CN212018824U - Accurate desilting control device - Google Patents

Abstract

The application provides an accurate type desilting controlling means belongs to the mobile device technical field that the chase dirt prevented and removed. The device comprises walking wheels, a main rotating shaft, a rotating gear, a sensor, a camera unit and a central control unit, wherein the walking wheels are driven by a walking driver, the main rotating shaft is driven by the main rotating shaft driver to automatically move synchronously with the walking wheels, the rotating gear is driven by a rotating gear driver to rotate, the main rotating shaft is connected with the rotating gear through a multi-stage telescopic arm, and the multi-stage telescopic arm is driven by a telescopic arm driver respectively; the plurality of sensors are respectively arranged on the main rotating shaft and the multistage telescopic arm; the walking driver, the main rotating shaft driver, the telescopic arm driver, the rotating tooth driver, the sensor and the camera unit are all connected with the central control. The application is applied to sludge prevention and removal, particularly the treatment of sludge in a pipe network pool, and has the advantages of accurate dredging, stable operation and the like.

Description

Accurate desilting control device

Technical Field

The application relates to an accurate type desilting controlling means belongs to the mobile device technical field that the chase dirt prevented and removed.

Background

When the pipeline structure is widely applied to building structures and production activities, the problem of blockage inevitably occurs when materials or wastes are conveyed through the pipeline. In order to solve the problem, the cleaning is generally carried out by manual dredging or pressure difference, but different defects exist:

(1) although the jam condition of more complicacy can be handled in artifical mediation, the sanitary conditions that the staff is located are embarrassed, and the visual field environment that the pipeline was located often is difficult for directly reaching or not allowing people directly to get into, the clearance degree of difficulty is very big, operating personnel still can face the safety risk that oxygen deficiency and space are narrow and small to bring, when adopting the robot to replace artifical the operation under this condition, although above-mentioned safety risk has been avoided to a certain extent, but the robot is when clearing up the pipeline, mostly adopt ergodic formula desilting mode, desilting pertinence and targetability are not strong, the dirt under the clearance on the pipe wall is under the not enough condition of rivers, can not in time taken away, cause secondary deposit and jam easily, and can't realize improving the inside visual field environment of operator observation pipeline automatically, and then carry out the pertinence operation according to the situation on the spot.

(2) The mode of pressure difference clearance mainly includes negative pressure suction and high-pressure liquid and erodes, produces huge pressure difference in whole pipeline and carries out the clear stifled operation, and the mode of applying the pressure difference in whole pipeline and carrying out the clearance can cause considerable destruction to the pipeline wall, especially when the inner wall of these pipelines is because of the age, can cause the pipeline breakage problem usually.

So far, the two common modes cannot well realize dredging, particularly pipeline structure dredging.

SUMMERY OF THE UTILITY MODEL

In view of this, the application provides a can realize accurate desilting, can satisfy and be applied to accurate type desilting controlling means of intraductal desilting.

Specifically, the method is realized through the following scheme:

the accurate desilting control device comprises a travelling wheel, a main rotating shaft, a rotating tooth, a sensor, a camera unit and a central control unit,

the travelling wheel is driven by a travelling driver, the main rotating shaft is driven by the main rotating shaft driver to automatically move synchronously with the travelling wheel, the rotating teeth are driven by the rotating teeth driver to rotate, the main rotating shaft is connected with the rotating teeth through a multi-stage telescopic arm, the multi-stage telescopic arm is driven by the telescopic arm driver respectively, and all parts are driven independently;

the plurality of sensors are respectively arranged on the main rotating shaft and the multistage telescopic arm and respectively monitor different parts so as to realize the timely fine adjustment of the real-time dredging state;

the walking driver, the main rotating shaft driver, the telescopic arm driver, the rotary tooth driver, the sensor and the camera unit are all connected with a central control, the camera unit and the sensor are signal input components and respectively collect real-time sludge conditions and transmit the real-time sludge conditions to the central control, and the central control adjusts the working states of the walking driver, the main rotating shaft driver, the telescopic arm driver and the rotary tooth driver according to the signal input components so as to adapt to the requirement of dredging in a real-time environment, and the three are matched to realize accurate adjustment of the position of the rotary tooth;

among the multistage flexible arm, the flexible arm of at least one stage drives the motion that is close to or keeps away from main pivot to the tooth, and the flexible arm of at least one stage drives the swing of changeing the tooth, and flexible arm realizes changeing the fine setting of tooth in setting for the environment.

