4019results about "Mechanical machines/dredgers" patented technology

The invention relates to the technical field of cutter suction dredger steel pile trolley control, and discloses a cutter suction dredger steel pile trolley control method and system based on hydraulic excitation early warning, and the method comprises the steps: collecting the influence degree of multiple parameters on the system stability, calculating a pressure fluctuation factor and the like to form a state feature set; constructing a dynamic pressure balance model, inputting data such as a pressure time sequence queue and a sea condition level, and outputting a dynamic pressure adjustment value; constructing a cooperative control correction model, inputting steel pile attitude data and outputting a cooperative correction coefficient; and calculating a final control output quantity by combining the adjustment value and the correction coefficient, and generating a hydraulic excitation control instruction set. The system comprises a multi-source sensor module, a state feature calculation module, a dynamic pressure balancing module and the like, and multi-dimensional data fusion and intelligent control are achieved. The stability, the control precision and the environmental adaptability of the steel pile trolley system are improved, and the method is suitable for the control scene of the cutter suction dredger steel pile trolley.

A dozer including a cabin, the dozer includes: an engine room located in front of the cabin, where an engine is disposed; an exhaust gas after-treatment device for purifying exhaust gases emitted from the engine; a first cooling device located in front of the cabin and capable of cooling the exhaust gas after-treatment device; and a second cooling device spaced apart from the first cooling device, with the cabin midway therebetween, and capable of cooling the engine.

An expandable multifunctional integrated-construction skyscraper building platform and a construction method using the same are provided. The expandable multifunctional integrated- construction skyscraper building platform includes: a building foundation part, including an underground level, a basement level and a ground level which form a main body; an external frame part, a bottom of the external frame part being fixed deep into the underground level, and a top of the external frame part running through the basement level and the ground level to reach upper air such that lifting platform parts arranged on the external frame part are capable of going up from the underground level for construction; a transportation elevator part and a three-layer enclosure part, mounted on the building foundation part; a top transfer part, mounted on a Chinese character “Ri” frame at a top of the external frame part; and a carrying tower.

The invention discloses a drag suction dredger sailing collision risk dynamic assessment and collision avoidance decision-making method, and relates to the technical field of sailing collision risk assessment. According to the method, a precise evaluation foundation is laid through all-dimensional basic data standardization processing, a potential risk area is dynamically determined in combination with ship manipulation and environment characteristics, and the collision risk degree and the response level are quantified to improve the timeliness and the accuracy of risk early warning; a personalized operation strategy library is constructed based on an LSTM model, so that a collision avoidance instruction fits an artificial habit, the man-machine adaptation cost is reduced, and the anti-interference capability and the real-time performance of the instruction are enhanced through feedforward-feedback dual-path control and parallel DQN dynamic optimization weight. The problems that in the prior art, due to the fact that multi-source data are disordered and free of standards, evaluation bases are not unified, potential collision risk area recognition is not combined with ship handling characteristics and lacks dynamics, collision risk quantization is fuzzy, collision avoidance instructions break away from manual operation habits, and due to the fact that traditional control is poor in anti-interference capacity and fixed in weight, robustness is insufficient are solved.

The present invention pertains to a wear pad for a telescopic boom of a work machine, comprising a base part configured to be fixedly mounted to the telescopic boom, and a top layer part configured to provide a wear-resistant, low friction sliding surface. The top layer part is configured to be releasably mounted to the base part. The invention further pertains to a telescopic boom assembly for a work machine, comprising a first boom segment having at least one first wear pad assembly mounted to a free end of the first boom segment, and a second boom segment having at least one second wear pad assembly mounted to a sliding end of the second boom segment, wherein at least one of the wear pad assemblies comprise a wear pad having a base part and a top layer part configured to provide a wear-resistant, low friction sliding surface. The top layer part is configured to be releasably mounted to the base part. Further, the present invention pertains to a work machine comprising such telescopic boom assembly.

