Adaptable sludge discharge system for sedimentation tank and method for discharging sludge from a sedimentation tank

Abstract

This invention discloses a sludge removal system adaptable to sedimentation tank settling. The system includes a sludge removal gantry, multiple sets of double-track assemblies, a reference support, and multiple first distance measuring sensors. The double-track assemblies are arranged sequentially along the width of the settling joint, with a gap between any two adjacent sets of assemblies, and the gap is not less than the width of the settling joint. Each track of each double-track assembly is driven to rise and fall by multiple first lifting mechanisms installed at the top of the tank. The reference support is anchored in a bearing layer outside the settling influence range, and the multiple first distance measuring sensors are installed on the reference support and arranged directly above the track along its length. This invention uses segmented tracks, combined with the first distance measuring sensors and the first lifting mechanisms, to achieve real-time monitoring and active fine-tuning of the track elevation, ensuring consistent elevation across each track segment. This solves the problems of misalignment, deformation, and abnormal gantry movement caused by the inability of traditional rigid tracks to adapt to tank settling.

Description

Technical Field

[0001] This invention belongs to the field of wastewater treatment and environmental protection equipment, and more specifically, relates to a sludge removal system adaptable to sedimentation tank settling and a method for removing sludge from sedimentation tanks. Background Technology

[0002] Sedimentation tanks, as core facilities in water treatment, wastewater purification, and soil and water conservation projects, primarily function to efficiently separate and remove silt, sediment, and suspended solids from water bodies through gravity settling, thereby ensuring water quality for subsequent water treatment processes. With the continuous expansion of modern industrial and urban water treatment scale, to meet the demands of large-scale sludge settling and high throughput, existing large sedimentation tanks are becoming increasingly wider and deeper. This leads to a significant increase in structural stress within the tank itself and water pressure under full load, resulting in extremely uneven distribution of the foundation's bearing capacity.

[0003] During civil construction, to effectively alleviate the foundation settlement stress generated by the large sedimentation tank and prevent cracking and structural damage caused by thermal expansion and contraction or uneven settlement of the concrete tank, settlement joints are typically installed between multiple tank sections along the length of the sedimentation tank. These joints are then filled with flexible filler to ensure the overall safety and stability of the sedimentation tank structure. The sludge removal gantry crane, as the core equipment for sedimentation tank dredging operations, works by straddling tracks on both sides of the sedimentation tank and reciprocating along the length of the tank via its traveling assembly. This drives the scraping and suction mechanisms at the bottom to scrape, pump, and discharge the sludge from the tank bottom, which is crucial for ensuring the long-term effective operation of the sedimentation tank.

[0004] However, there is an irreconcilable technical contradiction between the allowable settlement of civil engineering structures and the rigid operation of mechanical equipment. Current sedimentation tank sludge removal processes and associated gantry crane equipment suffer from serious structural defects and control blind spots when dealing with settlement issues.

[0005] Existing sludge removal gantry cranes typically employ standard, integral, long-span rigid steel rail structures for their double-sided tracks. These rails are usually directly embedded or rigidly bolted to the top of the sedimentation tank walls on both sides, continuously and across joints. As the equipment ages, the individual tanks with settlement joints inevitably experience uneven settlement, ranging from millimeters to centimeters, due to the combined effects of tank weight, alternating dynamic water pressure, surrounding geological changes, and groundwater erosion. At this point, the tanks on either side of the settlement joint, filled with flexible filler, will experience height differences and horizontal misalignment. However, the rigid steel rails laid above cannot absorb these displacements like the flexible filler. This forces the originally horizontal and straight rails to bear enormous shear stress and bending moment, resulting in severe bending, twisting, misalignment, and even tearing deformation as the tank settles. The rigid deformation of this track causes extremely uneven stress on the gantry crane wheels, leading to severe running jams, wheel wear on the rails, motor overload and burnout, and even derailment. This not only interrupts the continuity of sludge removal operations but also causes irreversible mechanical damage to the main steel structure of the gantry crane, significantly increasing the water plant's equipment maintenance and unplanned downtime costs. Current solutions mostly rely on periodic manual measurements and physical correction by adding steel plates to the bottom of the track. However, this method requires emptying the sedimentation tank and shutting down for maintenance, which is extremely labor-intensive, and is a reactive measure that cannot address the continuous and dynamic settlement process of the foundation.

[0006] Furthermore, even if existing technologies attempt to introduce automation to monitor and compensate for track height, they still face measurement blind spots. In existing technologies, even when displacement sensors or level gauges are installed, their mounting bases are typically fixed to the sedimentation tank's own walls, passageways, or railings. However, when the entire sedimentation tank foundation sinks or tilts, the sensors mounted on the tank will also sink synchronously. This creates a floating reference frame; the sensors only measure the relative height of the track to the tank wall, and cannot accurately sense changes in the tank's own elevation. Summary of the Invention

[0007] To address the aforementioned deficiencies or improvement needs of existing technologies, this invention provides a sludge removal system adaptable to sedimentation tank settling and a method for sludge removal from sedimentation tanks. It employs a segmented track, with a first distance measuring sensor added above each track segment, in conjunction with a first lifting device, to achieve real-time monitoring and active fine-tuning of the track elevation, ensuring that the elevation of each track segment remains consistent. This solves the problems of traditional rigid tracks being unable to adapt to tank settling, prone to height misalignment, and bending deformation leading to abnormal gantry movement.

[0008] To achieve the above objectives, according to one aspect of the present invention, a sludge discharge system adaptable to sedimentation in a sedimentation tank is provided. The sedimentation tank includes multiple tanks, and a sedimentation joint is provided between any two adjacent tanks and the sedimentation joint is filled with flexible filler. A sludge collection trough is provided at the bottom of each tank, and a first sludge discharge pipe is provided on the wall of each sludge collection trough. The sludge removal system includes a sludge removal gantry, multiple sets of double-track components, a reference support, and multiple first distance measuring sensors. The multiple sets of double-track components are arranged sequentially along the width direction of the settlement joint, and there is a gap between any two adjacent sets of double-track components to accommodate changes in the width of the settlement joint. For each of the aforementioned dual-track assemblies, there are two lifting track assemblies arranged side by side. Each lifting track assembly includes a track and multiple first lifting mechanisms for driving the track to lift. All the first lifting mechanisms are installed on the top of the sedimentation tank. The upper end of each first lifting mechanism is hinged to the track and the lower end is hinged to the embedded parts installed on the sedimentation tank. The sludge removal gantry includes a truss, a sludge scraping mechanism, and a traveling assembly for driving the truss to move. The traveling assembly is adapted to the dual-rail assembly. The sludge scraping mechanism is mounted on the truss and is used to scrape the sludge and sand at the bottom of the sedimentation tank into the sludge collection trough at the bottom of the sedimentation tank. Each of the first ranging sensors is mounted on a reference support independent of the sedimentation tank, and the bottom of the reference support is anchored in a bearing layer outside the sedimentation influence range of the sedimentation tank; Multiple first ranging sensors are arranged directly above each of the tracks, and these first ranging sensors are arranged sequentially along the length of the track.

[0009] Preferably, the sludge discharge system further includes a sludge suction mechanism, which includes a sludge suction pump, a sludge collection pipe, a second sludge discharge pipe, and a third sludge discharge pipe; The sludge scraping mechanism includes a second lifting mechanism and a sludge scraper; The second lifting mechanism and the third sludge discharge pipe are both installed on the truss. The scraper and the sludge pump are installed on the second lifting mechanism to drive the scraper and the sludge pump to rise and fall. The sludge collection pipe is installed at the sludge inlet of the sludge pump, and the bottom end of the sludge collection pipe faces the bottom of the pool so that the sludge pump can suck up the sludge from the bottom of the sedimentation tank. One end of the second sludge discharge pipe is connected to the sludge discharge port of the sludge pump. One end of the third sludge discharge pipe is connected to the other end of the second sludge discharge pipe through a flexible joint. The other end of the third sludge discharge pipe is located directly above the sludge discharge channel to discharge sludge into the sludge discharge channel. The sludge discharge channel is located on the side of the sedimentation tank. The inner cavity of the sludge collection trough is connected to the inner cavity of the sludge discharge channel through the first sludge discharge pipe.

