An underwater robot, system, and method for grouting offshore wind turbine jacket foundations.

Abstract

This application discloses an underwater robot, system, and method for grouting offshore wind turbine jacket foundations. The underwater robot includes at least: an operating arm, a fixed arm, a propulsion assembly, and a monitoring assembly mounted on its main body. The operating arm includes a first drive assembly and an operating end, the first drive assembly driving the operating end to move the grouting pipe, and the operating end being connected to the main body via a first connecting arm. The fixed arm includes a second drive assembly and a clamping end, the second drive assembly driving the clamping end to fix the main body, and the clamping end being connected to the main body via a second connecting arm. In this application, the underwater robot enables the grouting pipe to be precisely inserted into an annular space for grouting operations, reducing safety risks during grouting operations, effectively reducing costs, minimizing the processing of prefabricated pipelines in existing technologies, and improving operational efficiency.

Description

Technical Field

[0001] This application belongs to the field of offshore wind power technology, specifically relating to an underwater robot, system, and method for grouting offshore wind turbine jacket foundations. Background Technology

[0002] Offshore wind power has received widespread attention as a key area of ​​renewable energy development. It is characterized by abundant resources, high power generation utilization hours, no land occupation, and suitability for large-scale development, making it the latest frontier in global wind power development.

[0003] The existing grouting of the annular space between the main legs and steel pipe piles of offshore wind turbine jackets mostly adopts prefabricated pipeline grouting, which has many drawbacks, such as the complex processing and high cost of prefabricated grouting pipelines, the large influence of sea conditions on grouting construction and low efficiency, and usually requires manual diving underwater to complete the underwater operation, 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 jackets, which can carry pipelines underwater to carry out grouting operations using a specially designed underwater robot, monitor the height of the grouting surface and the overflow of grout, reduce operational safety hazards, and be able to adapt to more sea conditions. Summary of the Invention

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

[0006] To solve the above-mentioned technical problems, this application provides the following technical solution:

[0007] This application proposes an underwater robot for grouting offshore wind turbine jacket foundations, comprising at least: an operating arm, a fixed arm, a propulsion assembly, and a monitoring assembly mounted on a main body; the operating arm includes: a first drive assembly and an operating end, the first drive assembly driving the operating end to move the grouting pipe, the operating end being connected to the main body via a first connecting arm; the fixed arm includes: a second drive assembly and a clamping end, the second drive assembly driving the clamping end to fix the main body, the clamping end being connected to the main body via a second connecting arm.

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

[0009] Optionally, the underwater robot described above further includes a mobile platform, which is disposed between the main body and the manipulator.

[0010] Optionally, in the above-described underwater robot, the first drive 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 and the second rack are arranged opposite to each other, the first driving wheel and the second driving wheel are coaxially arranged, the first driven wheel meshes with the first rack and the first driving wheel, the second driven wheel and the third driven wheel are coaxially arranged, the second driven wheel meshes with the second rack, and the third driven wheel meshes with the second driving wheel via a chain; or, the first drive 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 and the second rack are arranged opposite to each other, the fourth driven wheel meshes with the first rack and the third driving wheel, and the fifth driven wheel meshes with the second rack and the fourth driving wheel.

[0011] Optionally, in the above-described 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-described underwater robot, the second drive component includes a hydraulic component or a pneumatic component.

[0013] Optionally, in the above-described underwater robot, the propulsion assembly includes: a plurality of thrusters distributed circumferentially on the body.

[0014] Optionally, in the above-mentioned underwater robot, the grouting pipe includes: a first pipe and a second pipe, the second pipe connecting the first pipe and the grouting equipment, and the operating arm clamping the first pipe.

[0015] This application also proposes a system for grouting offshore wind turbine jacket foundations, comprising: the aforementioned underwater robot, construction vessel, grouting equipment, slurry preparation equipment, and hoisting equipment; wherein the underwater robot, construction vessel, grouting equipment, slurry preparation equipment, and hoisting equipment are mounted on the construction vessel; the grouting equipment is connected to the slurry preparation equipment; the hoisting equipment hoists slurry to the slurry preparation 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] This application also proposes a grouting method based on the above-mentioned underwater robot for grouting offshore wind turbine jacket foundations, comprising the following steps:

[0017] Step 1: Use the underwater robot to carry the grouting pipe to the preset underwater location;

[0018] Step 2: Lock the main body onto the annular plate of the main leg of the guide frame using the fixing arm;

[0019] Step 3: The posture and position of the main body are roughly adjusted by the fixed arm so that the grouting pipe and the grouting port are initially aligned;

[0020] Step 4: Fine-tune the position of the operating end using the mobile platform and the operating arm to align the grouting pipe with the grouting port;

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

[0022] Step 6: Start the slurry preparation equipment and grouting equipment to fill the annular space with grout.

