CN212740892U - Pipeline dredging and purifying robot adopting microorganism embedding technology - Google Patents
Pipeline dredging and purifying robot adopting microorganism embedding technology Download PDFInfo
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- CN212740892U CN212740892U CN202020780016.XU CN202020780016U CN212740892U CN 212740892 U CN212740892 U CN 212740892U CN 202020780016 U CN202020780016 U CN 202020780016U CN 212740892 U CN212740892 U CN 212740892U
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Abstract
The utility model discloses an adopt microorganism embedding technique pipeline mediation cleaning machines people, pipeline mediation cleaning machines people includes the main fuselage, be equipped with the gripper system on its characterized in that main fuselage, screw system and desilting system, the desilting system includes high-pressure squirt, the main fuselage includes the double-deck sealed cabin body, internal layer in cabin is the wash pipe, link to each other with high-pressure squirt, the external electric pipe and the fixed bolster of placing that is used for of cabin, microorganism water purification system is located pipeline robot main fuselage rear portion, and can become rope strip form and be drawn at pipeline robot rear, play the effect of purifying sewage, screw system drive pipeline mediation cleaning machines people removes in the pipeline, and accomplish local moving and accurate location through the gripper system. The utility model discloses the flexible operation accomplishes the water purification desilting through remote control to avoid personnel to maintain the risk of desilting in sewage pipe.
Description
Technical Field
The utility model belongs to a black and odorous river administers technical field, relates to an adopt microorganism embedding technique pipeline mediation purification robot, specifically relates to a device that sewage purification and deposit got rid of in realizing drainage pipe through the microorganism and the high-pressure squirt of purifying waste water in the microorganism gel.
Background
In recent years, although the rapid development of urbanization construction leads to the gradual increase of urban population density, the discharge amount of urban sewage is increased continuously due to the insufficient urban infrastructure, so that a large amount of organic pollutants are discharged into a water body, and the urban water environment is seriously damaged. Although in some first-line cities, the sewage direct discharge is mostly replaced by the optimization of urban pipe networks, the conventional indexes of COD, ammonia nitrogen, total phosphorus and the like in the sewage accumulated by the confluence of the sewage in the confluence pipeline and the rain sewage in the municipal pipeline are still higher. Along with the increase of the concentration of the matrix in the pipeline, the propagation of microorganisms is increased, and a biological film is easily generated to cause the generation of pipeline sediments and the emission of odor. In the rainy day, converge the sewage that stores up and can pass through the pump station and put the river into city river course, can produce eutrophication phenomenon after organic matter and the ammonia nitrogen in the mixed sewage get into the water, lead to alga or plankton class living beings to proliferate in a large number, and then cause the aquatic dissolved oxygen to consume totally, make fish or other aquatic organisms die in a large number. Meanwhile, the relative abundance of anaerobic microbial populations in the water body begins to rise, so that pollutants and rotten substances are subjected to anaerobic hydrolysisIn the hydrolysis process, the odor of hydrogen sulfide, ammonia gas and the like can be generated, and a large amount of S2-With Fe2+、Fe3+、Mn2+Deep black sulfides are formed, and the sulfides are easy to attach to suspended matters to blacken the water body. Therefore, more and more water bodies gradually have seasonal or perennial black and odorous phenomena, and have great influence on the life of residents around the river channel.
The treatment of black and odorous water mainly comprises two technical routes of water in-situ remediation and source control and sewage interception. In the aspect of water body in-situ remediation, the prior art mainly comprises the processes of oxygenation aeration, dredging, biochemical agent remediation, aquatic plant technology and the like. Although a great deal of research has been done on the in-situ water body restoration technology of black and odorous water bodies at home and abroad, most in-situ water body restoration technologies have high cost, long construction period and unstable restoration effect. The phenomenon that the repaired river channel is black and smelly again often happens in heavy rain or after a period of time. Therefore, the core of treating black and odorous water bodies still needs to intercept pollution control sources. The improvement of the sewage intercepting pipe network at the present stage has made great progress, and a plurality of technical researches are completed by optimizing the pipeline from the angle of the sewage intercepting and receiving pipe, but the technical research of directly reducing water purification and dredging in the sewage in the pipeline from the root is still insufficient. The water purification and dredging work of the drainage pipelines in the main cities in China still adopts a manual well descending mode, and the mode has high time and money cost and also poses a threat to the health of operating personnel. For some pipes with smaller pipe diameters, the manual downhole mode cannot be implemented. Meanwhile, the manual dredging mode can only remove the sediments in the pipeline, but the problem of the increase of the concentration of organic pollutants in the sewage in the pipeline due to the long-time sedimentation of the sediments cannot be solved.