[0010] Preferably, the sludge scraping mechanism further includes a second distance sensor, which is mounted on the truss with its detection end facing downwards, for detecting sedimentation data at the bottom of the sedimentation tank and transmitting it to the controller. Based on the detection data from the second distance sensor, the controller controls the position of the sludge scraper through the second lifting mechanism, thereby keeping the distance between the bottom of the sludge scraper and the bottom of the sedimentation tank within a set threshold range.

[0011] Preferably, the sludge removal system further includes two sets of high-pressure flushing mechanisms and a flushing water pipe connected to a tap water pipeline, with the two sets of high-pressure flushing mechanisms arranged along a direction perpendicular to the length of the track; Each of the high-pressure flushing mechanisms includes a water tank, a water pump, a spray pipe, and multiple high-pressure atomizing nozzles; The flushing water pipe is located next to the sedimentation tank to supply water to the water tank; The water tank, water pump, and spray pipe are respectively installed on the truss. The water tank is connected to the spray pipe through the water pump. Each spray pipe is equipped with multiple high-pressure atomizing nozzles so that these high-pressure atomizing nozzles spray high-pressure water mist to perform high-pressure rinsing on the walls of the sedimentation tank.

[0012] Preferably, each of the first sludge discharge pipes is equipped with a sludge discharge valve, and each of the first sludge discharge pipes is connected to a flushing water pipe connected to a tap water pipe for flushing the sludge discharge valve.

[0013] Preferably, the reference support includes an anchoring column, a load-bearing bracket, and a rigid beam; The bottom of the anchoring column penetrates the settlement soil layer and is anchored in the stable rock layer. The bearing bracket is fixed to the top of the anchoring column. The rigid beam is horizontally erected on the bearing bracket. All the first ranging sensors are installed on the rigid beam. The rigid beam adopts a spatial truss structure or a hollow variable cross-section box beam structure so that its maximum self-weight deflection in the span direction is less than the set elevation allowable error.

[0014] Preferably, the sludge discharge system further includes a lateral limiting bracket fixed to the top of the sedimentation tank. Multiple pairs of oppositely arranged guide rollers are rotatably installed on the lateral limiting bracket. The two side walls of each track roll and fit against the multiple pairs of guide rollers to constrain the lateral displacement of the track in the horizontal plane. The top end of the first lifting mechanism is hinged to the track via an adaptive flexible bearing head, and the bottom end of the first lifting mechanism is hinged to the embedded part installed on the sedimentation tank via an adaptive flexible bearing head. The adaptive flexible bearing head includes a ball-and-socket base and a ball-and-socket connecting rod, one end of which is a spherical end that rotatably fits into the ball-and-socket base.

[0015] Preferably, a smooth telescopic transition mechanism is provided between the tracks of any two adjacent sets of dual-track assemblies; The smooth telescopic transition mechanism includes a first comb plate and a second comb plate fixed at opposite ends of two adjacent tracks respectively. The comb teeth of the first comb plate and the second comb plate are horizontally interlocked and there is a gap between the comb teeth to accommodate changes in the width of the settlement joint. The top surface of the first comb plate is flush with the top surface of the track on which the first comb plate is installed, and the top surface of the second comb plate is flush with the top surface of the track on which the second comb plate is installed. Elastic shock-absorbing pads are provided below the bottom of the first and second comb plates to prevent rigid impact on the flexible filler in the settlement joint when the mud discharge gantry crosses the settlement joint.

[0016] Preferably, the scraper blade is arranged at an angle, the scraper blade is made of wear-resistant rubber material, and the bottom of the scraper blade is provided with anti-slip scraping teeth.

[0017] According to another aspect of the invention, a method for discharging sludge from a sedimentation tank using the aforementioned sludge discharge system adaptable to sedimentation tank settling is also included, comprising the following steps: 1) Using each of the first ranging sensors installed on the reference bracket, the elevation data of the corresponding track is detected in real time, and the elevation data is continuously sent to the controller; 2) The controller receives the elevation data of the track, calculates the amount of track settlement caused by the sedimentation tank, and obtains the height pre-compensation amount based on the amount of settlement; 3) The controller sends a pre-compensation control command containing a height pre-compensation amount to each of the first lifting mechanisms below the track in advance. Each of the first lifting mechanisms acts synchronously according to the pre-compensation control command to adjust the height of the track in advance to offset the settlement and ensure that each track remains horizontal and the top surface of all tracks is flush. 4) The driving truss of the mud removal gantry moves smoothly on the leveled track.

[0018] In summary, compared with the prior art, the above-described technical solutions conceived by this invention can achieve the following beneficial effects: 1) The sludge removal system of the present invention, adaptable to sedimentation tank settling, establishes an external measurement benchmark almost unaffected by shallow geological subsidence, since each of the first ranging sensors is mounted on a reference support independent of the sedimentation tank, and the bottom of the reference support is anchored in a bearing layer outside the sedimentation tank's settling influence range. This ensures that the elevation of each first ranging sensor remains constant. When a certain tank body undergoes vertical displacement due to uneven local bearing capacity, at least two first ranging sensors positioned directly above each track can vertically detect and capture the actual subsidence of each node of the track. Through multi-point vertical distance data feedback, the control center can not only identify the overall swing amplitude of the track but also accurately calculate the pitch angle of the track along its length, providing a high-fidelity adjustment target parameter for subsequent lifting compensation control.

[0019] 2) The sludge removal system of the present invention, adaptable to sedimentation tank settling, includes a single track assembly comprising a track and multiple first lifting mechanisms for driving the track's lifting and lowering, with all first lifting mechanisms mounted on the top of the sedimentation tank. This power-distributed mounting structure provides the system with multi-node vertical leveling control capabilities. When the first ranging sensor detects that a section of the track deviates from a predetermined height due to tank settling, multiple first lifting mechanisms distributed at the bottom of the same track can receive commands to independently extend and retract vertically. Through the differentiated displacement output of the first lifting mechanisms at different nodes, the system can reverse the non-uniform deformation of the track caused by settling. For example, for a tilted deformation where one end of the track is higher than the other, the first lifting mechanism on the deeper side increases its lifting stroke, while the first lifting mechanism on the shallower side makes minor adjustments, thereby correcting the track's pitch attitude and causing the top surfaces of each track in the multiple sets of dual-track assemblies to return to and maintain the same horizontal plane.

[0020] 3) The sludge removal system of the present invention, adaptable to sedimentation tank settling, features a first lifting mechanism that finely adjusts the horizontal height of the tracks, ensuring that the spatial geometry of the two tracks remains parallel despite the tank settling. Simultaneously, the gap between any two adjacent sets of double-track assemblies is no less than the width of the settling joint. This segmented design, combined with the independent lifting of the first lifting mechanism, allows each independent lifting track assembly to autonomously correct its course. This reduces height discrepancies and joint shear stress between adjacent tracks caused by inconsistent settling of the various tanks. When the sludge removal gantry's traveling assembly drives the gantry to move along the length of the sedimentation tank, the leveled tracks provide a smooth, continuous, and uniformly resistant rolling path for the traveling assembly, reducing vertical vibration of heavy-duty equipment and controlling the probability of wheel wear and jamming. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 for Figure 1 Enlarged view of point A in the middle; Figure 3 for Figure 1 Enlarged view of point B in the middle; Figure 4 for Figure 1 Enlarged view of point C in the middle; Figure 5 This is a schematic diagram of the flushing water pipe in this invention; Figure 6 This is a schematic diagram showing the arrangement of a first comb plate and a second comb plate between two adjacent tracks in this invention. Figure 7 This is a schematic diagram of the first ranging sensor mounted on the reference bracket in this invention; In all the accompanying drawings, the same reference numerals denote the same technical features, specifically: 1. Track; 2. First lifting mechanism; 3. Second distance sensor; 4. Controller; 5. Second lifting mechanism; 6. Sludge scraper; 7. Flushing water pipe; 8. Water injection point; 9. Water tank; 10. Water pump; 11. Spray pipe; 12. Atomizing nozzle; 13. Lifting base; 14. Jack; 15. Third sludge discharge pipe; 16. Second sludge discharge pipe; 17. Sludge suction pump; 18. Flexible joint; 19. Walking assembly; 20. Guardrail; 21. Sedimentation tank; 22. Truss; 23. Sludge collection pipe; 24. First sludge discharge pipe; 25. Sludge discharge channel; 26. Sludge discharge valve; 27. First comb plate; 28. Second comb plate; 29. ​​First distance sensor; 30. Reference bracket; 31. Anchor column; 32. Bearing bracket; 33. Rigid beam. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0023] Reference Figures 1-7The sedimentation tank 21 is adapted to the sludge discharge system of the sedimentation tank. The sedimentation tank 21 includes multiple tanks. There is a sedimentation joint between any two adjacent tanks and the sedimentation joint is filled with flexible filler. The width direction of the sedimentation joint is perpendicular to the length direction of the sedimentation tank 21. Each tank has a sludge collection trough at the bottom and a first sludge discharge pipe 24 on the wall of each sludge collection trough.

