Bottom mud eliminating system

Abstract

According to the embodiment of the utility model, the bottom mud eliminating system comprises an underwater robot and a floating type mobile water purification station, the underwater robot comprises a walking mechanism, an isolation mechanism, a disturbance mechanism and a muddy water extraction mechanism, and the walking mechanism comprises an underwater motor and a movement mechanism; the isolation mechanism comprises a housing and a water inlet formed in the lower part of the housing; the disturbance mechanism is hermetically connected with the housing, and at least one part of the disturbance mechanism is arranged in the housing; an inlet of the muddy water extraction mechanism is hermetically connected with the housing, and an outlet is connected to the floating type mobile water purification station through a muddy water pipeline; the floating type mobile water purification station comprises a coagulant adding unit in which a medicament is stored, a flocculation mixing pipeline, a separation and precipitation unit and a sludge discharge unit; the flocculation mixing pipeline is communicated with the coagulant adding unit and the muddy water pipeline; the separation and precipitation unit comprises a coarse precipitation area and a fine precipitation area; the sludge discharging unit is communicated with the collecting area. The sediment eliminating system is suitable for ecological dredging of different water bodies, and river cutoff is not needed.

Description

Technical Field

[0001] The present disclosure relates to the field of water treatment, and more particularly, to a sediment elimination system. Background Art

[0002] Bottom mud is the sediment of rivers and lakes. When the water area is polluted, some pollutants will be deposited or adsorbed on the bottom mud, forming bottom mud pollution. The usual dredging method requires interruption of flow, which affects the normal water circulation of other rivers in the dredging basin and seriously affects the water quality. After the riverbed is exposed, the surrounding environment will also be affected, and the working environment of bottom mud dredging is also relatively harsh. In addition, the water content of the mud transported in this way is relatively high, and the workload of sludge removal is also very large.

[0003] Although there are sludge washing devices that do not require interruption of flow in recent years, the process of extracting sludge underwater will cause a large amount of sludge to be stirred up, releasing pollutants into the water. At the same time, when the device is running, the underwater operation part and the hull need to move as a whole. The hull has a high load capacity and is not suitable for narrow waters such as urban rivers, nor for complex underwater environments. The device has high operating costs. Utility Model Content

[0004] In order to solve at least one of the above technical problems, according to one aspect of the present disclosure, a bottom mud elimination system is provided, which includes an underwater robot and a floating mobile water purification station, wherein the underwater robot includes a walking mechanism, an isolation mechanism, a disturbance mechanism and a mud and water extraction mechanism, the walking mechanism includes an underwater motor and a motion mechanism; the isolation mechanism includes a cover shell and a water inlet arranged at the lower part of the cover shell; the disturbance mechanism is sealed and connected to the cover shell, and at least a part of the disturbance mechanism is arranged in the cover shell; the inlet of the mud and water extraction mechanism is sealed and connected to the cover shell, and its outlet is connected to the water pump through a mud and water pipeline. to the floating mobile water purification station; the floating mobile water purification station includes a coagulant dosing unit, a flocculation mixing pipeline, a separation sedimentation unit and a mud discharge unit, the coagulant dosing unit stores a reagent; the flocculation mixing pipeline is connected to the coagulant dosing unit and the mud-water pipeline; the separation sedimentation unit includes a coarse sedimentation area and a fine sedimentation area, the coarse sedimentation area includes a diversion unit and a discharge pipe arranged below the diversion unit; the fine sedimentation area includes a separation sedimentation area with multiple separation pipes and a collection area for collecting sludge arranged below the separation sedimentation area; the mud discharge unit is connected to the collection area and includes a mud discharge pipeline. The underwater robot can run underwater to clean the sludge on the riverbed and leave most of the sand and gravel in the water body. Through the action of the disturbance mechanism, the sludge is mixed with the water body, and most of the sand and gravel will be discharged back into the water body due to gravity, which is conducive to preserving the ecological environment of the riverbed. The floating mobile water purification station can further separate sand and gravel from the mud-water mixture and reduce the water content of the sludge. The underwater robot and floating mobile water purification station can separate sand and sludge, which is beneficial to preserve the ecological environment of the riverbed and reduce treatment costs. The system is suitable for cleaning the bottom mud of various rivers without interrupting the flow, achieving ecological dredging.

[0005] According to one aspect of the present disclosure, the bottom sludge elimination system optionally further includes a sludge drying system, which is connected to the sludge discharge unit of the floating mobile water purification station. The sludge drying system can further reduce the water content of the sludge and facilitate sludge transportation.

[0006] According to the bottom mud elimination system of one aspect of the present disclosure, optionally, a water inlet assembly is provided at the water inlet, which is at least provided at the lower part of the housing on both sides of the traveling direction of the underwater robot, and the water inlet assembly includes a one-way valve and a baffle provided on the opening path of the one-way valve. The one-way valve can be opened when the extraction mechanism is working and closed when the disturbance mechanism is working, so as to prevent the muddy water in the housing from flowing into the external water body. The baffle can prevent the one-way valve from being over-opened due to the effect of suction and unable to be reset.