The microorganism embedding technology is to embed microorganisms in a carrier or colloid so that microorganism cells do not flow with liquid and maintain good biological activity. The microorganism embedding technology is utilized to effectively retain the biomass and active enzymes, thereby strengthening the functions of microorganisms and even the whole treatment process. Theoretically, any technique that restricts the free flow of cells can be used for cell immobilization. The current microorganism embedding method mainly comprises 3 methods: (1) flocculation: biological cells are aggregated by the action of flocculants such as cationic, anionic polyelectrolytes, and the like. (2) Covalent coupling: the carrier material and the ionic groups of the cells or enzymes are bound in a strong chemical bond by the action of a bifunctional cross-linking agent. The hydrogel or membrane is used as semi-permeable inert substance, which can allow the flow of substrate to limit the fluidity of cells, and porous cellulose such as cellulose can be used to make cells penetrate into the pores. (3) Adsorption: the inert carrier, which is usually porous on the surface, causes the attachment of cells, immobilizing the microorganism to the water-insoluble carrier by physical adsorption, chemical or ionic bonding. The physicochemical properties of the embedding material directly influence the mass transfer performance and the biological activity of the fixed cells and the system, the material for fixing the microorganisms must have enough pores to allow substrates to enter the inside of the cells and simultaneously allow products to flow out of the cells, and the biological cells are guaranteed to be restrained from leaking. The current commonly used carriers include gelatin, polyacrylamide gel (ACAM), calcium alginate, PVA, PE, PP, etc. By utilizing the advantages of the microorganism embedding technology, the dominant strains selectively screened can be fixed to form a high-efficiency, rapid and continuous sewage treatment system, and simultaneously, the secondary pollution of sludge treatment can be avoided.
At present, the small-sized and high-efficiency device capable of being placed in the pipeline for simultaneously completing water purification and dredging is few, and the utility model in the related field mainly centers on the removal of sediments in the pipeline, and has no technical method for removing pollutants in the pipeline. In order to solve this problem of black and odorous water body, the utility model discloses combine microorganism embedding technique and pipeline mobile device, realize that sewage purification and deposit are got rid of in the long distance pipeline.
SUMMERY OF THE UTILITY MODEL
The utility model discloses to prior art's not enough, provide an adopt microorganism embedding technique pipeline mediation purification robot, utilize the microorganism and the high-pressure squirt of purifying sewage in the microorganism gel to realize getting rid of sewage purification and deposit in the long distance pipeline. By reducing the concentration and the sediment of organic matters in the sewage pipeline, the total amount of pollutants entering the water body after the pumping station is discharged into the river is reduced, the river channel and the natural water body are fundamentally protected, and the occurrence probability of the black and odorous river channel is reduced.
The technical scheme of the utility model as follows: a pipeline dredging and purifying robot adopting a microorganism embedding technology comprises a main body, it is characterized in that a mechanical claw system, a propeller system and a dredging system are arranged on the main machine body, the dredging system comprises a high-pressure water gun, the main machine body comprises a double-layer sealed cabin body, the inner layer of the cabin body is a flushing water pipe, is connected with a high-pressure water gun, the outer layer of the cabin body is used for placing an electric conduit and a fixed support, the rear part of the main body of the pipeline robot is provided with a flexible double-layer sleeve, the flexible double-layer sleeve is connected with the flange of the main body of the pipeline robot in a sealing way, the inner layer sleeve of the flexible double-layer sleeve is communicated with the inner layer of the cabin body of the main body and is connected with the ground variable frequency water pump, used for filling washing clear water, the outer layer sleeve is isolated from the outer layer of the cabin body of the main body, the outer layer sleeve is filled with air, is connected with a variable frequency air compressor, and a plurality of nano aeration discs and a microorganism gel screen are arranged on the double-layer flexible aeration pipe. The propeller system drives the pipeline dredging and purifying robot to move in the pipeline, and local movement and accurate positioning are completed through the mechanical gripper system
Further, the propeller system comprises a plurality of symmetrical horizontal propeller frames arranged on the main body, the propeller frames are connected with the main body through propeller fixing supports, the propeller bidirectional motors are fixed on the propeller frames through bolts, propeller blades are a plurality of groups of stainless steel blades and are installed in the propeller frames through tail shafts and connected with the propeller bidirectional motors. Because certain plants or residues can exist in the pipeline besides the sediments, the stainless steel blade has the cutting and separating effect when meeting the objects, and the high-pressure water gun is assisted to remove the sediments in the pipeline.
Furthermore, the propeller and the propeller frame can be changed in size according to the pipe diameter, the diameter range of the propeller is 30 cm-150 cm, and the size of the propeller frame is 35 cm-160 cm.
Furthermore, the outer layer of the propeller frame is wrapped by corrosion-resistant rubber, so that the propeller frame is prevented from damaging the pipeline. The types of rubber materials are Kentucky Neoprene, Silicone rubber, viton, and the like.
Further, the shell of the propeller bidirectional motor is made of corrosion-resistant plated stainless steel 316 and is sealed by a sealing rubber ring, the propeller bidirectional motor carries out water-cooling on the motor through water temperature in a sewage pipeline, and meanwhile, the bidirectional motor is connected with a ground power supply through a cable in the main body cabin.
