CN110304675B - Cavitation jet generator for organic sewage treatment equipment - Google Patents
Cavitation jet generator for organic sewage treatment equipment Download PDFInfo
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- CN110304675B CN110304675B CN201910665737.8A CN201910665737A CN110304675B CN 110304675 B CN110304675 B CN 110304675B CN 201910665737 A CN201910665737 A CN 201910665737A CN 110304675 B CN110304675 B CN 110304675B
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- C—CHEMISTRY; METALLURGY
- C02—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
- C02F—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
- C02F1/00—Treatment of water, waste water, or sewage
- C02F1/02—Treatment of water, waste water, or sewage by heating
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- C—CHEMISTRY; METALLURGY
- C02—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
- C02F—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
- C02F1/00—Treatment of water, waste water, or sewage
- C02F1/34—Treatment of water, waste water, or sewage with mechanical oscillations
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- C—CHEMISTRY; METALLURGY
- C02—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
- C02F—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
- C02F1/00—Treatment of water, waste water, or sewage
- C02F1/50—Treatment of water, waste water, or sewage by addition or application of a germicide or by oligodynamic treatment
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- C—CHEMISTRY; METALLURGY
- C02—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
- C02F—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
- C02F1/00—Treatment of water, waste water, or sewage
- C02F1/72—Treatment of water, waste water, or sewage by oxidation
- C02F1/722—Oxidation by peroxides
-
- C—CHEMISTRY; METALLURGY
- C02—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
- C02F—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
- C02F1/00—Treatment of water, waste water, or sewage
- C02F1/72—Treatment of water, waste water, or sewage by oxidation
- C02F1/725—Treatment of water, waste water, or sewage by oxidation by catalytic oxidation
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- C—CHEMISTRY; METALLURGY
- C02—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
- C02F—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
- C02F2305/00—Use of specific compounds during water treatment
- C02F2305/02—Specific form of oxidant
- C02F2305/023—Reactive oxygen species, singlet oxygen, OH radical
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Hydrology & Water Resources (AREA)
- Environmental & Geological Engineering (AREA)
- Water Supply & Treatment (AREA)
- Organic Chemistry (AREA)
- Mechanical Engineering (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Physical Water Treatments (AREA)
Abstract
The invention discloses a cavitation jet generator for organic sewage treatment equipment, which comprises a water pump, a floating plate, a hydrodynamic cavitation device and a suspension platform, wherein the water pump is arranged on the floating plate; the suspension table comprises a first connecting port, a fixed sleeve, a telescopic sleeve and a second connecting port; one end of the first connecting port is connected with the water pump through a second branch pipe, the other end of the first connecting port is connected with the fixed sleeve, the fixed sleeve is embedded into the mounting groove of the floating plate, the number of the telescopic sleeves is multiple, and the number of the telescopic sleeves are sequentially embedded into the fixed sleeve to form a telescopic suspension platform; the second connecting port is connected with the hydrodynamic cavitation device; the hydraulic cavitator comprises a mounting seat and a spray head body which are connected with the tail end of the telescopic sleeve; the nozzle body comprises a water inlet, a fluid jet contraction pipeline, a short connecting pipe, a fluid jet expansion pipeline and a pore plate; the hydrodynamic cavitation device is arranged on the floating plate and acts on the whole reservoir area; meanwhile, the depth of the spray head of the hydraulic cavitator on the water surface of the reservoir is adjusted, so that the application range of sewage cleaning is enlarged.
Description
Technical Field
The invention relates to the technical field of sewage treatment devices, in particular to a cavitation jet generator for organic sewage treatment equipment.
