Online automatic desilting device and method for clarification tank

Abstract

The invention relates to an online automatic desilting device and method for a clarification tank. The device comprises a stirring pump room, a mounting base, a rotating mechanism with a gear ring, a rotating motor, a cross arm, a front-back walking electric hoist, a hoisting rope, a movable sludge discharge pump, a stirring motor, a sludge discharge pipe, a sliding cable, a rotating bracket, walking wheels, a walking track, a bottom sludge discharge pump, a water collecting tank, a clarification tank, a sludge level meter and a PLC (Programmable Logic Controller) control system. According to the method, automation and instrument detection technologies are fully utilized, the sludge level of the clarification tank is detected, according to the structural characteristics of the clarification tank, under the condition that water feeding of the clarification tank is not cut off, sludge in the tank can be cleaned, a PLC control system is additionally arranged, a man-machine picture is configured, the running state of all equipment is displayed through a background, remote operation of the equipment is achieved, and the operation efficiency of the clarification tank is improved. Post personnel configuration is optimized, equipment intellectualization is achieved, equipment and production efficiency is improved, and production cost is reduced.

Description

Technical Field

[0001] This patent application belongs to the field of mine water treatment production technology, and more specifically, it relates to an online automatic silt removal device and method for a clarifier. Background Art

[0002] As the first process of the mine water treatment production process, the clarifier is used for the pretreatment of underground water. Due to the change of underground water quality, the sludge in the clarifier accumulates in a large amount in a short period of time, which seriously reduces the sedimentation effect of the clarifier. At the same time, due to the large amount of sludge, the scraper and mixer at the bottom of the clarifier can no longer operate normally. The bottom sludge pump of the original design can no longer solve the problem of large sludge, resulting in the failure of the sedimentation effect of the clarifier. Because the production and domestic water are all from the overflow water after the clarifier is treated, the water inflow to the clarifier cannot be stopped. Under the condition of continuous water inflow, the underwater mud level cannot be observed, and manual entry is not allowed for dredging operations. There are great safety risks for personnel to enter limited spaces. Manpower can only be used to carry the sludge pump on the upper part of the clarifier for dredging. However, this method takes up too much human resources, the dredging time is infinitely prolonged, and mechanical damage is easily caused when moving the water pump. The dredging efficiency is too low and the problem of sludge accumulation on site cannot be solved, affecting the smooth progress of production and life. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide an online automatic silt clearing device and method for a clarifier, which can clean the silt in the clarifier without stopping the water inlet, display the operating status of each device through the background, realize remote operation of the equipment, optimize the staffing of positions, realize intelligent equipment, improve equipment and production efficiency, reduce production costs, and effectively solve the above-mentioned problems existing in the background technology.

[0004] In order to solve the above problems, the technical solution adopted by the present invention is: An online automatic silt removal device for a clarifier, comprising a mixing pump room, a mounting base, a rotating mechanism with a gear ring, a rotating motor, a cross arm, a front and rear traveling electric hoist, a lifting rope, a mobile sludge pump, a mixing motor, a sludge pipe, a sliding cable, a rotating bracket, a traveling wheel, a traveling track, a bottom sludge pump, a water collection tank, a clarifier, a sludge level meter, and a PLC control system; The mixing pump room is located in the clarifier, the mounting base is mounted in the middle of the top of the mixing pump room, the gear ring rotating mechanism is mounted on the mounting base, the rotating motor is mounted on one side of the gear ring rotating mechanism, the cross arm is mounted above the gear ring rotating mechanism and the rotating bracket, and the gear ring rotating mechanism and the rotating bracket are arranged in parallel on the mounting base; the front and rear traveling electric hoists are mounted on the cross arm; the lifting rope is mounted below the front and rear traveling electric hoists, the mobile mud pump is fixed at the bottom of the lifting rope, the mixing motor is mounted on both sides of the mobile mud pump, the mud pipe is mounted on the mobile mud pump, the sliding cable is mounted on the cross arm and connected to the front and rear traveling electric hoists; the walking wheel is mounted below the rotating bracket and on the top of the mixing pump room outside the mounting base, the walking track is laid around the top of the mixing pump room and matched with the walking wheel, the bottom mud pump is mounted at the bottom of the clarifier, the water collecting tanks are distributed and installed on the periphery of the clarifier, the mud level meter is mounted above the clarifier, and the PLC control system is mounted on the wall of the mixing pump room; The control and status signals of the rotating motor, front and rear traveling electric hoist, mobile mud discharge pump, stirring motor, and mud level meter collection signals are all connected to the PLC control system.