[0007] According to the sediment elimination system of one aspect of the present disclosure, optionally, the bottom of the housing includes an intercepting member with a gap, and the intercepting member includes a filter screen and a plurality of metal plates arranged at intervals and extending downward below the filter screen. The metal plates ensure the strength of the intercepting member, reduce the resistance of disturbing the sediment, and block larger garbage and foreign matter. The metal plates can be steel plates. The filter screen can also be composed of a metal mesh, and the gap between the filter screen is smaller than the gap between the metal plates, which can further intercept strip-shaped and soft garbage in the sediment.

[0008] According to the sediment elimination system of one aspect of the present disclosure, optionally, the disturbance mechanism includes at least two flow pushers, which are symmetrically arranged on the top of the housing and tilted downward so that the thrust direction is toward the bottom center of the housing. The selection of the flow pusher flow direction can avoid the generation of short flow and dead corners, and prevent the water flow from hitting the housing wall and reducing the flow rate.

[0009] According to the sediment removal system of one aspect of the present disclosure, optionally, the motion mechanism includes a crawling wheel, and the crawling wheel includes a plurality of rods radiating outward from the shaft and a rod-shaped tooth portion provided at the end of each rod. The rod-shaped tooth portion of the crawling wheel can increase the grip, which is conducive to walking, and can avoid stirring up too much sediment during crawling to affect the water quality and visibility of the water body.

[0010] According to the bottom mud removal system of one aspect of the present disclosure, optionally, the underwater robot further includes a washing device arranged on one side of the traveling direction or on both sides of the traveling direction, which includes a motor and a mud loosening wheel connected to the motor through a shaft, and each mud loosening wheel includes a plurality of blades. The washing device can turn over the bottom mud so that it can be more easily sucked into the housing.

[0011] According to the bottom mud elimination system of one aspect of the present disclosure, optionally, the underwater robot also includes buoyancy members arranged on both sides thereof, and the walking mechanism also includes a mounting member, which is arranged under the underwater motor and extends below the buoyancy member, and the mounting member is in the shape of a flat plate with curved outer edges at the front and rear ends near the traveling direction of the underwater robot. The buoyancy member can help the underwater robot float up and sink. The formation of curved outer edges at both ends of the mounting member can reduce walking resistance and prevent sinking into the bottom mud.

[0012] According to the sediment elimination system of one aspect of the present disclosure, optionally, the guide unit includes a plurality of guide plates staggered from top to bottom and tilted downward, and the angles between the plurality of guide plates and the cavity walls on which they are installed and the horizontal distances between the plurality of guide plates and the adjacent cavity walls in their respective extension directions gradually increase with the direction of water flow. The plurality of guide plates form an approximate S-shape, slowing down the water flow. The increased angle makes it easier for the material on the guide plate to slide off, and the increased horizontal distance gradually increases the area of ​​the water flow channel and gradually slows down the flow rate, thereby facilitating the separation of different materials under the action of the two.

[0013] According to one aspect of the sediment elimination system disclosed herein, optionally, the separation sedimentation area of ​​the fine sedimentation area includes a plurality of mud slides, a plurality of separation tubes are arranged between adjacent mud slides, the lower portion of each separation tube has a separation port connected to the mud slide, and the plurality of separation tubes are in a horizontal direction. A plurality of small separation tubes are arranged in the cross-sectional area of ​​the water inlet channel, so that the water flow area is large and the flow rate is slow. The water flows in each separation tube are independent of each other and do not affect each other. Mud and water are more easily separated through a single separation tube, and the separation efficiency is higher. The sludge passes through the separation port and falls into the mud slide, realizing the separation of mud and water.

[0014] According to the sediment elimination system of one aspect of the present disclosure, optionally, the coarse sedimentation area and the fine sedimentation area are arranged at the same height, and water flows from the coarse sedimentation area into the fine sedimentation area via the same-path water distribution method. The same-path water distribution method makes the water flow more uniform and improves the effect of mud-water separation.

[0015] According to the sediment elimination system of one aspect of the present disclosure, optionally, at least a portion of the flocculation mixing pipeline is arranged at the bottom of the floating mobile water purification station, arranged along the length direction of the floating mobile water purification station and bent and changed direction multiple times. In the limited space of the floating mobile water purification station, the reaction pipeline is extended by bending and changing direction, the flocculation reaction time is extended, and the flocculation effect is improved.

[0016] According to a sediment elimination system of one aspect of the present disclosure, optionally, the sludge discharge unit includes a sludge discharge pump, a plurality of sludge discharge pipes and a sludge discharge valve corresponding to each sludge discharge pipe, the sludge discharge valve opens the sludge discharge pipe in turn, and the sludge discharge unit also includes a pipe connected to a flocculation mixing pipeline. Through the plurality of sludge discharge pipes and the sludge discharge valves opened in turn, each collection bucket in the collection area can have a certain sludge collection time, further reducing the water content of the sludge. In addition, in order to increase the flocculation speed, a small amount of sludge discharged from the sludge discharge unit can also be returned to the flocculation mixing pipeline to increase the number of flocs.

[0017] According to the sediment elimination system of one aspect of the present disclosure, optionally, the separation and sedimentation unit further comprises a drainage area, which comprises an S-shaped water flow channel formed by a plurality of partitions. The water flow channel thus arranged can slow down the water flow velocity and increase the processing time of the separation and sedimentation area.

[0018] According to the sludge elimination system of one aspect of the present disclosure, optionally, the sludge drying system includes a stacked screw compressor.

