CN111547833A - Self-generating disinfection robot for pressure pipeline - Google Patents
Self-generating disinfection robot for pressure pipeline Download PDFInfo
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- CN111547833A CN111547833A CN202010398453.XA CN202010398453A CN111547833A CN 111547833 A CN111547833 A CN 111547833A CN 202010398453 A CN202010398453 A CN 202010398453A CN 111547833 A CN111547833 A CN 111547833A
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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
- C02F1/78—Treatment of water, waste water, or sewage by oxidation with ozone
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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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
- C02F1/30—Treatment of water, waste water, or sewage by irradiation
- C02F1/32—Treatment of water, waste water, or sewage by irradiation with ultraviolet light
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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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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03B—MACHINES OR ENGINES FOR LIQUIDS
- F03B11/00—Parts or details not provided for in, or of interest apart from, the preceding groups, e.g. wear-protection couplings, between turbine and generator
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03B—MACHINES OR ENGINES FOR LIQUIDS
- F03B13/00—Adaptations of machines or engines for special use; Combinations of machines or engines with driving or driven apparatus; Power stations or aggregates
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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
- C02F2201/00—Apparatus for treatment of water, waste water or sewage
- C02F2201/32—Details relating to UV-irradiation devices
- C02F2201/322—Lamp arrangement
- C02F2201/3228—Units having reflectors, e.g. coatings, baffles, plates, mirrors
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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
- C02F2303/00—Specific treatment goals
- C02F2303/04—Disinfection
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/20—Hydro energy
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- Hydrology & Water Resources (AREA)
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- Life Sciences & Earth Sciences (AREA)
- Environmental & Geological Engineering (AREA)
- Water Supply & Treatment (AREA)
- Organic Chemistry (AREA)
- General Engineering & Computer Science (AREA)
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Abstract
A self-generating disinfection robot for a pressure pipeline is characterized in that a motor drives a mechanical claw device to enable the robot to move freely in the pipeline, and an aeration pipe, a nanometer aeration disc and an ultraviolet lamp ring are pulled by the remote operation and control robot to move and be locked in the pipeline accurately. The invention uses the long-distance pressure pipeline of the ventilation well as a treatment reaction tank to increase the disinfection contact time, and the ozone and ultraviolet light combined disinfection technology is used for efficiently inactivating bacteria and viruses in sewage and aerosol in the pressure pipeline. Meanwhile, kinetic energy of water flow in the pressure pipeline is converted into electric energy through the propeller power generation device, so that energy consumption of the pipeline robot is saved, and clean energy is produced. The invention can enter pipelines with different pipe diameters through the length of the mechanical claw and the angle of the supporting arm, and has strong adaptability. Meanwhile, the invention has flexible operation and can finish sewage disinfection by remote control, thereby avoiding the risk of disinfection of personnel in the sewage pipeline.
Description
Technical Field
The invention belongs to the field of town sewage disinfection and energy utilization, and relates to a self-generating disinfection robot for a pressure pipeline. In particular to a pipeline robot which simultaneously realizes the disinfection of sewage and aerosol in a ventilating well by utilizing an ozone ultraviolet light combined technology and converts the kinetic energy of water flow in a pressure pipeline into electric energy by utilizing a propeller generating set.
Background
Ultraviolet disinfection is a common treatment process for urban sewage treatment facilities, hospital sewage treatment facilities and water supply systems at present. Ultraviolet rays are invisible light rays, generally, light with a wavelength of more than 200nm is called ultraviolet rays, and the ultraviolet rays can be further divided into UVA (315-400 nm), UVB (280-315 nm) and UVC (200-280 nm) according to different wavelengths. Among these, UVC is most easily absorbed by DNA (ribonucleic acid). UVC is used for ultraviolet disinfection. When the virus cells are irradiated with ultraviolet rays, ultraviolet rays having a wavelength of 254nm are absorbed by DNA. The adjacent thymines of the cell on the DNA strand become entangled with each other, and the new dimers prevent the replication of the correct DNA genetic code on the RNA (ribonucleic acid) strand, which is the transmitter of information and functions to transmit the DNA code to different parts of the cell. The loss of the RNA transfer function finally leads to the cell function decline and death, thereby achieving the aim of disinfection and sterilization. Whereas coronaviruses are positive-stranded single-stranded RNA viruses with a mantle. The susceptibility of coronavirus to ultraviolet light is based on the damage of internal RNA of coronavirus due to the absorption of ultraviolet energy in the internal RNA of coronavirus in ultraviolet UVC wave band. Ultraviolet disinfection is a physical disinfection mode, chemical agents are not involved in the disinfection process, and physical and chemical properties of water are not changed except for inactivating microorganisms. The biological safety of water quality is ensured in the disinfection process, disinfection byproducts caused by other chemical disinfection modes are avoided, and the safety influence and secondary damage to subsequent water bodies caused by excessive addition of the disinfection byproducts can also be avoided. Is a real environment-friendly disinfection mode.
