CN108086382A - A kind of environment-protective desilting construction technology and system - Google Patents

A kind of environment-protective desilting construction technology and system Download PDF

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Publication number
CN108086382A
CN108086382A CN201611046372.3A CN201611046372A CN108086382A CN 108086382 A CN108086382 A CN 108086382A CN 201611046372 A CN201611046372 A CN 201611046372A CN 108086382 A CN108086382 A CN 108086382A
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China
Prior art keywords
mud
soft base
screening
target
sludge
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CN201611046372.3A
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Chinese (zh)
Inventor
杨靖忠
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In Clean Technology (beijing) Co Ltd Huineng
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In Clean Technology (beijing) Co Ltd Huineng
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Priority to CN201611046372.3A priority Critical patent/CN108086382A/en
Publication of CN108086382A publication Critical patent/CN108086382A/en
Pending legal-status Critical Current

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    • EFIXED CONSTRUCTIONS
    • E02HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02FDREDGING; SOIL-SHIFTING
    • E02F5/00Dredgers or soil-shifting machines for special purposes
    • E02F5/28Dredgers or soil-shifting machines for special purposes for cleaning watercourses or other ways
    • CCHEMISTRY; METALLURGY
    • C02TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
    • C02FTREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
    • C02F11/00Treatment of sludge; Devices therefor
    • CCHEMISTRY; METALLURGY
    • C02TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
    • C02FTREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
    • C02F11/00Treatment of sludge; Devices therefor
    • C02F11/12Treatment of sludge; Devices therefor by de-watering, drying or thickening
    • EFIXED CONSTRUCTIONS
    • E02HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02FDREDGING; SOIL-SHIFTING
    • E02F3/00Dredgers; Soil-shifting machines
    • E02F3/04Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/88Dredgers; Soil-shifting machines mechanically-driven with arrangements acting by a sucking or forcing effect, e.g. suction dredgers
    • E02F3/8833Floating installations
    • EFIXED CONSTRUCTIONS
    • E02HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02FDREDGING; SOIL-SHIFTING
    • E02F7/00Equipment for conveying or separating excavated material
    • E02F7/06Delivery chutes or screening plants or mixing plants mounted on dredgers or excavators
    • EFIXED CONSTRUCTIONS
    • E02HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02FDREDGING; SOIL-SHIFTING
    • E02F7/00Equipment for conveying or separating excavated material
    • E02F7/06Delivery chutes or screening plants or mixing plants mounted on dredgers or excavators
    • E02F7/065Delivery chutes or screening plants or mixing plants mounted on dredgers or excavators mounted on a floating dredger

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Structural Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Civil Engineering (AREA)
  • Environmental & Geological Engineering (AREA)
  • Organic Chemistry (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Water Supply & Treatment (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Hydrology & Water Resources (AREA)
  • Excavating Of Shafts Or Tunnels (AREA)

Abstract

The present invention provides a kind of environment-protective desilting construction technology and systems.The technique includes:Take soft base mud using mud excavating equipment, and the soft base mud taken is delivered in mud screening plant, screening process is carried out to the soft base mud taken using the mud screening plant, obtains the soft base mud of pending target;The soft base mud of target after screening is delivered in sludge de-watering device using the first dehvery pump and the first mud conveyance conduit, the soft base mud of the target is dehydrated using the sludge de-watering device, obtains drying sewage sludge;Alternatively, using the second dehvery pump and the second mud conveyance conduit, the soft base mud of target after screening is delivered to Gu Yan regions to be filled, the Gu Yan regions are filled, mud is formed in the Gu Yan regions and consolidates weir basal plane.