[0019] The bottom mud elimination system of the utility model can achieve higher mud-water separation efficiency on a hull of limited size, is suitable for bottom mud treatment in various water bodies, and does not require flow interruption, thereby reducing the operating cost of existing bottom mud excavation and bottom mud washing equipment.

[0020] It is not necessary to achieve all the advantages described above at the same time for any device implementing the present disclosure. Other features and advantages of the present disclosure will be described in the subsequent description embodiments, and partly become apparent from the description embodiments, or be understood by implementing the present disclosure. The purposes and advantages of the embodiments of the present disclosure can be realized and obtained by the structures indicated in the description, claims and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings of the embodiments will be briefly introduced below. Obviously, the drawings in the following description only relate to some embodiments of the present disclosure, but are not intended to limit the present disclosure.

[0022] Figure 1 A schematic overall block diagram of a sediment elimination system according to an embodiment of the present disclosure is shown;

[0023] Figure 2 is a top view of an underwater robot according to an embodiment of the present disclosure;

[0024] Figure 3 yes Figure 1 AA cross-sectional schematic diagram of the underwater robot shown;

[0025] Figure 4 is a side view of an underwater robot according to an embodiment of the present disclosure;

[0026] Figure 5 is a top view of an underwater robot according to another embodiment of the present disclosure;

[0027] Figure 6 Yes Figure 5 A schematic BB cross-sectional view of the underwater robot of the embodiment shown;

[0028] Figure 7 is a structural schematic diagram of a floating mobile water purification station according to an embodiment of the present disclosure;

[0029] Figure 8 is a top view of a floating mobile water purification station according to one embodiment of the present disclosure;

[0030] Fig. 9 yes Figure 7 The CC section diagram of the floating mobile water purification station shown;

[0031] Fig.10 yes Fig. 9 A magnified view of region D in FIG.

[0032] Fig.11 It is a schematic diagram of water flow of a floating mobile water purification station according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical solution and advantages of the embodiments of the present disclosure clearer, the technical solution of the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings of the embodiments of the present disclosure. Obviously, the described embodiments are part of the embodiments of the present disclosure, not all of the embodiments. The various different embodiments can be combined with each other to form other embodiments not shown in the following description. Based on the described embodiments of the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present disclosure.

[0034] Unless otherwise defined, the technical terms or scientific terms used herein shall have the usual meanings understood by persons of ordinary skill in the field to which the present disclosure belongs. The words "first", "second" and similar words used in the patent application specification and claims of the present disclosure do not indicate any order, quantity or importance, but are only used to distinguish different components. Similarly, words such as "one" or "one" do not necessarily indicate a quantity restriction. Words such as "include" or "comprise" and similar words mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Words such as "connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0035] Figure 1A schematic overall block diagram of a sediment elimination system according to an embodiment of the present disclosure is shown. The sediment elimination system includes at least an underwater robot 100 and a floating mobile water purification station 200, which may further include a sludge drying system 300. The underwater robot 100 operates at the bottom of the river channel, washes out the sludge on the riverbed, and uses a sludge pump to extract the mud-water mixture to the floating mobile water purification station 200. The floating mobile water purification station 200 floats on the water surface near the underwater robot, precipitates and preliminarily dehydrates the pumped-in mud-water mixture, and can extract the sludge after the preliminary dehydration to the outside of the floating mobile water purification station. The floating mobile water purification station 200 can be used as a floating control platform, where staff can monitor the operation of the underwater robot. In addition, the floating mobile water purification station can be equipped with corresponding equipment to hoist the underwater robot up for maintenance at regular intervals. In order to lower the moisture content of the sludge discharged from the floating mobile water purification station 200 for easy transportation, the bottom sludge elimination system may further include a sludge drying system 300, which is generally arranged on the shore to further dehydrate the sludge.

[0036] Figure 2 An underwater robot for removing bottom mud according to an embodiment of the present disclosure is shown; Figure 3 yes Figure 1 AA cross-sectional schematic diagram of the underwater robot shown; Figure 4 FIG. 1 is a side view of an underwater robot according to an embodiment of the present disclosure. Figure 2-4 As shown, the underwater robot includes a walking mechanism 110, an isolation mechanism 120, a disturbance mechanism 130 and a mud and water extraction mechanism 140. The walking mechanism 110 is arranged on both sides of the underwater robot to drive the underwater robot to walk. The isolation mechanism 120 isolates the water body at the bottom mud to be treated from other water areas so as to form turbulence inside it and prevent the water quality of the external water area from being affected. The disturbance mechanism 130 disturbs the bottom mud to form turbulence. The mud and water extraction mechanism 140 extracts the mud and water mixture to an external floating mobile water purification station for further treatment.

[0037] The walking mechanism 110 may include two independently controllable walking parts arranged on both sides of the underwater robot. Each walking part includes a mounting part 111, an underwater motor 112, a crawling wheel 115, and a transmission mechanism connecting the underwater motor 112 and the crawling wheel 115. The transmission mechanism may include a connecting part 113 and a steering part 114. The underwater motor 112 may be arranged in the middle of both sides of the underwater robot, and is connected to the steering part 114 through the connecting part 113, and the crawling wheel 115 is installed on the steering part 114. The walking mechanism may also adopt other common forms, such as a crawler structure or other wheel structures. The crawling wheel 115 and the transmission mechanism may be used as a motion mechanism driven by an underwater motor.