Furthermore, the gripper system comprises a first support arm shell welded on the main body, a first motor is arranged in the first support arm shell through a main body fixing rod and a first motor fixing support, the first motor is connected with a second support arm shell through a first motor connecting rod, the first connecting rod is driven by the rotation of a driving shaft on the first motor so as to enable the first support arm to rotate in a set angle, a second motor is fixed in the second support arm through a bolt and is connected with a second connecting rod, the driving shaft of the second motor enables the second support arm to rotate in the set angle through the rotation of the second motor connecting rod, the second motor connecting rod is connected with a third motor, the third motor is fixed in the third support arm through a bolt, the driving shaft of the third motor is connected with a driven gear of the mechanical arm through a gear, and the driven gear of the mechanical arm is connected with a rotor through a gear, the third motor drives the shaft to enable the rotor to rotate 360 degrees in the horizontal direction, the rotor is connected with the 2-freedom-degree ball joint fixing shell and keeps the same rotating angle with the rotor, the mechanical arm ball joint is nested in the 2-freedom-degree ball joint fixing shell and is connected with the mechanical claw, the mechanical claw consists of a 3-freedom-degree ball joint fixing shell, a mechanical claw ball joint, a mechanical claw joint and a mechanical claw finger, the mechanical claw ball joint is nested in the 3-freedom-degree ball joint fixing shell, the mechanical claw joint is fixed on the mechanical claw ball joint, and the mechanical claw finger is connected with the mechanical claw joint.
Furthermore, an illuminating lamp ring and a pressure sensor are arranged at the middle connecting part of the mechanical arm ball joint and the mechanical claw.
Further, the illuminating lamp ring is an LED lamp belt, and a light source is provided for CCTV camera shooting in the sewage pipeline. Because the lighting lamp ring is arranged on the mechanical claw, the lighting lamp ring can move according to the movement of the mechanical claw, and therefore some dead deposit corners can be irradiated.
Furthermore, knuckle materials of the mechanical claw fingers are replaceable corrosion-resistant rubber, and the rubber types include butyl rubber, chloroprene rubber, fluororubber and the like, so that the sewage pipeline is prevented from being damaged by the mechanical claw fingers made of metal materials. Before the pipeline robot enters the pipeline, the type of acidic substances in the sewage is detected and matched with corresponding claw-finger materials.
Furthermore, the main body arm shell and the mechanical claw joint in the mechanical claw system are made of corrosion-resistant stainless steel 316, and the outer layer of a metal material is coated.
Further, the mechanical claw system is connected with a ground power supply through a cable in the main body cabin body and is provided with a standby power supply, so that the pipeline robot is prevented from being lost in a pipeline when the power supply is cut off.
Furthermore, a gas distribution pipe ball valve is arranged in the nano aeration disc, aeration is carried out through nano aeration holes in the nano aeration disc, a group of microbial gel net covers are arranged between every two nano aeration discs on the double-layer flexible aeration pipe, and microbial gel and microbial populations are filled in the microbial gel net covers.
Further, the microbial gel screen cover is composed of a sub-net cover and a main net cover, the sub-net cover is arranged in the main net cover and used for filling different microbial gels respectively, the microbial gel screen cover is fixed on the double-layer flexible aeration pipe through a microbial gel screen cover support, and the microbial gel is sodium alginate, polyvinyl alcohol, polyacrylamide or gelatin.
Further, the shape of the microbial gel is square, spherical, cylindrical, cake-shaped, etc. The microorganism embedding method includes adsorption, covalent bonding, chemical crosslinking, and the like. The final purpose is that the microbial community with the sewage purification function is embedded in the carrier and does not move along with the water flow in the pipeline.
Furthermore, the microbial population filled in the inner and outer primary and secondary net covers in the microbial gel net cover can be selected according to the characteristics of sewage in the pipeline. The sub-net cover inside the microbial gel net cover is mainly embedded with microbes suitable for growing in an anaerobic environment, and the microbes comprise nitrite oxidizing bacteria, denitrifying bacteria, anaerobic ammonium oxidizing bacteria and the like. The mother screen cover outside the microbial gel screen cover is mainly embedded with microbes suitable for growing in an aerobic environment, and the microbes comprise aerobic ammonia oxidizing bacteria, aerobic phosphorus removing bacteria, activated sludge heterotrophic bacteria and the like. And adjusting the concentration of the microorganisms in the gel according to the water quality condition, wherein the concentration of the microorganisms in the gel is 0.5-5 g-vss/L, and the mixing ratio of the microorganisms to the gel is 25-50%.
Furthermore, the flexible double-layer sleeve can be made of corrosion-resistant PVDF, polyacrylonitrile, polysulfone and the like, fluorocarbon resin and the like. The length of the flexible double-layer sleeve can be adjusted according to the length of a sewage pipeline to be purified, aeration holes or small-sized micro-nano aeration discs are arranged at the same interval of the flexible double-layer sleeve at the same distance, and the aeration intensity can be controlled through a valve.
Furthermore, install the service valve on the flexible double-deck sleeve pipe, all can detect the atmospheric pressure of air conduit when starting microorganism embedding system at every turn, avoid the possibility of gas leakage.
Furthermore, the diameter of the aeration hole on the nano aeration disc is 80-200 nm, and the nano aeration disc can be made of ceramic, titanium plate or EPDM.
The utility model discloses an adopt microorganism embedding technique pipeline mediation purification robot, the desilting system includes frequency conversion high pressure water pump, high-pressure squirt, check valve, water pipe valve, high-pressure squirt pivot. The variable-frequency high-pressure water pump conveys the ground washing clean water to the inner-layer water pipe of the flexible double-layer sleeve. The flexible double-layer sleeve inner-layer water pipe is connected with the high-pressure water gun, and a water pipe valve is arranged at the joint. A check valve is arranged in the communicating pipeline to prevent sewage in the sewage pipeline from entering the double-layer sleeve to cause blockage. The high-pressure squirt pivot welding links to each other with high-pressure squirt through round pin axle on the pipeline robot host computer body, controls the injection angle of high-pressure squirt. The high-pressure water gun rotating shaft and the water pipe valve are electrically connected with the information collection control server.