The utility model provides a river channel desilting device, and mainly relates to the field of water area desilting equipment. A river channel desilting device comprises a ship body. The dredging device has the advantages that the movable supporting plate driven by rotation of the threads is arranged in the ship body to move so as to drive the dredging pipe barrel to move, and the hydraulic cylinder capable of driving the dredging pipe barrel to ascend and descend is further arranged between the movable supporting plate and the dredging pipe barrel; different stretching depths of the desilting pipe barrel can be adjusted by adjusting the lifting height of the movable supporting plate and the lifting height of the hydraulic cylinder, and a spiral conveying twisting blade driven by a motor to rotate is further arranged in the desilting pipe barrel. Sludge, impurities and the like deposited at the bottom of the river channel are conveyed into the upper ship body through the spiral conveying twisted blade to be collected and treated through the dredging pipe barrel, and when the interior of the dredging pipe barrel needs to be cleaned, the dredging pipe barrel can be placed on the ship body and opened to clean the interior of the dredging pipe barrel.

The utility model discloses an underwater backfill drag suction dredger with replaceable drag heads, which is characterized in that the lower end of a steel wire rope support arm is connected with a support, a sliding block matched with a sliding chute is arranged below the support, the sliding chute is fixed on a dredger body and extends along the longitudinal direction of the dredger body, and the two supports are respectively connected with two ends of a two-way screw through threads. The two-way screw is supported by the ship body, extends in the longitudinal direction of the ship body and is driven by a motor II. The two supports are driven by the two-way screw to move in the opposite directions at the same time, the purpose that the distance between the two supports is adjustable is achieved, drag heads of different sizes can be replaced by the drag suction dredger, and compared with a traditional structure with the supports at the two ends fixed, the distance between the two supports can be rapidly adjusted, and the drag suction dredger is convenient to use. And the rake heads with different sizes can be conveniently replaced, so that the rake heads can better meet the specific requirements of different soil stratums in a dredging area, and the adaptability and efficiency of operation are improved.

A working vehicle includes a hitch to attach and detach an attachment thereto and therefrom, a receiver to receive wireless signal(s) which are transmitted periodically from transmitter(s) in or on the attachment(s), which include respective piece(s) of identification information of the attachment(s), and which are compliant with a near field communication standard, and a controller. The controller is configured or programmed to perform a selecting process and a predetermined process when the attachment is attached to the hitch and when a predetermined switch is operated with the attachment attached to the hitch, the selecting process including selecting, according to a predetermined condition, one of the piece(s) of identification information that is included in one of the wireless signal(s) received by the receiver, the predetermined process corresponding to the one of the piece(s) of identification information selected in the selecting process.

The invention relates to the technical field of image processing, and provides an excavator operation safety monitoring method based on visual assistance and a laser radar, which comprises the following steps: acquiring continuous frames of monitoring images in the excavator operation process through a vehicle-mounted camera, and acquiring three-dimensional point cloud data at a plurality of moments through the laser radar; obtaining a target movement degree of each region, screening to obtain a plurality of moving targets and obtaining a movement sequence of the moving targets; obtaining the target influence degree of each moving target at each moment; the comprehensive influence degree of the moving target is obtained; screening an interference target based on the comprehensive influence degree, and obtaining an interference sequence of the interference target in combination with the moving sequence corresponding to each vehicle-mounted camera; and according to the interference target and the interference sequence thereof, collision early warning is carried out through an audible and visual alarm, and safety monitoring of excavator operation is achieved. The invention aims to solve the problem that the blind area and collision detection accuracy of a fusion result can be interfered by respective misrecognition problems of computer vision and laser radar.

The utility model relates to an active load adjusting bridge system for a cutter suction dredger. Comprising a bridge frame, the root of the bridge frame is hinged to a cutter suction dredger body, a mud pump assembly and a mud pipeline are installed in the middle of the bridge frame, and a reamer assembly is installed at the end of the bridge frame; a portal frame is installed at the position of a bow of the cutter suction dredger body, a pulley system is installed at the top of the portal frame, a lifting pulley is installed at the top of the end of the bridge frame, a lifting winch is further installed on the cutter suction dredger body, and a lifting steel cable collected and released by the lifting winch is wound on the pulley system and the lifting pulley. And a hydraulic load assembly for exerting an active pushing effect on the bridge frame is further mounted between the cutter suction dredger body and the bridge frame. According to the active load adjusting bridge system for the cutter suction dredger, active load control is applied in a hard soil excavation scene, so that the reamer assembly can effectively feed in a water bottom mud surface, smooth construction is achieved, and excavation construction efficiency is guaranteed.