[0038] The mounting member 111 can be arranged at the bottom of the walking mechanism on both sides to support the underwater motor part, and can also extend below the buoyancy member 150. Figure 3 As shown, the mounting member 11 at the front and rear ends near the walking direction of the underwater robot can be designed as a flat plate with an arc bottom. This shape is conducive to reducing the walking resistance of the robot and preventing it from sinking into the bottom mud.

[0039] The underwater motor 112 can be a fixed frequency motor or a variable frequency motor. If a variable frequency motor is used, the walking speed V of the walking component can be controlled by changing the frequency. By controlling the underwater motor, the underwater robot can be moved forward and backward, that is, the underwater robot can switch the direction of travel as needed.

[0040] The connecting member 113 may be a coupling. The steering member 114 is connected to the crawling wheel 115. The underwater motor 112 controls the rotation of the crawling wheel 115 via the connecting member 113 and the steering member 114. Figure 2-3 As shown, the crawling wheel 115 adopts the form of rake teeth, which includes a plurality of rods 1151 evenly distributed and radiating outward from the shaft of the crawling wheel and a tooth portion 1152 arranged at the end of each rod (opposite to one end of the connecting shaft). The tooth portion 1152 is preferably in the shape of a cylindrical rod. On the one hand, this method can improve the grip of the crawling wheel 115 to facilitate walking, and on the other hand, it can avoid stirring up too much mud when crawling to affect the water quality and visibility of the water body. According to one embodiment, the turning of the underwater robot can be achieved by controlling the speed difference of the walking components on both sides.

[0041] The isolation mechanism 120 mainly includes a cover 121 with an opening at the bottom. The cover 121 is provided with a water inlet assembly 122 at the water inlet position near the bottom on both sides of the front and rear sides in the walking direction. The water inlet assembly 122 may include a mud shoveling member 1221, such as a mud shoveling plate. The mud shoveling member 1221 arranged obliquely downward can guide the bottom mud to the inlet 1222, so as to enter the interior of the cover 121. The inlet 1222 is arranged above the mud shoveling member 1221, and the inlet can be arranged in a V shape (such as Figure 2 As shown). A one-way valve 1223 is provided at the rear side of the inlet 1222, and a baffle 1224 is provided on the opening path of the one-way valve to limit the opening degree of the one-way valve, so as to ensure that the one-way valve 1223 can be reset to a closed state when the flow is disturbed. The one-way valve 1223 is opened when the muddy water extraction mechanism 140 is in operation, so that the external muddy water can enter the housing 121; it is closed when the flow is disturbed to ensure that the muddy water mixture inside the housing 121 will not flow out and affect the external water body. Therefore, the structure and orientation of the water inlet assembly 122 are conducive to the bottom sludge outside the housing 121 to enter its interior, thereby improving the treatment efficiency.

[0042] The cover 121 is a sealed shell with an opening at the bottom, and the top is preferably in an arc shape to facilitate the formation of turbulence inside it, so that the bottom mud and the water body form a mud-water mixture. An interception member 123 is provided at the bottom opening of the cover 121. The interception member 123 is sequentially provided with a metal interception plate 1231 with a large gap and a filter screen 1232 with a small gap from the bottom to the top. The metal interception plate is arranged in the vertical direction. For example, the metal interception plate and the filter screen can form a longitudinal grid and a tic-tac-toe grid, respectively. This arrangement of the metal interception plate 1231 can not only ensure the strength of the interception member, but also reduce the resistance of disturbing the bottom mud. Through the cooperation of the metal interception plate and the filter screen, other strip-shaped and soft garbage in the bottom mud can be intercepted.

[0043] The disturbance mechanism 130 can be implemented by a flowmaker. In one embodiment, the flowmaker can be a variable frequency controlled flowmaker, and its thrust can be adjusted to meet the disturbance requirements of the bottom mud under different conditions. Preferably, the disturbance mechanism 130 may include at least two flowmakers. The flowmakers can be arranged on both sides of the top of the cover 121, for example, they can be symmetrically arranged relative to the cover. The flowmaker and the cover are sealed. Since the bottom mud enters from below, preferably, the flowmaker can be tilted so that the thrust direction is toward the bottom center of the cover. The arrangement of the flowmaker can avoid the occurrence of interrupted flow and dead corners, as well as the situation where the flow velocity is reduced due to the impact of the water flow on the wall of the cover 121, so that the bottom mud inside the cover 121 is fully and quickly mixed with the water body, thereby improving the treatment efficiency.

[0044] The muddy water extraction mechanism 140 includes a sewage pump located at the top center of the housing, and a cutting sewage pump can be used, which is sealed with the housing. The cutting sewage pump has a cutting device, which can cut filamentary impurities to prevent them from being entangled or blocked at the outlet. The inlet of the muddy water extraction mechanism 140 is set in the housing, and the outlet is connected to the muddy water pipeline. The muddy water extraction mechanism is connected to the muddy water pipeline to pump the muddy water mixture in the housing to the floating mobile water purification station outside the underwater robot for treatment.

[0045] The underwater robot also includes a buoyancy member 150, which can reduce the gravity of the underwater robot when it is underwater. The buoyancy member 150 can be evenly distributed on both sides of the underwater robot. Figure 2 In the embodiment shown, the underwater robot includes four buoyancy members, which are respectively arranged near the crawling wheels. In the case of deep bottom mud, the depth of the underwater robot entering the mud can be changed by adjusting the buoyancy of the buoyancy member 150, thereby improving the processing efficiency of the equipment.