Background
The effect of cavitation jets is mainly due to the high temperature and pressure environment created by the collapse of the cavitation bubbles. In the cavitation jet process, a large number of cavitation bubbles are generated, which collapse in an extreme time and generate high temperatures of up to several thousands or even tens of thousands K in the interior thereof and develop extremely high pressures. Because the temperature and pressure are extremely high and the process is carried out in the microsecond range, the released energy is enough to cause the decomposition of macromolecules, the breaking of chemical bonds and the generation of free radicals, thereby playing a role in destroying the molecular components of pollutants. At the same time, the high energy also opens the O-H bond in the water molecule, so that the water molecule is directly cracked into-H and-OH free radicals, and the free radicals can further generate HO and H202. These strong oxidizing radicals are very beneficial to polymer chemical reaction, other free radical oxidation reaction and organic pollutant degradation.
The existing sewage treatment has the defects that the depth of a spray head of a hydraulic cavitator on the water surface of a reservoir is difficult to adjust, and the application of the cavitation effect in the sewage treatment is limited.
Disclosure of Invention
The invention aims to provide a cavitation jet generator for organic sewage treatment equipment, which can adjust the depth of a spray head of a hydraulic cavitator on the water surface of a reservoir and increase the application range of sewage cleaning.
In order to achieve the purpose, the invention adopts the technical scheme that: a cavitation jet generator for organic sewage treatment equipment comprises a water pump, a floating plate, a hydrodynamic cavitator and a suspension platform; the suspension table comprises a first connecting port, a fixed sleeve, a telescopic sleeve and a second connecting port; one end of the first connecting port is connected with a water pump through a second branch pipe, the other end of the first connecting port is connected with the fixed sleeve, the fixed sleeve is embedded into the mounting groove of the floating plate, the number of the telescopic sleeves is multiple, and the number of the telescopic sleeves are sequentially embedded into the fixed sleeve to form a telescopic suspension table; the second connecting port is connected with the hydrodynamic cavitator; the hydraulic cavitator comprises a mounting seat and a spray head body which are connected with the tail end of the telescopic sleeve; the spray head body comprises a water inlet, a fluid jet contraction pipeline, a short connecting pipe, a fluid jet expansion pipeline and a pore plate; one end of the water inlet is connected with the second connecting port, the other end of the water inlet is connected with the fluid jet flow contraction pipeline, one end of the short connecting pipe is connected with the fluid jet flow contraction pipeline, and the other end of the short connecting pipe is connected with the fluid jet flow expansion pipeline; the orifice plate is arranged at the tail end of the spray head body.
As a further improvement of the scheme, the diameter of one side of the telescopic sleeve close to the hydrodynamic cavitation device is smaller than that of the side far away from the hydrodynamic cavitation device.
As a further improvement of the scheme, positioning seats are arranged on two sides of the lower portion of the fixing sleeve, and positioning pull rods are arranged on the positioning seats.
As a further improvement of the above scheme, the positioning pull rod comprises a fixed end and drag hooks arranged at two sides of the fixed end; the draw hook of one side is connected with the positioning seat, and the draw hook of the other side is connected with the shoulder arranged on the telescopic sleeve.
As a further improvement of the scheme, internal threads are arranged on two sides of the fixed end, the middle of the fixed end is of a cavity structure, and external threads matched with the internal threads are arranged on the drag hook.
As a further improvement of the scheme, the floating plate is provided with a traction rope.
As a further improvement of the scheme, the pore plate is provided with a plurality of water outlets.
As a further improvement of the scheme, a swirler is arranged on the fluid jet flow contraction pipeline.
As a further improvement of the above scheme, the cavitation jet generator further comprises a sewage pool, a reservoir and a cleaning pool, one end of the water pump is connected with the sewage pool through a first branch pipe of the circulating pipeline, and the reservoir is respectively connected with the sewage pool and the cleaning pool through a side pipe of the circulating pipeline.
And water quality monitors are arranged in the sewage tank and the water storage tank.