[0005] Furthermore, one end of the cross arm is a straight surface, and the other end is a wedge-shaped surface.

[0006] Furthermore, the rotating motor is installed on one side of the gear ring rotating mechanism through an L-shaped bracket, and the top end of the L-shaped bracket is connected to the bottom end of the cross arm.

[0007] Furthermore, the mud level meter is an ultrasonic mud level meter, and the traveling track is a circular track.

[0008] Furthermore, the mud discharge pipe is a rubber pipe or a cast iron pipe, and its diameter is 0.2~1.2 meters.

[0009] An online automatic silting method for a clarifier utilizes the above-mentioned device and specifically comprises the following steps: S1. Clarifier mud level detection: A mud level meter is installed on the upper part of the clarifier. The feedback signal of suspended solids in the water is analyzed by transmitting and receiving the mud level meter signal. Taking the ultrasonic mud level meter as an example, the echo of suspended solids in the water is analyzed by transmitting and receiving ultrasonic waves, so as to determine the height of the sludge layer in the clarifier. The mud level detection signal is connected to the PLC control system through 4-20mA to realize the detection of the mud level in the clarifier. The mud level meter equipment consists of a sensor and a receiver. Taking the ultrasonic mud level meter as an example, the sensor emits ultrasonic waves. When the ultrasonic waves encounter the boundaries of different media, reflection or refraction will occur. These reflected or refracted signals are received and analyzed to determine the interface position.

[0010] S2. Remote control signal acquisition: Through the PLC control system installed on site, the operating status of the rotating motor, front and rear electric hoist, bottom mud pump, mobile mud pump and stirring motor and the remote control signal are collected, the mud level signal is collected, and the collected signals are displayed and controlled through the remote human-machine interface; the collected signals mainly include motor running / stop signals, remote start / remote stop signals, remote / local signals, fault signals, etc.

[0011] S3. Up and down movement control of dredging device: The dredging operation is divided into multiple dredging areas according to the characteristics of the water collection tank in the clarification tank, and dredging is carried out separately. For one of the dredging areas: the up and down movement control mainly involves the forward and backward electric hoist, lifting rope, mobile sludge pump, stirring motor and sludge pipe.

[0012] First, install the mobile sludge pump and stirring motor at the bottom of the lifting rope, then move the front and rear electric hoist to the appropriate position according to the mud level in the clarifier, control the up and down movement of the front and rear electric hoist through the lifting rope, put the mobile sludge pump and stirring motor into the water surface, and control the depth of the mobile sludge pump according to the mud level detection data. When the water suction port of the mobile sludge pump is submerged in the silt, start the stirring motor to flush the silt near the mobile sludge pump, and then start the mobile sludge pump to discharge the loose silt through the sludge discharge pipe. According to the change of the mud level, adjust the depth of the mobile sludge pump in the clarifier to finally achieve the dredging operation at that point; S4, forward and backward movement control of the dredging device: The forward and backward movement control mainly involves the forward and backward movement electric hoist, hoisting rope, mobile mud pump, stirring motor and mud pipe. For a dredging area, after cleaning a fixed point, it is necessary to lift the mobile mud pump out of the water through the up and down movement control of the hoisting rope, control the forward and backward movement electric hoist, place the mobile mud pump at the second dredging point, execute the up and down movement control process of the dredging device, and realize the dredging operation at the second point; S5. Rotation control of dredging device: The rotation control mainly involves a rotating motor, a rotating mechanism with a gear ring, a rotating bracket, a traveling wheel, a traveling track, a front and rear traveling electric hoist, a lifting rope, a mobile sludge pump, a stirring motor and a sludge pipe. After completing the first dredging area, it is necessary to move to the second dredging area. First, move the mobile sludge pump and the stirring motor upward to the top of the sump, control the rotating motor to drive the cross arm, and use the traveling wheel to move on the traveling track. After moving to the second dredging area, stop, and repeat the up and down movement control and travel control process of the dredging device to complete the dredging operation process in the second area.