[0046] In addition, one or more infrared cameras 160 may be provided on the top of the housing 121 to collect the sediment stratification conditions before and after the underwater robot moves, that is, to collect the sediment stratification conditions to be treated and the sediment stratification conditions after treatment. The control personnel can control the movement of the underwater robot by transmitting the images back to the control center.

[0047] Furthermore, the underwater robot may be provided with an avoidance device 170 in the walking direction to prevent the device from being damaged due to collision with obstacles during walking. Figure 2 As shown, the avoidance device 170 can be a avoidance rod 171 or other structures. The V-shaped avoidance rod 171 in this embodiment is connected to the mounting member 111 through an adjusting member 172. The adjusting member 172 can be used to retract and extend the avoidance rod 171. The avoidance device 170 can realize the forced avoidance of obstacles during the walking process of the underwater robot. Optionally, the infrared camera on the top of the cover 121 can be used to collect images near the underwater robot, and the active avoidance or manual control avoidance of obstacles can be realized by analyzing the images. In addition, other sensors, such as ultrasonic sensors, can also be set around the underwater robot to sense obstacles and achieve obstacle avoidance.

[0048] The underwater robot can communicate with external control equipment, control the operation of the underwater robot through handheld devices or central control equipment, and collect underwater data. The underwater robot can also achieve functions such as bottom mud and water sampling and water quality measurement through existing structures or adding sensors.

[0049] Figure 5 FIG. 2 shows a top view of an underwater robot according to another embodiment of the present disclosure. Figure 6 yes Figure 5 A schematic BB cross-sectional view of the underwater robot of the embodiment shown. Figure 5 The embodiment shown is Figure 2 The same or similar parts of the embodiments shown are not described in detail. Figure 5 As shown, a washing device 180 may be provided at the front end of the underwater robot in the walking direction. Optionally, washing devices 180 may be provided at both ends of the underwater robot. Figure 5 The washing device 180 is described below. If the washing devices 180 are provided at both ends of the underwater robot, the arrangement of each end can refer to Figure 5 Embodiment of the invention.

[0050] The washing device 180 includes a motor 181 and a mud loosening wheel 183 connected to the motor 181 and driven by the motor 181. To drive a row of mud loosening wheels, the motor 181 can be centrally arranged relative to the underwater robot (it can also be arranged at other suitable positions), and a reduction motor can also be used. Both ends of the motor 181 are connected to the shaft 182, and one or more mud loosening wheels 183 are arranged on the shaft 182. The mud loosening wheel 183 has a plurality of blades that rotate with the shaft, which is convenient for loosening the sludge during the rotation process. The blades can be radial relative to the shaft, or arranged in other ways, so as to play the role of turning over the sludge. When the underwater robot is running, the washing device 180 at the front end of the underwater robot's walking direction works to preliminarily loosen the bottom mud, thereby improving the robot's mud suction effect. In addition, a torque meter 184 can also be provided on the shaft 182, which is used to monitor the torque of the shaft 182 during operation. When the torque is large, the bottom mud is thicker and / or harder, and the reduction motor 181 can run quickly to increase the speed and strength of the mud loosening; when the torque is small, the bottom mud is thinner and / or softer, and the reduction motor 181 can run slowly to reduce the speed and strength of the mud loosening. Furthermore, the washing device 180 can also include a mud guard 185, which forms a semi-enclosed space to ensure that the mud loosening wheel 183 is wrapped in this space, so that when the mud loosening wheel 183 is running, the loosened mud and water are prevented from diffusing into other waters, and at the same time, the mud and water enter the interior of the housing 121 from the water inlet assembly 122A at the rear end of the washing device 180. Figure 6 As shown, the water inlet assembly 122A can be set to an inward arc to adapt to the position of the mud loosening wheel. Figure 3 The flat plate form shown, its shape can be changed as required.

[0051] Alternatively, if Figure 5 As shown, the front and rear rows of crawling wheels can be installed in different positions, that is, they are not in a straight line in the direction of travel. This method can increase the crawling power, which is beneficial to the walking of the underwater robot and prevents the rear row of crawling wheels from weakening the gripping power of the mud due to the loosening of the bottom mud. The crawling wheels can also be more than two rows as needed.

[0052] Optionally, the housing 121 may be provided with an exhaust valve 124 for discharging the air in the housing 21, which may be provided at the top of the housing.

[0053] The underwater robot can operate autonomously at the bottom of the river without interrupting the flow of the river. The desilting time is not affected by the flood season and can be operated except for the flood control and drainage period or the flood discharge period. Through the above structure, the underwater robot can clean the sludge on the riverbed (such as black organic mud). Through the action of the flow pusher, the sludge is mixed with the water body, and most of the sand and gravel will be discharged back into the water body due to gravity, which is conducive to preserving the ecological environment of the riverbed. The underwater robot can be designed in different sizes to adapt to the size of the river channel it is desilting.

[0054] The above embodiments do not limit the implementation method of the underwater robot, which is mainly used to separate mud and sand and extract the mud-water mixture to a processing device on the water surface.