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

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

[0025] In this application, an underwater robot is formed by assembling an operating arm, a fixed arm, and a propulsion assembly on a main body. The operating arm carries the grouting pipe and, with the assistance of the main body, descends to a predetermined underwater position. The fixed arm is connected to the annular plate of the main leg stop of the guide frame to ensure that the relative position of the operating arm and the guide frame remains unchanged, facilitating the grouting operation. This underwater robot can be positioned and locked, allowing the grouting pipe to be precisely inserted into the annular space for grouting. Using the underwater robot proposed in this application for grouting operations has significant advantages: reducing safety risks, effectively lowering costs, reducing the processing of prefabricated pipelines in existing technologies, and improving operational efficiency. Attached Figure Description

[0026] Other features, objects and advantages of the present application will become more apparent upon 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 this application;

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

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

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

[0031] Figure 5 : A schematic diagram of the structure of the first driving component in Embodiment 1 of this application;

[0032] Figure 6 : A schematic diagram of the structure of the first driving component in Embodiment 2 of this application;

[0033] Figure 7 : A schematic diagram of the structure of Embodiment 3 of this application;

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

[0035] In the figure: Body 1, First drive assembly 2, First rack 201, Second rack 202, First drive wheel 203, Second drive wheel 204, First driven wheel 205, Second driven wheel 206, Third driven wheel 207, Third drive wheel 208, Fourth drive 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, Moving platform 9, Thruster 10, First pipe 11, Second pipe 12, Construction vessel 13, Grouting equipment 14, Slurry preparation equipment 15, Lifting equipment 16, Working end 17, Ring plate 18, Grouting material 19, Remote control system 20, Chain 21, Grouting port 22. Detailed Implementation

[0036] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0037] Example 1

[0038] like Figures 1 to 5 As shown in one embodiment of this application, an underwater robot for grouting offshore wind turbine jacket foundations includes at least: an operating arm, a fixed arm, a propulsion assembly, and a monitoring assembly mounted on a body 1; the operating arm includes: a first drive assembly 2 and an operating end 3, the first drive assembly 2 drives the operating end 3 to move the grouting pipe, and the operating end 3 is connected to the body 1 via a first connecting arm 4; the fixed arm includes: a second drive assembly and a clamping end 5, the second drive assembly drives the clamping end 5 to fix the body 1, and the clamping end 5 is connected to the body 1 via a second connecting arm.

[0039] Optionally, the monitoring components include, but are not limited to, a camera module, radar, and / or a temperature sensor. Those skilled in the art can install underwater monitoring and positioning devices such as camera modules and radar on the main body 1. The camera module can be used to monitor the overflow of grout 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 mentioned below, so that it can be submerged with the main body 1 for monitoring without hindering the movement of the gears along the first rack 201 and the second rack 202 mentioned 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, multiple resistance temperature sensors are evenly distributed on the sides 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, distributed optical fiber temperature sensors are provided on the sides of the first rack 201 and / or the second rack 202 to monitor the height of the grouting surface.

[0041] In this embodiment, an underwater robot is formed by assembling an operating arm, a fixed arm, and a propulsion assembly on the main body 1. The operating arm carries the grouting pipe and, with the assistance of the main body 1, descends to a preset underwater position. The fixed arm is connected to the annular plate 18 of the main leg stop of the guide frame to ensure that the relative position of the operating arm and the guide frame remains unchanged, facilitating the grouting operation. The underwater robot of this embodiment can be positioned to a preset position, such as the main leg stop of the guide frame, through a monitoring component. By adjusting the fixed arm, the clamping end 5 is placed at the annular plate 18 of the main leg stop of the guide frame. The second drive assembly locks the clamping end 5 onto the annular plate 18, allowing the grouting pipe to be accurately inserted into the annular space for grouting. Using the underwater robot proposed in this embodiment for grouting operations has significant advantages: reducing safety risks during grouting operations, effectively reducing costs, minimizing the processing of prefabricated pipelines in existing technologies, and improving operational efficiency.