According to the dredging control device provided by the scheme, the travelling wheels are used as moving parts of the whole device in the transverse direction, so that the main rotating shaft and the rotating teeth connected with the main rotating shaft can conveniently and synchronously move in the pipe, the travelling wheels walk along the pipe wall, only the travelling wheels are in contact with the pipe wall in the whole moving process, the contact of all parts and the pipe wall in the moving process is reduced to the maximum extent, the friction between devices such as the main rotating shaft and the pipe wall is effectively reduced, and the damage to the pipe caused by dredging is reduced; the main pivot driver, flexible arm driver, change the tooth driver, sensor and camera unit all are connected with well accuse, camera unit and sensor are the signal input part of well accuse, main pivot driver, change the signal receiving part that tooth driver and flexible arm driver are well accuse, the operating condition accurate adjustment of multistage flexible arm is realized in the cooperation of triplex, and the flexible connection is realized through multistage (at least two-stage) flexible arm and commentaries on classics tooth to main pivot, satisfy the removal of commentaries on classics tooth on the horizontal direction and the swing of vertical direction, thereby satisfy under the stable condition of overall structure, and realize the real-time regulation and control of commentaries on classics tooth according to the condition on the spot, the breakage of silt is realized to the at utmost.

Further, as preferable:

the walking wheels adopt a crawler structure, the crawler structure effectively enlarges the contact area between the walking wheels and the pipe wall, and the purpose of reducing the stress of the unit area of the pipe wall is achieved; more preferably, the walking wheels are arranged in pairs, and each pair of walking wheels is connected with each other through a support arm. The support arm preferably comprises a first support arm, a second support arm and a cross beam, the cross beam is horizontally arranged, the first support arm and the second support arm are symmetrically arranged at two ends of the cross beam in an inclined mode, and the main rotating shaft is arranged on the cross beam. The main rotating shaft, the camera unit and the sludge discharge port can be arranged on the case, the main rotating shaft driver and the telescopic arm driver are arranged in the case, efficient layout of each part is ensured in a limited space, and like precise instruments such as the main rotating shaft driver, the telescopic arm driver and the like are arranged in the case, so that damage to the instruments and unstable performance caused by contact with sewage are avoided; the pipeline between the sludge discharge port and the sludge outlet is fixed outside or inside the case, and particularly when the pipeline is fixed inside the case, the pipeline can assist in bearing pressure caused by a part of sludge and is beneficial to ensuring stable conveying.

The multi-stage telescopic arm comprises a first telescopic arm, a second telescopic arm and a connecting arm, the second telescopic arm is movably connected between the connecting arm and the main rotating shaft, one end of the first telescopic arm is movably connected with the rotating teeth, and the other end of the first telescopic arm is movably connected with the main rotating shaft through the connecting arm; more preferably, a first support is fixed on the main rotating shaft, a second support is fixed on the rotating teeth, a first rotating shaft and a fourth rotating shaft are arranged on the first support, a second rotating shaft and a fifth rotating shaft are arranged on the connecting arm, a third rotating shaft is arranged on the second support, the first support is connected with the connecting arm, the connecting arm is connected with the first telescopic arm and the first telescopic arm is connected with the second support sequentially through the first rotating shaft, the second rotating shaft and the third rotating shaft, and the second telescopic arm is connected with the first support and the second telescopic arm sequentially through the fourth rotating shaft and the fifth rotating shaft. When the travelling wheel drives the main rotating shaft and the rotating teeth to run at proper positions, the central control transmits further signals to the telescopic arm drivers corresponding to the first telescopic arm and the second telescopic arm respectively, when the telescopic arm driver corresponding to the first telescopic arm works, the first telescopic arm extends or contracts to realize fine adjustment of the horizontal position, when the telescopic arm driver corresponding to the second telescopic arm works, the second telescopic arm extends or contracts to drive the connecting arm to swing relative to the first rotating shaft, and the rotating teeth are driven by the telescopic arm to swing correspondingly, so that the height of the rotating teeth can be changed. Above-mentioned operation process with the help of flexible arm one, flexible arm two and even arm, can realize horizontal position and vertical height's regulation, realizes the accuracy with position control, realizes the pertinence of intraductal silt and clears away with well accuse, the unit cooperation of making a video recording, and the clearance improves greatly. More preferably, the main rotating shaft, the first telescopic arm and the second telescopic arm are respectively provided with a sensor, and the sensors are connected with the central control unit to realize operation monitoring.