Ozone has extremely high sterilization efficiency when used for sterilizing drinking water, but a large ozone dosage and a long contact time are often required when sewage is sterilized. It is generally believed that there are two ways in which ozone can be sterilized in water: one is that ozone acts directly on the cell wall of the bacteria, destroying it and causing cell death; the other is that ozone releases oxygen in a free ground state when decomposed in water, the oxygen in the free ground state has strong oxidizing capability, can penetrate cell walls, oxidize and decompose glucose oxidase necessary for oxidizing glucose in bacteria, and can also directly react with bacteria and viruses to destroy organelles and ribonucleic acid of the bacteria, decompose macromolecular polymers such as DNA, RNA, protein, lipid and polysaccharide and the like, so that the substance metabolism and the propagation process of the bacteria are destroyed; it also can penetrate cell membrane tissue, invade cell membrane, act on outer membrane lipoprotein and inner lipopolysaccharide, and promote bacterial and viral lysis and death. The photocatalytic ozone oxidation technology mainly uses ultraviolet light as an energy source and ozone as an oxidant. O is3Hydroxyl free radicals with strong oxidizing property are generated under the action of ultraviolet light, and the strong oxidizing property is utilized to destroy the cell membrane structure of microorganisms so as to achieve the effect of sterilization. UV/O3On completion of the compounding, the first step produces H2O2Generation of H2O2Further generating hydroxyl free radicals under the radiation of ultraviolet light, wherein the mechanism is as shown in formula (1.1-1.3):
ozone has a short half-life in water, and because of its relatively poor disinfection durability, increasing the residence time of ozone gas molecules in water is critical for ozone disinfection. The bubble diameter of ozone gas molecules is reduced through the nano aeration disc, so that the diffusion efficiency and the retention time of the ozone gas molecules in water are increased, and the ozone oxidation efficiency can be effectively improved.
Due to the limitation of ground elevation, a sewage lifting pump station and a sewage pressure pipeline are important components of the urban drainage system. In addition to sewage, there are also large amounts of gases in large sewage pressure pipelines, and the production of these gases comes from several sources: pump suction, pressure reduction gas release, and sewage self-gas production. When the sewage pump station operates abnormally, the existence of gas aggravates the damage of the water hammer phenomenon, and the sewage pipeline is broken. In general, the ventilation well is arranged in practical engineering to solve the problem. However, viruses and pathogenic bacteria exist in the aerosol in the sewage pipeline and the ventilation well, and threaten the environment and the life of citizens. The small efficient disinfection device which can be placed in the pressure pipeline of the ventilating well at present has no time, and the invention in the related field mainly surrounds the removal of sediment in the pipeline, but has no invention aiming at killing viruses and pathogenic bacteria in the drainage pipeline.
Disclosure of Invention
The invention provides a self-generating disinfection robot for a pressure pipeline, aiming at the defects of the existing sewage and aerosol disinfection technology in the pipeline, which utilizes an ozone and ultraviolet light combined technology to remove pathogenic bacteria and viruses in a ventilating well of the pressure pipeline, reduces the possibility that the pathogenic bacteria and the viruses enter a drainage facility and a sewage treatment facility, protects the life safety of community residents, urban sewage treatment facility operators and environmental protection employees, and reduces the probability of large-range spread of the viruses.
The technical scheme of the invention is as follows: a self-generating disinfection robot for a pressure pipeline comprises a main machine body of a pipeline robot, and is characterized in that the pipeline robot comprises a sealed cabin body, a storage battery is arranged in the inner layer of the cabin body, the tail part of the main machine body of the pipeline robot is connected to an ozone generator arranged outside a well through an aeration pipe, and a mechanical claw module is arranged on the main machine body of the pipeline robot and used for drawing the main machine body of the robot to move along the pipeline; the pipeline robot is characterized in that a plurality of disinfection modules are arranged on the main machine body of the pipeline robot or on the aeration pipe, each disinfection module comprises an ozone aeration device and an ultraviolet light device which are arranged at intervals, and the ozone aeration devices and the ultraviolet light devices are used for disinfecting sewage in the pipeline in the process that the main machine body of the pipeline robot moves along the pipeline; still be equipped with folded cascade horizontal screw power generation facility on pipeline robot main fuselage and the aeration pipe, folded cascade horizontal screw power generation facility can turn into the electric energy with rivers kinetic energy, for the battery power supply.
Furthermore, a plurality of mechanical claw devices are arranged on the main body of the pipeline robot, each mechanical claw device comprises a mechanical claw fixing base fixed on the main body of the pipeline robot, a first supporting arm shell is welded on each mechanical claw fixing base, a first motor is arranged in each first supporting arm shell, a first motor driving shaft is connected with a second supporting arm shell through a first motor connecting rod shaft, the second supporting arm rotates in a set angle through the first connecting rod rotated by the driving shaft on the first motor, a second motor is arranged in each second supporting arm shell, the second motor driving shaft is connected with a third supporting arm shell through a second motor connecting rod, the third supporting arm rotates in a set angle through the second motor connecting rod, a third motor is arranged in each third supporting arm shell, the third motor driving shaft is connected with a mechanical arm driven gear through a gear, and the mechanical arm driven gear is connected with a rotor bearing through a gear, the third motor drive shaft completes 360-degree rotation of the rotor bearing in the horizontal direction; the rotor bearing is connected with the 2-degree-of-freedom spherical joint fixing shell, so that the same rotation angle with the rotor bearing is kept; the mechanical arm ball joint is nested in the 2-freedom degree ball joint fixing shell and connected with the mechanical claw, a pressure sensor is arranged at the connecting part between the mechanical arm ball joint and 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, knuckle materials of the mechanical claw fingers are replaceable corrosion-resistant rubber so as to prevent the sewage pipeline from being damaged by the mechanical claw fingers made of metal materials; the first support arm shell, the second support arm shell, the third support arm shell and the mechanical claw joint are all made of corrosion-resistant stainless steel 444L, and the outer layer of a metal material is coated.