[0024] The sludge removal system includes a sludge removal gantry, multiple sets of double-track components, a reference support 30, and multiple first distance measuring sensors 29. The multiple sets of double-track components are arranged sequentially along the width direction of the settlement joint, and there is a gap between any two adjacent sets of double-track components to accommodate changes in the width of the settlement joint.

[0025] Each set of dual-track components includes two lifting track assemblies 1. Each lifting track assembly 1 includes a track 1 and multiple first lifting mechanisms 2 for driving the track 1 to rise and fall. The two tracks 1 are parallel to each other. All the first lifting mechanisms 2 are installed on the top of the sedimentation tank 21. The upper and lower ends of each first lifting mechanism 2 are hinged to the track 1 and the sedimentation tank 21, respectively. The first lifting mechanism 2 preferably includes a lifting base 13 and a jack 14 fixedly installed on the lifting base 13. The lifting base 13 is hinged to the sedimentation tank 21 through embedded parts installed on the sedimentation tank 21. If the jack 14 is used, the upper and lower ends of the first lifting mechanism 2 need to be hinged to the track 1 and the sedimentation tank 21, respectively, and a vertical guide mechanism is added between the track 1 and the sedimentation tank 21 to withstand lateral forces.

[0026] The sludge removal gantry includes a truss 22, a sludge scraping mechanism, and a traveling assembly 19 for driving the truss 22. The traveling assembly 19 is adapted to the double-rail assembly to drive the truss 22 to move along the length of the sedimentation tank 21. The sludge scraping mechanism is installed on the truss 22 to scrape the sludge from the bottom of the sedimentation tank into the sludge collection trough at the bottom of the sedimentation tank 21. Then, the sludge in the sludge collection trough is discharged into the sludge discharge channel 25 next to the sedimentation tank 21 through the first sludge discharge pipe 24. A sludge discharge valve 26 can be installed on the first sludge discharge pipe 24. The bottom of the sludge discharge channel 25 is lower than the bottom of the sludge collection trough. The sludge in the sludge collection trough is discharged into the sludge discharge channel 25 by the water pressure above the sludge collection trough. Each of the first sludge discharge pipes 24 is connected to a flushing water pipe connected to a tap water pipeline for flushing the sludge discharge valve 26. Alternatively, a sludge pump can be installed on the first sludge discharge pipe 24 to pump the sludge in the sludge collection trough into the sludge discharge channel 25.

[0027] The truss 22 includes an operating platform and railings 20 set on the operating platform. The walking assembly 19 can use a conventional power drive device and walking wheels connected to the power drive device.

[0028] Each of the first ranging sensors 29 is mounted on a reference support 30 independent of the sedimentation tank 21. The bottom of the reference support 30 is anchored in a bearing layer outside the settlement influence range of the sedimentation tank 21 to ensure that the elevation of each first ranging sensor 29 remains constant. The bearing layer is located below the shallow subsidence soil layer and the active groundwater zone, specifically a deep stable bedrock layer or a high-compacted primary consolidated layer. The bottom of the anchoring column 31 penetrates all weak geological layers that may experience consolidation settlement, collapse, or rheological changes, directly rooted and anchored in this deep stable layer. This bearing layer has extremely high foundation bearing capacity and extremely low compression modulus. Even under extreme conditions such as the sedimentation tank above operating at full load, the civil structure generating enormous self-weight, and alternating dynamic water pressure, the vertical compression generated by the bearing layer itself is at a micrometer level or negligible, exhibiting strong mechanical support characteristics. The elevation of the bearing layer is almost unaffected by the drag of uneven settlement in the pool, and is isolated from the dynamic settlement environment above.

[0029] Multiple first ranging sensors 29 are arranged directly above each of the tracks 1, and these first ranging sensors 29 are arranged sequentially along the width direction of the settling joint (also sequentially along the length direction of the sedimentation tank 21). Preferably, first ranging sensors 29 are arranged above both ends of each track 1. Initially, the upper surface of each track 1 is horizontal, and the upper surfaces of all tracks are flush. Therefore, initially, the detection values ​​of the first ranging sensors 29 directly above all tracks 1 are equal. There is a suitable distance between the first ranging sensors 29 and the tracks 1, which does not affect the movement of the sludge removal gantry crane. The first ranging sensors 29 can be lidar.

[0030] During the long-term operation of large-scale engineering facilities, multiple pools will inevitably experience independent and inconsistent foundation settlement due to differences in geological bearing capacity, changes in water content, and uneven self-weight load. Because the multiple sets of double-track components are designed as a segmented structure arranged sequentially along the width of the settlement joint, and because there is a gap between any two adjacent sets of double-track components that is not less than the width of the settlement joint, this arrangement makes each set of double-track components an independent load-bearing unit.

[0031] When a single pool body sinks or tilts, the flexible filler absorbs the displacement of the civil structure. Simultaneously, due to the sufficiently wide gap between the dual-rail components, adjacent components will not pull, squeeze, or drag each other. This prevents the transmission of enormous shear forces, torsional stresses, and bending moments caused by foundation changes to the entire travel path. This design gives the system excellent tensile and deformation resistance, ensuring that each set of dual-rail components can independently cope with the displacement changes of the pool body below, avoiding bending, breakage, or fatigue damage to rigid long guide rails under uneven stress conditions. This significantly extends the service life of multiple sets of dual-rail components and lays a solid structural foundation for subsequent independent leveling control.

[0032] Traditional guide components are typically anchored directly to the tank wall, making vertical attitude adjustment impossible. In this design, each track 1 is equipped with multiple first lifting mechanisms 2 for driving the track 1 up and down, and these first lifting mechanisms 2 are all installed on the top of the sedimentation tank 21. This means that the first lifting mechanism 2 can act as a dynamic force-bearing support node, flexibly and adjustablely connecting the track 1 to the top of the sedimentation tank 21.

[0033] When the sedimentation tank 21 experiences vertical displacement, the height of the track 1 can be compensated in the opposite direction by controlling the extension or retraction of the corresponding first lifting mechanism 2. Simultaneously, since each lifting track 1 assembly is equipped with multiple such first lifting mechanisms 2, the system can not only achieve overall lifting or lowering, but also correct the pitch angle of the track 1 by adjusting the different strokes of the first lifting mechanisms 2 at different nodes, thereby restoring it to a horizontal state. More importantly, the requirement that the two tracks 1 are parallel to each other is not only a requirement for initial installation, but also a target state that the system needs to maintain during dynamic operation. The first lifting mechanisms 2 distributed on both sides work independently and collaboratively to ensure that the spatial geometric relationship of the two tracks 1 remains parallel under complex civil engineering deformations, thereby preventing the track gauge from increasing or decreasing and ensuring the stable force distribution and smooth passage of the upper mobile equipment.