The rotating teeth are provided with a plurality of groups of blades which are obliquely arranged relative to the longitudinal direction, different sludge hardening degrees are different in the dredging process, and the blades which are vertically or horizontally arranged can break up soft sludge; and then need consume bigger power when handling the silt that hardens relatively and realize breaking up, it is great to cross just (perpendicular or horizontal setting) then the impact force if the blade, is unfavorable for changeing the good stable operation of tooth, and the blade that the slope set up has not only effectively reduced this kind of impact force, and is changeed and inserts in the silt to improve and break up efficiency.

Still including inhaling the mud groove, it is provided with dredge pump, mud inlet and mud outlet to inhale the mud groove to form a complete set, and mud inlet one side and dredge pump switch-on, opposite side orientation commentaries on classics tooth, mud outlet are connected with the elastic tube, and the cooperation is inhaled mud groove and dredge pump and is realized the effective discharge of relevant position commentaries on classics tooth processing back silt, and the elastic tube is then fine buffering the stable transport of pressure boost silt.

The camera shooting unit comprises a first camera and a second camera, and the first camera and the second camera are different in orientation, so that the omnibearing detection of the detection part is realized. More preferably, the camera unit is mounted on a lifting column to raise or lower the height of the camera unit according to different conditions.

Drawings

FIG. 1 is a schematic perspective view of the present application in a bottom view;

FIG. 2 is a top view of the present application;

FIG. 3 is a schematic perspective view of the present application;

FIG. 4 is a perspective view of another embodiment of the present application;

FIG. 5 is a side view of the present application;

fig. 6 is a front view of the present application.

Reference numbers in the figures: 1. a traveling wheel; 11. a first wheel; 12. a second wheel; 13. a support arm; 131. a first support arm; 132. a second support arm; 133. a cross beam; 2. a chassis; 3. a main rotating shaft; 31. a sensor; 32. a first rotating shaft; 321. a first bracket; 33. a connecting arm; 34. a second rotating shaft; 35. a first telescopic arm; 36. a rotating shaft III; 361. a second bracket; 37. a rotating shaft IV; 38. a second telescopic arm; 381. a fifth rotating shaft; 4. rotating the teeth; 41. a rotating shaft; 42. a gear rotating seat; 43. a blade; 5. a sludge suction groove; 51. a sludge outlet; 52. a sludge inlet; 53. a dredge pump; 6. a sludge discharge port; 61. a connecting port; 7. an image pickup unit; 71. a first camera; 72. a second camera; 73. and (4) lifting the column.

Detailed Description

The sludge treatment device comprises a walking wheel 1, a main rotating shaft 3, a rotating gear 4, a camera unit 7 and a central control unit (not shown in the figure), wherein the walking wheel 1 is connected with a walking driver (which can be in a form of a motor and the like and is not shown in the figure), the main rotating shaft 3 is positioned on the walking wheel 1 and is driven to rotate (rotate and drive the subsequent rotating gear 4 to rotate along with the rotation) by the main rotating shaft driver (which can be in a form of a motor and the like and is not shown in the figure), the rotating gear 4 is driven to rotate (the axial direction of the output end of the rotating gear driver is generally different from the axial direction of the output end of the main rotating shaft driver) by the rotating gear driver (which can be in a form of a cylinder, a hydraulic cylinder and the like and is not shown in the figure), a plurality of telescopic arms are arranged between the main rotating shaft 3 and the rotating gear 4, and are respectively driven by telescopic arm drivers, the walking driver, the main rotating shaft driver, the telescopic arm driver and the camera unit 7 are all connected with a central control, the camera unit 7 and the sensor 31 (only the sensor at the main rotating shaft 3 is shown in the figure, and other parts are not shown) collect the real-time sludge condition and form signals to be transmitted to the central control, and the central control adjusts the working states of the walking driver, the main rotating shaft driver, the telescopic arm driver and the rotary tooth driver according to the signals so as to meet the requirement of dredging in a real-time environment; the walking wheel 1 is obliquely arranged below the main rotating shaft 3 so as to carry the main rotating shaft 3 to walk in the pipe; among the multi-stage telescopic boom, at least one stage of telescopic boom drives the rotating teeth 4 to move close to or far away from the main rotating shaft 3, and at least one stage of telescopic boom drives the rotating teeth 4 to swing.