Further, the pipeline robot host computer is equipped with the horizontal screw power generation facility of folded cascade that a plurality of symmetry set up on one's body and the aeration pipe, and screw power generation facility passes through the bolt fastening on the screw fixed bolster, and the screw fixed bolster is fixed on folding support arm, and folding support arm welding is on host computer body or aeration pipe, and the screw paddle is the stainless steel cutting edge of a plurality of groups, installs in the screw frame through screw propeller hub, links to each other with the generator.
Further, when pipeline robot passes through the pipeline that the pipe diameter is less than the screw diameter, folding support arm is folding with the screw, accords with the back that expandes the requirement when the pipe diameter, and the screw is expanded.
Furthermore, the disinfection module of the pipeline robot comprises a plurality of nano aeration discs arranged on the aeration pipe, and an ultraviolet light ring is arranged between every two nano aeration discs; the nano aeration disc is connected with an ozone pipe through a nano aeration disc bracket, and an air distribution pipe ball valve is arranged in the nano aeration disc; the ultraviolet light device comprises an ultraviolet light ring, the ultraviolet light ring is fixed on the aerator pipe, reflective lenses are installed on two sides of the ultraviolet light ring, the reflective lenses are symmetrical conical surfaces extending outwards, the included angle between the reflective lenses and the ultraviolet light ring is 50-70 degrees, and the reflective lenses are used for refracting ultraviolet light to improve the radiation area of the ultraviolet light ring.
Furthermore, the pipeline robot also comprises a detection module, wherein the detection module comprises a sediment detector fixed on the main body of the pipeline robot and used for detecting the thickness of sediment in the pipeline in real time; the pressure sensor is arranged on the mechanical claw, and is used for detecting the pressure influence of the inner wall of the pipeline on the mechanical claw of the pipeline robot in real time in the driving process; the ORP probe is fixed on the main body of the pipeline robot and intermittently monitors the oxidation-reduction potential of the water quality in the sewage pipeline; and the infrared CCTV welded on the main body of the pipeline robot finishes image acquisition in the operation process.
An operation method of a self-generating disinfection robot for a pressure pipeline is characterized by comprising the following steps:
and 5, after the sewage is disinfected, moving the pipeline robot to an initial position, and taking all the equipment out of the breathable well.
At present, a pipeline robot for disinfection and power generation in a pressure pipeline ventilation well is absent temporarily, the flow velocity of sewage in the pressure pipeline can reach about 5m/s at most, and the invention can convert water flowing energy into electric energy and reduce the energy consumption of the pipeline robot while efficiently disinfecting. Compared with the traditional sewage plant disinfection treatment facility, the invention firstly utilizes the long-distance pipeline to improve the disinfection contact distance of ozone and ultraviolet, and the propeller generator locally reduces the sewage flow speed, increases the disinfection contact time, further improves the disinfection efficiency, and finally solves the problem that pathogenic bacteria and coronavirus are diffused in the sewage.
The pipeline robot provided by the invention has the following advantages:
(1) the ozone disinfection technology and the ultraviolet light disinfection technology are combined, and the nano aeration technology and the photocatalytic ozone oxidation technology are utilized, so that the disinfection capability is strong, the loophole of single ultraviolet light disinfection and light reactivation is made up, and meanwhile, fewer disinfection byproducts are generated.
(2) The flexible aeration pipe is used for aeration in the pressure pipeline ventilating well, the long-distance pipeline is used as a reaction tank body, the disinfection contact time is prolonged, the disinfection efficiency in the sewage pipeline is excellent, and viruses, odor and organic matters in aerosol in the pipeline can be partially removed.
(3) The invention can convert the water flow energy in the pressure pipeline into electric energy to produce clean energy. The propeller generator locally reduces the flow speed of sewage, increases the disinfection contact time and further improves the disinfection efficiency.
(4) 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.
(5) The underground operation of personnel is not needed, and meanwhile, the information collection control server is used for remotely controlling the equipment, so that the safety is high.
Drawings
Fig. 1 is a schematic structural view of a main body of a pipeline robot, an aerator pipe, a nano aeration disc and an ultraviolet lamp ring according to the present invention.
Fig. 2 is a schematic diagram of the operation of the present invention for disinfection of a pressure tubing vent well.
Fig. 3 is a schematic view of the propeller generator of the present invention after entering the pipeline.
Fig. 4 is a cross-sectional view of a propeller generator and an aerator pipe according to the present invention.
Fig. 5 is a cross-sectional view of the gripper and the main body according to the present invention.
Fig. 6 is a partial structural schematic diagram of the gripper in the present invention.
FIG. 7 is a schematic view of the internal structure of the gripper according to the present invention.
Fig. 8 is a cross-sectional view of the ultraviolet light ring and the aeration tube according to the present invention.
Figure 9 is an isometric view of a sterilization module of the present invention.
FIG. 10 is a cross-sectional view of a nano aeration disk and an aeration pipe according to the present invention
FIG. 11 is a cross-sectional view of a sediment detector, an infrared CCTV and an aerator pipe according to the present invention.
