wheel 210 is meshed with the first rack 201 and the third driving wheel 208, and the fifth driven wheel 211 is meshed with the second rack 202 and the fourth driving wheel 209.

[0059] In this embodiment, the first rack 201 and the second rack 202 are fixedly arranged on the opposite sides of the grouting pipe, the first rack 201 and the second rack 202 clamp the grouting pipe, and two motors are arranged to provide power to the third driving wheel 208 and the fourth driving wheel 209, respectively, so that the first driving assembly 2 can drive the operating end 3 to move the position of the grouting pipe along the direction set by the first rack 201 and the second rack 202. Compared with the driving assembly of Example 1, the first driving assembly 2 of this embodiment reduces the use of the chain 21, so as to avoid the chain 21 from being corroded during offshore operations, which may shorten the life of the underwater robot.

[0060] Example 3

[0061] like Figure 7 and Figure 8 As shown, this embodiment proposes a system for grouting an offshore wind turbine conduit, comprising: the above-mentioned underwater robot, a construction ship 13, a grouting equipment 14, a pulping equipment 15 and a lifting equipment 16, wherein the grouting equipment 14, the pulping equipment 15 and the lifting equipment 16 are arranged on the construction ship 13, the grouting equipment 14 is connected to the pulping equipment 15, the lifting equipment 16 lifts the grouting material 19 to the pulping equipment 15, the grouting equipment 14 is connected to a grouting pipe, and the underwater robot carries the grouting pipe to a preset position for grouting operations.

[0062] This embodiment proposes a system for grouting an offshore wind turbine conductor frame, which uses an underwater robot to perform grouting operations, thereby reducing the safety risks of construction operations, reducing the impact of sea conditions on the construction process, and ensuring construction efficiency.

[0063] Example 4

[0064] This embodiment proposes a grouting method based on an underwater robot for grouting an offshore wind power conductor frame, comprising the following steps:

[0065] Step 1: Use the underwater robot to carry the grouting pipe to a preset underwater position, specifically, use the operating end 3 to clamp the first pipe 11 and dive to the preset position;

[0066] Step 2, locking the body 1 to the ring plate 18 of the main leg of the conductor frame through the fixing arm;

[0067] Step 3, roughly adjusting the posture and position of the body 1 by the fixed arm, so that the body 1 is located in the XY plane of the preset position, the grouting pipe is in the same direction as the Z axis of the preset position and is preliminarily aligned with the grouting port 22;

[0068] Step 4: fine-tune the position of the operating end 3 by the mobile platform 9 and the operating arm so that the grouting pipe is centered with the grouting port 22. In this embodiment, the grouting port 22 is arranged on the ring plate 18, and has two coaxially arranged grouting ports 22. During the centering process of the grouting pipe and the grouting port 22, it is necessary to pay attention to the centering of both grouting ports 22.

[0069] Step 5, inserting the grouting pipe into the bottom of the annular space between the main leg of the conductor frame and the steel pipe pile through the operating end 3;

[0070] Step 6, starting the pulping equipment 15 and the grouting equipment 14, so that the grouting material 19 is filled into the annular space;

[0071] Step 7, the monitoring component monitors the height of the grouting surface and the overflow. In this embodiment, a temperature sensor is set on the side of the first rack 201 to monitor the height of the grouting surface, and a camera module set on the main body 1 is used to monitor whether there is overflow.

[0072] This embodiment proposes a grouting method based on an underwater robot, which uses an underwater robot to perform grouting operations, thereby reducing the safety risks of construction operations, reducing the impact of sea conditions on the construction process, and ensuring construction efficiency. It has broad application prospects in the field of offshore wind power construction grouting.

[0073] In the description of this application, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0074] In the present application, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0075] In the description of this embodiment, the terms "upper", "lower", "left", "right", etc., and the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as a limitation of the present application. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0076] The above embodiments are only used to illustrate the technical solution of the present application but not to limit it. The present application is described in detail with reference to the preferred embodiments. It should be understood by those skilled in the art that the technical solution of the present application can be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the present application, and should be included in the scope of the claims of the present application.