Furthermore, the set water pressure of the high-pressure water gun is 800-1000 bar, and the high-pressure water gun is controlled through a ground variable-frequency water pump and a water pipe valve.
Furthermore, the pipeline dredging and purifying robot is provided with a detection module, and the detection module comprises a sediment detector, a dissolved oxygen probe, a pressure sensor and an infrared detector; the sediment detector is fixed on the main body of the device and is used for detecting the thickness of sediment in the pipeline in real time; the dissolved oxygen probe is arranged on the microbial gel net cover and used for monitoring the dissolved oxygen concentration of the sewage in the pipeline in real time; pressure sensor installs on the gripper, and infrared detector passes through the infrared detector axis of rotation and installs on the infrared detector support, and the infrared detector scaffold weldment is on one's body pipeline robot host computer for image acquisition.
The utility model discloses an adopt microorganism embedding technique pipeline mediation purification robot, information collection control server passes through the data that electric collection pressure sensor, deposit detector, water quality testing appearance and CCTV uploaded. The information collection controller is arranged on the ground mobile equipment and can be controlled by workers.
Further, the information collection controller can be programmed and modified through software such as Python and Java, and the automatic control of the pipeline robot is realized. And automatically adjusting the extension angle and the length of the mechanical claw according to the comparison between the pressure data monitored by the pressure sensor in real time and the preset parameters. And automatically calculating the walking route and the spraying frequency and angle of the high-pressure water gun according to the comparison between the real-time monitoring data of the sediment detector and the preset parameters. And automatically adjusting the aeration quantity of the nano aeration disc to the air according to the water quality data monitored in real time and the concentration of dissolved oxygen in the sewage. The planning mode of the walking route adopts a manual planning mode and an automatic auxiliary mode, an operator on the ground remotely operates the main machine body to move in the pipeline through the information collection controller, the information collection controller can display the positioning coordinates of the sediment with the thickness exceeding a certain thickness on the display, and the infrared detector can display the detected images so as to assist the operation of the operator.
The utility model discloses an adopt microorganism embedding technique pipeline mediation purifying robot contains following step when carrying out sewage purification and getting rid of the deposit in long distance pipeline:
step 1, selecting a pipeline to be purified, putting a pipeline dredging and purifying robot adopting a microorganism embedding technology into a sewage inspection well by pulling a flexible double-layer sleeve and a mesh enclosure filled with microorganism gel, and remotely controlling a pipeline moving device to move from the sewage inspection well into a sewage pipeline by an information collection control server;
step 2, opening a sediment detector and a water quality monitor on a main body of the pipeline dredging and purifying robot adopting the microorganism embedding technology, detecting the thickness of sediment and the concentration of pollutants in a sewage pipeline, uploading monitoring data to an information collection control server terminal, starting an infrared detector, and collecting a real-time image in the pipeline;
and 5, after the sewage is purified, the information collection control server remotely operates and adopts a microorganism embedding technology pipeline dredging and purifying robot to move to an initial position, and all the equipment is taken out from the inspection well.
The utility model provides a pair of adopt microorganism embedding technique pipeline mediation purification robot utilizes long distance pipeline as handling reaction tank, carries out the normal position through high-pressure squirt and the microorganism of embedding in the gel to deposit in the pipeline and pollutant and gets rid of and degrade to accomplish the purification of sewage. And the pipeline with different pipe diameters can be entered through the length and the supporting angle of the mechanical claw, so that the mechanical claw has strong adaptability. The utility model has the advantages of it is following:
(1) the utility model discloses an utilize long distance pipeline as the reaction cell body, utilize advantages such as nitrobacteria, denitrifying bacteria, hydrolytic bacteria, acetic acid fungus, sulfate reducing bacteria of embedding in the microorganism gel to belong to the genus and accomplish and carry out high-efficient degradation to multiple pollutant, reduce the possibility that the pollutant got into natural water.
(2) The utility model discloses a microbial purification system extensive applicability can select the dominant microbial population who corresponds according to the type of sewage pollutant in the pipeline. The microorganism with the function of purifying sewage is fixed in the gel and can not run off into the pipeline, so that the sedimentation of the biological membrane in the pipeline is prevented. The microbial gel can be repeatedly used, and the cost is low.
(2) The utility model discloses a can get rid of the deposit in the sewer line simultaneously, utilize gripper and high-pressure squirt to the regional coprocessing method that the deposit is thick, the treatment effeciency is high.
(3) The utility model discloses a need not to reform transform current pipeline, easy operation can adapt to the pipeline of different pipe diameters size, has very high flexibility and mobility, and the method is used extensively.
(4) The utility model discloses a need not personnel operation in the pit, utilize information collection control server long-range to control equipment simultaneously, have very high security.
Drawings
Fig. 1 is a schematic view of the water purification and dredging operation of the drainage pipeline of the present invention.
Fig. 2 is the structure schematic diagram of the pipeline dredging and purifying robot main body, the high-pressure water gun, the flexible double-layer sleeve, the nanometer aeration disc and the microorganism gel screen cover adopting the microorganism embedding technology.