FIG. 12 is a schematic diagram of a control circuit of an information collection control server according to the present invention
1-an information collection control server; 2-an ozone generator; 3-an aerator pipe; 4-an ozone tail gas elimination device; 5-an ultraviolet light device; 51-ultraviolet lamp ring; 52-protective frame; 53-a reflective lens; 54-lamp ring fixing clip; 55-lamp ring fixing support; 56-mirror fixed support; 6-ozone aeration device; 61-nanometer aeration disc; 62-nano aeration holes; 63-nano aeration disc support; 64-a gas distribution pipe ball valve; 7-an explosion-proof pressure release valve of the aeration pipe; 8-main body of the pipeline robot; 81-gripper device; 811-mechanical jaw joint; 812-2 degree of freedom ball joint fixation shell; 813-a second support arm housing; 814-a first motor; 815 — a first support arm shell; 816-access doors; 817-mechanical claw fixing base; 818-gripper fingers; 819-3 degree of freedom ball joint anchor shell; 8111-rotor bearing; 8112-a third support arm housing; 8113-gripper-ball joint; 8114-pressure sensor; 8115-robot arm driven gear; 8116-mechanical arm ball joint; 8117 — a second motor drive shaft; 8118-a third motor; 8119-a second electric motor; 8120-a second motor link; 8121 — a first motor drive shaft; 8122-first motor link shaft; 8123-a backup battery; 8124 — a first motor fixing bracket; 8125-a first support arm housing fixation base; 82-propeller power generation; 821-propeller frame; 822-a stainless steel blade; 823-propeller fixing support; 824-a propeller hub; 825-a generator; 826-folding support arm; 827-rectifier; 83-sediment detector; 84-infrared CCTV; 85-ORP probe; 9-a cable; 10-sewage gas permeable well; 11-temporary flange cover plate; 12-special pressure cover type manhole.
Detailed Description
In order that those skilled in the art will better understand the present invention, the following detailed description will be given with reference to the accompanying drawings.
The utility model provides a from electricity generation disinfection robot for pipeline under pressure, includes pipeline robot host computer body, gripper module, power generation module, disinfection module, detection module and information collection control server, the gripper module mainly is located pipeline robot host computer on one's body, mainly plays the traction. The disinfection module is positioned on the aeration pipe at the rear part of the main body of the pipeline robot, and can be arranged in a long-distance pipeline in a rope shape along with the pipeline robot, and the disinfection module mainly plays a role in purifying sewage.
The main body of the pipeline robot comprises a double-layer sealed cabin body, an inner storage battery cabin and an electric conduit. The double-layer sealed cabin body is a cylinder and is made of corrosion-resistant stainless steel 444L material. The inner layer of the cabin body is provided with a storage battery. The outer layer of the cabin body is used for placing an electric conduit and a fixed bracket.
As shown in fig. 1, a temporary flange cover plate 11 is arranged at the top of a sewage permeable well 10, a special pressure cover type manhole 12 is arranged at the side part, the tail part of a main body 8 of the pipeline robot is connected to an ozone generator 2 arranged outside the well through an aeration pipe 3 and is connected with an information collection control server 1, and the main body 8 of the pipeline robot can move forwards along a pipeline at the bottom of the well after extending into the bottom of the well. A plurality of ozone aeration devices 6, ultraviolet devices 5 and power generation modules are arranged on the aeration pipe 3.
The power generation module of the pipeline robot, as shown in fig. 3, includes a plurality of foldable horizontal propeller power generation devices 82 symmetrically arranged on the main body 8 of the pipeline robot and the aeration pipe 3, and the propeller power generation devices 82 are fixed on the propeller fixing bracket 823 through bolts. The propeller fixing bracket 823 is fixed to a folding support arm 826 by bolts, and the folding support arm is welded to the main body and the aeration tube 3. The propeller blades are groups of stainless steel blades 822 mounted within a propeller frame 821 through a propeller hub 824 connected to a generator 825. Because certain plants or residues can be present in the pipeline besides the sediment, the stainless steel blade 822 has a cutting and separating effect when meeting the objects, and the propeller of the generator is prevented from being wound by sundries in the pipeline when generating electricity. The generator 825 is connected with the main machine body 8 storage battery of the pipeline robot and the ground storage battery through cables in the main machine body cabin, and when water flow in the pressure pipeline drives the stainless steel blade 822 in the propeller to rotate, the generator 825 charges the two storage batteries. The generator 825 is connected to a rectifier 827, and the rectifier 827 converts ac power to dc power to charge the battery. The battery loads inside pipeline robot main fuselage 8, when taking place unexpected, the battery can provide the power of returning a journey for pipeline robot 8, ensures to make pipeline robot 8 return the starting point automatically under the condition that need not the staff operation of going into the well.
When the pipeline robot 8 passes through a pipeline with the pipe diameter smaller than the diameters of the two propeller power generation devices 82, the propeller power generation devices 82 are folded by the folding supporting arms 826, and after the pipe diameter meets the requirement of the unfolding size of the propeller power generation devices 82, the propeller power generation devices 82 are unfolded. As shown in fig. 3, when the propeller power generating device 82 is located in the shaft, the folding support arms 826 are folded due to the small diameter of the shaft, the power generating device 82 does not work, and when the propeller power generating device 82 is located in the pressure pipeline, the folding support arms 826 are unfolded, and water flows through the propeller power generating device 82 to generate power.