The invention relates to the technical field of water area desilting, in particular to a chain bucket type desilting device based on air pressure drainage and a desilting method. The desilting device comprises a ship body, and a desilting mechanism capable of moving in a lifting mode is arranged on the ship body; the desilting mechanism comprises a water insulation cylinder with an opening in the bottom, a circulating chain bucket mechanism arranged in the water insulation cylinder in the length direction of the water insulation cylinder and a material scraping mechanism arranged at the bottom of the water insulation cylinder, and the water insulation cylinder is used for inflating and discharging water in the water insulation cylinder to sink to the bottom to form a dry operation cabin. The material scraping mechanism is arranged at the bottom of the waterproof barrel and used for scraping the sludge to the material digging position at the bottom end of the circulating chain bucket mechanism, and the circulating chain bucket mechanism is used for conveying the sludge at the water bottom to the ship body. The dry operation cabin is formed when the waterproof barrel is inflated and sinks to the bottom, the material scraping mechanism scrapes sludge to the material digging position at the bottom end of the circulating chain bucket mechanism, the dredging effect is remarkably improved, the circulating chain bucket mechanism transports the sludge at the water bottom to the ship body, no sludge is diffused into water, and the problems that use is inconvenient, and open type dredging has large influence on the environment are solved.

The application provides an underwater broken stone base leveling device and a leveling method thereof, which comprises a ship body, the bottom of the ship body is provided with a leveling device, the leveling device comprises an outer frame, outer support leg oil cylinders are arranged at four corners of the outer frame, a sliding leveling mechanism is arranged on the outer frame, inner support leg oil cylinders are arranged at four corners of the leveling mechanism, and an elevation adjusting oil cylinder is arranged at the top of the leveling mechanism. The leveling device is automatically adjusted to be in a horizontal state, then the height of the outer frame is measured, the leveling head is automatically adjusted to a required height according to a set leveling thickness, the movement of the propelling oil cylinder is controlled, the leveling head is leveled at one station of the frame of the support, the walking type advancement of the leveling robot is realized through the interactive support of the four outer support leg oil cylinders and the four inner support leg oil cylinders, the overall device utilizes the fusion and coordination of multiple sensors, the automatic leveling of the underwater broken stone outer frame can be realized, the overall device is automatically leveled, and the problems that the traditional method is difficult to adapt to deep water and has low construction efficiency are overcome.

The invention discloses a land leveler automatic control and guidance method and system based on Beidou high-precision positioning. The method comprises the following steps: acquiring comprehensive state information of a land leveler including a three-dimensional position, a course, an attitude and a real-time elevation of a scraper knife; outputting future state parameters of a scraper knife elevation adjusting mechanism and a machine body steering mechanism of the land leveler in the rolling time domain through a preset land leveler kinematics model on the basis of the comprehensive state information and the current target working plane design information; based on the future state parameters, determining an optimal pre-control instruction sequence for a scraper knife elevation adjusting mechanism and a fuselage steering mechanism through a multi-objective optimization mode; and the optimal pre-control instruction sequence is sent to an electro-hydraulic control system to drive an execution mechanism to act. Complex factors such as topographic changes and fuselage dynamics coupling can be effectively coped with by predicting future states by adopting a kinematic model and prospectively generating a coordination control instruction, and the accuracy and smoothness of scraper knife control in the dynamic operation process are ensured.

A working machine includes: at least one support member connectable to a work attachment to do work by making contact with an object to be contacted; at least one hydraulic cylinder to move the work attachment connected to the at least one support member, a rod-side pressure detector to detect a rod-side hydraulic pressure of hydraulic fluid in communication with a rod-side fluid chamber of the at least one hydraulic cylinder; a bottom-side pressure detector to detect a bottom-side hydraulic pressure of hydraulic fluid in communication with a bottom-side fluid chamber of the at least one hydraulic cylinder; and a controller to calculate a relationship in pressure between the rod-side hydraulic pressure and the bottom-side hydraulic pressure and evaluate, based on the calculated relationship in pressure, a contact state which is a state of contact of the work attachment with the object.

A shovel includes a lower traveling body, an upper turning body turnably mounted on the lower traveling body, an attachment including a boom attached to the upper turning body, an arm attached to an end of the boom, and an end attachment attached to an end of the arm, wherein a motion of the arm or the end attachment is corrected according to a stability of a body of the shovel.