[0034] In engineering surveying, the stability of the reference frame determines the true usability of the detection data. If the sensor is directly installed on the sedimentation tank 21 itself, when the sedimentation tank 21 sinks, the sensor will sink by the same amount, resulting in a blind spot in the measurement data and making it impossible to perceive the true amount of settlement. This invention successfully separates the measurement reference frame from the measured load-bearing body in terms of structural stress transmission by introducing a reference support 30 independent of the sedimentation tank 21 and anchoring the bottom of the reference support 30 in a bearing layer outside the settlement influence range of the sedimentation tank 21. This decoupling design ensures that the reference support 30 is not affected by structural changes in the sedimentation tank 21, water pressure changes, or loosening of the surrounding local soil, thus providing a static and reliable spatial reference point. Based on this, the first distance sensor 29 installed on it can ensure that its own elevation remains constant. This means that any distance change measured downward by the first distance sensor 29 truly reflects the vertical displacement of the target object (i.e., orbit 1) relative to the Earth's stationary reference plane. This design provides the entire control system with unbiased and highly reliable input parameters, which is a prerequisite for the accurate execution of subsequent command issuance and compensation actions.

[0035] A single measurement point can only acquire a local vertical displacement and cannot reflect the overall attitude of a slender structure. By arranging at least two of the first ranging sensors 29 directly above each of the tracks 1, the system can simultaneously acquire elevation data at different length nodes of the track segment 1. The attitude of a line segment in three-dimensional space requires data from at least two endpoints to determine. Arranging at least two of the first ranging sensors 29 allows the control system to not only calculate the overall average subsidence of the track segment 1, but also to accurately detect the elevation difference between the two ends of the track segment 1, thereby identifying the pitch angle of the track 1. Furthermore, arranging the first ranging sensors 29 directly above the track 1 allows the measuring beam or detection signal to be projected vertically downwards onto the top surface of the track 1, avoiding cosine errors caused by tilt measurements and maximizing the accuracy of linear distance acquisition. After obtaining accurate elevation data for two or more points, the system can guide multiple corresponding first lifting mechanisms 2 below the track 1 to perform differentiated lifting actions (e.g., one end lifts more and the other end lifts less), thereby accurately calibrating the tilted track 1 to a horizontal state. This achieves high-precision control over the attitude of a single track 1, ensuring that the running plane of the mud removal gantry crane is always kept in the optimal state.

[0036] Furthermore, the sludge discharge system also includes a sludge suction mechanism, which includes a sludge suction pump 17, a sludge suction collection pipe 23, a second sludge discharge pipe 16, and a third sludge discharge pipe 15; The sludge scraping mechanism includes a second lifting mechanism 5 and a sludge scraper 6, and: The second lifting mechanism 5 and the third sludge discharge pipe 15 are both installed on the truss 22. The second lifting mechanism 5 is equipped with the scraper 6 and the sludge pump 17 to drive the scraper 6 and the sludge pump 17 to rise and fall. It is necessary to ensure that there is always a gap between the scraper 6 and the bottom of the pool. The sludge collection pipe 23 is installed at the bottom sludge inlet of the sludge pump 17, and the bottom end of the sludge collection pipe 23 faces the bottom of the pool so that the sludge pump 17 can suck up the mud and sand between the scraper 6 and the bottom of the pool. The bottom end of the second sludge discharge pipe 16 is connected to the top sludge discharge port of the sludge pump 17. The third sludge discharge pipe 15 is connected to the second sludge discharge pipe 16 through a flexible joint 18.

[0037] Both the second lifting mechanism 5 and the third mud discharge pipe 15 are mounted on the truss 22, and the scraper 6 and the suction pump 17 are mounted on the second lifting mechanism 5. This spatial arrangement integrates the scraper 6, which performs mud collection, and the suction pump 17, which provides the power to pump mud, onto the same moving platform. By driving the scraper 6 and the suction pump 17 to adjust their vertical movement through the second lifting mechanism 5, both achieve the same track, same amplitude, and same speed in the height direction.

[0038] This synchronous linkage mechanism ensures that the relative height distance and spatial geometric relationship between the scraper blade 6 and the suction pump 17 remain constant. This guarantees that regardless of the elevation to which the working surface is adjusted by the second lifting mechanism 5, the inlet end of the suction pump 17 can always closely follow the sludge-clearing surface of the scraper blade 6 for coordinated repositioning. This integrated vertical tracking design simplifies the multi-axis motion control logic of the system, ensures posture stability during operation, avoids mechanical interference between components caused by discrete control or asynchronous motion, reduces frictional losses in the motion mechanism, and improves the smoothness of the transmission system.

[0039] The sludge collection pipe 23 is installed at the bottom sludge inlet of the sludge pump 17, with the bottom end of the sludge collection pipe 23 facing the bottom of the pool. During actual operation, the truss 22 moves in a predetermined direction, and the scraper 6 reciprocates along the bottom of the pool, enriching and aggregating the dispersed sludge along its path. Since the bottom end of the sludge collection pipe 23 points directly to the bottom of the pool, and its spatial position maintains a fixed close working relationship with the scraper 6, the negative pressure suction flow field generated at the bottom sludge inlet after the sludge pump 17 starts can suck up the sludge from the bottom of the pool and discharge it into the sludge discharge channel 25 through the third sludge discharge pipe 15. The sludge discharge of this invention mainly relies on the scraper 6 to scrape most of the sludge into the sludge collection trough and discharge it into the sludge discharge channel 25 through the first sludge discharge pipe 24. The sludge pump 17 plays an auxiliary role in sludge discharge, mainly sucking up the layer of sludge between the scraper 6 and the bottom of the pool.

[0040] In the slurry discharge pipeline, the bottom end of the second sludge discharge pipe 16 is connected to the top sludge discharge port of the sludge pump 17, and the third sludge discharge pipe 15 is connected to the second sludge discharge pipe 16 via a flexible joint 18. Because the sludge pump 17 experiences frequent vertical displacement under the drive of the second lifting mechanism 5, the second sludge discharge pipe 16, rigidly connected to the top sludge discharge port, also experiences height displacement in the same direction. Simultaneously, the third sludge discharge pipe 15 is installed on the truss 22 and is in a relatively fixed state. By introducing the flexible joint 18 to connect the movable second sludge discharge pipe 16 and the relatively stationary third sludge discharge pipe 15 in fluid series, the flexible joint 18, utilizing its material deformability and multi-degree-of-freedom deflection capability, can effectively absorb, compensate for, and buffer the vertical displacement difference and axial misalignment between the second sludge discharge pipe 16 and the third sludge discharge pipe 15. This pipeline layout alleviates the local structural shear stress and bending moment load accumulated at pipeline interfaces or fixed nodes due to the relative movement of components, ensures the continuous sealing of the fluid channel in the pipeline transportation system under dynamic lifting and displacement, avoids the risk of leakage of sewage and the sludge mixture, and maintains the high operational reliability and structural durability of the sludge discharge system that can be adapted to sedimentation tank settling during the dredging and slurry discharge process.

[0041] Furthermore, the sludge scraping mechanism also includes a second distance sensor 3, which is mounted on the truss 22 with its detection end facing downwards. This sensor detects sedimentation data at the bottom of the sedimentation tank 21 and transmits it to the controller 4. The controller 4, based on the detection data from the second distance sensor 3, controls the position of the scraper blade 6 via the second lifting mechanism 5. This maintains the distance between the scraper blade 6 and the bottom of the sedimentation tank 21 within a set threshold range, preferably 0.5cm to 1cm. The sludge between the scraper blade 6 and the bottom of the sedimentation tank 21 can be removed by a suction mechanism. Since the sedimentation tank 21 is scraped and suctioned multiple times daily, the sludge between the scraper blade 6 and the bottom of the sedimentation tank 21 is less likely to clump and can be easily removed.

[0042] As the truss 22 moves within the work area, the detection signal emitted by the second ranging sensor 3, with its detection end facing directly downwards towards the work surface, is continuously projected onto the area below. This dynamic scanning method enables real-time detection and collection of sedimentation data at the bottom of the sedimentation tank 21 along the work path. By deploying sensors on the truss 22, the data acquisition points always move synchronously with the actual construction work points, ensuring the timeliness and spatial accuracy of the acquired data. This non-contact downward ranging method can sensitively capture local undulations and elevation changes in the supporting surface caused by foundation variations, providing a realistic and high-precision environmental condition input source for subsequent feedback adjustments.

[0043] The second ranging sensor 3 is used to detect sedimentation data at the bottom of sedimentation tank 21 and transmit it to the controller 4. The controller 4, based on the detection data of the second ranging sensor 3, controls the position of the scraper 6 through the second lifting mechanism 5. This characteristic sequence constructs a complete closed-loop control link of data acquisition, logical operation and instruction issuance, and action execution.