The propeller-shaped stainless steel blade 822 and the propeller frame 821 can be changed in size according to the pipe diameter, the diameter range of the propeller-shaped stainless steel blade is 100 cm-800 cm, and the size of the propeller frame 821 is 150 cm-1000 cm. And the outer layer of the propeller frame 821 is wrapped by corrosion-resistant rubber to prevent the propeller frame 821 from damaging the pipeline. The type of rubber material may be neoprene, silicone rubber, viton, etc. The generator 825 shell is made of corrosion-resistant plated stainless steel 444L, and the motor 825 is cooled by water through water temperature in a sewage pipeline.
As shown in fig. 4 to 6, a plurality of gripper devices 81 are disposed on the main body 8 of the pipeline robot, the gripper devices 81 include a gripper fixing base 817 fixed on the main body 8 of the pipeline robot, a first supporting arm housing 815 is welded to the gripper fixing base 817, a first motor 814 is disposed in the first supporting arm housing 815, a first motor driving shaft 8121 is connected to a second supporting arm housing 813 through a first motor link 8122, the second supporting arm rotates within a set angle by rotating a first link through the driving shaft of the first motor 814, a second motor 8119 is disposed in the second supporting arm housing 813, a second motor driving shaft 8117 is connected to a third supporting arm housing 8112 through a second motor link 8120, the third supporting arm rotates within a set angle through the second motor link 8120, a third motor 8118 is disposed in the third supporting arm housing 8112, the third motor drive shaft is connected to the robot arm driven gear 8115 through a gear, the robot arm driven gear 8115 is connected to the rotor bearing 8111 through a gear, and the third motor drive shaft makes the rotor bearing 8111 complete 360-degree rotation in the horizontal direction thereof. Rotor bearing 8111 is coupled to a 2-degree-of-freedom ball joint mounting housing 812 such that it maintains the same rotational angle as rotor bearing 8111. The mechanical arm ball joint 8116 is nested in the 2-degree-of-freedom ball joint fixing shell 812 and is connected with the mechanical claw joint 811. The bottom of the mechanical arm ball joint 8116 is provided with a pressure sensor 8114. The mechanical claw consists of a 3-freedom degree ball joint fixing shell 819, a mechanical claw ball joint 8113, a mechanical claw joint 811 and a mechanical claw finger 818, wherein the mechanical claw ball joint 8113 is nested in the 3-freedom degree ball joint fixing shell 819, the mechanical claw joint 811 is fixed on the mechanical claw ball joint 8113, and the mechanical claw finger 818 is connected with the mechanical claw joint 811.
Knuckle material of the mechanical claw fingers 818 is replaceable corrosion-resistant rubber, and the rubber is butyl rubber, neoprene rubber, fluororubber and the like to prevent the sewage pipeline from being damaged by the mechanical claw fingers 818 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. The main body arm shell and the mechanical claw joint 811 in the mechanical claw assembly are made of corrosion-resistant stainless steel 444L, and the outer layer of a metal material is coated. 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.
The disinfection module of the pipeline robot comprises an ozone generator 2, an aerator pipe 3, an aerator pipe explosion-proof pressure release valve 7, a nanometer aeration disc 61, a nanometer aeration disc bracket 63, an air distribution pipe ball valve 64, an ultraviolet light lamp ring 51, a lamp ring fixing clamp 54, a lamp ring fixing bracket 55, a reflecting lens 53 and a reflector fixing bracket 56. The aeration pipe 3 is a corrosion-resistant stainless steel flexible corrugated pipe, ozone gas is filled in the pipe, and the aeration pipe 3 is connected with the ground ozone generator 2 and the information collection control server 1. The aeration pipe 3 is connected with the main body 8 of the pipeline robot in a flange sealing way. A plurality of nano aeration discs 61 are arranged on the aeration pipe 3, and an ultraviolet light ring 51 is arranged between every two nano aeration discs 61.
As shown in fig. 7 and 8, the uv light device 5 includes a uv light ring 51, and the uv light ring 51 is fixed on the aeration tube 3 by a lamp ring fixing clip 54 and a lamp ring fixing bracket 55. The two sides of the ultraviolet light ring 51 are provided with the reflecting lenses 53, the reflecting lenses 53 are symmetrical conical surfaces extending outwards, the included angle between the reflecting lenses 53 and the ultraviolet light ring 451 is 60 degrees, and the reflecting lenses are used for refracting ultraviolet light to improve the radiation area of the ultraviolet light ring 51. The outer edge of the reflector 53 is wrapped by corrosion-resistant silica gel, so that the possibility of collision between the reflector 53 and the ultraviolet light ring 51 in the pipeline is reduced. Two sides of the reflecting lens 53 are fixed outside the aeration pipe 3 through a reflector fixing bracket 55, and the outer edge of the reflecting lens 53 is provided with a protective frame 52.
The reflective mirror 53 is plated with a fluorine-silicon nano-film, so that particles in sewage are prevented from being adhered to the reflective mirror 53 to influence the ultraviolet refraction efficiency. The ultraviolet wavelength of the ultraviolet lamp ring 51 is set to be 100 to 300nm, and the irradiation dose of the ultraviolet lamp ring 51 is set to be 80 to 160mJ/cm2The irradiation intensity is regulated and controlled by the information collection control server 1.