Compared with the prior art, the invention has the beneficial effects that: the hydrodynamic cavitation device is arranged on the floating plate, so that the hydrodynamic cavitation device acts on the whole reservoir area; meanwhile, the depth of the spray head of the hydraulic cavitator on the water surface of the reservoir is adjusted, so that the application range of sewage cleaning is enlarged.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a first schematic view of the suspension stage of the present invention;
FIG. 3 is an enlarged view of A of FIG. 2 according to the present invention;
FIG. 4 is a schematic view of a second embodiment of the suspension stage of the present invention;
FIG. 5 is a schematic view showing the arrangement of the hydrodynamic cavitation device of the present invention installed on a floating plate;
FIG. 6 is a schematic diagram of the hydrodynamic cavitator configuration of the present invention;
fig. 7 is a schematic view of the structure of the orifice plate of the present invention.
In the drawings: 1 is a sewage pool, 2 is a water storage pool, 3 is a water pump, 4 is a circulating pipeline, 5 is a floating plate, 6 is a hydraulic cavitator, 7 is a clean water pool, 8 is a suspension platform, 9 is a water quality monitor, 41 is a branch pipe I, 42 is a branch pipe II, 43 is a side pipe, 51 is a traction rope, 61 is a mounting seat, 62 is a spray head body, 81 is a first connecting port, 82 is a fixed sleeve, 83 is a telescopic sleeve, 84 is a second connecting port, 85 is a positioning seat, 86 is a positioning pull rod, 621 is a water inlet, 622 is a fluid jet contraction pipeline, 623 is a connecting short pipe, 624 is a fluid jet expansion pipeline, 625 is a pore plate and 626 is a cyclone; 831 is shoulder, 861 is fixed end, 862 is drag hook, 831 shoulder.
Detailed Description
The present invention will be described in further detail with reference to specific examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1 to 7, a cavitation effect sewage treatment apparatus, in particular, a cavitation jet generator for an organic sewage treatment device, includes a sewage tank 1, a water reservoir 2, a water pump 3, a circulation pipeline 4, a floating plate 5, a hydrodynamic cavitator 6, and a cleaning water tank 7; the floating plate 5 is arranged in the reservoir 2, the hydrodynamic cavitation device 6 is arranged on the floating plate 5 through a suspension platform 8, one end of the water pump 3 is connected with the sewage tank 1 through a first branch pipe 41 of the circulating pipeline 4, and the other end of the water pump 3 is connected with the hydrodynamic cavitation device 6 through a second branch pipe 42; a water quality monitor 9 is arranged in each of the sewage pool 1 and the impounding reservoir 2, and the impounding reservoir 2 is respectively connected with the sewage pool 1 and the clean water pool 7 through a side pipe 43 of the circulating pipeline 4; the suspension table 8 comprises a first connecting port 81, a fixed sleeve 82, a telescopic sleeve 83 and a second connecting port 84; one end of the first connecting port 81 is connected with the second branch pipe 42, the other end of the first connecting port 81 is connected with the fixed sleeve 82, the fixed sleeve 82 is embedded into the installation groove of the floating plate 5, the number of the telescopic sleeves 83 is multiple, the number of the telescopic sleeves 83 are sequentially embedded into the fixed sleeve 82 to form a telescopic suspension table, wherein the diameter of one side, close to the hydraulic cavitator 6, of the telescopic sleeves 83 is smaller than that of one side, far away from the hydraulic cavitator 6, of the telescopic sleeves 83, the second connecting port 84 is connected with the hydraulic cavitator 6, control valves are arranged on the first branch pipe 41, the second branch pipe 42 and the side pipe 43, and a pressure gauge is arranged at a water outlet of the water pump 3; when the device is used, the water in the sewage pool is pretreated to filter impurities such as solid particles, suspended matters and the like so as to prevent the impurities in the water from blocking a water pump or a hydraulic cavitator, then the pretreated water enters the water pump 3 from the first branch pipe 41 to be pressurized, enters the hydraulic cavitator 6 arranged on the floating plate through the second branch pipe 42 to generate strong cavitation effect, generates instant high temperature, high pressure and strong shock wave, can oxidize and degrade organic matters and kill microorganisms in the water body in the sewage pool, and is discharged to the water storage pool 2, and when the water quality monitor 9 in the water storage pool 2 detects that the water body reaches the discharge standard, the water body is conveyed into the clean water pool 7 through the side pipe 43; when the water quality monitor 9 in the water storage tank 2 detects that the water body does not reach the discharge standard, the water enters the sewage tank 1 through the other path of the bypass pipe 43, and the cavitation treatment effect is improved by increasing the cavitation treatment times of the water body in the sewage tank.