[0044] The controller 4, acting as the central hub for information processing and command issuance, continuously receives and analyzes the settlement data transmitted at high frequency. During the calculation process, the controller 4 compares the real-time distance change value with preset operating parameters. Once a fluctuation in the elevation below is detected, it immediately calculates the required compensation stroke and issues a corresponding drive command to the second lifting mechanism 5. Upon receiving the command, the second lifting mechanism 5 quickly generates a vertical upward lifting or downward extension action, directly changing the vertical coordinates of the scraper 6 in space. This control logic, which converts environmental data into digital signals and then uses these digital signals to drive component displacement, endows the system with proactive adaptability, enabling the working components to self-correct according to dynamic changes in the external environment, thus improving the intelligence level of system operation.

[0045] The ultimate goal of the aforementioned closed-loop control is to maintain the distance between the scraper blade 6 and the bottom of the sedimentation tank 21 within a set threshold range. Maintaining this distance threshold has multi-dimensional positive effects in actual dredging and sewage discharge processes.

[0046] On the one hand, through the dynamic intervention of the controller 4, when the bottom of the sedimentation tank 21 experiences local subsidence, the second lifting mechanism 5 drives the scraper 6 to descend synchronously; when the bottom of the sedimentation tank 21 experiences local bulging or encounters protrusions, the scraper 6 is promptly raised. This contour-following adjustment method ensures that the scraper 6 remains close to the sediment surface, preventing missed scraping due to excessive spacing, ensuring efficient collection and aggregation of bottom sediment, and maintaining stable and high-standard dredging operation quality.

[0047] On the other hand, strictly limiting the spacing within a set threshold effectively avoids high-intensity direct impact or large-area rigid friction between the scraper blade 6 and the bottom of the sedimentation tank 21. Maintaining a reasonable gap significantly reduces the material wear rate of the scraper blade itself, while also protecting the integrity of the underlying bottom plate structure. This dynamic anti-collision and wear control mechanism extends the replacement cycle of vulnerable parts, reduces the frequency of maintenance during long-term operation, and ensures the long-term sustainability and reliable operation of the entire system under complex terrain conditions.

[0048] Furthermore, the sludge removal system also includes two sets of high-pressure flushing mechanisms, which are arranged along a direction perpendicular to the length of track 1; Each of the high-pressure flushing mechanisms includes a water tank 9, a water pump 10, a water spray pipe 11, and multiple high-pressure atomizing nozzles 12; The sludge removal system also includes a flushing water pipe 7 connected to a tap water pipeline. The flushing water pipe 7 is located next to the sedimentation tank 21 so as to supply water to the water tank 9. The water tank 9, water pump 10 and water spray pipe 11 are respectively installed on the truss 22. The water tank 9 is connected to the water spray pipe 11 through the water pump 10. Multiple high-pressure atomizing nozzles 12 are installed on each water spray pipe 11 so that these high-pressure atomizing nozzles 12 spray high-pressure water mist to wash the walls of the sedimentation tank 21 under high pressure.

[0049] The sludge removal system also includes a high-pressure flushing mechanism, which comprises a water tank 9, a spray pipe 11, and multiple high-pressure atomizing nozzles 12. Simultaneously, the sludge removal system also includes a flushing water pipe 7 connected to a tap water pipeline, and this flushing water pipe 7 is located beside the sedimentation tank 21 to supply water to the water tank 9. This fluid supply and storage architecture establishes a stable and convenient water source access channel.

[0050] Arranging the flushing water pipe 7 next to the sedimentation tank 21 significantly shortens the spatial transmission distance between the fixed water source and the dynamic work area, allowing the cleaning fluid to be conveniently and smoothly delivered to the mobile work platform. Furthermore, by directly connecting to the plant's pressurized tap water pipeline, not only is the initial water pressure stability ensured during fluid injection, but the cleanliness of the flushing medium is also guaranteed, effectively preventing the risk of impurities in the raw water clogging the subsequent precision spray pipe 11 and nozzles. This immediate and efficient water supply method allows the water tank 9, which contains the fluid, to be quickly replenished when the sludge removal system reaches the pipeline interface water injection point 8, giving the high-pressure flushing mechanism continuous spraying capability over long periods, fully supporting the cleaning needs of large-area, long-distance work areas in large-scale water treatment facilities.

[0051] In actual operation, when the drive system moves the truss 22 along the predetermined track 1, the water tank 9, fully loaded with fluid, and the water spray pipe 11, which performs the delivery, move synchronously, thus constructing a dynamic, cruiseable mobile washing platform. This follow-up operation mode allows the flushing action on the walls of the sedimentation tank 21 to be carried out synchronously and collaboratively with the scraping and suction of the bottom sludge in the same time dimension and in the same working section. The follow-up dynamic flushing operation allows the attached materials that are impacted and detached from the wall to fall into the area directly below where the bottom scraping operation is underway, and then be collected and processed by the sludge discharge component at the bottom. This prevents the sludge after stripping from re-precipitating, solidifying, or causing secondary pollution within the tank due to step-by-step and time-based processing, greatly improving the continuity of the sludge removal system and the overall water purification performance.

[0052] The water spray pipe 11 extends vertically along the side wall, forming the vertical section. Multiple high-pressure atomizing nozzles 12 are distributed at predetermined intervals along this pipe section, constructing a multi-node fluid jet array from top to bottom. This three-dimensional array distribution significantly expands the elevation coverage of the rinsing operation during a single translational stroke, ensuring that the walls of the sedimentation tank 21 at different depths from the liquid surface edge to the bottom are all within the water jet range and impact coverage area, avoiding localized cleaning dead zones and sludge leakage caused by single-height water spraying.

[0053] Simultaneously, the high-pressure atomizing nozzle 12, by spraying high-pressure water mist, utilizes the powerful kinetic energy generated by the sudden release of pressurized fluid to effectively cut, impact, and peel off stubborn sludge clumps that have long adhered to and bonded to the walls of the sedimentation tank 21. The water flow is sprayed at high speed in a fine atomized form, significantly expanding the lateral water mist radiation distribution area of ​​a single nozzle while maintaining a sufficiently high contact impact force to peel off the adhering substances. This also optimizes water resource consumption, ensuring that each unit volume of cleaning water can fully exert its wide-area surface stripping and rinsing cleaning efficiency. This high-frequency, full-coverage rinsing of the high-speed atomized water flow effectively guarantees the high cleanliness of the tank's sidewall surface, maintaining the smoothness of water flow and the effective design volume of the sedimentation tank 21.

[0054] Furthermore, the high-pressure atomizing nozzle 12 is an angle-adjustable nozzle. Confining the high-pressure atomizing nozzle 12 to an angle-adjustable nozzle gives the cleaning fluid the ability to flexibly change its ejection posture within space. During the daily operation of the sedimentation tank 21, the thickness and adhesion strength of the sludge adhering to different depth areas of the tank wall vary significantly. By autonomously adjusting the spray direction of the angle-adjustable nozzle, the incident angle between the high-pressure water mist and the tank wall of the sedimentation tank 21 can be changed. This flexible change in the outlet angle allows the high-pressure water mist to impact the tank wall surface in the optimal cutting tangential direction, rationally converting the positive impact kinetic energy into lateral shear peeling force, thereby more smoothly flushing away the solidified stubborn sludge layer and improving the surface cleaning quality of a single flushing operation.

[0055] Furthermore, the reference support 30 includes an anchoring column 31, a load-bearing bracket 32, and a rigid beam 33; The bottom of the anchoring column 31 penetrates the settlement soil layer and is anchored in the stable rock layer. The bearing bracket 32 ​​is fixed to the top of the anchoring column 31. The rigid beam 33 is horizontally mounted on the bearing bracket 32. All the first ranging sensors 29 are installed on the rigid beam 33. The rigid beam 33 adopts a spatial truss structure or a hollow variable cross-section box beam structure so that its maximum self-weight deflection in the span direction is less than the set elevation allowable error.