The sludge in the pipe network is subjected to dredging treatment by the scheme, and then is transferred to the sand-water separation unit for sludge-sand separation, the separated sludge water is transferred to the sludge solidification unit to form sludge cakes and clear water, the clear water can be directly discharged, and the sludge cakes can be transferred to subsequent reutilization or drying treatment, so that the sludge in the pipe network pool is removed and treated. The walking wheels 1 are used as moving parts of the whole device in the transverse direction, so that the main rotating shaft 3 and the rotating teeth 4 connected with the walking wheels can move synchronously with the walking wheels in the pipe, the walking wheels 1 are obliquely arranged, the contact area between the walking wheels 1 and the inner wall of a pipe network to be treated is increased, the walking wheels can be guaranteed to walk along the pipe wall, only the walking wheels 1 are in contact with the pipe wall in the whole moving process, the contact of all parts and the pipe wall in the moving process is reduced to the maximum extent, the friction between devices such as the main rotating shaft 3 and the pipe wall is effectively reduced, and the damage to the pipe caused by desilting; the main rotating shaft driver, the telescopic arm driver and the camera shooting unit are all connected with a central control, the camera shooting unit 7 and the sensor are signal input components of the central control, the main rotating shaft driver and the telescopic arm driver are signal receiving components of the central control, the three parts are matched, the on-site sludge condition is matched with the control of the multi-stage telescopic arms, the main rotating shaft 3 is flexibly connected with the rotating teeth 4 through the multi-stage (at least two-stage) telescopic arms, the moving of the rotating teeth 4 in the horizontal direction and the swinging in the vertical direction are met, under the condition of stable integral structure, the real-time regulation and control of the rotating teeth 4 can be realized according to the on-site condition, and the sludge crushing is realized to the; as a preferable example, the rotating teeth 4 can be further provided with a sludge suction groove 5 in a matching manner, the sludge suction groove 5 is provided with a sludge outlet 51, a containing groove 52, a sludge suction pump 53 and a sludge inlet 54, the sludge outlet 51 is communicated with the sludge discharge port 6, the sludge suction pump 53 sucks the sludge at the rotating teeth 4 into the sludge suction groove 5, the sludge is transferred into the sludge discharge port 6 through the sludge outlet 51, the sludge is pressurized and conveyed to a subsequent process such as a sand-water separation unit, the sand is removed and then conveyed to a sludge solidification unit, a sludge cake and clean water are formed through chemical adding and separation, and the sludge is effectively discharged after the rotating teeth 4 are processed at corresponding positions by matching the sludge suction groove 5 and the sludge suction pump 53.

As a preferred case, the walking wheels 1 adopt a crawler belt structure, and the crawler belt structure effectively enlarges the contact area between the walking wheels and the pipe wall, so that the aim of reducing the stress of the unit area of the pipe wall is fulfilled;

as a preferable example, referring to fig. 1, the traveling wheels 1 are preferably arranged in pairs to ensure uniform stress, at this time, the support arm 13 may be arranged on the traveling wheel 1, the support arm 13 may be composed of a first support arm 131 and a second support arm 132, the lower ends of the first support arm 131 and the second support arm 132 are respectively provided with a first wheel 11 and a second wheel 12 of a crawler structure, an included angle ө between the first support arm 131 and the second support arm 132 is preferably 120 to 150 °, the main rotating shaft 3 is fixed between the first support arm 131 and the second support arm 132 to ensure that the main rotating shaft 3 is located on a longitudinal central axis of a pipe network to be processed, a moving space on the central axis is large, the main rotating shaft 3 is convenient to move flexibly in the pipe, and an installation space is provided for other additionally installed auxiliary.