[0013] Further, the method further comprises step S6: S6. Control mode of dredging device: The dredging device of the present invention is independently developed, and the dredging device includes two control modes: remote and local. In the local control mode, the rotation, front and back, and up and down control processes of the dredging device are controlled by buttons on the PLC control system; in the remote control mode, it includes automatic and manual modes. In the manual mode, the on-site device is operated through the background configuration screen, and the operation process of the device is realized by the control buttons on the host computer screen; in the automatic mode, the up and down moving points, the forward and backward walking position points, and the rotation angle control of the dredging device are determined according to the mud level detection value, so as to realize the automatic operation of the dredging device in the whole process. After the whole dredging operation is completed, the overall dredging is completed.

[0014] Due to the adoption of the above technical solution, the beneficial effects achieved by the present invention are: The present invention makes full use of automation and instrument detection technology to detect the mud level in the clarifier. According to the structural characteristics of the clarifier, an independent silt removal device is developed. The silt in the clarifier can be cleaned without stopping the water inlet to the clarifier. A PLC control system is added, and a human-machine interface is configured. The operating status of each device is displayed through the background, remote operation of the equipment is realized, the staffing of positions is optimized, the equipment is intelligentized, the equipment and production efficiency are improved, and the production cost is reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the structure of the device of the present invention; Figure 2 is a schematic diagram of signal transmission of the method of the present invention; Figure 3 is a process control flow chart of the method of the present invention; In the figure: mixing pump room 1, installation base 2, gear ring rotating mechanism 3, rotating motor 4, cross arm 5, front and rear traveling electric hoist 6, lifting rope 7, mobile mud pump 8, mixing motor 9, mud pipe 10, sliding cable 11, rotating bracket 12, walking wheel 13, walking track 14, bottom mud pump 15, water collecting tank 16, clarification tank 17, mud level meter 18, PLC control system 19. DETAILED DESCRIPTION

[0016] The present invention is further described in detail below with reference to the embodiments.

[0017] An online automatic silt removal device for a clarifier, such as Figure 1 , including a mixing pump room 1, an installation base 2, a rotating mechanism with a gear ring 3, a rotating motor 4, a horizontal arm 5, a front and rear traveling electric hoist 6, a lifting rope 7, a mobile mud pump 8, a mixing motor 9, a mud pipe 10, a sliding cable 11, a rotating bracket 12, a walking wheel 13, a walking track 14, a bottom mud pump 15, a water collection tank 16, a clarifier 17, a mud level meter 18, and a PLC control system 19.