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

[0043] In this embodiment, the first rack 201 and the second rack 202 are respectively fixedly disposed on opposite sides of the grouting pipe. The first rack 201 and the second rack 202 clamp the grouting pipe. The motor provides power to the first drive wheel 203 and the second drive wheel 204, thereby enabling the first drive assembly 2 to 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 rotatably connected to the body 1, realizing the rotation of the operating end 3 in the Z-axis direction to finely adjust the relative position of the grouting pipe and the ring plate 18.

[0044] Optionally, the underwater robot in this embodiment further includes an auxiliary arm 8, the working end 17 of which 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. The working end 17 of the auxiliary arm 8 has a structure that meshes with the first rack 201 and the second rack 202 to ensure the stability of the connection between the operating arm and the grouting pipe and to assist the operating arm in its work.

[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 annular plate 18 of the main leg stop of the guide frame, keeping the underwater robot in a fixed relative position with the grouting operation site. The first rod 6 and the second rod 7 of the second connecting arm are rotatably connected, and the second rod 7 is rotatably connected to the body 1, allowing the second connecting arm to rotate 180° relative to the body 1 in the X-axis direction. This allows the second connecting arm to lock the clamping end 5 onto the annular plate 18 when the body 1 is positioned near the main leg stop of the guide frame. 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 it is initially aligned with the grouting port 22.

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

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

[0050] Specifically, the propulsion assembly includes a plurality of thrusters 10, which are distributed circumferentially on the body 1.

[0051] In this embodiment, the number of thrusters 10 is set to six, which are evenly distributed on opposite sides of the body 1, and each thruster 10 faces a different direction. Each thruster 10 can be independently controlled to control steering and power output. The propulsion system can realize the 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 connecting the first pipe 11 and the grouting equipment 14, and the operating arm clamping the first pipe 11.

[0053] In this embodiment, the first pipe 11 is a rigid pipe, and the second pipe 12 is a flexible pipe. The flexible pipe connects the grouting equipment 14 and the rigid pipe, while the rigid pipe facilitates fixed connection with the underwater robot. Specifically, the first pipe 11 has an inner diameter of 66mm and an outer diameter of 76mm; the second pipe 12 has an inner diameter of 82mm and an outer diameter of 102mm. The first pipe 11 and the second pipe 12 are connected using a conversion connector. Of course, those skilled in the art can adapt the specifications of the first pipe 11 and the second pipe 12 to meet actual construction needs.

[0054] Specifically, a depth sensor is provided at the bottom of the first tube 11. 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 based on 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 manipulator, the second drive component of the fixed arm, the mobile platform 9, and the thrusters 10, cameras, radars, etc., mounted on the body 1 through the remote control system 20, thereby achieving remote control of the underwater robot without the need for manual underwater operations.

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

[0057] Example 2

[0058] like Figure 6As shown, the difference between this embodiment and embodiment 1 is that the first drive component 2 in this embodiment 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 and the second rack 202 are arranged opposite to each other, the fourth driven wheel 210 meshes with the first rack 201 and the third driving wheel 208, and the fifth driven wheel 211 meshes 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 mounted on opposite sides of the grouting pipe, respectively. The first rack 201 and the second rack 202 clamp the grouting pipe. Two motors are provided to power the third drive wheel 208 and the fourth drive wheel 209, respectively, thereby enabling the first drive assembly 2 to 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 drive assembly of embodiment 1, the first drive assembly 2 in this embodiment reduces the use of the chain 21, avoiding the short lifespan of the underwater robot due to corrosion of the chain 21 during offshore operations.

[0060] Example 3

[0061] like Figure 7 and Figure 8 As shown in the figure, this embodiment proposes a system for grouting offshore wind turbine jacket foundations, including: the aforementioned underwater robot, construction vessel 13, grouting equipment 14, slurry preparation equipment 15, and hoisting equipment 16. The grouting equipment 14, the slurry preparation equipment 15, and the hoisting equipment 16 are mounted on the construction vessel 13. The grouting equipment 14 is connected to the slurry preparation equipment 15. The hoisting equipment 16 hoists the grouting material 19 to the slurry preparation equipment 15. The grouting equipment 14 is connected to a grouting pipe. The underwater robot carries the grouting pipe to a preset position to perform grouting operations.