[0055] Figure 7 A structural schematic diagram of a floating mobile water purification station according to an embodiment of the present disclosure is shown. Figure 8 The figure is a top view of a floating mobile water purification station according to an embodiment of the present disclosure. The floating mobile water purification station is arranged on a ship hull so as to float on a river channel. Fig. 9 yes Figure 7 The CC cross-sectional view of the floating mobile water purification station is shown. The floating mobile water purification station includes a coagulant dosing unit 210, a flocculation mixing reaction unit 220, a separation sedimentation unit 230 and a mud discharge unit 240 in sequence along the water flow direction of the water treatment process. The floating mobile water purification station may also include other parts such as a control unit (not shown).

[0056] The coagulant dosing unit 210 may include a pipeline system for quantitatively dosing coagulant, which includes a cartridge for storing the agent, a metering pump, a valve for controlling the dosing of the coagulant, etc. The coagulant dosing unit 210 is used to control and adjust the dosing of the coagulant.

[0057] The flocculation mixing reaction unit 220 is connected to the coagulant dosing unit 210 and the pipeline for conveying the mud-water mixture of the bottom mud, and promotes the rapid mixing and diffusion of the flocculant and the mud-water mixture through the turbulent disturbance to flocculate into small flocs. The flocculation mixing reaction unit 220 includes a pipeline or is in the form of a pipeline, which can optionally include a mixer 221, such as a pipeline with a spiral blade, under the action of which a strong turbulence is generated, and the mud-water mixture extracted from the bottom of the water is quickly mixed and diffused with the coagulant. The mixer 221 is connected to the reaction pipeline 222, and the reaction pipeline 222 makes full use of the space of the device to extend its length, and through multiple bending and changing directions (for example, a coil can be used), the flocculation mixing reaction time is extended and the mixing reaction intensity is increased to enhance the flocculation effect. For example, at least a portion of the reaction pipeline 222 can be arranged below the floating mobile water purification station, and the length of the reaction pipeline is increased by extending in the length direction of the floating mobile water purification station and bending back and forth multiple times. In order to increase the flocculation speed, a small amount of sludge discharged from the sludge discharge unit can also be returned to the flocculation mixing reaction unit to increase the number of flocs.

[0058] The separation and sedimentation unit 230 separates the mud and water from the flocculated water. The separation and sedimentation unit 230 is connected to the outlet of the flocculation mixing reaction unit 220. The separation and sedimentation unit 230 is divided into a relatively independent coarse sedimentation zone 231 and a fine sedimentation zone 232 by a partition along the water flow direction. The coarse sedimentation zone 231 can separate and precipitate relatively heavy substances such as sand and gravel in the mud and water mixture, and the fine sedimentation zone 232 can separate and precipitate relatively light substances such as floccules in the mud and water mixture. The coarse sedimentation zone 231 includes an inlet channel 2311, and a plurality of staggered guide plates 2312 are arranged at the end of the inlet channel 2311 from top to bottom. The water flow enters from above the guide plate, and the plurality of guide plates 2312 can be arranged to form a water flow channel arranged approximately in an S shape (such as Figure 1 As shown). Each guide plate 2312 is arranged at a certain inclination, and its downwardly inclined end is at a certain distance from the cavity wall to form a water flow channel. Optionally, the inclination angle a of the guide plate 2312 and the horizontal distance L from the adjacent cavity wall in the extension direction gradually increase with the direction of the water flow, wherein the inclination angle a is the angle between the guide plate and the longitudinal cavity wall connected to it. Figure 1 It can be seen that with the downward water flow direction, the slope angle a of the guide plate 2312 and the distance L from the cavity wall gradually increase. This setting can not only prolong the sedimentation time, but also facilitate the separation effect. The increase in the slope angle a makes it easier for the material on the guide plate 2312 to slide off, and the increase in the distance L can gradually increase the area of ​​the water flow channel and gradually slow down the flow rate, which is conducive to the separation of different substances under the action of the two. In addition, the discharge pipe 2313 can be set at the bottom of the coarse sedimentation area, and the discharge pipe 2313 is controlled by a valve to regularly discharge the precipitated sediment into the water body.

[0059] like Figure 7 As shown, the same-path water distribution method can be adopted from the coarse sedimentation zone 231 to the fine sedimentation zone 232 to make the water distribution more uniform. The fine sedimentation zone can be arranged at the same height as the coarse sedimentation zone, and the water flows horizontally through the coarse sedimentation zone 231 and the fine sedimentation zone 232 in sequence. After passing through the guide plate 2312, the water flows from bottom to top into the water inlet channel 2321 of the fine sedimentation zone and fills the fine sedimentation zone. A separation sedimentation zone 2322 is arranged at the rear end of the water inlet channel 2321. The separation sedimentation zone includes a separation pipe 3222B arranged in a horizontal direction. The water in the water inlet channel flows evenly into the separation pipe, realizing the same-path water distribution. A drainage area 2323 is arranged at the rear end of the separation sedimentation zone 2322. A collection area 2324 is arranged on the lower side of the separation sedimentation zone 2322. The separation sedimentation zone 2322 includes a plurality of mud slides 3222A arranged evenly and tilted, and a plurality of small separation pipes 3222B (such as Fig. 9 ). Fig. 9It can be seen from the cross-sectional view that multiple small separation tubes 3222B are distributed over the entire cross-sectional area of ​​the separation and sedimentation zone, making the water flow area large and the flow rate slow. A separation port 3222C connected to the mud slide trough is provided at the bottom of each small separation tube. The water entering the water inlet channel 2321 flows through multiple separation tubes 3222B, and the flow rate slows down due to the large water flow area. This setting allows the water to flow through each separation tube 3222B without entering the mud slide trough 3222A. At the same time, the water flows in different separation tubes 3222B are independent of each other and do not affect each other. The mud and water are easier to separate through a single separation tube 3222B, and the mud and water are very little affected by the water flow during the separation process, making the mud-water separation efficiency very high. The separated mud falls into the mud slide trough 3222A and enters the collection area 2324, and is no longer affected by the water flow. The mud is not disturbed during the sedimentation process, and as the mud and water stay in the separation tubes in the fine sedimentation zone for a longer time, the water will become cleaner and cleaner. Fig.10 Shows Fig. 9 A magnified view of area D in the middle, where arrows indicate the lateral mud and water sedimentation pattern.