Fig. 3 is an axonometric view of the pipeline dredging and purifying robot adopting the microorganism embedding technology in the utility model.
Fig. 4 is a schematic view of a partial structure of the middle gripper of the present invention.
Fig. 5 is a schematic view of the internal structure of the middle gripper according to the present invention.
Fig. 6 is a schematic structural view of the middle gripper and the main body of the present invention.
Fig. 7 is a schematic structural view of the middle propeller and the main body of the present invention.
Fig. 8 is a cross-sectional view of the sediment detector, CCTV and flexible double-layer sleeve of the present invention.
Fig. 9 is a cross-sectional view of the nano aeration disc and the flexible double-layer sleeve of the present invention.
Fig. 10 is a cross-sectional view of the microbial gel mesh enclosure and the flexible double-walled sleeve of the present invention.
Fig. 11 is a cross-sectional view of the high-pressure water gun and the flexible double-layer sleeve of the present invention.
FIG. 12 is a schematic diagram of a control circuit of the middle information collecting control server of the present invention
1-a variable frequency air compressor; 2-a variable frequency water pump; 3-sewage inspection well; 4-nano aeration disc; 41-nano aeration holes; 42-nano aeration tray; 43-nano aeration disc support; 44-gas distribution pipe ball valve; 5-microbial gel screen; 51-microbial gel master screen cover bracket; 52-microbial gel subnet cage support; 53-mother reticle microbial gel; 54-subnet shield microbial gel; 55-dissolved oxygen probe; 6-flexible double-layer sleeve; 7-high pressure water gun; 71-high pressure water gun jet head; 72-high pressure water gun rotating shaft; 73-a check valve; 74-water line valve; 8-main body; 81-infrared detector CCTV; 811-CCTV rotating shaft; 812-a CCTV scaffold; 82-a sediment detector; 83-flexible double-layer sleeve maintenance valve; 84-propeller drive; 841-propeller frame; 842-stainless steel blade; 843-propeller fixing bracket; 844-propeller bi-directional motor; 85-a mechanical gripper device; 851-gripper joints; 852-2 degree of freedom ball joint anchor shell; 853-a second support arm housing; 854 — a first motor; 855 — a first support arm housing; 856-access doors; 857-gripper fixing base; 858-gripper fingers; 859-3 degree of freedom ball joint fixation shell; 8510-ring of lighting lamps; 8511-rotor; 8512-a second support arm housing; 8513-gripper ball joint; 8514-a pressure sensor; 8515-robot arm driven gear; 8516-mechanical arm ball joint; 8517 — a second motor drive shaft; 8518-a third motor; 8519-a second motor; 8520-a second motor link; 8521-first motor drive; 8522-first motor link shaft; 8523-a backup battery; 8524-a first support arm housing mount; 8525-first motor fixing bracket.
Detailed Description
In order to make the technical field of the invention better understand, the following embodiments and the accompanying drawings are combined to further explain the utility model method in detail.
Example 1:
in the example, the length of the sewage pipeline is 1600m, the diameter is 400cm, and the COD of the mixed sewage in the pipelineCrThe concentration is 60mg/L, and the ammonia nitrogen concentration is 40 mg/L. As shown in figure 1, the utility model discloses a sewage inspection shaft 3 gets into sewage conduit, and pipeline robot's single screw diameter is 120cm, and the extension radius scope of gripper device is 300~500 cm. The main fuselage links to each other with flexible double casing 6, and flexible double casing 6 material is corrosion-resistant PVDF, and flexible double casing 6 end links to each other with ground frequency conversion water pump 2, frequency conversion air compressor machine 1 simultaneously. The nanometer aeration discs 4 are arranged on the flexible double-layer sleeve 6 at intervals of 50 cm. The diameter of the nano aeration hole 41 is 100nm, and the oxygenation capacity of a single nano aeration disc 4 is 0.15Kg-O2/m3∙ h, the nano-aeration tray 42 is made of ceramic. The microbial gel net cover 5 is arranged on the flexible double-layer sleeve 6, and the microbial gel net cover 5 is arranged between every two nano aeration discs 4. The microorganism gel net cover 5 is composed of a child net cover and a mother net cover, wherein the child net cover is arranged in the mother net cover and is respectively filled with microorganism gel 54 of the child net cover and microorganism gel 53 of the mother net cover. According to the characteristics of water quality, anaerobic denitrifying bacteria and hydrolytic bacteria are embedded in the sub-net cover microbial gel 54, and aerobic ammonia oxidizing bacteria and nitrifying bacteria are embedded in the mother-net cover microbial gel 53. The microbial gel is a cube with the size of 1m multiplied by 1cm, and the gel material is sodium alginate. The concentration of the microorganisms in the gel was 0.8g-vss/L, and the mixing ratio of the microorganisms to the gel was 30%.
In the above embodiment, a method for realizing sewage purification and sediment removal in a long-distance pipeline by using a pipeline robot of microorganism embedding technology comprises the following steps:
the method comprises the following steps: and (4) completing the calibration of the dissolved oxygen probe 55, and lowering the pipeline dredging and purifying robot and the water quality detector into the sewage inspection well 3 from the ground by adopting a microorganism embedding technology. And starting the pipeline robot self-inspection system to inspect the guide wheel pressure sensor 8514, the sediment detector 82, the infrared detector CCTV81, the water pipe valve 74, the gas distribution pipe ball valve 44 and the dissolved oxygen probe 55. And opening the water quality detector, detecting the concentration of the pollutants in the sewage pipeline, and uploading the monitoring data to the information collection control server terminal.