[0018] The mixing pump room 1 is located in the clarification tank 17, the mounting base 2 is installed in the middle position of the top of the mixing pump room 1, the gear ring rotating mechanism 3 is installed on the mounting base 2, the rotating motor 4 is installed on one side of the gear ring rotating mechanism 3, the cross arm 5 is installed above the gear ring rotating mechanism 3 and the rotating bracket 12, and the gear ring rotating mechanism 3 and the rotating bracket 12 are arranged in parallel on the mounting base 2; the front and rear traveling electric hoist 6 is installed on the cross arm 5, the lifting rope 7 is installed below the front and rear traveling electric hoist 6, the mobile mud pump 8 is fixed at the bottom of the lifting rope 7, and the mixing motor 9 is installed on the mobile On both sides of the mud pump 8, the mud pipe 10 is installed on the mobile mud pump 8, the sliding cable 11 is installed on the cross arm 5, and the sliding cable 11 is connected to the front and rear electric hoist 6; the walking wheel 13 is installed below the rotating bracket 12 and located on the top of the mixing pump room 1 outside the installation base 2, the walking track 14 is laid on the top of the mixing pump room 1 and matched with the walking wheel 13, the mud pump 15 is installed at the bottom of the clarification tank, the water collection tank 16 is distributed and installed around the clarification tank 17, the mud level meter 18 is installed above the clarification tank 17, and the PLC control system 19 is installed on the wall of the mixing pump room 1. The control and status signals of the rotating motor 4, the front and rear electric hoist 6, the mobile mud pump 8, and the mixing motor 9, and the mud level meter 8 acquisition signal are all connected to the PLC control system.

[0019] One end of the cross arm 5 is a flat surface and the other end is a wedge-shaped surface. The rotating motor 4 is installed on one side of the gear ring rotating mechanism 3 through an L-shaped bracket, and the top of the L-shaped bracket is connected to the bottom of the cross arm 5. In terms of selection, the mud level meter 18 is an ultrasonic mud level meter, the walking track 14 is a circular track, and the mud discharge pipe 10 is a rubber pipe or a cast iron pipe with a pipe diameter of 0.2~1.2 meters.

[0020] The device is used for online automatic desilting in clarifiers. Figure 2 , Figure 3 , including the following steps: (1) Clarifier mud level detection: A mud level meter 18 is installed on the top of the clarifier 17. Taking an ultrasonic mud level meter as an example, the mud level meter 18 uses the emission and reception of ultrasonic waves to analyze the echo of suspended solids in the water, thereby determining the height of the sludge layer. The mud level meter 18 consists of a sensor and a receiver. The sensor emits ultrasonic waves. When the ultrasonic waves encounter the boundaries of different media, they are reflected or refracted. These reflected or refracted signals are received and analyzed to determine the interface position. The mud level detection signal is connected to the PLC control system 19 through 4-20mA to realize the detection of the mud level in the clarifier.

[0021] (2) Remote control signal acquisition: Through the PLC control system 19 installed on site, the rotating motor 4, the front and rear electric hoist 6, and the bottom mud pump 15 ( Figure 2It collects the operating status of equipment such as the mud pump in the middle), mobile mud pump 8 and stirring motor 9, and the remote control signal, mainly including motor running / stop signal, remote start / remote stop signal, remote / local signal, fault signal, etc.; realizes the collection of mud level signals, and displays and controls the collected signals through the remote human-machine interface.

[0022] (3) Control of the up and down movement of the dredging device: The dredging operation of the clarifier is divided into multiple dredging areas according to the characteristics of the water collection tank 16 in the pool. This control is explained for one of the dredging areas, and the other dredging areas are handled in the same way. The up and down movement control mainly involves the forward and backward electric hoist 6, the lifting rope 7, the mobile mud pump 8, the stirring motor 9 and the mud pipe 10. For a dredging area, the mobile mud pump 8 and the stirring motor 9 are first installed at the bottom of the lifting rope 7, and then the forward and backward electric hoist 6 is moved to a suitable position according to the mud level in the clarification tank 17. The up and down movement function of the forward and backward electric hoist 6 is controlled to place the mobile mud pump 8 and the stirring motor 9 into the water surface. According to the mud level detection data, the depth of the mobile mud pump 8 is controlled. When the water suction port of the mobile mud pump 8 is submerged in the mud, the stirring motor 9 is started to flush the silt near the mobile mud pump 8, and then the mobile mud pump 8 is started to discharge the loose silt through the mud pipe 10. According to the change of the mud level, the depth of the mobile mud pump 8 in the clarification tank 17 is adjusted to finally realize the dredging operation at this point.