[0056] The reference support 30 includes an anchoring column 31, a bearing bracket 32, and a rigid beam 33. The bottom of the anchoring column 31 penetrates the settled soil layer and is anchored in the stable rock layer. This deep-pit anchoring arrangement across strata constructs a static bearing foundation isolated from shallow surface deformation. In the actual operating environment of large-scale civil engineering projects, the surface settled soil layer often undergoes continuous downward compaction or lateral slippage due to the self-weight of the overlying water storage structure, seasonal changes in water content, and groundwater flow.

[0057] By extending the bottom of the anchor column 31 downwards, directly penetrating geological strata prone to displacement, and rooting it deep within stable rock layers with high bearing capacity that remain unaffected by changes in shallow hydrogeological conditions, the anchor column 31 gains a stable foundation. This deep-rooted structural arrangement allows the support nodes of the measurement and control system to be removed from the subsidence influence zone of the upper pool structure. When the upper facilities sink with the foundation, the anchor column 31 remains stationary in situ due to the gripping force of the underlying rock, blocking the transmission of environmental deformation stress to the measuring elements and providing the upper measuring components with a static coordinate origin that does not change with the surrounding soil.

[0058] After obtaining static support from the deep foundation, the bearing bracket 32 ​​is fixed to the top of the anchor column 31, and the rigid beam 33 is horizontally mounted on the bearing bracket 32. This bottom-up node assembly structure transmits the spatial static characteristics from the deep underground layer to the upper working space.

[0059] The supporting bracket 32 ​​serves as a transitional connection node, maintaining an independent, non-contact state with easily deformable components such as the pool wall, thus avoiding parasitic tensile stresses generated when adjacent structures deform. Simultaneously, the rigid beam 33 is horizontally mounted on top, utilizing its high moment of inertia and excellent bending stiffness to resist flexural deformation caused by its own weight over the long span. This beam structure creates a straight reference baseline above the operating area, ensuring high smoothness and straightness of the detection baseline throughout the entire corridor space, providing unified geometric plane support for multi-point distributed data acquisition.

[0060] Because the rigid beam 33 is not prone to bending or sinking, all the first ranging sensors 29 share the same static, uniform, and uniformly high horizontal reference plane. When the sensing elements distributed in different sections emit detection signals downwards to measure their distance from the track 1 below, the spatial elevation of the transmitting end remains consistent and constant. Each set of distance values ​​returned objectively reflects the vertical change of the target object below relative to the static reference plane. This measurement layout based on a globally unified rigid platform avoids the zero-point reference drift problem caused by discrete installation on different sinking components, ensuring the homogeneity and consistency of multi-point, multi-dimensional spatial detection data. This provides a real parameter basis for subsequent servo compensation calculations and fine-tuning of the actuator, improving the reliability and response accuracy of the entire system in the state perception stage.

[0061] In some embodiments, the sludge discharge system further includes a lateral limiting bracket fixed to the top of the sedimentation tank 21. Multiple pairs of oppositely arranged guide rollers are rotatably mounted on the lateral limiting bracket. The two side walls of each track 1 roll and fit against the multiple pairs of guide rollers to constrain the lateral displacement of the track 1 in the horizontal plane. When the vertical elevation of the track 1 is adjusted, the guide rollers can rotate relative to the track 1 to reduce friction.

[0062] The top end of the first lifting mechanism 2 is hinged to the track 1 via an adaptive flexible bearing head, and the bottom end of the first lifting mechanism 2 is hinged to the embedded part installed on the sedimentation tank 21 via an adaptive flexible bearing head.

[0063] The adaptive flexible bearing head includes a ball-and-socket base and a ball-and-socket connecting rod, one end of which is a spherical end that rotatably fits into the ball-and-socket base.

[0064] In the actual service environment of large-scale civil engineering facilities, due to uneven settlement of the foundation or changes in operating load, the track 1 will inevitably experience slight spatial angular deflections such as pitch and tilt. The intervention of the adaptive flexible bearing head blocks the direct transmission path of multidimensional bending moment and lateral shear force to the downward linear shaft, ensuring that the output shaft of the jack 14 always bears only pure vertical axial thrust. This spatially decoupled connection architecture ensures the sealing integrity and operational durability of the internal components of the hydraulic actuator, extends the operating cycle of the power output device, and guarantees smooth output of lifting actions.

[0065] One end of the ball joint is spherical and rotatably fits into the ball-and-socket base. This curved fit provides the connection node with rotational freedom in multiple directions in three-dimensional space. When encountering external attitude changes, the spherical end can smoothly slide and deflect at multiple angles on the inner spherical surface of the ball-and-socket base without interfering with or hindering the slight rotation of the upper load-bearing component. This multi-dimensional rotational compliance capability allows the connection node to act as a flexible universal joint in complex deformation and stress environments, providing smooth rotational space for the relative angular displacement between the upper and lower components.

[0066] At the end of the force transmission link, the other end of the ball joint is connected to the bottom of the track 1. Through this direct connection, any angular deflection of the track 1 can be synchronously transmitted to the ball joint.

[0067] When a section of the track 1 tilts locally due to external pressure or soil movement, the ball joint, driven by the track 1, adaptively swings. Thanks to the smooth and flexible rotation of the spherical end within the ball socket base, the top contact surface of the adaptive flexible bearing head maintains a large-area flat contact with the bottom of the tilted track 1. This adaptive contact characteristic prevents point or line contact that easily occurs when rigid supports encounter tilted track 1, avoiding localized stress concentration and edge chipping damage.

[0068] This dynamic angle-following compensation mechanism ensures that even when the overall spatial orientation of the track 1 changes dynamically, the upward lifting thrust provided by the jack 14 can still be evenly and smoothly distributed and transmitted to the bottom force-bearing surface of the track 1 through the adaptive flexible bearing head. This maintains the structural stability and load-bearing balance of the entire support system, ensuring the smoothness and safety of the sludge removal system, which is adaptable to sedimentation tank settling, during the upper moving operation.

[0069] Furthermore, a smooth telescopic transition mechanism is provided between the tracks 1 of any two adjacent sets of dual-track components; The smooth telescopic transition mechanism includes a first comb plate 27 and a second comb plate 28 fixed at opposite ends of two adjacent tracks 1 respectively. The comb teeth of the first comb plate 27 and the second comb plate 28 are horizontally interlocked and there is a gap between the comb teeth to adapt to the change in the width of the settlement joint. The top surface of the first comb plate 27 is flush with the top surface of the track 1 on which the first comb plate 27 is installed, and the top surface of the second comb plate 28 is flush with the top surface of the track 1 on which the second comb plate 28 is installed. Elastic shock-absorbing pads are provided below the bottom of the first comb plate 27 and the second comb plate 28 to prevent rigid impact on the flexible filler in the settlement joint when the mud discharge gantry crosses the settlement joint.

[0070] A smooth telescopic transition mechanism is provided between the tracks 1 of any two adjacent sets of double-track assemblies. This smooth telescopic transition mechanism includes a first comb plate 27 and a second comb plate 28, respectively fixed to the opposite ends of the two adjacent tracks 1. This structure constructs a non-rigid, fixed transition bridge between mutually independent load-bearing sections. In the actual operating environment of large-scale water treatment facilities, the settling joints of the sedimentation tank 21 will dynamically expand and contract with varying widths due to changes in the foundation and alternating ambient temperatures.

[0071] In this invention, the teeth of the first comb plate 27 and the second comb plate 28 are horizontally staggered and interlocked, with gaps between the teeth to accommodate changes in the width of the settlement joint. This horizontally staggered geometry allows the two independent track segments 1 to overlap and cross each other longitudinally, ensuring the continuity of the walking support surface. Simultaneously, the gaps between the teeth provide the staggered structure with a free sliding margin in the horizontal direction. When the pool bodies below both ends experience horizontal displacement in opposite directions, the first comb plate 27 and the second comb plate 28 can smoothly slide closer to or further away from each other, flexibly absorbing the longitudinal tensile and compressive displacements of the civil engineering structure. This sliding mechanism avoids the risks of stress concentration, component twisting, or breakage caused by forced constraints at the fracture point, ensuring structural safety while maintaining the continuity of the load-bearing path when crossing gaps.