Claims

1. An underwater robot for grouting offshore wind power pipe frames, characterized in that: At least: An operating arm, a fixed arm, a propulsion assembly and a monitoring assembly are arranged on the body; The operating arm comprises: a first driving assembly and an operating end, the first driving assembly drives the operating end to move the grouting pipe, and the operating end is connected to the body through a first connecting arm; The fixing arm comprises: a second driving assembly and a clamping end, the second driving assembly drives the clamping end to fix the body, and the clamping end is connected to the body through a second connecting arm.

2. The underwater robot according to claim 1, characterized in that: Also includes: An auxiliary arm, wherein the working end of the auxiliary arm assists the operating arm in fixing the relative position of the grouting pipe and the operating arm.

3. The underwater robot according to claim 1, characterized in that: Also includes: A mobile platform is arranged between the main body and the operating arm.

4. The underwater robot according to any one of claims 1 to 3, characterized in that: The first driving assembly includes: a first rack, a second rack, a first driving wheel, a second driving wheel, a first driven wheel, a second driven wheel and a third driven wheel; the first rack is arranged opposite to the second rack, the first driving wheel is coaxially arranged with the second driving wheel, the first driven wheel is meshed with the first rack and the first driving wheel, the second driven wheel is coaxially arranged with the third driven wheel, the second driven wheel is meshed with the second rack, and the third driven wheel is meshed with the second driving wheel through a chain; Alternatively, the first driving assembly includes: a first rack, a second rack, a third driving wheel, a fourth driving wheel, a fourth driven wheel and a fifth driven wheel; the first rack is arranged opposite to the second rack, the fourth driven wheel is meshed with the first rack and the third driving wheel, and the fifth driven wheel is meshed with the second rack and the fourth driving wheel.

5. The underwater robot according to claim 4, characterized in that: The second connecting arm includes: a first rod and a second rod, one end of the first rod is connected to one end of the second rod, the other end of the first rod is connected to the clamping end, and the other end of the second rod is connected to the body.

6. The underwater robot according to claim 4, characterized in that: The second driving component includes: a hydraulic component or a pneumatic component.

7. The underwater robot according to claim 4, characterized in that: The propulsion assembly includes: a plurality of propellers, and the plurality of propellers are distributed in the circumferential direction of the body.

8. The underwater robot according to claim 4, characterized in that: The grouting pipe comprises: a first pipe and a second pipe, the second pipe connects the first pipe and the grouting equipment, and the operating arm clamps the first pipe.

9. A system for grouting offshore wind power pipe frames, characterized in that: include: The underwater robot, construction ship, grouting equipment, pulping equipment and lifting equipment as described in any one of claims 1 to 8, the above-mentioned underwater robot, construction ship, grouting equipment, pulping equipment and lifting equipment, the grouting equipment, the pulping equipment and the lifting equipment are arranged on the construction ship, the grouting equipment is connected to the pulping equipment, the lifting equipment lifts the slurry to the pulping equipment, the grouting equipment is connected to a grouting pipe, and the underwater robot carries the grouting pipe to a preset position for grouting operations.

10. A grouting method using an underwater robot for offshore wind power conductor grouting according to any one of claims 1 to 8, characterized in that: The following steps are involved: Step 1: Using the underwater robot to carry the grouting pipe to a preset underwater position; Step 2, locking the body to the ring plate of the main leg of the catheter rack through the fixing arm; Step 3: roughly adjusting the posture and position of the body through the fixed arm so that the grouting pipe and the grouting port are preliminarily aligned; Step 4: fine-adjust the position of the operating end by using the mobile platform and the operating arm so that the grouting pipe is centered with the grouting port; Step 5, inserting the grouting pipe into the bottom of the annular space between the main leg of the conductor frame and the steel pipe pile through the operating end; Step 6: Start the pulping equipment and the grouting equipment to fill the annular space with grouting material; Step 7: The monitoring component monitors the height of the grouting surface and the overflow situation.

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