[0023] (4) Forward and backward movement control of the dredging device: The forward and backward movement control mainly involves the forward and backward movement electric hoist 6, the lifting rope 7, the mobile mud pump 8, the stirring motor 9 and the mud pipe 10. The above device consists of Figure 2 For a dredging area, after cleaning a fixed point, it is necessary to lift the mobile dredging pump 8 out of the water through up and down movement control, control the forward and backward movement electric hoist 6, place the mobile dredging pump 8 at the second dredging point, execute the up and down movement control process of the dredging device, and realize the dredging operation at the second point.

[0024] (5) Rotation control of dredging device: The rotation control mainly involves the rotation motor 4, the gear ring rotation mechanism 3, the rotation bracket 12, the travel wheel 13, the travel track 14, the front and rear travel electric hoist 6, the lifting rope 7, the mobile mud pump 8, the stirring motor 9 and the mud pipe 10. The above device consists of Figure 2The rotating system in. The mixing pump room 1, the mixing motor 9, etc. constitute the mixing system. After completing the first dredging area, it is necessary to move to the second dredging area. First, move the mobile sludge pump 8 and the mixing motor 9 upward to the top of the sump 16, control the rotating motor 4, drive the cross arm 5, and use the walking wheel 13 to move on the walking track 14. After moving to the second dredging area, stop, repeat the up and down movement control and walking control process of the dredging device, and complete the dredging operation process of the second area.

[0025] (6) Control method of dredging device: The independently developed dredging device includes two control modes: remote and local. In the local control mode, the rotation, front and back, and up and down control processes of the dredging device are controlled by buttons on the PLC control system 19; in the remote control mode, it includes automatic and manual modes. In the manual mode, the on-site device is operated through the background configuration screen, and the operation process of the device is realized by using the control buttons on the host computer screen; in the automatic mode, the up and down moving points, walking position points and rotation angle control of the dredging device are determined according to the mud level detection value, so as to realize the automatic operation of the dredging device in the whole process. After the whole dredging operation is completed, the overall dredging is completed.

[0026] In actual application, the technical implementation process is as follows: 1. On-site equipment installation like Figure 1 , mainly install on site, including: A hole is opened on the top of the mixing pump room 1, and a base 2 is fixedly installed. A gear ring rotating mechanism 3 is installed above the installation base 2, and a beam 5 is placed above the gear ring rotating mechanism 3. The distance from the top of the mixing pump room 1 to the top of the beam is 1.5 meters, and the length of the beam is 8.7 meters. The beam is mainly made of 20 I-beams and has side panels; a circular walking track 14 is installed on the top of the mixing pump room 1, and the walking wheels 13 are arranged on this walking track 14; the mixing motor 9 and the mobile mud pump 8 are configured as a set; a PLC control system 19 is installed in the mixing pump room 1 for receiving and controlling on-site equipment; a mud level meter 18 is installed at a suitable position on the upper part of the clarification tank 17; the sliding cable 11 is installed on one side of the beam 5, and can move with the front and rear walking electric hoist 6 without affecting the power supply.

[0027] 2. Signal acquisition and control of dredging device like Figure 2, by installing the mud level meter 18, the real-time monitoring of the mud level in the clarifier is realized, and the signal is connected to the PLC control system 19 through 4-20mA, and the state acquisition signal and travel control signal of the rotating motor 4, the front and rear electric hoist 6, the mobile mud pump 8, the stirring motor 9 and other equipment are connected to the PLC control system 19 through the I / O control point. Through the PLC control system 19 installed on site, the collection of the operating status of the rotating motor 4, the front and rear electric hoist 6, the bottom mud pump 15, the mobile mud pump 8 and the stirring motor 9 and other equipment and the collection of remote control signals are realized, mainly including motor running / stop signals, remote start / remote stop signals, remote / local signals, fault signals, etc.; the mud level signal is collected; and the collected signals are displayed and controlled through the remote human-machine interface.