[0060] The collection area 2324 is preferably divided into several collection buckets, which can be bucket-shaped, such as conical and other shapes that are conducive to mud aggregation. The outlet of the fine sedimentation area is placed at the upper part of the fine sedimentation area to ensure that the water outlet also adopts the same water distribution method. The drainage area 2323 can be formed by several partitions to form an approximately S-shaped water flow channel to avoid interruption of flow and extend the residence time of water flow in the separation and sedimentation area 2322. The outlet can be a zigzag shape or other shapes that can disperse the water flow, increase the contact between the water body and the air, and facilitate the oxygenation of the water body. The water flow is discharged into the surrounding water body through the outlet.

[0061] The mud discharge unit 240 can transport the separated mud from the floating mobile water purification station to the outside of the floating mobile water purification station through a pipeline. The discharged sludge can be transported away or transported to the sludge drying system 300 for further dehydration. The mud discharge unit 240 includes a mud discharge mechanism connected to the collection bucket of each collection area 2324 and a mud discharge pump 241 connected to the end of the mud discharge mechanism. The mud discharge mechanism includes one or more mud discharge pipes 242 ( Figure 8 The control valve 243 is arranged on each mud discharge pipe 242. Optionally, each mud discharge pipe may correspond to a collecting bucket, and the control valve may control the opening and closing of each mud discharge pipe individually. Optionally, by controlling the opening and closing of each mud discharge pipe in turn, each collecting bucket has a certain amount of sludge collection time, so that the sludge discharged by the mud discharge pump 241 has a lower moisture content.

[0062] The following is an explanation of the operation process of the floating mobile water purification station. The mud and water mixture extracted by the underwater robot or other river treatment mechanism enters the floating mobile water purification station. The coagulant dosing unit 210 quantitatively adds coagulant to the mud and water mixture. After the addition of the coagulant, the mud and water mixture enters the flocculation mixing reaction unit 220, at which time the mud and water mixture and the coagulant are fully mixed to gradually form flocs. The flocculated mixture enters the coarse sedimentation area 231 of the separation sedimentation unit 230, and the heavier substances such as sand and gravel are separated and enter the discharge pipe 2313, and the remaining flocculated mixture continues to enter the fine sedimentation area 232. Relatively light substances such as flocs in the flocculated mixture will gradually enter the collection area 2324, and then enter the subsequent sludge dewatering device through the mud discharge unit 240 for treatment. Fig.11 As shown, ① is the water flow path, ② is the path of heavier materials such as sand and gravel in the mud-water mixture after flocculation, and ③ is the path of flocs, sludge, etc. in the mud-water mixture after flocculation. The water flow path ① goes down along the guide plate in the coarse sedimentation area, and also flows into the fine sedimentation area in the horizontal direction. The heavier materials such as sand and gravel ② are precipitated downward along the guide plate into the discharge pipe. The flocs, sludge, etc. ③ are precipitated into the collection area when flowing through the fine sedimentation area, and then enter the mud discharge pipe. The utility model mixes muddy water and chemicals (for example, coagulants) in the pipeline, and can extend the reaction time of the chemicals and muddy water through multiple disc pipelines to form flocs (such as suspended matter), and then pass through the separation sedimentation unit to gradually slow down the flow rate of the water body, while the flocs continue to grow, forming sludge precipitation. The water body precipitates sand and gravel in the coarse sedimentation area, and after entering the fine sedimentation area, the flow rate is further slowed down, and sludge is precipitated in the fine sedimentation area, making the water body clearer, thereby achieving mud-water separation.

[0063] From the above process, it can be seen that the floating mobile water purification station will first discharge the sand and gravel back to the river, which is beneficial to preserve the ecological environment of the riverbed on the one hand, and can ensure the safe operation of the subsequent sludge dewatering device on the other hand. The floating mobile water purification station can further separate the sludge in the water body and discharge a large amount of water back to the river, thereby dehydrating the muddy water to a certain extent. The floating mobile water purification station can realize the function of a floating control platform, and the staff can supervise and control the dredging work of the underwater robot and deal with emergencies in a timely manner.

[0064] The floating mobile water purification station 200 can provide a maintenance platform for the underwater robot. The underwater robot can be hoisted to the water platform to clean up garbage in time, while ensuring that water does not easily enter the electromechanical equipment and cause damage when it is shut down.

[0065] The sludge drying system 300 further dehydrates the sludge separated and precipitated by the floating mobile water purification station 200, for example, a filter press, such as a screw filter press, can be used. After the sludge is dried into a mud cake, it is convenient to transport. For the dehydration method in the form of a filter press, sand and gravel can easily cause wear and damage to the device during operation. The above-mentioned floating mobile water purification station can remove sand and gravel, thereby ensuring the safe operation of the sludge drying system 300.