As shown in fig. 9, the nano aeration disc 61 is connected to the aeration pipe 3 through a nano aeration disc support 63, and an air distribution pipe ball valve 64 is disposed in the nano aeration disc 61. Ozone gas molecules are aerated into the sewage pipeline through the nano aeration holes 62 on the nano aeration disc 61, the aperture of the nano aeration holes 62 is 80-200 nm, and the nano aeration disc 61 can be made of ceramic, titanium plate or EPDM.
After the pipeline robot gets into the pipeline, will breathe freely the well lid and take off the installation temporarily sealed blind flange to at the installation ozone tail gas elimination device 4 of temporarily sealed blind flange below, be equipped with aeration pipe port flange in the middle of temporarily blind flange and the ozone tail gas elimination device, prevent that ozone gas from leaking from the port. The ozone tail gas eliminating device 4 can adopt the forms of heating decomposition, activated carbon adsorption, ultraviolet decomposition and the like. The material of the aeration pipe 3 can be corrosion-resistant 444L stainless steel, PVDF, fluorocarbon resin and the like. Aeration pipe 3 adopts flexible bellows form, and the sewage pipe length that length purified as required can be adjusted, and aeration pipe 3 is equipped with aeration hole or small-size micro-nano aeration dish 61, accessible valve control aeration intensity at every interval the same distance. The ozone generator 2 detects the air pressure of the aeration pipe 3 when the disinfection module is started every time, so that the possibility of air leakage is avoided.
The detection module of the pipeline robot comprises a sediment detector 83, a pressure sensor 8114, an ORP probe 85 and an infrared CCTV 84. The sediment detector 83 is fixed on the main body 8 of the pipeline robot for detecting the thickness of the sediment in the pipeline in real time. And after the sediment thickness detection is finished, the data are uploaded to an information collection control server for calculation, and the extension radius of the mechanical arm is adjusted according to the calculation result of the information collection control server, so that the planning of the running path of the robot is finished. The pressure sensor 8114 is installed on the gripper device 81, and detects the pressure influence of the inner wall of the pipeline on the gripper fingers 818 of the pipeline robot in real time during the driving process, and if the thickness of the deposit is too thick, the inclination angle of each mechanical arm of the gripper can be adjusted, so that the pipeline robot can stably pass through the obstacle. The ORP probe 85 intermittently monitors the oxidation-reduction potential of the water quality in the sewage pipeline, and the ORP of the sewage in the pipeline is more than or equal to 650mV under the working state of ozone ultraviolet light by adjusting the disinfection module. The detection result is uploaded to the information collection controller. The infrared CCTV84 is welded on the main body of the pipeline robot, and image acquisition is completed in the operation process.
The information collection control server 1 of the pipeline robot of the invention collects data uploaded by the pressure sensor 8114, the sediment detector 83, the ORP probe 85 and the infrared CCTV84 through electricity. The information collection controller 1 is installed on a ground mobile device and can be controlled by a worker.
The information collection controller 1 can be programmed and modified by software such as Python and Java, and the automatic control of the pipeline robot is realized. And the extension of the mechanical claw is automatically adjusted according to the comparison of the pressure data monitored by the pressure sensor 8114 in real time and the preset parameters. The walking route is automatically calculated according to the comparison of the data monitored by the sediment detector 83 in real time and the parameters set in advance. And automatically adjusting the ultraviolet light intensity of the disinfection module and the flow of the ozone gas according to the comparison between the real-time monitored water quality data and the preset parameters.
In this example, the trunk pressure line has a length of 2000m, the diameter of the initial ventilation shaft is 800cm, and the diameter of the trunk pipe is 3000 cm. The sewage in the pipeline is gravity flow, and the average flow velocity is 2.5 m/s. As shown in figure 1, the robot enters a sewage pipeline through a ventilation well, the diameter of a single propeller stainless steel blade 822 of the pipeline robot is 500cm, and the extension radius of a mechanical claw device 81 is 300-1600 cm. The main machine body 8 of the pipeline robot is connected with the aeration pipe 3, the material of the aeration pipe 3 is a corrosion-resistant 444L stainless steel corrugated pipe, and meanwhile, the tail end of the aeration pipe 3 is connected with the ground ozone generator 2 and the information collecting server 1. The nanometer aeration discs 61 are arranged on the aeration pipe 3 at intervals of 50 cm. The diameter of the nano aeration hole 41 is 100nm, and the ozone charging capacity of the single nano aeration disc 61 is 0.24Kg-O3/m3H, the nano aeration tray 61 is made of ceramic. The ultraviolet lamp ring 51 is fixed on the aeration pipe 3 through the lamp ring fixing clamp 54, and one ultraviolet lamp ring 5 is arranged between every two nanometer aeration discs 61. The ultraviolet light ring 51 is clamped between the two reflecting lenses 53, the included angle between the two reflecting lenses 53 and the ultraviolet light ring 51 is 60 degrees, and the reflecting lenses 53 are fixed on the aeration pipe 3 through the reflecting lens fixing support 56. The power of the single ultraviolet lamp ring 51 is 100W, the set wavelength is 253.7nm, and the ultraviolet irradiation dose is 100mJ/cm2。
The implementation process of the pipeline robot for realizing disinfection and power generation of the pressure pipeline in the embodiment comprises the following steps:
the method comprises the following steps: with pipeline robot main body 8 and continuous aeration pipe 3 from ground in falling to the sewage inspection shaft, the temporary sealed well lid of installation inspection shaft to at well lid lower part installation ozone tail gas remove device 4. Starting the pipeline robot self-inspection system, and inspecting the ORP probe 85, the pressure sensor 8114, the sediment detector 83, the infrared CCTV84, the gas distribution pipe ball valve 64 and the ultraviolet light lamp ring 51.