Step two: the information collection control server is used for remotely controlling the pipeline dredging and purifying robot by adopting a microorganism embedding technology, and the propeller device is opened after entering the pipeline, so that the propeller device carrying the flexible double-layer sleeve 6, the nano aeration disc 4 and the microorganism gel mesh enclosure 5 slowly moves into a sewage pipeline.
Step three: and (4) opening the sediment detector 82 on the double drive of the mechanical claw of the propeller to detect the thickness of the sediment in the sewage pipeline. The sediment detector results show that the average sediment thickness is 7.8cm, the winding of branches and leaves exists at the position of 7.8m of the pipeline, and a sludge sediment bulge with the thickness of about 14.6cm exists at the position of 1334.2m of the pipeline. And analyzing data by using a computer in the server, and setting a moving route of the double drives of the propeller mechanical claw and the spraying frequency and angle of the high-pressure water gun 7 according to a calculation result.
Step four: and (4) remotely controlling the pipeline robot to move to a position 7.8m away from the entrance, unfolding the mechanical claw, and disturbing the branches and leaves by using the mechanical claw. The branches and leaves enter the stainless steel reamer of the propeller along with the water flow. The branches and leaves are broken by the stainless steel reamer, and the high-pressure water gun is opened to flush the branches and leaves out of the pipeline along with water flow.
Step five: the remote control pipeline robot moves to 1334.2m away from the entrance, and the current inner diameter of the pipeline and the rotating radius of the mechanical claw are calculated. And (5) unfolding the mechanical claw, and scraping the inner wall of the pipeline by using mechanical claw fingers. And meanwhile, a pressure sensor on the mechanical claw arm is detected, so that the mechanical claw fingers do not physically damage the inner wall of the pipeline. And opening the high-pressure water gun to wash the sludge sediment protrusion, so that the sludge is flushed out of the pipeline along with water flow.
Step six: the aeration time and the dissolved oxygen concentration of the nano aeration disks 4 were set in accordance with the measured concentrations of the pollutants in the pipes, and the dissolved oxygen concentration was set to 1.4mg/L by intermittently aerating for 16 hours in this example. And (3) moving the propeller mechanical claw double-propelling robot to a position 1600m away from the starting point of the pipeline, wherein the length of the flexible double-layer sleeve 6 provided with the microbial gel mesh enclosure 5 is 1598m, and opening the ultraviolet light lamp ring 5 and the air distribution pipe ball valve 44 of the nano aeration disc 4 for aeration.
Step seven: and opening a water quality detector and a sediment detector 82, and analyzing the water quality parameters and the sediment thickness of the aerated sewage. If the sewage quality does not meet the set value, the air distribution pipe ball valve 44 of the nano aeration disc 4 is continuously opened. And an air distribution pipe ball valve 44 of the nano aeration disc 4. If the sediment is not removed, the high-pressure water gun 6 is moved to the position to be washed again. When the water quality and the sediment thickness accord with set values, the information collection control server remotely controls the pipeline dredging and purifying robot adopting the microorganism embedding technology to return to the initial position, and all the equipment is taken out from the sewage inspection well 3.
The data show that the average removal rate of COD in the sewage of 1600m in the pipeline is over 82.2%, the average removal rate of ammonia nitrogen is over 72.4% and the average thickness of sediment is reduced by 83.8% within 16 hours of the monitoring period.
Example 2:
the sewer line in this example is 600m in length and 1200cm in diameter. The CODCr concentration of the mixed sewage in the pipeline is 90mg/L, and the ammonia nitrogen concentration is 30 mg/L. As shown in figure 1, the utility model discloses a sewage inspection shaft 3 gets into sewage conduit, and pipeline robot's single screw diameter is 300cm, and the extension radius scope of gripper device is 1200~1500 cm. The main fuselage links to each other with flexible double casing 6, and flexible double casing 6 material is corrosion-resistant PVDF, and flexible double casing 6 end links to each other with frequency conversion water pump 2, frequency conversion air compressor machine 1 simultaneously. The nanometer aeration discs 4 are arranged on the flexible double-layer sleeve 6 at intervals of 60 cm. The diameter of the nano aeration hole 41 is 100nm, and the oxygenation capacity of a single nano aeration disc 4 is 0.22Kg-O2/m3∙ h, the nano-aeration tray 42 is made of ceramics. The microbial gel net cover 5 is arranged on the flexible double-layer sleeve 6, and the microbial gel net cover 5 is arranged between every two nano aeration discs 4. The microorganism gel net cover 5 is composed of a child net cover and a mother net cover, wherein the child net cover is arranged in the mother net cover and is respectively filled with microorganism gel 54 of the child net cover and microorganism gel 53 of the mother net cover. According to the water quality characteristics, the sub-net cover microorganism gel 54 is internally embedded with desulfurization vibrio bacteria, anaerobic hydrolytic bacteria, denitrifying bacteria and anaerobic ammonium oxidation bacteria, and the mother net cover microorganism gel 53 is internally embedded with aerobic ammonium oxidation bacteria and nitrobacteria. The microbial gel is a sphere with the diameter of 1.5cm, and the gel material is sodium alginate. The concentration of the microorganisms in the gel was 2.5g-vss/L, and the mixing ratio of the microorganisms to the gel was 45%.