[0066] The functions of the underwater robot 100, the floating mobile water purification station 200 and the sludge drying system 300 in the sediment elimination system cooperate with each other, with a high degree of automation, while retaining the original ecology of the river channel and reducing energy costs, transportation costs, etc.

[0067] The above description is merely an exemplary embodiment of the present disclosure and is not intended to limit the protection scope of the present disclosure. The protection scope of the present disclosure is determined by the appended claims.

Claims

1. A sediment elimination system, characterized in that: Including underwater robots and floating mobile water purification stations, The underwater robot comprises A traveling mechanism, which includes an underwater motor and a motion mechanism driven by the underwater motor; An isolation mechanism, comprising a housing and a water inlet disposed at a lower portion of the housing; a disturbance mechanism, which is sealed and connected to the housing, and at least a portion of the disturbance mechanism is disposed in the housing; and A muddy water extraction mechanism, the inlet of which is sealedly connected to the housing, and the outlet of which is connected to the floating mobile water purification station through a muddy water pipeline; The floating mobile water purification station comprises: A coagulant dosing unit storing reagents; A flocculation mixing pipeline, which is connected to the coagulant dosing unit and the mud water pipeline; The separation and sedimentation unit comprises a coarse sedimentation zone and a fine sedimentation zone, wherein the coarse sedimentation zone comprises a flow guide unit and a discharge pipe arranged below the flow guide unit; the fine sedimentation zone comprises a separation sedimentation zone having a plurality of separation pipes and a collection zone for collecting sludge arranged below the separation sedimentation zone; The mud discharge unit is communicated with the collection area and comprises a mud discharge pipeline.

2. The sediment elimination system according to claim 1, characterized in that: It also includes a sludge drying system, which is connected to the sludge discharge unit of the floating mobile water purification station.

3. The sediment elimination system according to claim 1, characterized in that: The water inlet is provided with a water inlet assembly, which is at least arranged at the lower part of the housing on both sides of the traveling direction of the underwater robot. The water inlet assembly includes a one-way valve and a baffle arranged on the opening path of the one-way valve.

4. The sediment elimination system according to claim 1, characterized in that: The bottom of the housing includes an intercepting member with a gap, and the intercepting member includes a filter screen and a plurality of metal plates arranged below the filter screen and extending downward and arranged at intervals.

5. The sediment elimination system according to claim 1, characterized in that: The disturbance mechanism comprises at least two flow propellers, which are symmetrically arranged on the top of the housing and inclined downward so that the thrust direction is toward the bottom center of the housing.

6. The sediment elimination system according to claim 1, characterized in that: The motion mechanism includes a crawler wheel, which includes a plurality of rods radiating outward from a shaft portion and a rod-shaped tooth portion arranged at the end of each rod.

7. The sediment elimination system according to claim 1, characterized in that: The underwater robot also includes a washing device arranged on one side of the traveling direction or on both sides of the traveling direction, which includes a motor and a mud loosening wheel connected to the motor through a shaft, and each mud loosening wheel includes a plurality of blades.

8. The sediment elimination system according to claim 1, characterized in that: The underwater robot also includes buoyancy members arranged on both sides thereof, and the walking mechanism also includes a mounting member, which is arranged under the underwater motor and extends below the buoyancy member. The mounting member is in the shape of a flat plate with an arc-shaped outer edge at the front and rear ends close to the traveling direction of the underwater robot.

9. The sediment elimination system according to claim 1, characterized in that: The guide unit includes a plurality of guide plates staggered and arranged downward from top to bottom, and the angles between the guide plates and the cavity walls on which they are installed and the horizontal distances between the guide plates and the adjacent cavity walls in their respective extension directions gradually increase with the direction of water flow.

10. The sediment elimination system according to claim 1, characterized in that: The separation sedimentation zone of the fine sedimentation zone includes a plurality of mud slide grooves, a plurality of separation pipes are arranged between adjacent mud slide grooves, the lower part of each separation pipe has a separation port connected to the mud slide groove, and the plurality of separation pipes are in a horizontal direction.

11. The sediment elimination system according to claim 1, characterized in that: The coarse sedimentation zone and the fine sedimentation zone are arranged at the same height, and water flows from the coarse sedimentation zone into the fine sedimentation zone via the same-path water distribution method.

12. The sediment elimination system according to claim 1, characterized in that: At least a portion of the flocculation and mixing pipeline is disposed at the lower part of the floating mobile water purification station, is disposed along the length direction of the floating mobile water purification station, and is bent and changed direction multiple times.

13. The sediment elimination system according to claim 1, characterized in that: The mud discharge unit comprises a mud discharge pump, a plurality of mud discharge pipes and a mud discharge valve corresponding to each mud discharge pipe, the mud discharge valve opens the mud discharge pipe in turn, and the mud discharge unit also comprises a pipe connected to the flocculation mixing pipeline.

14. The sediment elimination system according to claim 1, characterized in that: The separation and sedimentation unit further includes a drainage area including an S-shaped water flow channel formed by a plurality of partitions.

15. The sediment elimination system according to claim 2, characterized in that: The sludge drying system includes a stacked screw compressor.

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