[0072] In terms of vertical elevation control, the top surface of the first comb plate 27 is flush with the top surface of the track 1 on which it is mounted, and the top surface of the second comb plate 28 is flush with the top surface of the track 1 on which it is mounted. This spatial alignment defines the transition component and the main load-bearing track 1 as a seamlessly connected integral plane on the upper working surface.

[0073] As the sludge removal gantry crane travels along track 1 and is about to cross the settlement joint between independent blocks, the flat top surface structure prevents stepped unevenness at the joint. When the traveling wheels leave one side of track 1 and enter the comb-tooth interlacing area, they can maintain their original horizontal trajectory without sudden vertical drops or jumps. This smooth rolling contact surface ensures the stability of the sludge removal gantry crane when crossing the joint, reduces the overall vehicle vibration caused by bumps, prevents instantaneous high-intensity direct impacts and wear on the wheel treads and the end of track 1, and ensures the stability of the upper dredging components during operation.

[0074] Regarding the stress-bearing design at the bottom, the scheme stipulates that elastic shock-absorbing pads are provided below the bottom of the first comb plate 27 and the second comb plate 28 to prevent rigid impact on the flexible filler in the settlement joint when the mud removal gantry crosses the settlement joint. This design introduces a flexible stress-relieving medium between the upper metal load-bearing component and the lower civil engineering gap.

[0075] When the heavy-duty sludge removal gantry crane travels to the suspended comb-tooth junction area, the vertically downward dynamic eccentric load applied by the wheels will concentrate on this transition node. The elastic damping pads, utilizing the high elasticity and displacement characteristics of their material, deform instantly under pressure, transforming the instantaneous concentrated downward pressure into a smoothly released distributed force, thereby significantly reducing the peak of the vertically transmitted dynamic load. This downward buffering and stress-relief mechanism blocks the direct transmission of strong dynamic pressure stress to the depths of the settlement joint below, effectively protecting the flexible filler material filling the settlement joint from being crushed or prematurely aged and failing, maintaining the integrity and airtight safety of the overall civil engineering seepage prevention and leakage prevention works of sedimentation tank 21.

[0076] Because the first ranging sensor 29 and the first lifting mechanism 2 work together to adjust the height and level of the track 1 in real time, the top surfaces of the first comb plate 27 and the second comb plate 28 can also remain flush in real time, and there will be virtually no situation where the top surfaces of the first comb plate 27 and the second comb plate 28 are not flush due to sedimentation in the sedimentation tank 21. In addition, the opposite ends of the first comb plate 27 and the second comb plate 28 can be provided with chamfers or smooth guide surfaces, which can smoothly guide the running assembly 19 in the event that the top surfaces of the first comb plate 27 and the second comb plate 28 are not flush.

[0077] Furthermore, the scraper 6 is arranged at an angle, the scraper 6 is made of wear-resistant rubber material, and the bottom of the scraper 6 is provided with anti-slip scraping teeth.

[0078] The scraper blades 6 are arranged at an angle, which, when propelled forward by the sludge removal gantry, creates a guiding surface and cutting angle for the silt deposited at the bottom of the pool. This inclined geometry optimizes the stress state of the fluid-solid mixture, causing the scraped silt to tumble and gather downwards along the inclined surface after being pushed, preventing excessive accumulation of silt in front of the baffle and preventing it from escaping upwards. At the same time, the inclined surface effectively reduces the fluid resistance on the upstream side of the scraper blades 6 when moving underwater, reducing the driving load on the gantry's travel system and ensuring a stable and uniform forward movement of the upper working platform.

[0079] The scraper blade 6 is made of wear-resistant rubber. Utilizing the unique high elasticity and flexible displacement characteristics of rubber, the scraper blade 6 can adaptively conform to the slight undulations and unevenness of the sedimentation tank bottom when scraping against the bottom plate of the sedimentation tank 21. This ensures the airtightness and fit of the dredging operation, avoiding the localized missed scraping problems that can easily occur when rigid materials encounter small pits and depressions. Furthermore, its wear-resistant properties significantly resist material wear caused by long-term friction from bottom silt and gravel, extending the service life of vulnerable parts. The flexible rubber medium also provides good buffering protection during the scraping process, preventing high-intensity flow operations from scratching and damaging the concrete surface of the sedimentation tank bottom 21.

[0080] The scraper blade 6 is equipped with anti-slip teeth at its bottom, a design that changes the traditional contact pattern between a flat scraper and the underlying sludge. The anti-slip teeth transform line contact into multi-point, concentrated force contact, utilizing the high pressure distribution at the tooth tips to effectively penetrate, cut, and break down long-term deposited, solidified, or highly adhesive layers of sludge at the bottom of the pool. This structure prevents the scraper from slipping or being obstructed by the surface when facing hard sludge, enhancing its ability to peel and loosen stubborn deposits. This provides a pre-broken, easily flowing, high-concentration mud-water mixture for smooth suction by the subsequent sludge suction mechanism, improving the overall quality of dredging and sewage discharge and increasing sludge recovery rate.

[0081] According to another aspect of the invention, a method for discharging sludge from a sedimentation tank using the aforementioned sludge discharge system adaptable to sedimentation tank settling is also provided, comprising the following steps: 1) Using each of the first ranging sensors 29 installed on the reference bracket 30, the elevation data of the corresponding track 1 is detected in real time, and the elevation data is continuously sent to the controller 4; 2) The controller 4 receives the elevation data of track 1, calculates the amount of sedimentation of track 1 caused by sedimentation in sedimentation tank 21, and obtains the height pre-compensation amount based on the amount of sedimentation; 3) The controller 4 sends a pre-compensation control command containing a height pre-compensation amount to each of the first lifting mechanisms 2 below the track 1 in advance. Each of the first lifting mechanisms 2 acts synchronously according to the pre-compensation control command to adjust the height of the track 1 in advance to offset the settlement and ensure that all tracks 1 remain horizontal and that the top surfaces of all tracks 1 are flush. 4) The driving truss 22 of the mud removal gantry 19 moves smoothly on the leveled track 1.

[0082] During the movement of the truss 22, the second ranging sensor 3 installed on the truss 22 detects the sedimentation data of the bottom of the sedimentation tank 21 in real time. Based on the sedimentation data of the bottom of the sedimentation tank 21, the controller 4 dynamically adjusts the height of the scraper 6 through the second lifting mechanism 5 installed on the truss 22, so that the distance between the scraper 6 and the bottom of the tank is always kept within the set threshold range. At the same time, the sludge suction mechanism on the truss 22 sucks up the mud and sand from the bottom of the tank and discharges it from the sedimentation tank 21.

[0083] In steps 1) and 2), the elevation data of the corresponding track 1 is detected in real time by the first ranging sensors 29 mounted on the reference support 30, and the elevation data is continuously sent to the controller 4 for calculation. This feature establishes an objective detection network that does not rely on the easily movable pool body. Relying on the reference support 30, which is independent of the pool body, the elevation data acquired by the first ranging sensors 29 has a high degree of accuracy. The controller 4 converts the continuously received data into specific settlement amounts and further calculates the height pre-compensation amount. This process successfully transforms uncontrollable environmental variables into executable digital command parameters, giving the entire support system the ability to perform autonomous calculations and dynamic decisions, overcoming the lag and measurement errors of traditional manual measurements.

[0084] In step 3), the controller 4 issues a pre-compensation control command containing a height pre-compensation amount to each of the first lifting mechanisms 2 below the track 1 in advance to adjust the height of the track 1 in advance. This "advance" intervention is the core strategy to ensure the smooth operation of the heavy-duty sludge removal equipment. Before the sludge removal gantry enters the track 1, the first lifting mechanism 2 in this section has already acted synchronously according to the command, completing the height compensation adjustment in advance. This feedforward prediction and advanced execution mechanism successfully offsets the settling deformation of the sedimentation tank 21, so that the track 1 has recovered and maintained a horizontal state before bearing heavy pressure. This effectively avoids the step difference or inclination slope that the sludge removal gantry's traveling assembly 19 may encounter when crossing different settling blocks, ensuring the smoothness of the traveling trajectory, reducing the probability of collision and wear between the wheel set and the track 1, and maintaining the stress balance of the overall load-bearing structure.