[0028] 3. Working mode of dredging device like Figure 3 The travel control of the dredging device mainly relies on the electrical control room. The electrical control circuit is installed in the distribution box and powered by a fixed cable (not shown in the figure) and a sliding cable 11. The remote control signal cannot be accessed. The remote signal is accessed by installing a PLC control system 19 in the overtime pump room. The independently developed dredging device includes two control modes: remote and local. In the local control mode, the rotation, front and back, and up and down control processes of the dredging device are controlled by buttons on the PLC control system 19. In the remote control mode, it includes automatic and manual modes. In the manual mode, the on-site device is operated through the background configuration screen, and the operation process of the device is realized by the control buttons on the upper computer screen. In the automatic mode, the up and down movement points, travel position points and rotation angle control of the dredging device are determined according to the mud level detection value, so as to realize the automatic operation of the dredging device in the whole process. After the whole dredging operation is completed, the overall dredging is completed.

[0029] When the mud level is lower than 1 meter, the device does not operate. When the mud level is greater than 1.5 meters, the bottom mud pump 15 is started to discharge mud. When the mud level is greater than 2 meters, the device performs automatic silt removal.

Claims

1. An online automatic silt removal device for a clarifier, characterized in that: It includes a mixing pump room (1), a mounting base (2), a rotating mechanism with a gear ring (3), a rotating motor (4), a horizontal arm (5), a front and rear traveling electric hoist (6), a lifting rope (7), a mobile mud pump (8), a mixing motor (9), a mud pipe (10), a sliding cable (11), a rotating bracket (12), a traveling wheel (13), a traveling track (14), a bottom mud pump (15), a water collecting tank (16), a clarifier (17), a mud level meter (18), and a PLC control system (19); The mixing pump room (1) is located in the clarification tank (17); the mounting base (2) is mounted at the middle position of the top of the mixing pump room (1); the gear ring rotating mechanism (3) is mounted on the mounting base (2); the rotating motor (4) is mounted on one side of the gear ring rotating mechanism (3); the cross arm (5) is mounted above the gear ring rotating mechanism (3) and the rotating bracket (12); the gear ring rotating mechanism (3) and the rotating bracket (12) are arranged in parallel on the mounting base (2); the front and rear traveling electric hoist (6) is mounted on the cross arm (5); the lifting rope (7) is mounted below the front and rear traveling electric hoist (6); the mobile mud pump (8) is fixed at the bottom of the lifting rope (7); the mixing motor (9) is mounted on the mobile hoist (6); the mobile mud pump (8) is fixed at the bottom of the lifting rope (7); the mixing motor (9) is mounted on the mobile hoist (6); the mobile mud pump (8) is fixed on ... On both sides of the mud discharge pump (8), the mud discharge pipe (10) is installed on the mobile mud discharge pump (8), the sliding cable (11) is installed on the cross arm (5) and connected to the front and rear walking electric hoists (6); the walking wheel (13) is installed below the rotating bracket (12) and on the top of the mixing pump room (1) outside the installation base (2); the walking track (14) is laid on the top of the mixing pump room (1) and matched with the walking wheel (13); the bottom mud discharge pump (15) is installed at the bottom of the clarification tank (17); the water collection tank (16) is distributed and installed on the periphery of the clarification tank (17); the mud level meter (18) is installed above the clarification tank (17); and the PLC control system (19) is installed on the wall of the mixing pump room (1); The control and status signals of the rotating motor (4), the front and rear traveling electric hoist (6), the mobile mud discharge pump (8), the stirring motor (9), and the collected signals of the mud level meter (18) are all connected to the PLC control system (19).

2. The online automatic silting device for a clarifier according to claim 1, characterized in that: One end of the cross arm (5) is a flat surface, and the other end is a wedge-shaped surface.

3. The online automatic silting device for a clarifier according to claim 1, characterized in that: The rotating motor (4) is installed on one side of the gear ring rotating mechanism (3) through an L-shaped bracket, and the top end of the L-shaped bracket is connected to the bottom end of the cross arm (5).