This application relates to the field of earthwork turning and drying, and in particular to an earthwork turning and drying device and method, including an earthwork turning and drying device and a turning and drying method. The turning and drying device includes a rake mounted on a vehicle body, a grabbing mechanism, a grabbing drive, a crushing mechanism, a crushing mechanism movement drive, a drying mechanism, and a turning mechanism. The turning and drying method includes screening, grabbing large soil clods, crushing soil clods, drying, primary drying, mixing, and secondary drying. The earthwork turning and drying device provided by this application uses a rake to screen the earthwork, uses a crushing mechanism to crush large soil clods, and uses a drying mechanism to dry the earthwork, which facilitates the evaporation of moisture in the earthwork and improves the turning and drying efficiency.

The invention relates to the technical field of loader hydraulic systems, in particular to a multi-pump multi-valve energy-saving hydraulic system and a control method. The invention provides a multi-pump multi-valve energy-saving hydraulic system, a steering pump and working pumps (a bucket pump and a movable arm pump) are independently controlled, a multi-pump distributed configuration is adopted, working devices (a bucket oil cylinder and a movable arm oil cylinder) are independently supplied with oil by the working pumps (the bucket pump and the movable arm pump), a steering gear is independently supplied with oil by the steering pump, and the working devices are independently supplied with oil by the working pumps (the bucket pump and the movable arm pump). And the influence of coupling throttling loss between a steering system and a working system and load change on steering controllability is eliminated. Moreover, when the movable arm and the bucket act singly, the bucket pump and the movable arm pump realize the single action parallel flow of the movable arm and the bucket through the auxiliary control valve, so that the working speed of a single actuator is ensured, particularly, the large-flow lifting parallel flow of the movable arm is realized, and the throttling loss is greatly reduced; when the movable arm and the bucket act in a composite mode, the bucket pump and the movable arm pump achieve independent oil supply of the movable arm and the bucket through the auxiliary control valve, and the controllability of the whole machine is improved.

The invention belongs to the technical field of roadbed construction devices, and particularly relates to a high-stability highway roadbed construction device which comprises a land leveler and a bulldozing plate mounted on the land leveler. A cleaning mechanism is arranged on the land leveler, the cleaning mechanism comprises an electric push rod fixedly installed on the land leveler, a connecting frame is fixedly installed at the end of an output rod of the electric push rod, and a servo motor is fixedly installed in the connecting frame; by means of the designed structure, impurities on the bulldozing plate are rapidly removed, and the situation that due to the fact that the impurities are wound and attached to the bulldozing plate, the resistance of the bulldozing plate is sharply increased, power is wasted, and efficiency is reduced is effectively avoided. And meanwhile, the service life of the bulldozing plate can be prolonged through timely cleaning, and the stability and efficiency of equipment are improved.

The invention discloses a method for cooperatively carrying out dredging and ecological protection in a near-shore sensitive area, belongs to the technical field of port and channel engineering desilting, and aims to solve the technical problem that construction efficiency and ecological environment protection are difficult to consider when dredging operation is carried out in the near-shore sensitive area. Comprising an operation system of at least one dredging sub-ship, a path is planned through underwater topographic survey, the sub-ship is fixed through a gauge pile system, a multi-joint hinged arm with a cover type cutter suction head is lowered to be attached to a mud bed, sludge is liquefied through a high-pressure water system, and slurry is conveyed through a sand pump set; the slurry concentration and the turbidity of a surrounding water area are respectively monitored through an inner turbidity sensor and an outer turbidity sensor, and closed-loop feedback control is formed to dynamically adjust the power of a sand pump, the pressure of high-pressure water and the speed of a hinged arm; and meanwhile, in the dredging process, an ecological base material containing a biological agent is sprayed to the bare seabed through an ecological base material spray head, and dredging and ecological restoration are synchronously carried out. The method is mainly used for dredging construction and ecological protection of near-shore sensitive water areas.