[0085] In step 4), while dynamically adjusting the height of the scraper blade 6, the suction mechanism draws in and discharges silt. This feature achieves synchronous coordination between silt enrichment and suction transport in both time and space. The scraper blade 6 moves forward and converges, while the suction mechanism follows closely behind to perform directional and targeted suction of the high-concentration mud-water mixture. This continuous, assembly-line operation effectively suppresses secondary diffusion or suspension of the scraped silt in the water, improves the solid-liquid separation discharge ratio, and maintains the high efficiency and continuous operation capability of the dredging process.

[0086] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A sludge removal system adaptable to sedimentation tanks, wherein the sedimentation tank comprises multiple tanks, a settling joint is provided between any two adjacent tanks and the settling joint is filled with flexible packing material, a sludge collection trough is provided at the bottom of each tank, and a first sludge discharge pipe is provided on the wall of each sludge collection trough, characterized in that: The sludge removal system includes a sludge removal gantry, multiple sets of double-track components, a reference support, and multiple first distance measuring sensors. The multiple sets of double-track components are arranged sequentially along the width direction of the settlement joint, and there is a gap between any two adjacent sets of double-track components to accommodate changes in the width of the settlement joint. For each of the aforementioned dual-track assemblies, there are two lifting track assemblies arranged side by side. Each lifting track assembly includes a track and multiple first lifting mechanisms for driving the track to lift. All the first lifting mechanisms are installed on the top of the sedimentation tank. The upper end of each first lifting mechanism is hinged to the track and the lower end is hinged to the embedded parts installed on the sedimentation tank. The sludge removal gantry includes a truss, a sludge scraping mechanism, and a traveling assembly for driving the truss to move. The traveling assembly is adapted to the dual-rail assembly. The sludge scraping mechanism is mounted on the truss and is used to scrape the sludge and sand at the bottom of the sedimentation tank into the sludge collection trough at the bottom of the sedimentation tank. Each of the first ranging sensors is mounted on a reference support independent of the sedimentation tank, and the bottom of the reference support is anchored in a bearing layer outside the sedimentation influence range of the sedimentation tank; Multiple first ranging sensors are arranged directly above each of the tracks, and these first ranging sensors are arranged sequentially along the length of the track.

2. The sludge removal system adaptable to sedimentation tank settling according to claim 1, characterized in that, The sludge discharge system also includes a sludge suction mechanism, which includes a sludge suction pump, a sludge collection pipe, a second sludge discharge pipe, and a third sludge discharge pipe. The sludge scraping mechanism includes a second lifting mechanism and a sludge scraper; The second lifting mechanism and the third sludge discharge pipe are both installed on the truss. The scraper and the sludge pump are installed on the second lifting mechanism to drive the scraper and the sludge pump to rise and fall. The sludge collection pipe is installed at the sludge inlet of the sludge pump, and the bottom end of the sludge collection pipe faces the bottom of the pool so that the sludge pump can suck up the sludge from the bottom of the sedimentation tank. One end of the second sludge discharge pipe is connected to the sludge discharge port of the sludge pump. One end of the third sludge discharge pipe is connected to the other end of the second sludge discharge pipe through a flexible joint. The other end of the third sludge discharge pipe is located directly above the sludge discharge channel to discharge sludge into the sludge discharge channel. The sludge discharge channel is located on the side of the sedimentation tank. The inner cavity of the sludge collection trough is connected to the inner cavity of the sludge discharge channel through the first sludge discharge pipe.

3. The sludge removal system adaptable to sedimentation tank settling according to claim 2, characterized in that, The sludge scraping mechanism also includes a second distance sensor, which is mounted on the truss with its detection end facing downwards. This sensor is used to detect sedimentation data at the bottom of the sedimentation tank and transmit it to the controller. Based on the detection data from the second distance sensor, the controller controls the position of the sludge scraper through the second lifting mechanism, thereby keeping the distance between the bottom of the sludge scraper and the bottom of the sedimentation tank within a set threshold range.

4. The sludge removal system adaptable to sedimentation tank settling according to claim 1, characterized in that, The sludge removal system also includes two sets of high-pressure flushing mechanisms and flushing water pipes connected to the tap water pipeline. The two sets of high-pressure flushing mechanisms are arranged along the length perpendicular to the track. Each of the high-pressure flushing mechanisms includes a water tank, a water pump, a spray pipe, and multiple high-pressure atomizing nozzles; The flushing water pipe is located next to the sedimentation tank to supply water to the water tank; The water tank, water pump, and spray pipe are respectively installed on the truss. The water tank is connected to the spray pipe through the water pump. Each spray pipe is equipped with multiple high-pressure atomizing nozzles so that these high-pressure atomizing nozzles spray high-pressure water mist to perform high-pressure rinsing on the walls of the sedimentation tank.

5. The sludge removal system adaptable to sedimentation tank settling according to claim 4, characterized in that, Each of the first sludge discharge pipes is equipped with a sludge discharge valve, and each of the first sludge discharge pipes is connected to a flushing water pipe connected to a tap water pipe for flushing the sludge discharge valve.

6. The sludge removal system adaptable to sedimentation tank settling according to claim 1, characterized in that, The reference support includes anchor columns, load-bearing brackets, and rigid beams; The bottom of the anchoring column penetrates the settlement soil layer and is anchored in the stable rock layer. The bearing bracket is fixed to the top of the anchoring column. The rigid beam is horizontally erected on the bearing bracket. All the first ranging sensors are installed on the rigid beam. The rigid beam adopts a spatial truss structure or a hollow variable cross-section box beam structure so that its maximum self-weight deflection in the span direction is less than the set elevation allowable error.

7. The sludge removal system adaptable to sedimentation tank settling according to claim 1, characterized in that, The sludge removal system also includes a lateral limiting bracket fixed to the top of the sedimentation tank. Multiple pairs of oppositely arranged guide rollers are rotatably installed on the lateral limiting bracket. The two side walls of each track roll and fit against the multiple pairs of guide rollers to constrain the lateral displacement of the track in the horizontal plane. The top end of the first lifting mechanism is hinged to the track via an adaptive flexible bearing head, and the bottom end of the first lifting mechanism is hinged to the embedded part installed on the sedimentation tank via an adaptive flexible bearing head. The adaptive flexible bearing head includes a ball-and-socket base and a ball-and-socket connecting rod, one end of which is a spherical end that rotatably fits into the ball-and-socket base.

8. The sludge removal system adaptable to sedimentation tank settling according to claim 1, characterized in that, A smooth telescopic transition mechanism is provided between the tracks of any two adjacent sets of dual-track components; The smooth telescopic transition mechanism includes a first comb plate and a second comb plate fixed at opposite ends of two adjacent tracks respectively. The comb teeth of the first comb plate and the second comb plate are horizontally interlocked and there is a gap between the comb teeth to accommodate changes in the width of the settlement joint. The top surface of the first comb plate is flush with the top surface of the track on which the first comb plate is installed, and the top surface of the second comb plate is flush with the top surface of the track on which the second comb plate is installed. Elastic shock-absorbing pads are provided below the bottom of the first and second comb plates to prevent rigid impact on the flexible filler in the settlement joint when the mud discharge gantry crosses the settlement joint.

9. The sludge removal system adaptable to sedimentation tank settling according to claim 1, characterized in that, The scraper blade is arranged at an angle and is made of wear-resistant rubber material. The bottom of the scraper blade is provided with anti-slip scraping teeth.

10. A method for discharging sludge from a sedimentation tank using the sludge discharge system adaptable to sedimentation tank settling as described in any one of claims 1 to 9, characterized in that, Includes the following steps: 1) Using each of the first ranging sensors installed on the reference bracket, the elevation data of the corresponding track is detected in real time, and the elevation data is continuously sent to the controller; 2) The controller receives the elevation data of the track, calculates the amount of track settlement caused by the sedimentation tank, and obtains the height pre-compensation amount based on the amount of settlement; 3) The controller sends a pre-compensation control command containing a height pre-compensation amount to each of the first lifting mechanisms below the track in advance. Each of the first lifting mechanisms acts synchronously according to the pre-compensation control command to adjust the height of the track in advance to offset the settlement and ensure that each track remains horizontal and the top surface of all tracks is flush. 4) The driving truss of the mud removal gantry moves smoothly on the leveled track.

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