When the water-jet type hydraulic cavitating device is used, the suspension table 8 is impacted by hydraulic power, the telescopic sleeve 83 can stretch downwards, in order to ensure that the spray head of the hydraulic cavitating device 6 is fixed below the water surface depth of the water storage tank 2 by 0.5 meter, positioning seats 85 are arranged on two sides of the lower part of the fixed sleeve 82, positioning pull rods 86 are arranged on the positioning seats 85, and each positioning pull rod 86 comprises a fixed end 861 and pull hooks 862 arranged on two sides of the fixed end 861; the draw hooks 862 on one side are connected to the positioning seat 85, and the draw hooks 862 on the other side are connected to the shoulders 831 provided on the telescopic sleeve 83.
In the above embodiment, since the position of the telescopic sleeve 83 needs to be adjusted, in order to facilitate the fixing of the positioning pull rod and the telescopic sleeve 83, two sides of the fixed end 861 are provided with internal threads, the middle of the fixed end is a cavity structure, and the pull hook 862 is provided with external threads matched with the internal threads; when in use, the draw hook 862 is screwed on the internal thread through the external thread to realize the extension or shortening of the positioning pull rod 86.
In the above embodiment, the floating plate 5 is provided with the pulling rope 51, the pulling rope may be arranged on one side of the floating plate 5, or the pulling rope may be arranged on both sides, when in use, a person on shore controls the position of the floating plate 5 through the pulling rope to change the dirt cleaning place, wherein the floating plate adopts an EPE plate as the floating body material. The whole floating plate is hexagonal, pentagonal, quadrangular or circular, and obviously, the shape of the floating plate can be other shapes capable of realizing the installation of the hydrodynamic cavitation device 6.
In the above embodiment, the hydrodynamic cavitator 6 includes the mounting seat 61 and the nozzle body 62 connected with the tail end of the telescopic sleeve 83; the spray head body 62 comprises a water inlet 621, a fluid jet contraction pipeline 622, a connecting short pipe 623, a fluid jet expansion pipeline 624 and an orifice plate 625; one end of the water inlet 621 is connected to the second connection port 84, the other end of the water inlet 621 is connected to the fluid jet constriction pipeline 622, one end of the short connection pipe 623 is connected to the fluid jet constriction pipeline 622, and the other end of the short connection pipe 623 is connected to the fluid jet expansion pipeline 624; the orifice plate 625 is disposed at the rear end of the nozzle body 62; wherein, a plurality of water outlets are arranged on the pore plate 625. When the device is used, sewage passing through the water inlet 621 forms jet flow through the fluid jet flow shrinkage pipeline 622, the flow rate of the fluid is increased, the pressure is reduced, and a cavitation effect is generated; then enters the fluid jet flow expansion pipeline 624 through the connecting pipeline 623 to increase the flow rate, and cavitation occurs again through the flow limiting effect of the orifice plate 625; through the multi-form cavitation, the extreme conditions of high temperature, high pressure, high turbulence and high jet flow are generated, and organic pollutants which are difficult to degrade conventionally in the wastewater are degraded harmlessly.
In the above embodiment, the fluid jet constriction pipeline 622 is provided with the cyclone 626, and the cavitation effect is generated by the shearing force generated by the high-speed rotation of the cyclone 636, so as to further enhance the cavitation effect of the wastewater.