Description

A kind of environment-protective desilting construction technology and system
Technical field
It is clear more particularly to a kind of environment-protective desilting construction technology and a kind of environmental protection the present invention relates to sludge treatment field Silt construction system.
Background technology
Mud is to deposit to be formed in water body, deposits and is formed such as in river, lake.The presence of mud can influence water body Depth, the depth in river is such as influenced, so as to being adversely affected to traveling of ship etc..
For these reasons, it is necessary to be purged processing to the mud in water body.Existing silt displacement method is by water Mud in body is dug out, and the mud dug out is positioned in the vacant lot divided in advance.Although existing method is realized in water body The removing of mud, but there are following defects:Placing the mud dug out needs to occupy the vacant lot of larger area;Containing big in mud Measure moisture and impurity, mud is stored perishable smelly for a long time, can seriously affect Environmental security.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of a kind of environment-protective desilting construction technology for overcoming the above problem And a kind of environment-protective desilting construction system.
One side according to the invention, provides a kind of environment-protective desilting construction technology, and the technique includes:
Take soft base mud using mud excavating equipment, and the soft base mud taken be delivered in mud screening plant, Screening process is carried out to the soft base mud taken using the mud screening plant, obtains the soft base mud of pending target;
The soft base mud of target after screening is delivered to sludge dewatering using the first dehvery pump and the first mud conveyance conduit In machine, the soft base mud of the target is dehydrated using the sludge de-watering device, obtains drying sewage sludge;
Alternatively, using the second dehvery pump and the second mud conveyance conduit, the soft base mud of target after screening is delivered to and is treated The Gu Yan regions of filling are filled the Gu Yan regions, and mud is formed in the Gu Yan regions and consolidates weir basal plane.
Optionally, the second dehvery pump and the second mud conveyance conduit are utilized described, by the soft base mud of target after screening It is delivered to before Gu Yan regions to be filled, the technique further includes:
Concentration of hydraulic mixture control is carried out to the soft base mud of target after screening, the mud for controlling the soft base mud of target of output is dense Degree is in the range of 50%-70%.
Optionally, the mud excavating equipment is buoyancy box crawler excavator;
The mud screening plant is air buoyancy tank crawl sludge pumping vehicle;
Vibrating screen is installed on the air buoyancy tank crawl sludge pumping vehicle.
Optionally, the described soft base mud taken is delivered in mud screening plant includes:
The soft base mud taken via the buoyancy box crawler excavator is poured into the air buoyancy tank crawl sludge pumping vehicle Vibrating screen in;
It is described that the soft base mud progress screening process taken is included using the mud screening plant:
Screening process is carried out to the soft base soil taken using the vibrating screen of the air buoyancy tank crawl sludge pumping vehicle.
Optionally, the mud excavating equipment and the mud screening plant are placed on mud digging pumping vessel.
Other side according to the invention provides a kind of environment-protective desilting construction system, including mud excavating equipment, becomes silted up Mud screening plant, sludge de-watering device and multiple dehvery pumps;
The soft base mud taken for taking soft base mud, and is delivered to mud screening and set by the mud excavating equipment It is standby interior;
For carrying out screening process to the soft base mud taken, it is soft to obtain pending target for the mud screening plant Base mud;
The discharge port of the mud screening plant is connected with the feed inlet of the first dehvery pump, the discharging of first dehvery pump Mouth is connected by the first mud conveyance conduit with the feed inlet of the sludge de-watering device;
Alternatively, the discharge port of the mud screening plant is connected with the feed inlet of the second dehvery pump, second dehvery pump Discharge port be connected with one end of the second mud conveyance conduit, the other end of the second mud conveyance conduit is located to be filled In Gu Yan regions.
Optionally, the mud excavating equipment is buoyancy box crawler excavator;
The mud screening plant is air buoyancy tank crawl sludge pumping vehicle;
Vibrating screen is installed on the air buoyancy tank crawl sludge pumping vehicle.
Optionally, the mud excavating equipment and the mud screening plant are placed on mud digging pumping vessel.
Compared with prior art, the present invention includes advantages below:
The present invention provides a kind of environment-protective desilting construction technologies, take soft base mud using mud excavating equipment, use silt Mud screening plant carries out screening process to the soft base mud taken, removes bulky grain mud and impurity, obtains the tiny mesh of particle Soft base mud is marked, the soft base mud of target after screening is carried out dehydrating to obtain dry dredging afterwards, dry dredging has body The features such as product is small, moisture content is low reduces mud and stacks area, and long-term storage will not impact environment;Or by mesh Soft base mud is marked to fill to Gu Yan regions, it, can be in Gu Yan regions since the soft base sludge granules of target after screening are tiny It inside obtains more smooth mud and consolidates weir basal plane, so as to fulfill the recycling to soft base mud, eliminate other solid weir materials Use, reduce solid weir cost.