As a preferable example, a beam 133 can be further arranged between the first support arm 131 and the second support arm 132, the first support arm 131 and the second support arm 132 are symmetrically arranged at two sides of the beam 133, the chassis 2 is arranged on the beam 133, the main rotating shaft 3 is arranged at one side of the chassis 2 facing the rotating teeth 4, a connecting port 61 butted with the sludge discharge port 6 is arranged on a wall corresponding to the sludge discharge port 51, the sludge discharge port 6 is arranged at the other side, the camera unit 7 is arranged on the chassis 2, so that the surrounding environment can be conveniently monitored, instruments such as a main rotating shaft driver, a telescopic arm driver and the like are arranged in the chassis 3, the efficient layout of each component is ensured in a limited space, and the damage and unstable performance of the instruments caused by the contact of sewage can be avoided; the pipeline between the connecting port 61 and the sludge discharge port 6 is fixed outside the case 2 or positioned in the case 2 as shown in the figure, and particularly when the pipeline is fixed in the case 2, the pipeline can assist in bearing the pressure caused by a part of sludge and is also beneficial to stable conveying.

As a preferable example, referring to fig. 2 to 5, the multi-stage telescopic boom includes a first telescopic boom 35, a second telescopic boom 38 and a connecting boom 33, the second telescopic boom 38 is movably connected between the connecting boom 33 and the main rotating shaft 3, one end of the first telescopic boom 35 is movably connected with the rotating teeth 4, and the other end is movably connected with the main rotating shaft 3 through the connecting boom 33; more preferably, referring to fig. 4, a first support 321 is fixed on the main rotating shaft 3, a second support 361 is fixed on the rotating tooth seat 42 of the rotating tooth 4, a first rotating shaft 32 and a fourth rotating shaft 37 are arranged on the first support 321, a second rotating shaft 34 and a fifth rotating shaft 381 are arranged on the connecting arm 33, a third rotating shaft 36 is arranged on the second support 361, the first support 321 and the connecting arm 33, the connecting arm 33 and the first telescopic arm 35, the first telescopic arm 35 and the second support 361 are sequentially connected by the first rotating shaft 32, the second rotating shaft 34 and the third rotating shaft 36, and the second telescopic arm 38 and the first support 321, the second telescopic arm 38 and the connecting arm 33 are sequentially connected by the fourth rotating shaft 37 and the fifth rotating shaft 381. When the traveling wheel 1 drives the main rotating shaft 3 (or the case 2) and the rotating teeth 4 to operate at proper positions, the central control transmits further signals to the telescopic arm drivers corresponding to the first telescopic arm 35 and the second telescopic arm 38 respectively, when the telescopic arm driver corresponding to the first telescopic arm 35 works (at this time, the second telescopic arm 38 can be kept still, the second telescopic arm 38, the connecting arm 33 and the first bracket 321 form a fixed structure, and the stable structure of the other multi-stage telescopic arms except the first telescopic arm 35 is maintained), the first telescopic arm 35 extends or contracts to realize the fine adjustment of the horizontal position, when the telescopic arm driver corresponding to the second telescopic arm works (at this time, the first telescopic arm 35 can be kept still, the first telescopic arm 35, the connecting arm 33, the first bracket 321 and the second bracket 361 form a fixed structure, and the stable structure of the other multi-stage telescopic arms except the second telescopic arm 38 and the connecting arm 33 is maintained), the second telescopic arm 38 extends or contracts, the connecting arm 33 is driven to swing relative to the first rotating shaft 32, and the rotating teeth 4 are driven to swing correspondingly through the first telescopic arm 35 and the rotating tooth seat 42, so that the height of the rotating teeth 4 can be changed. In the operation process, the adjustment of the transverse position and the longitudinal height can be realized by means of the first telescopic arm 35, the second telescopic arm 38 and the connecting arm 33, the position adjustment is realized accurately, the targeted removal of sludge in the pipe is realized by matching with the central control unit and the camera unit 7, and the removal rate is greatly improved. More preferably, referring to fig. 2, a sensor 31 (which may be a conventional sensor) is disposed on the main rotating shaft 3, and sensors (which are not shown in the figure and may be conventional sensors) are also disposed on the first telescopic arm 35 and the second telescopic arm 38, respectively, and the sensors are connected to the central control unit to implement operation monitoring.

As a preferable example, referring to fig. 6, a plurality of sets of blades 43 are arranged on the rotating tooth 4, the blades 43 are arranged obliquely relative to the longitudinal direction, different sludge hardening degrees are different in the dredging process, and for soft sludge, when the rotating tooth 4 is driven to rotate by the rotating shaft 41 (fixed with the rotating tooth 4, and the rotating tooth 4 is located at the output end of the rotating shaft 41), the blades 43 arranged vertically or horizontally can break up the sludge; and then need consume bigger power and realize breaing up when handling the silt that hardens relatively, it is great to cross just (perpendicular or horizontal setting) then the impact force if blade 43, is unfavorable for the good stable operation of rotary teeth, and blade 43 that the slope set up has not only effectively reduced this kind of impact force, and is changeed and inserts in the silt to efficiency is breaed up in the improvement.