Step two: the information collection control server is used for remotely controlling the pipeline robot to adjust the opening angles of the second supporting arm and the third supporting arm according to the pipe diameter, so that the pipeline robot enters the pipeline, the robot is driven to move in the pipeline by using the friction force between the mechanical claws and the pipe wall, and the robot, carrying the aeration pipe 3, the nano aeration disc 4 and the ultraviolet lamp ring 5, slowly drives into the sewage pipeline.
Step three: and opening a sediment detector 86 on the telescopic arm robot, detecting the thickness of the sediment in the sewage pipeline, uploading the monitoring data to the terminal of the information collection control server 1, opening the infrared CCTV84 of the pipeline moving equipment, and collecting real-time images in the pipeline, so that the server and a manager can set the moving route of the pipeline robot according to the monitoring data.
Step four: configuring the irradiation dose of the ultraviolet light ring 51, moving the robot to the position 2000m away from the starting point of the pipeline, wherein the length of the aeration pipe 3 provided with the ultraviolet light ring 51 is 1998m, remotely opening the ultraviolet light ring 51 and the air distribution pipe ball valve 64 of the nano aeration disc 61 for disinfection, and enabling the ORP in the water to be more than or equal to 650 mV. In this example, the UV lamp 51 and ozone are turned on for 3 hours. The propeller frame 821 is unfolded, the generator 825 starts to work under the impact of water flow in the pressure pipeline, the rectifier 827 converts alternating current into direct current, and the electric quantity of the storage battery is monitored;
and step five, after the sewage is disinfected, closing the nano aeration disc air distribution pipe ball valve 64 and the ultraviolet light lamp ring 51, and closing the propeller frame 821. The pipeline robot is remotely operated by the information collection control server 1 to move to an initial position, all the equipment is taken out of the breathable well, and the ozone tail gas elimination device 4 is dismantled.
Wherein planning the movement path of the robot based on the thickness of the sediment in the sewer pipe is conventional knowledge in the art and will not be described further herein.
The data show that the average time of contact between the wastewater and the odor in the top of the gas permeable well is 3 hours, which is 13.3 minutes on average from the starting point to the ending point of the ultraviolet light and aeration disinfection module arranged on the pipeline robot, namely the disinfection time of contact between the wastewater in the pipeline is 13.3 minutes on average, according to the average flow rate of the wastewater. Sampling the disinfected sewage and gas, and according to the fluorescent quantitative PCR and sequencing results of molecular biology, the number of faecal large intestine groups in the sewage in a 2000m pipeline is less than or equal to 20MPN/L within a monitoring time period of 3 hours, the average inactivation rate of enteroviruses and HCoV-OC43 coronaviruses is 94.1%, and the number of the enteroviruses and HCoV-OC43 coronaviruses in the sewage is lower than the detection limit. Meanwhile, the removal rate of hydrogen sulfide and ammonia gas in the pipeline by the surplus ozone bubbles generated by the nano aeration disc 4 also reaches 47.9 percent. The generator on the pipeline robot co-generated about 22 degrees of electricity during the 3 hour disinfection process.
The method does not need to modify and construct the pipeline and the inspection well, disinfects and generates electricity for sewage and aerosol in the ventilating well at any position by the pipeline robot and the ozone ultraviolet light catalysis combination technology, and particularly has excellent disinfection efficiency for sewage in long-distance pipelines.
While the foregoing summary of the invention has been set forth in detail in relation to the preferred embodiments described above, it should be understood that the foregoing description is not intended to limit the invention, and that variations and modifications may occur to those skilled in the art upon the reading of the foregoing description and are to be included within the scope of the appended claims.
Claims (9)
1. A self-generating disinfection robot for a pressure pipeline comprises a main machine body of a pipeline robot, and is characterized in that the pipeline robot comprises a sealed cabin body, a storage battery is arranged in the inner layer of the cabin body, the tail part of the main machine body of the pipeline robot is connected to an ozone generator arranged outside a well through an aeration pipe, and a mechanical claw module is arranged on the main machine body of the pipeline robot and used for drawing the main machine body of the robot to move along the pipeline; the pipeline robot is characterized in that a plurality of disinfection modules are arranged on the main machine body of the pipeline robot or on the aeration pipe, each disinfection module comprises an ozone aeration device and an ultraviolet light device which are arranged at intervals, and the ozone aeration devices and the ultraviolet light devices are used for disinfecting sewage in the pipeline in the process that the main machine body of the pipeline robot moves along the pipeline; still be equipped with folded cascade horizontal screw power generation facility on pipeline robot main fuselage and the aeration pipe, folded cascade horizontal screw power generation facility can turn into the electric energy with rivers kinetic energy, for the battery power supply.
