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Stimulated by the observation of $Λ_c(2910)^+$ by the Belle Collaboration, the $S$-wave $qqq\bar{q}c~(q=u~\text{or}~d)$ pentaquark systems with $I$ = 0, $J^P$ = $\frac{1}{2}^-,~\frac{3}{2}^- and~\frac{5}{2}^-$ are investigated in the framework of quark delocalization color screening model(QDCSM). The real-scaling method is utilized to check the bound states and the genuine resonance states. The root mean square of cluster spacing is also calculated to study the structure of the states and estimate if the state is resonance state or not. The numerical results show that $Λ_{c}(2910)$ cannot be interpreted as a molecular state, and $Σ_{c}(2800)$ cannot be explained as the $ND$ molecular state with $J^P=1/2^-$. $Λ_{c}(2595)$ can be interpreted as the molecular state with $J^P=\frac{1}{2}^-$ and the main component is $Σ_{c}π$. $Λ_{c}(2625)$ can be interpreted as the molecular state with $J^P=\frac{3}{2}^-$ and the main component is $Σ_{c}^{*}π$. $Λ_{c}(2940)$ is likely to be interpreted as a molecular state with $J^P=3/2^-$, and the main component is $ND^{*}$. Besides, two new molecular states are predicted, one is the $J^P=3/2^-$ $Σ_{c}ρ$ resonance state with the mass around 3140 MeV, another one is the $J^P=\frac{5}{2}^-$ $Σ_{c}^*ρ$ with the mass of 3188.3 MeV.