In the above embodiment, a method for realizing sewage purification and sediment removal in a long-distance pipeline by using a pipeline robot of microorganism embedding technology comprises the following steps:
the method comprises the following steps: and a pipeline dredging and purifying robot and a water quality detector adopting the microorganism embedding technology are lowered into the sewage inspection well 3 from the ground. And starting the pipeline robot self-inspection system to inspect the guide wheel pressure sensor 8514, the sediment detector 82, the CCTV81, the water pipe valve 74, the gas distribution pipe ball valve 44 and the dissolved oxygen probe 55. And opening the water quality detector, detecting the concentration of the pollutants in the sewage pipeline, and uploading the monitoring data to the information collection control server terminal.
Step two: the information collection control server is used for remotely controlling the pipeline dredging and purifying robot by adopting a microorganism embedding technology, and the propeller device is opened after entering the pipeline, so that the propeller device carrying the flexible double-layer sleeve 6, the nano aeration disc 4 and the microorganism gel mesh enclosure 5 slowly moves into a sewage pipeline.
Step three: and (3) opening a sediment detector 82 on the double-drive of the propeller mechanical claw, detecting the thickness of the sediment in the sewage pipeline, feeding back the thickness of the sediment and the position of the mechanical claw to the information collection control server, wherein the result of the sediment detector shows that the average thickness of the sediment is 8.9cm, branches and leaves and sludge mixed winding conditions exist at the positions of pipelines 74.1m and 443.7m, and sludge deposition bulges with the thickness of about 13.8cm and the thickness of about 6.8cm exist at the positions of pipelines 305.2m and 535.5m respectively. And analyzing data by using a computer in the server, and setting a moving route of the double drives of the propeller mechanical claw and the spraying frequency and angle of the high-pressure water gun 7 according to a calculation result.
Step four: and (3) remotely controlling the pipeline robot to move to positions 74.1m and 443.7m away from the inlet, unfolding the mechanical claw, and disturbing branches, leaves and sludge by using the mechanical claw. Simultaneously, the branches and leaves enter the stainless steel reamer of the propeller along with the water flow. The branches and leaves are broken by the stainless steel reamer, and the high-pressure water gun is opened to flush the branches and leaves out of the pipeline along with water flow.
Step five: the teleoperated pipeline robot moves to 305.2m and 535.5m, and the current pipeline inside diameter and gripper rotation radius are calculated. And (5) unfolding the mechanical claw, and scraping the inner wall of the pipeline by using mechanical claw fingers. And meanwhile, a pressure sensor on the mechanical claw arm is detected, so that the mechanical claw fingers do not physically damage the inner wall of the pipeline. And opening the high-pressure water gun to wash the sludge sediment protrusion, so that the sludge is flushed out of the pipeline along with water flow.
Step six: the aeration time and the dissolved oxygen concentration of the nano aeration disks 4 were set in accordance with the measured concentrations of the pollutants in the pipes, and the dissolved oxygen concentration was set to 3.0mg/L by intermittently aerating for 24 hours in this example. The propeller mechanical claw double-propelling robot is moved to a position 600m away from the starting point of the pipeline, the length of the flexible double-layer sleeve 6 provided with the microbial gel net cover 5 is 598m, and the air distribution pipe ball valve 44 of the nano aeration disc 4 is opened for aeration.
Step seven: and opening a water quality detector and a sediment detector 82, and analyzing the water quality parameters and the sediment thickness of the aerated sewage. If the sewage quality does not meet the set value, the air distribution pipe ball valves 44 of the ultraviolet light ring 5 and the nano aeration disc 4 are continuously opened. If the sediment is not removed, the high-pressure water gun 6 is moved to the position to be washed again. When the water quality and the sediment thickness accord with set values, the information collection control server remotely controls the pipeline dredging and purifying robot adopting the microorganism embedding technology to return to the initial position, and all the equipment is taken out from the sewage inspection well 3.
The data show that the average removal rate of COD in the 600m pipeline exceeds 76.9 percent, the average removal rate of ammonia nitrogen exceeds 80.2 percent and the average thickness of sediment is reduced by 85.3 percent within 24 hours of the monitoring period.
The utility model discloses the method need not to reform transform and the construction pipeline and inspection shaft, carries out the normal position through the pollutant and the deposit in crawler-type pipeline robot and microorganism embedding technique in to the sewer line of optional position and reduces, especially has excellent purification efficiency to the lower sewage of pollutant concentration in the pipeline.
While the present invention has been described in detail with respect to the preferred embodiments thereof, it will be understood that the above description should not be taken as limiting the invention, and that variations and modifications will occur to those skilled in the art upon the reading of the foregoing description and are intended to be included within the scope of the invention as defined by the appended claims.