The present invention also provides a kind of environment-protective desilting construction systems, soft base sludge can be excavated using the system, Screening, dehydration and solid weir area filling processing, this system ensure that environment-protective desilting construction technology smoothly completes, have construction letter The characteristics of single, efficient.
Description of the drawings
Fig. 1 is a kind of process schematic representation of environment-protective desilting construction technology of the embodiment of the present invention;
Fig. 2 is a kind of flow chart of environment-protective desilting construction technology of the embodiment of the present invention;
Fig. 3 is the flow chart of another environment-protective desilting construction technology of the embodiment of the present invention;
Fig. 4 is a kind of structure diagram of environment-protective desilting construction system of the embodiment of the present invention.
Specific embodiment
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, it is below in conjunction with the accompanying drawings and specific real Applying mode, the present invention is described in further detail.
Environment-protective desilting construction technology of the present invention and environment-protective desilting construction system are carried out below by embodiment detailed Explanation.
An embodiment of the present invention provides a kind of environment-protective desilting construction technologies, the technique can be used to carry out soft base mud clear Silt is handled.
Soft base mud is to deposit to be formed in the water bodys such as rivers, lake.Since soft base soil has, intensity is low, moisture content is high The features such as, therefore soft base soil cannot be directly as the filling material of the basal planes such as road.
Fig. 1 is a kind of process schematic representation of environment-protective desilting construction technology of the embodiment of the present invention, and Fig. 2 is the embodiment of the present invention A kind of environment-protective desilting construction technology flow chart.Referring to Figures 1 and 2, environment-protective desilting construction technology may comprise steps of:
Step S11, take soft base mud using mud excavating equipment, and the soft base mud taken is delivered to mud screening In equipment.
Step S12, screening process is carried out to the soft base mud taken using mud screening plant, obtains pending target Soft base mud.
Screening process is carried out to the soft base mud taken, bulky grain mud and impurity is removed, obtains tiny soft base mud, Reduce mud and stack area, long-term storage will not impact environment.
Step S13, the soft base mud of target after screening is delivered to using the first dehvery pump and the first mud conveyance conduit In sludge de-watering device.
Step S14, the soft base mud of target is dehydrated using sludge de-watering device, obtains drying sewage sludge.
The soft base mud of target is carried out dehydrating, obtains drying sewage sludge.Drying sewage sludge is low and small with moisture content The features such as.Stacking processing is directly carried out compared to traditional soft base mud to digging out, the drying sewage sludge obtained by this technique needs Smaller stacking area, save reduces cost while stacking area.In addition, drying sewage sludge can be used as filler, So as to fulfill the recycling to soft base mud.
Fig. 3 is the flow chart of another environment-protective desilting construction technology of the embodiment of the present invention.With reference to Fig. 3, environment-protective desilting is applied Work technique may comprise steps of:
Step S21, take soft base mud using mud excavating equipment, and the soft base mud taken is delivered to mud screening In equipment.
Step S22, screening process is carried out to the soft base mud taken using mud screening plant, obtains pending target Soft base mud.
Step S23, concentration of hydraulic mixture control is carried out to the soft base mud of target after screening, controls the soft base mud of target of output Concentration of hydraulic mixture in the range of 50%-70%.
The concentration of hydraulic mixture of the soft base mud of target can be detected and be controlled using concentration of hydraulic mixture control device, work as detection To concentration of hydraulic mixture it is excessively high when, Water filling valve can be opened, the water filling into target soft base mud, so that concentration of hydraulic mixture is in required scope It is interior, so as to ensure the conveying of the soft base mud of target.
Step S24, using the second dehvery pump and the second mud conveyance conduit, the soft base mud of target after screening is delivered to Gu Yan regions to be filled, are filled Gu Yan regions, and mud is formed in Gu Yan regions and consolidates weir basal plane.
After the soft base mud to taking carries out screening process, the soft base mud of target after screening can be fed directly to Gu Yan regions are filled Gu Yan regions using the soft base mud of target, since the soft base sludge granules of target after screening are tiny, Therefore more smooth mud basal plane can be obtained in Gu Yan regions, realizes the recycling to soft base mud, eliminate The use of other solid weir materials, reduces solid weir cost.
An embodiment of the present invention provides a kind of environment-protective desilting construction systems, the system can be used to carry out soft base mud clear Silt is handled.
When the system is used to be carried out dehydrating the obtained soft base mud of target, environment-protective desilting construction system can wrap Include mud excavating equipment 1, mud screening plant 2, sludge de-watering device 3, the first dehvery pump and the first mud conveyance conduit.
Wherein, mud excavating equipment 1 is for taking soft base mud, and the soft base mud taken is delivered to mud screening and is set In standby 2;Mud screening plant 2 is used to carry out screening process to the soft base mud taken, obtains the soft base mud of pending target; First dehvery pump and the first mud conveyance conduit are used to the soft base mud of target in mud screening plant 2 being delivered to sludge dewatering In machine 3;Sludge de-watering device 3 obtains drying sewage sludge for being dehydrated to the soft base mud of target.