A cavitation jet generator for organic sewage treatment equipment comprises the following steps when in use: testing the pollution index in the sewage tank by using a water quality monitor; the floating plate is arranged in the water storage tank, and the hydrodynamic cavitation device is fixed on the floating plate through the hanging platform; adjusting the position of the telescopic sleeve to fix the spray head of the hydraulic cavitator below 0.5 m of the depth of the water surface of the reservoir; a traction rope is tied on the floating plate to control the position of the floating plate in the reservoir; switching on a power supply and starting a water pump, and starting the hydraulic cavitator to work; observing the dirt cleaning effect of the hydrodynamic cavitation device in the water storage tank, and moving the hydrodynamic cavitation device through the traction rope to enable the hydrodynamic cavitation device to act on the whole water storage tank area; and (4) finishing sewage treatment, and enabling water in the water storage tank to enter a clean water tank. The hydraulic cavitator is arranged on the floating plate, and the floating plate moves at the position of the reservoir through the traction rope, so that the hydraulic cavitator acts on the whole reservoir area; because the hydrodynamic cavitator generates strong cavitation effect, instant high temperature, high pressure and strong shock wave are generated, organic matters in the water body in the sewage tank can be oxidized, degraded and microorganisms can be killed, and the water body is discharged to the reservoir; when the water quality monitor in the water storage tank detects that the water body does not reach the discharge standard, the water enters the sewage tank through the other path of side pipe, and the cavitation treatment effect is improved by increasing the cavitation treatment times of the water body in the sewage tank.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (7)
1. The cavitation jet generator for the organic sewage treatment equipment is characterized by comprising a water pump (3), a floating plate (5), a hydrodynamic cavitation device (6) and a suspension table (8); the suspension table (8) comprises a first connecting port (81), a fixed sleeve (82), a telescopic sleeve (83) and a second connecting port (84); one end of the first connecting port (81) is connected with the water pump (3) through a second branch pipe (42), the other end of the first connecting port (81) is connected with the fixed sleeve (82), the fixed sleeve (82) is embedded into the mounting groove of the floating plate (5), a plurality of telescopic sleeves (83) are arranged, and the plurality of telescopic sleeves (83) are sequentially embedded into the fixed sleeve (82) to form a telescopic suspension table; the second connecting port (84) is connected with the hydrodynamic cavitator (6); the hydraulic cavitator (6) comprises a mounting seat (61) and a nozzle body (62), wherein the mounting seat (61) is connected with the tail end of the telescopic sleeve (83); the spray head body (62) comprises a water inlet (621), a fluid jet contraction pipeline (622), a connecting short pipe (623), a fluid jet expansion pipeline (624) and a pore plate (625); one end of the water inlet (621) is connected with the second connecting port (84), the other end of the water inlet (621) is connected with the fluid jet flow contraction pipeline (622), one end of the short connecting pipe (623) is connected with the fluid jet flow contraction pipeline (622), and the other end of the short connecting pipe (623) is connected with the fluid jet flow expansion pipeline (624); the orifice plate (625) is arranged at the tail end of the spray head body (62); positioning seats (85) are arranged on two sides of the lower part of the fixing sleeve (82), and positioning pull rods (86) are arranged on the positioning seats (85); the positioning pull rod (86) comprises a fixed end (861) and pull hooks (862) arranged at two sides of the fixed end (861); the draw hook (862) on one side is connected with the positioning seat (85), and the draw hook (862) on the other side is connected with a shoulder (831) arranged on the telescopic sleeve (83); both sides are provided with the internal thread on stiff end (861), the middle part of stiff end is the cavity structure, be provided with on drag hook (862) with internal thread complex external screw thread.
2. The cavitation jet generator for organic sewage treatment equipment according to claim 1, wherein the diameter of the side of the telescopic sleeve (83) close to the hydrodynamic cavitator (6) is smaller than the diameter of the side far from the hydrodynamic cavitator (6).
3. The cavitation jet generator for organic sewage treatment equipment according to claim 1, wherein a pulling rope (51) is provided on the floating plate (5).
4. The cavitation jet generator for organic sewage treatment equipment according to claim 1, wherein the orifice plate (625) is provided with a plurality of water outlets.
5. The cavitation jet generator for organic sewage treatment apparatuses of claim 1, wherein a cyclone (626) is provided on the fluid jet constriction line (622).