Claims (9)
1. A pipeline dredging and purifying robot adopting a microorganism embedding technology comprises a main body, it is characterized in that a mechanical claw system, a propeller system and a dredging system are arranged on the main machine body, the dredging system comprises a high-pressure water gun, the main machine body comprises a double-layer sealed cabin body, the inner layer of the cabin body is a flushing water pipe, is connected with a high-pressure water gun, the outer layer of the cabin body is used for placing an electric conduit and a fixed support, the rear part of the main body of the pipeline robot is provided with a flexible double-layer sleeve, the flexible double-layer sleeve is connected with the flange of the main body of the pipeline robot in a sealing way, the inner layer sleeve of the flexible double-layer sleeve is communicated with the inner layer of the cabin body of the main body and is connected with the ground variable frequency water pump, used for filling washing clear water, the outer layer sleeve is isolated from the outer layer of the cabin body of the main body, the outer layer sleeve is filled with air, is connected with a variable frequency air compressor, and a plurality of nano aeration discs and a microorganism gel screen are arranged on the double-layer flexible aeration pipe.
2. The pipeline dredging and purifying robot adopting the microorganism embedding technology as claimed in claim 1, is characterized in that: the propeller system comprises a plurality of symmetrically arranged horizontal propeller frames arranged on the main body, the propeller frames are connected with the main body through propeller fixing supports, and the propeller bidirectional motors are fixed on the propeller frames through bolts.
3. The pipeline dredging and purifying robot adopting the microorganism embedding technology as claimed in claim 2, wherein: the propeller blades are a plurality of groups of stainless steel blades, are arranged in the propeller frame through a tail shaft and are connected with the propeller bidirectional motor.
4. The pipeline dredging and purifying robot adopting the microorganism embedding technology as claimed in claim 1, is characterized in that: the gripper system comprises a first support arm shell welded on a main body, a first motor is arranged in the first support arm shell through a main body fixing rod and a first motor fixing support, the first motor is connected with a second support arm shell through a first motor connecting rod, the first connecting rod is driven by the rotation of a driving shaft on the first motor so as to enable the first support arm to rotate in a set angle, a second motor is fixed in the second support arm through a bolt and is connected with a second connecting rod, a driving shaft of the second motor is connected with a third motor through a second motor connecting rod so as to enable the second support arm to rotate in the set angle, the third motor is fixed in the third support arm through a bolt, a driving shaft of the third motor is connected with a driven gear of a mechanical arm through a gear, the driven gear of the mechanical arm is connected with a rotor through a gear, and the driving shaft of the third motor enables the rotor to complete 360-degree rotation in the horizontal direction, the rotor is connected with the 2-freedom degree ball joint fixing shell, so that the rotor and the rotor keep the same rotating angle, the mechanical arm ball joint is nested in the 2-freedom degree ball joint fixing shell and is connected with the mechanical claw, the mechanical claw consists of a 3-freedom degree ball joint fixing shell, a mechanical claw ball joint, a mechanical claw joint and a mechanical claw finger, the mechanical claw ball joint is nested in the 3-freedom degree ball joint fixing shell, the mechanical claw joint is fixed on the mechanical claw ball joint, and the mechanical claw finger is connected with the mechanical claw joint.
5. The pipeline dredging and purifying robot adopting the microorganism embedding technology as claimed in claim 4, wherein: and a lighting lamp ring and a pressure sensor are arranged at the middle connecting part of the mechanical arm ball joint and the mechanical claw.
6. The pipeline dredging and purifying robot adopting the microorganism embedding technology as claimed in claim 1, is characterized in that: the nano aeration discs are internally provided with air distribution pipe ball valves, and a group of microbial gel net covers are arranged between every two nano aeration discs on the double-layer flexible aeration pipe through the aeration of nano aeration holes on the nano aeration discs.
7. The pipeline dredging and purifying robot adopting the microorganism embedding technology as claimed in claim 6, wherein: the microbial gel screen cover is composed of a sub-screen sleeve and a main screen sleeve, the sub-screen sleeve is arranged in the main screen sleeve and used for filling different microbial gels respectively, and the microbial gel screen cover is fixed on the double-layer flexible aeration pipe through a microbial gel screen cover support.
8. The pipeline dredging and purifying robot adopting the microorganism embedding technology as claimed in claim 1, is characterized in that: the flexible double-layer sleeve inner-layer water pipe is connected with the high-pressure water gun, and a water pipe valve is arranged at the joint.
9. The pipeline dredging and purifying robot adopting the microorganism embedding technology as claimed in claim 1, is characterized in that: the pipeline dredging and purifying robot is provided with a detection module, and the detection module comprises a sediment detector, a dissolved oxygen probe, a pressure sensor and an infrared detector; the sediment detector is fixed on the main body of the device and is used for detecting the thickness of sediment in the pipeline in real time; the dissolved oxygen probe is arranged on the microbial gel net cover and used for monitoring the dissolved oxygen concentration of the sewage in the pipeline in real time; pressure sensor installs on the gripper, and infrared detector passes through the infrared detector axis of rotation and installs on the infrared detector support, and the infrared detector scaffold weldment is on one's body pipeline robot host computer for image acquisition.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115781747A (en) * | 2022-12-06 | 2023-03-14 | 山东大学 | Manipulator is assembled and disassembled to aeration pipe |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115781747A (en) * | 2022-12-06 | 2023-03-14 | 山东大学 | Manipulator is assembled and disassembled to aeration pipe |
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