Specifically, the discharge port of mud screening plant can be connected with the feed inlet of the first dehvery pump, the first dehvery pump Discharge port can be connected by the first mud conveyance conduit with the feed inlet of sludge de-watering device 3.Due to the soft base of target after screening Sludge granules are tiny, and particle is tiny to be conducive to mud drying, therefore obtained drying sewage sludge has the spies such as small, moisture content is low Point.
When the system is used to carry out mud filling to Gu Yan regions, environment-protective desilting construction system can include mud and excavate Equipment 1, mud screening plant 2, the second dehvery pump and the second mud conveyance conduit.
Wherein, mud excavating equipment 1 is for taking soft base mud, and the soft base mud taken is delivered to mud screening and is set In standby 2;Mud screening plant 2 is used to carry out screening process to the soft base mud taken, obtains the soft base mud of pending target; Second dehvery pump and the second mud conveyance conduit are to be filled for the soft base mud of target in mud screening plant 2 to be delivered to Gu Yan regions are filled Gu Yan regions, and mud is formed in Gu Yan regions and consolidates weir basal plane.
Specifically, the discharge port of mud screening plant 2 can be connected with the feed inlet of the second dehvery pump, the second dehvery pump Discharge port is connected with one end of the second mud conveyance conduit, and the other end of the second mud conveyance conduit is located at Gu Yan areas to be filled In a of domain.Since the soft base sludge granules of target after screening are tiny, more smooth mud can be obtained in Gu Yan regions Gu weir basal plane so as to fulfill the recycling to soft base mud, eliminates the use of other solid weir materials, reduce Gu Yan into This.
The structure of above-mentioned environment-protective desilting construction system is referred to shown in Fig. 4.
In order to improve the performance of mud excavating equipment 1, electronic control unit can be installed in mud excavating equipment 1.It is excellent Selection of land, can in mud excavating equipment 1 installation site identification device, for identify excavate position;It can also be excavated in mud Guide device is excavated in installation in equipment 1, for controlling mud excavating depth.Compared to manual control, through electronically controlled mud Excavating equipment 1 has better mining effect, avoids the generation for excavating that position is inaccurate, backbreaks, leaks the problems such as digging.
It can be defeated to mud excavating equipment 1, mud screening plant 2, sludge de-watering device 3, dehvery pump and mud according to reality The model, size and number of pipeline is sent to make choice.
Mud excavating equipment 1 can be buoyancy box crawler excavator, and mud screening plant 2 is air buoyancy tank crawl sludge pumping Vehicle is equipped with vibrating screen on air buoyancy tank crawl sludge pumping vehicle.During construction, excavated using buoyancy box crawler excavator in water body Soft base mud, and the soft base mud of excavation is poured into the vibrating screen of mud screening plant 2, using vibrating screen to the soft base that takes Mud carries out screening process, removes bulky grain mud and impurity, obtains the soft base mud of tiny target.
Mud excavating equipment 1 and mud screening plant 2 can be placed on mud digging pumping vessel.It can be according to reality The model of mud digging pumping vessel is made choice, such as selects WBC-150 model digging pumping vessels.
Dehvery pump can be lobe pump or other are applicable in the pump of species.
To ensure the laying of mud conveyance conduit, floating body can be arranged on the outside of mud conveyance conduit, make mud defeated Pipeline is sent to swim in water surface.
The present invention provides a kind of environment-protective desilting construction technologies, take soft base mud using mud excavating equipment, use silt Mud screening plant carries out screening process to the soft base mud taken, removes bulky grain mud and impurity, obtains the tiny mesh of particle Mark soft base mud, be carried out dehydrating to obtain dry dredging to the soft base mud of target after screening, dry dredging have it is small, The features such as moisture content is low reduces mud and stacks area, and long-term storage will not impact environment;Or by the soft base of target Mud is filled to Gu Yan regions, since the soft base sludge granules of target after screening are tiny, can be obtained in Gu Yan regions More smooth mud consolidates weir basal plane, so as to fulfill the recycling to soft base mud, eliminates the use of other solid weir materials, Reduce solid weir cost.
The present invention also provides a kind of environment-protective desilting construction systems, soft base sludge can be excavated using the system, Screening, dehydration and solid weir area filling, this system ensure that environment-protective desilting construction technology smoothly completes, have construction is simple, The characteristics of efficient.
A kind of environment-protective desilting construction technology provided by the present invention and a kind of environment-protective desilting construction system are carried out above It is discussed in detail, specific case used herein is set forth the principle of the present invention and embodiment, above example Explanation be only intended to help understand the present invention method and its core concept;Meanwhile for those of ordinary skill in the art, Thought according to the invention, there will be changes in specific embodiments and applications, in conclusion in this specification Appearance should not be construed as limiting the invention.