The invention relates to an automatic control system and method for the ground angle of a rake lip of a trailing suction hopper dredger, the system comprises a rake arm / rake head hydraulic cylinder sensor, a data collecting and processing unit and monitoring software, and the rake arm / rake head hydraulic cylinder sensor is used for obtaining rake arm posture and rake lip hydraulic cylinder stroke information; the data collecting and processing unit is used for collecting sensor data, calculating the actual value of the current ground angle of the rake lip in real time, judging the deviation between the actual value and the current target ground angle, and if the deviation exceeds a preset tolerance threshold value, generating a rake lip angle control output signal and transmitting the rake lip angle control output signal to the rake lip angle hydraulic executing mechanism. The current ground angle of the rake lip is adjusted to be the target ground angle in real time; and the monitoring software is used for visually displaying the system state and supporting parameter configuration and remote access. Under the conditions of different construction areas, different digging depths and different soil properties, the rake lip is always kept within a set angle range, so that the rake head can break soil more favorably, and the construction efficiency and the operation stability of a ship are effectively improved.

A power feeding connector (18) to which a power feeding cable (19) for supplying electric power to an electric motor or a battery (12) is connected and an indicator lamp (25) that lights up when a lower traveling structure (2), an upper revolving structure (3) or a working mechanism (4) is in the middle of operating are arranged in back of an operator's seat (7). An insert port (18A) of the power feeding connector (18) which the power feeding cable (19) is connected or disconnected is located to be oriented to the indicator lamp (25)-side in the left-right direction. Because of this arrangement, the insert port (18A) can be illuminated by light emitted from the indicator lamp (25), allowing an operator of an electric hydraulic excavator (1) and workers around it to recognize that the electric power fed from an external power source (13) is being supplied to the electric hydraulic excavator (1) via the power feeding cable (19) connected to the power feeding connector (18) and that the electric hydraulic excavator (1) is in the middle of operating with this electric power.

The utility model relates to the technical field of mining equipment, and provides an excavator working device with a fine-adjustable bucket, which comprises a rack, a bucket and a driving assembly unit, the driving assembly unit comprises a lifting mechanism, a bucket adjusting mechanism and a control unit; the lifting mechanism is used for loading and unloading materials through the bucket, and the bucket adjusting mechanism is used for achieving transverse swing of the bucket. The control unit is used for controlling the actions of the lifting mechanism and the bucket adjusting mechanism; the lifting mechanism is arranged on the rack; the bucket adjusting mechanism is arranged on the lifting mechanism, and the bucket is arranged on the bucket adjusting mechanism. According to the utility model, the decoupling with the movement of the vehicle body is realized when materials are loaded, the loading and unloading tasks of the materials can be still completed under the condition that the position of the vehicle body is kept unchanged, the materials are more flexibly shoveled, and the oil consumption is reduced; when meeting uneven road conditions, the bucket can be controlled to be finely adjusted to change the gravity center, and stable driving is achieved; energy consumption is saved, accurate dynamic weighing is achieved, and control precision is improved.

An attachment management system includes a work vehicle, an attachment detachably coupled to the work vehicle including a vehicle controller, and a communication tag fixed to the attachment. The communication tag includes a tag transceiver, and a tag memory to store a tag identifier unique to the communication tag and attachment information unique to the attachment, to which the communication tag is fixed. The vehicle controller is configured or programmed to control the vehicle storage to store a new piece of combined information including the tag identifier and attachment information linked thereto in the beacon signal, unless both of the tag identifier and attachment information in the beacon signal match with the tag identifier and attachment information stored in the vehicle storage, and perform a predetermined operation based on attachment information of the new piece of combined information.

The invention discloses a strip mine surface soil excavation bucket with a screening structure, the strip mine surface soil excavation bucket comprises an excavation screening structure, one side of the excavation screening structure is fixedly provided with an opening and closing adjusting structure, and the excavation screening structure comprises a knocking screening assembly for installing an excavation covering assembly; the knocking and screening assembly comprises a bucket body with a through groove in the rear side, meanwhile, a concave frame with a through groove in the lower portion is fixedly installed on the rear side of the bucket body in a welded mode, a sliding groove facilitating sliding arrangement of opening and closing structure parts is formed in the inner side of the concave frame, and digging shovel teeth are fixedly installed on one side of the bucket body; a groove strip with a sliding groove formed in the inner side is fixedly installed at the bottom of the bucket body in a welded mode, meanwhile, a connecting threaded hole is formed in the upper portion of the inner side of the groove strip, and a matched strip is arranged in the groove strip in a sliding mode through the sliding groove. And the concave frame is arranged, so that the inner side opening and welding fixing effects are achieved.