[0062] This embodiment proposes a system for grouting offshore wind turbine jackets, which utilizes an underwater robot to perform grouting operations, thereby reducing safety risks during construction, minimizing 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 offshore wind turbine jackets, including the following steps:

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

[0066] Step 2: Lock the main body 1 onto the annular plate 18 of the main leg of the guide frame using the fixing arm;

[0067] Step 3: The posture and position of the body 1 are coarsely adjusted by the fixed arm so that the body 1 is located in the XY plane at the preset position, the grouting pipe is in the same direction as the Z axis at the preset position and is initially aligned with the grouting port 22;

[0068] Step 4: Fine-tune the position of the operating end 3 using the mobile platform 9 and the operating arm to align the grouting pipe with the grouting port 22. In this embodiment, the grouting port 22 is set on the ring plate 18 and has two coaxially arranged grouting ports 22. During the alignment process of the grouting pipe and the grouting port 22, it is necessary to ensure that both grouting ports 22 are aligned.

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

[0070] Step 6: Start the pulping equipment 15 and the grouting equipment 14 to fill the annular space with grout material 19;

[0071] Step 7: The monitoring component monitors the height of the grouting surface and the overflow of grout. 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 of grout.

[0072] This embodiment proposes a grouting method based on underwater robots. By using underwater robots for grouting operations, the safety risks of construction operations are reduced, the impact of sea conditions on the construction process is minimized, and construction efficiency is ensured. This method has broad application prospects in the field of grouting for offshore wind power construction.

[0073] In the description of this application, unless otherwise expressly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0074] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0075] In the description of this embodiment, the terms "upper," "lower," "left," "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. In addition, the terms "first" and "second" are used only for distinction in description and have no special meaning.

[0076] The above embodiments are only used to illustrate the technical solutions of this application and are not intended to limit it. The preferred embodiments have been described in detail. Those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of this application without departing from the spirit and scope of the technical solutions of this application, and all such modifications and substitutions should be covered within the scope of the claims of this application.

Claims

1. An underwater robot for grouting offshore wind turbine jacket foundations, characterized in that, At least including: The operating arm, fixed arm, propulsion assembly, and monitoring assembly are mounted on the main body; The operating arm includes: a first driving component and an operating end, wherein the first driving component drives the operating end to move the grouting pipe, and the operating end is connected to the body via a first connecting arm; The fixing arm includes a second driving component and a clamping end. The second driving component drives the clamping end to fix the body. 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, the working end of which 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 disposed 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 drive assembly includes: a first rack, a second rack, a first drive wheel, a second drive wheel, a first driven wheel, a second driven wheel, and a third driven wheel; the first rack and the second rack are arranged opposite to each other, the first drive wheel and the second drive wheel are arranged coaxially, the first driven wheel meshes with the first rack and the first drive wheel, the second driven wheel and the third driven wheel are arranged coaxially, the second driven wheel meshes with the second rack, and the third driven wheel meshes with the second drive wheel via a chain; Alternatively, the first drive 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 and the second rack are arranged opposite to each other, the fourth driven wheel meshes with the first rack and the third driving wheel, and the fifth driven wheel meshes 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 drive 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 thrusters distributed circumferentially on the body.

8. The underwater robot according to claim 4, characterized in that, The grouting pipe includes a first pipe and a second pipe, the second pipe being connected to the first pipe and the grouting equipment, and the operating arm clamping the first pipe.

9. A system for grouting offshore wind turbine jackets, characterized in that, include: As described in any one of claims 1 to 8, the underwater robot, construction vessel, grouting equipment, slurry preparation equipment, and hoisting equipment are all mounted on the construction vessel. The grouting equipment is connected to the slurry preparation equipment. The hoisting equipment hoists the slurry to the slurry preparation equipment. The grouting equipment is connected to a grouting pipe. The underwater robot carries the grouting pipe to a preset position to perform grouting operations.

10. A grouting method for an underwater robot used for grouting offshore wind turbine jackets according to any one of claims 1 to 8, characterized in that, Includes the following steps: Step 1: Use the underwater robot to carry the grouting pipe to the preset underwater location; Step 2: Lock the main body onto the annular plate of the main leg of the guide frame using the fixing arm; Step 3: The posture and position of the main body are roughly adjusted by the fixed arm so that the grouting pipe and the grouting port are initially aligned; Step 4: Fine-tune the position of the operating end using the mobile platform and the operating arm to align the grouting pipe with the grouting port; Step 5: Insert the grouting pipe into the bottom of the annular space between the main leg of the guide frame and the steel pipe pile through the operating end; Step 6: Start the slurry preparation equipment and grouting equipment to fill the annular space with grout. Step 7: The monitoring component monitors the height of the grouting surface and the overflow of grout.

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