Claims (8)

1. a kind of environment-protective desilting construction technology, which is characterized in that the technique includes:
Take soft base mud using mud excavating equipment, and the soft base mud taken is delivered in mud screening plant, use The mud screening plant carries out screening process to the soft base mud taken, obtains the soft base mud of pending target;
The soft base mud of target after screening is delivered in sludge de-watering device using the first dehvery pump and the first mud conveyance conduit, The soft base mud of the target is dehydrated using the sludge de-watering device, obtains drying sewage sludge;
Alternatively, using the second dehvery pump and the second mud conveyance conduit, the soft base mud of target after screening is delivered to be filled Gu Yan regions, the Gu Yan regions are filled, in the Gu Yan regions formed mud consolidate weir basal plane.
2. technique according to claim 1, which is characterized in that utilize the second dehvery pump and the second mud delivery pipe described Road, before the soft base mud of target after screening is delivered to Gu Yan regions to be filled, the technique further includes:
Concentration of hydraulic mixture control is carried out to the soft base mud of target after screening, the concentration of hydraulic mixture of the soft base mud of target of output is controlled to exist In the range of 50%-70%.
3. technique according to claim 1, which is characterized in that the mud excavating equipment is buoyancy box crawler excavator;
The mud screening plant is air buoyancy tank crawl sludge pumping vehicle;
Vibrating screen is installed on the air buoyancy tank crawl sludge pumping vehicle.
4. technique according to claim 3, which is characterized in that it is described by the soft base mud taken be delivered to mud screening set Include in standby:
The soft base mud taken via the buoyancy box crawler excavator is poured into shaking for the air buoyancy tank crawl sludge pumping vehicle In dynamic sieve;
It is described that the soft base mud progress screening process taken is included using the mud screening plant:
Screening process is carried out to the soft base soil taken using the vibrating screen of the air buoyancy tank crawl sludge pumping vehicle.
5. technique according to claim 1, which is characterized in that the mud excavating equipment and mud screening plant peace It puts on mud digging pumping vessel.
6. a kind of environment-protective desilting construction system, which is characterized in that including mud excavating equipment, mud screening plant, sludge dewatering Machine and multiple dehvery pumps;
The mud excavating equipment for taking soft base mud, and the soft base mud taken is delivered in mud screening plant;
The mud screening plant for carrying out screening process to the soft base mud taken, obtains the soft base of pending target and becomes silted up Mud;
The discharge port of the mud screening plant is connected with the feed inlet of the first dehvery pump, and the discharge port of first dehvery pump leads to The first mud conveyance conduit is crossed to be connected with the feed inlet of the sludge de-watering device;
Alternatively, the discharge port of the mud screening plant is connected with the feed inlet of the second dehvery pump, second dehvery pump goes out Material mouth is connected with one end of the second mud conveyance conduit, and the other end of the second mud conveyance conduit is located at Gu Yan to be filled In region.
7. system according to claim 6, which is characterized in that the mud excavating equipment is buoyancy box crawler excavator;
The mud screening plant is air buoyancy tank crawl sludge pumping vehicle;
Vibrating screen is installed on the air buoyancy tank crawl sludge pumping vehicle.
8. system according to claim 6, which is characterized in that the mud excavating equipment and mud screening plant peace It puts on mud digging pumping vessel.
CN201611046372.3A 2016-11-22 2016-11-22 A kind of environment-protective desilting construction technology and system Pending CN108086382A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201611046372.3A CN108086382A (en) 2016-11-22 2016-11-22 A kind of environment-protective desilting construction technology and system