6. The cavitation jet generator for organic sewage treatment equipment according to claim 1, wherein the cavitation jet generator further comprises a sewage reservoir (1), a water reservoir (2) and a clean water reservoir (7), one end of the water pump (3) is connected with the sewage reservoir (1) through a first branch pipe (41) arranged on the circulation pipeline (4), and the water reservoir (2) is respectively connected with the sewage reservoir (1) and the clean water reservoir (7) through a second branch pipe (43) of the circulation pipeline (4).
7. The cavitation jet generator for organic sewage treatment plants according to claim 6, characterized in that a water quality monitor (9) is provided in both the sewage reservoir (1) and the water reservoir (2).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910665737.8A CN110304675B (en) | 2019-07-23 | 2019-07-23 | Cavitation jet generator for organic sewage treatment equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910665737.8A CN110304675B (en) | 2019-07-23 | 2019-07-23 | Cavitation jet generator for organic sewage treatment equipment |
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| CN110304675A CN110304675A (en) | 2019-10-08 |
| CN110304675B true CN110304675B (en) | 2022-02-01 |
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Citations (5)
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| CN105439322A (en) * | 2015-12-04 | 2016-03-30 | 中北大学 | Wastewater treatment method and device based on hydrodynamic cavitation |
| JP2016107169A (en) * | 2014-12-02 | 2016-06-20 | 株式会社メセナ | Self-propelled type water purification apparatus |
| CN108275765A (en) * | 2018-02-09 | 2018-07-13 | 广州市怡地环保有限公司 | A kind of water body in lake water purification system |
| CN208675962U (en) * | 2018-08-21 | 2019-04-02 | 河北源林诚宇园林绿化工程股份有限公司 | One kind being used for nursery stock supporting adn fixing device |
| CN209052467U (en) * | 2018-09-20 | 2019-07-02 | 湖州道场污水处理有限公司 | A kind of high efficiency aerator for sewage treatment |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| EP2542332B2 (en) * | 2010-03-02 | 2019-07-31 | University of Chester | Bubbles generation device and method |
| US10053376B2 (en) * | 2015-08-07 | 2018-08-21 | Sanuwave, Inc. | Acoustic pressure shock wave devices and methods for fluids processing |
| CN108892230B (en) * | 2018-08-29 | 2024-01-02 | 南昌大学 | Intelligent spiral undercurrent aeration system and method |
| CN109621498A (en) * | 2018-12-19 | 2019-04-16 | 江苏明钰环保工程有限公司 | A kind of detention tank of efficient removal suspended impurity |
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2019
- 2019-07-23 CN CN201910665737.8A patent/CN110304675B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2016107169A (en) * | 2014-12-02 | 2016-06-20 | 株式会社メセナ | Self-propelled type water purification apparatus |
| CN105439322A (en) * | 2015-12-04 | 2016-03-30 | 中北大学 | Wastewater treatment method and device based on hydrodynamic cavitation |
| CN108275765A (en) * | 2018-02-09 | 2018-07-13 | 广州市怡地环保有限公司 | A kind of water body in lake water purification system |
| CN208675962U (en) * | 2018-08-21 | 2019-04-02 | 河北源林诚宇园林绿化工程股份有限公司 | One kind being used for nursery stock supporting adn fixing device |
| CN209052467U (en) * | 2018-09-20 | 2019-07-02 | 湖州道场污水处理有限公司 | A kind of high efficiency aerator for sewage treatment |
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Address after: 300451 Workshop 142, 1st Floor, No. 167, Huanghai Road, Tianjin Economic and Technological Development Zone, Binhai New Area, Tianjin Patentee after: TIANJIN OSTAR UNDERWATER ROBOT CO.,LTD. Address before: 300459 7th floor, building 4-8, east of marine science and technology business park, 199 Haiyuan Road, Binhai New Area, Tianjin Patentee before: TIANJIN OSTAR UNDERWATER ROBOT CO.,LTD. |
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