4. The online automatic silting device for a clarifier according to claim 1, characterized in that: The mud level meter (18) is an ultrasonic mud level meter, and the running track (14) is a circular track.

5. The online automatic silting device for a clarifier according to claim 1, characterized in that: The mud discharge pipe (10) is a rubber pipe or a cast iron pipe, and its diameter is 0.2 to 1.2 meters.

6. A method for online automatic desilting of a clarifier, using the device according to any one of claims 1 to 5, characterized in that The following steps are involved: S1. Detection of mud level in the clarifier (17): a mud level meter (18) is installed on the upper part of the clarifier (17). The feedback signal of the suspended solid matter in the water is analyzed by transmitting and receiving the signal of the mud level meter (18), so as to determine the height of the mud layer in the clarifier (17); the mud level detection signal is connected to the PLC control system (19) through 4-20mA to realize the detection of the mud level in the clarifier (17); S2, remote control signal collection: through the PLC control system (19) installed on site, the operation status of the rotating motor (4), the front and rear electric hoist (6), the bottom mud pump (15), the mobile mud pump (8) and the stirring motor (9) are collected and the remote control signal is collected, and the mud level signal is collected, and the collected signal is displayed and controlled through the remote human-machine interface; S3. Control of the up and down movement of the dredging device: The dredging operation is divided into multiple dredging areas according to the characteristics of the water collecting tank (16) in the clarifier (17), and dredging is carried out separately. For one of the dredging areas: First, the mobile mud pump (8) and the stirring motor (9) are installed at the bottom of the lifting rope (7), and then the forward and backward electric hoist (6) is moved to a suitable position according to the mud level in the clarification tank (17). The upward and downward movement function of the forward and backward electric hoist (6) is controlled by the lifting rope (7) to place the mobile mud pump (8) and the stirring motor (9) into the water surface. According to the mud level detection data, the depth of the mobile mud pump (8) is controlled. When the water suction port of the mobile mud pump (8) is submerged in the mud, the stirring motor (9) is started to flush the mud near the mobile mud pump (8). Then, the mobile mud pump (8) is started to discharge the loosened mud through the mud discharge pipe (10). According to the change of the mud level, the depth of the mobile mud pump (8) in the clarification tank (17) is adjusted to finally achieve the dredging operation at the point. S4, forward and backward movement control of the dredging device: for a dredging area, after cleaning a fixed point, it is necessary to lift the mobile dredging pump (8) out of the water through the up and down movement control of the lifting rope (7), control the forward and backward movement electric hoist (6), place the mobile dredging pump (8) at the second dredging point, execute the up and down movement control process of the dredging device, and realize the dredging operation at the second point; S5, rotation control of the dredging device: After completing the first dredging area, it is necessary to move to the second dredging area. First, the mobile sludge pump (8) and the stirring motor (9) are moved upward to the top of the sump (16), and the rotating motor (4) is controlled to drive the cross arm (5). The walking wheel (13) is used to move on the walking track (14). After moving to the second dredging area, it stops, and the up and down movement control and walking control processes of the dredging device are repeated to complete the dredging operation process of the second area.

7. The method for online automatic dredging of a clarifier according to claim 6, characterized in that: The method further comprises step S6, S6. Control mode of dredging device: including remote and local control modes. In local control mode, the rotation, forward and backward and up and down control process of the dredging device are controlled by buttons on the PLC control system (19). In remote control mode, it includes automatic and manual modes. In manual mode, the on-site device is operated through the background configuration screen, and the operation process of the device is realized by using the control buttons on the upper computer screen. In automatic mode, the up and down moving points, forward and backward walking position points and rotation angle control of the dredging device are determined according to the mud level detection value, so as to realize the automatic operation of the dredging device in the whole process. After the whole dredging operation is completed, the overall dredging is completed.

Images