2. The pipeline robot of claim 1, wherein: the pipeline robot main body is provided with a plurality of mechanical claw devices, each mechanical claw device comprises a mechanical claw fixing base fixed on the pipeline robot main body, a first supporting arm shell is welded on each mechanical claw fixing base, a first motor is arranged in each first supporting arm shell, a first motor driving shaft is connected with a second supporting arm shell through a first motor connecting rod shaft, a first connecting rod is rotated through a driving shaft on each first motor, so that each second supporting arm rotates in a set angle, a second motor is arranged in each second supporting arm shell, a second motor driving shaft is connected with a third supporting arm shell through a second motor connecting rod, a third supporting arm is driven to rotate in the set angle through the second motor connecting rod, a third motor is arranged in each third supporting arm shell, the third motor driving shaft is connected with a mechanical arm driven gear through a gear, and the mechanical arm driven gear is connected with a rotor bearing through a gear, the third motor drive shaft completes 360-degree rotation of the rotor bearing in the horizontal direction; the rotor bearing is connected with the 2-degree-of-freedom spherical joint fixing shell, so that the same rotation angle with the rotor bearing is kept; the mechanical arm ball joint is nested in the 2-freedom degree ball joint fixing shell and connected with the mechanical claw, a pressure sensor is arranged at the connecting part between the mechanical arm ball joint and 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.
3. The pipeline robot of claim 2, wherein: knuckle materials of the mechanical claw fingers are replaceable corrosion-resistant rubber so as to prevent the sewage pipeline from being damaged by the mechanical claw fingers made of metal materials; the first support arm shell, the second support arm shell, the third support arm shell and the mechanical claw joint are all made of corrosion-resistant stainless steel 444L, and the outer layer of a metal material is coated.
4. The pipeline robot of claim 1, wherein: the horizontal screw power generation facility of folded cascade that the pipeline robot host computer was equipped with a plurality of symmetry setting on one's body and on the aeration pipe, screw power generation facility passes through the bolt fastening on the screw fixed bolster, the screw fixed bolster is fixed on folding support arm, folding support arm welding is on host computer body or aeration pipe, the screw paddle is a plurality of groups stainless steel cutting edge, install in the screw frame through screw propeller hub, link to each other with the generator.
5. The pipeline robot of claim 1, wherein: when the pipeline robot passes through the pipeline that the pipe diameter is less than the screw diameter, folding support arm is folding with screw power generation facility, accords with the back of expandeing the requirement when the pipe diameter, and screw power generation facility is expanded.
6. The pipeline robot of claim 1, wherein: the disinfection module of the pipeline robot comprises a plurality of nano aeration disks arranged on an aeration pipe, and an ultraviolet light ring is arranged between every two nano aeration disks; the nano aeration disc is connected with an ozone pipe through a nano aeration disc bracket, and an air distribution pipe ball valve is arranged in the nano aeration disc; the ultraviolet light device comprises an ultraviolet light ring, the ultraviolet light ring is fixed on the aerator pipe, reflective lenses are installed on two sides of the ultraviolet light ring, the reflective lenses are symmetrical conical surfaces extending outwards, the included angle between the reflective lenses and the ultraviolet light ring is 50-70 degrees, and the reflective lenses are used for refracting ultraviolet light to improve the radiation area of the ultraviolet light ring.
7. The pipeline robot of claim 1, wherein: the pipeline robot also comprises a detection module, wherein the detection module comprises a sediment detector fixed on the main body of the pipeline robot and is used for detecting the thickness of sediment in the pipeline in real time; the pressure sensor is arranged on the mechanical claw, and is used for detecting the pressure influence of the inner wall of the pipeline on the mechanical claw of the pipeline robot in real time in the driving process; the ORP probe is fixed on the main body of the pipeline robot and intermittently monitors the oxidation-reduction potential of the water quality in the sewage pipeline; and the infrared CCTV welded on the main body of the pipeline robot finishes image acquisition in the operation process.
8. The operation method of the self-generating electricity sterilization robot for the pressure pipe according to claim 1, characterized by comprising the steps of:
step 1, a main machine body of a pipeline robot and a connected aerator pipe are lowered into a sewage inspection well from the ground, a plurality of nano aeration discs, ultraviolet light rings and propeller power generation devices are uniformly arranged on the main machine body of the pipeline robot and the connected aerator pipe, the inspection well is installed to temporarily seal a well cover, an ozone tail gas elimination device is installed on the lower portion of the well cover, and the pipeline robot is controlled to move into the sewage pipeline from a sewage ventilation well;
step 2, opening a sediment detector on a main body of the pipeline-extending robot, measuring the thickness of sediment in the sewage pipeline, uploading monitoring data to an information collection control server terminal, starting an infrared CCTV of pipeline mobile equipment, and collecting real-time images in the pipeline;
step 3, planning a moving path of the pipeline robot according to the measured thickness and distribution of the sediment in the pipeline, wherein the pipeline robot carries an aerator pipe, a nano aeration disc, an ultraviolet lamp ring and a generator to move in the pipeline;
step 4, the pipeline robot is used for dragging the nano aeration disc, the ultraviolet light lamp ring and the propeller power generation device to a designated position, a valve of the nano aeration disc and the ultraviolet light lamp ring are opened, so that the ORP in water is more than or equal to 650mV, the propeller frame is unfolded, the propeller power generation device starts to work, the rectifier converts alternating current into direct current, and the electric quantity of the storage battery is monitored;
and 5, after the sewage is disinfected, moving the pipeline robot to an initial position, and taking all the equipment out of the breathable well.
9. The operating method according to claim 8, wherein the ultraviolet wavelength of the ultraviolet lamp ring is set to be in a range of 100 to 300nm, and the irradiation dose of the ultraviolet lamp ring is in a range of 80 to 160mJ/cm2The 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.
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