As a preferable example, the sludge outlet 51 is connected with (the connection port 61 of) the sludge discharge port 6 by an elastic pipe (such as a corrugated pipe), the pressure is large when the sludge is sucked, the elastic pipe resists impact and is beneficial to buffering the pressure, and the sludge discharge port 6 is connected to the sand-water separation unit by an elastic pipe or a rigid pipe (such as a hydraulic pipe, the influence of the material is not obvious).

Claims (9)

1. Accurate type desilting controlling means, its characterized in that: comprises a traveling wheel, a main rotating shaft, a rotating tooth, a sensor, a camera unit and a central control unit,

the travelling wheel is driven by a travelling driver, the main rotating shaft is driven by the main rotating shaft driver to automatically move synchronously with the travelling wheel, the rotating teeth are driven by the rotating teeth driver to rotate, the main rotating shaft is connected with the rotating teeth through multi-stage telescopic arms, and the multi-stage telescopic arms are driven by the telescopic arm drivers respectively;

the plurality of sensors are respectively arranged on the main rotating shaft and the multistage telescopic arm;

the walking driver, the main rotating shaft driver, the telescopic arm driver, the rotary tooth driver, the sensor and the camera unit are all connected with a central control, the camera unit and the sensor are signal input components and respectively collect real-time sludge conditions and transmit the real-time sludge conditions to the central control, and the central control adjusts the working states of the walking driver, the main rotating shaft driver, the telescopic arm driver and the rotary tooth driver according to the signal input components so as to meet the requirement of dredging in a real-time environment;

among the multistage flexible arm, at least one stage of flexible arm drives the tooth of changeing and is close to or keeps away from the motion of main pivot, and at least one stage of flexible arm drives the tooth of changeing and swings.

2. The precision desilting control device of claim 1, characterized in that: the walking wheels are of a crawler structure, and the main rotating shaft is located on the longitudinal central axis of the walking wheels.

3. The precision desilting control device of claim 1, characterized in that: the walking wheels are arranged in pairs, and the main rotating shaft is positioned on the longitudinal central axis of the walking wheels.

4. The precision desilting control device of claim 1, characterized in that: the multi-stage telescopic arm comprises a first telescopic arm, a second telescopic arm and a connecting arm, the second telescopic arm is movably connected between the connecting arm and the main rotating shaft, one end of the first telescopic arm is movably connected with the rotating teeth, and the other end of the first telescopic arm is movably connected with the main rotating shaft through the connecting arm.

5. The precision desilting control device of claim 1, characterized in that: the multi-stage telescopic arm comprises a first telescopic arm, a second telescopic arm and a connecting arm, a first support is fixed on a main rotating shaft, a second support is fixed on a rotating tooth, a first rotating shaft and a fourth rotating shaft are arranged on the first support, a second rotating shaft and a fifth rotating shaft are arranged on the connecting arm, a third rotating shaft is arranged on the second support, the first support is connected with the connecting arm, the first telescopic arm is connected with the first telescopic arm, the first telescopic arm is connected with the second support sequentially through the first rotating shaft, the second rotating shaft and the third rotating shaft, and the second telescopic arm is connected with the first support, the second telescopic arm and the connecting arm sequentially through the fourth rotating shaft and the fifth.

6. The precision desilting control device of claim 1, characterized in that: the rotating teeth are provided with a plurality of groups of blades which are arranged in an inclined mode relative to the longitudinal direction.

7. The precision desilting control device of claim 1, characterized in that: the camera shooting unit comprises a first camera and a second camera, and the first camera and the second camera are different in orientation.

8. The precision desilting control device of claim 7, characterized in that: the camera unit is mounted on the lifting column.

9. The precision desilting control device of claim 1, characterized in that: the sludge suction device is characterized by further comprising a sludge suction groove, wherein a sludge suction pump, a sludge inlet and a sludge outlet are arranged in the sludge suction groove in a matched mode, one side of the sludge inlet is communicated with the sludge suction pump, the other side of the sludge inlet faces the rotating teeth, and the sludge outlet is connected with an elastic pipe.

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