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Application Number Priority Date Filing Date Title
CN201611046372.3A CN108086382A (en) 2016-11-22 2016-11-22 A kind of environment-protective desilting construction technology and system

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Publication Number Publication Date
CN108086382A true CN108086382A (en) 2018-05-29

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114809152A (en) * 2022-04-22 2022-07-29 中国环境科学研究院 Be used for river course bed mud pollutant normal position to subduct and deal with ship

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1632244A (en) * 2005-01-18 2005-06-29 刘振东 City internal river watercourse desilting construction process
CN101565957A (en) * 2009-05-22 2009-10-28 青岛国海迈斯特机械有限公司 Turtle type pump dredge
CN101564970A (en) * 2009-05-22 2009-10-28 青岛国海迈斯特机械有限公司 Amphibious thick slurry pumping car
CN201842221U (en) * 2010-08-23 2011-05-25 青岛国海迈斯特机械有限公司 High concentration soil curing pumping vessel
CN102620141A (en) * 2012-04-06 2012-08-01 智胜化工股份有限公司 Long-range conveying device for stable mud
CN103924624A (en) * 2014-03-17 2014-07-16 仇心金 Automatic dehydrating dredge boat for riverway sludge and application method of dredge boat

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1632244A (en) * 2005-01-18 2005-06-29 刘振东 City internal river watercourse desilting construction process
CN101565957A (en) * 2009-05-22 2009-10-28 青岛国海迈斯特机械有限公司 Turtle type pump dredge
CN101564970A (en) * 2009-05-22 2009-10-28 青岛国海迈斯特机械有限公司 Amphibious thick slurry pumping car
CN201842221U (en) * 2010-08-23 2011-05-25 青岛国海迈斯特机械有限公司 High concentration soil curing pumping vessel
CN102620141A (en) * 2012-04-06 2012-08-01 智胜化工股份有限公司 Long-range conveying device for stable mud
CN103924624A (en) * 2014-03-17 2014-07-16 仇心金 Automatic dehydrating dredge boat for riverway sludge and application method of dredge boat

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114809152A (en) * 2022-04-22 2022-07-29 中国环境科学研究院 Be used for river course bed mud pollutant normal position to subduct and deal with ship

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Application publication date: 20180529