An excavator includes a lower traveling body; an upper turning body turnably mounted to the lower traveling body; an acquisition device mounted to the upper turning body and configured to acquire information including a status around the excavator; and a control device configured to recognize a reference object that is in a stopped state or at a fixed position around the excavator based on the information acquired by the acquisition device, and to estimate a turning angle of the upper turning body based on a change in a position of the reference object as viewed from the upper turning body.

The invention relates to the technical field of water supply and drainage robots, and discloses a submersible type multifunctional water supply and drainage robot which comprises a robot body and an auxiliary operation unit. Two groups of water pumps are arranged in the main body, and multiple groups of drainage through holes are formed in two sides and the bottom of the main body and are communicated with the water pumping cavity to form a low-resistance multidirectional water taking and drainage channel; a scanning sonar, a single beam, an electronic compass, a tilt angle sensor, a harmful gas detection sensor, a camera, a lighting lamp and the like are arranged, the system cooperates with an electric control system, remote and autonomous operation is supported, path planning is conducted based on environment perception, and the unit time drainage efficiency in a complex environment is improved in cooperation with a pump set. The auxiliary operation unit is a mechanical arm installed on the main machine body and sequentially connected with a first connecting arm, an angle adjusting arm and a second connecting arm, the tail end of the auxiliary operation unit is provided with a clamping mechanism and a crushing mechanism, and the auxiliary operation unit is used for obstacle clearing and narrow position fixed-point crushing and guarantees continuous operation and safety. The method is suitable for flood prevention and fighting, urban inland inundation, mine, underground pipe gallery, tunnel drainage and other scenes.

The invention relates to a water and land construction rapid filling method suitable for a cofferdam with cohesive soil at a soil taking point. The water and land construction rapid filling method comprises the following steps of A, underwater throwing filling, B, overwater turning filling and C, land filling of a dam core. Water throwing and land throwing are combined, cofferdam forming is accelerated, inland river conventional equipment is adopted for overwater construction, construction organization is facilitated, adopted dredgers are backhoe dredgers and grab dredgers which are commonly used for earth cutting in inland rivers, and the ships are shallow in draught, convenient to transport in the inland rivers, free of weather influence, capable of working continuously, capable of saving the construction period, capable of reducing soil disturbance and convenient to throw and fill water. The overall stability of the cofferdam can be improved, earthwork balance is achieved, cost is saved, environment friendliness is achieved, and good social and economic benefits are achieved.

A work machine is capable of making a working attachment operate accurately along a construction target surface in the vicinity thereof and of allowing an operator to operate the work machine while recognizing the load acting on a front work implement thereof when the working attachment is not in the vicinity of the construction target surface. To accomplish this, a controller calculates target velocitys for actuators on the basis of an operation amount from an operation input device, postures of a machine main body and the front work implement, and the distance between the working attachment and the construction target surface. The controller calculates operation command values for the actuators on the basis of the target velocities, calculates correction amounts for the operation command values on the basis of loads on the actuators sensed by a load sensor, and adds the correction amounts to the operation command values.

A work vehicle includes a vehicle body frame including a first inner frame including a first connection and a first inner projection projecting above the first connection in a height direction, a first outer frame including a second connection and a first outer projection projecting above the second connection in the height direction, and a first connection frame having a first opening and connected to the first connection and the second connection between the first inner frame and the first outer frame. A first arm hydraulic cylinder is provided to pass through the first opening. The first cover is configured to surround an outer periphery of the first arm hydraulic cylinder to cover the first opening and provided on the first connection frame to be slidably guided by the first connection frame, the first inner projection, and the first outer projection.

The utility model discloses a rear unloading type combined electric shovel bucket which comprises a bottom plate, side plates, a top plate, a rear plate and bucket teeth, the number of the side plates is two, the two side plates are symmetrically arranged between the bottom plate and the top plate, the side plates are connected with the bottom plate through second connecting bolts, the side plates are connected with the top plate through third connecting bolts, and the rear plate is connected with the bottom plate through third connecting bolts. The bucket teeth are connected with the bottom plate through first connecting bolts, the rear plate is arranged at the lower end of a cavity defined by the bottom plate, the side plates and the top plate in a turnover mode, according to the rear discharging type combined electric shovel bucket, parts of the bucket can be conveniently replaced, overall replacement is not needed, cost is reduced, meanwhile, discharging is directly conducted through the rear end, and the discharging efficiency is greatly improved.