Rapid demolding device and method for small prefabricated part

Abstract

The invention discloses a rapid demolding device and method for a small prefabricated part, and relates to the technical field of prefabricated part production. The mold bearing table is mounted on the substrate of the demolding rack and is integrated with a multi-point temperature sensor and an acoustic vibration signal collector; the ejection demolding assembly is installed on the stand columns of the demolding rack in a liftable mode and comprises an ejection plate assembly, and an ejection force sensor and a high-frequency vibrator are arranged on the ejection plate assembly; the visual identification module is mounted on the demolding rack; and the controller is electrically connected with the multi-point temperature sensor, the sound vibration signal collector, the ejection force sensor, the high-frequency vibrator, the visual recognition module and a driving mechanism of the ejection demolding assembly. Multi-source sensing information is fused, the component condensation state and the demolding time are accurately judged, the ejection force and vibration in the demolding process are adaptively controlled, accurate and flexible control over the demolding time and process is achieved, and the demolding success rate and the component yield are remarkably increased.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of prefabricated component production, in particular to a small prefabricated component rapid demolding device and method. BACKGROUND

[0002] The prefabricated component technology is an important cornerstone of modern building industrialization. Through batch production of concrete components such as wall panels, beams, columns, and stairs in a factory environment using standardized molds, and then transporting them to the construction site for assembly, the construction speed can be significantly improved, and the quality and precision of the components can be guaranteed. The core processes include mold preparation, concrete pouring, curing and setting, and finally demolding. Among them, curing and setting is a chemical and physical process for the internal strength of the component, and demolding is a physical separation process for taking it out of the mold completely. The success or failure of the demolding link is directly related to the yield, appearance quality and production efficiency of the prefabricated component, and is a crucial technical node in the entire production chain. The ideal demolding operation requires that when the component reaches a strength sufficient to resist its own weight and demolding force, it is smoothly and completely separated out in the most efficient way with the smallest additional stress.

[0003] However, the existing small prefabricated component demolding technology generally has low intelligence and rough process control. At present, the main way to determine the demolding time still highly depends on the subjective experience of workers and fixed curing schedules. Operators estimate the setting state of the component through traditional methods such as knocking and observation. This method is easily disturbed by factors such as environmental temperature and humidity, and batch differences of concrete, and the judgment result lacks scientificity and consistency. Premature demolding may cause the component to crack, deform or even be damaged due to insufficient strength; late demolding will reduce the turnover rate of the mold, affect production efficiency, and may require more external force to be applied due to excessive bonding force during demolding, which also increases the risk of component damage. In the demolding execution phase, the traditional demolding equipment usually uses constant speed and force to eject, or performs global vibration without distinction, which is a blind and open-loop control method without feedback. It cannot sense the actual and dynamically changing adhesion and friction between the component and the mold during the demolding process. Once local jamming or uneven bonding occurs, the continuous application of rigid ejection force is likely to cause stress concentration, resulting in quality defects such as micro-cracks, edge damage or surface scratches of the component, so that the demolding success rate and yield are always difficult to reach the ideal level. SUMMARY

[0004] The purpose of the present application is to provide a small prefabricated component rapid demolding device and method, which solves the problems in the background art.

[0005] To solve the above technical problems, the present application provides a small prefabricated component rapid demolding device, comprising: a demolding rack; A mold carrying platform, the mold carrying platform is installed on the base plate of the demoulding frame, and the mold carrying platform is integrated with multiple temperature sensors and acoustic vibration signal collectors; An ejector and demoulding assembly is escalably mounted on a column of the demoulding frame, and includes a top plate assembly on which an ejection force sensor and a high-frequency vibrator are provided; A visual recognition module, the visual recognition module being mounted on the demoulding frame and used to monitor the separation state between the prefabricated component and the mold; and a controller, wherein the controller is electrically connected to the multi-point temperature sensor, the acoustic vibration signal collector, the ejection force sensor, the high-frequency vibrator, the visual recognition module, and the driving mechanism of the ejection and demoulding assembly.

[0006] Preferably, the demoulding frame is a C-shaped open frame, and a linear guide rail for guiding the ejection and demoulding assembly to rise and fall is provided on the inner side of the vertical column.

[0007] Preferably, the ejection and demoulding assembly includes a servo motor connected to the demoulding frame, and the servo motor drives the ejector plate assembly to perform vertical linear motion along the linear guide rail through a ball screw mechanism.

[0008] Preferably, the visual recognition module includes an industrial camera and a structured light emitter, and the structured light emitter is used to project grating stripes onto the joint area between the prefabricated component and the mold.

[0009] A method for quickly demoulding a small prefabricated component is also provided, comprising: The controller collects the temperature field data provided by the multi-point temperature sensor and the acoustic vibration characteristic data provided by the acoustic vibration signal collector to generate a condensation state comprehensive index and a condensation uniformity index; When both the coagulation state comprehensive index and the coagulation uniformity index reach a preset demoulding admission threshold, the controller drives the ejection and demoulding assembly to apply an initial ejection force and simultaneously collects ejection force data and interface separation state data; The controller generates an interface separation uniformity index based on the interface separation state data, and identifies a separation critical point when the growth slope of the ejection force data decreases and the interface separation uniformity index reaches a preset separation surface percentage threshold; After identifying the separation critical point, the controller drives the ejection and demolding assembly to perform the ejection action, and based on the ejection force data and the acoustic and vibration signals of the demolding process collected in real time, dynamically adjusts the ejection speed and controls the high-frequency vibrator to assist in drag reduction.

[0010] Preferably, the step of generating a comprehensive index of condensation state is to use the growth trend of the elastic modulus converted from the acoustic vibration characteristic data as the main judgment basis, and to use the change trend of the temperature field data as an auxiliary correction item for fusion calculation.

[0011] Preferably, before identifying the separation critical point, if the ejection force data reaches a plateau and the interface separation uniformity index does not reach the separation surface percentage threshold, the method further includes: The controller locates a sticky area based on the interface separation state data, and drives the high-frequency vibrator near the sticky area to perform targeted vibration until the interface separation uniformity index reaches the separation surface percentage threshold.

[0012] Preferably, the step of controlling the high-frequency vibrator to assist in drag reduction is used to increase the amplitude of the high-frequency vibrator and reduce the ejection speed when a sudden increase in the characteristic frequency energy related to the microcracks of the component appears in the acoustic vibration signal during the demolding process.

[0013] Compared with the prior art, the present invention has the following beneficial effects: By integrating multi-source sensors to conduct a comprehensive quantitative assessment of the internal state of the component, combining the chemical reaction process with the physical strength growth trend, it is possible to scientifically and accurately determine whether the component has reached an internal state suitable for demolding. This replaces the traditional model that relies on fixed time or manual experience, fundamentally ensuring that the demolding operation is initiated at an optimal time point with sufficient physical basis, and effectively avoiding component damage caused by premature or late demolding.

[0014] A correlation verification mechanism combining mechanical and visual features is introduced to identify the timing of demolding. While applying the initial ejection force, the microscopic dynamics of the ejection force and the interface separation gap are simultaneously monitored. Only when a yield trend appears mechanically and the separation surface is visually confirmed to have reached a sufficient width is it determined to be the true separation critical point. This dual confirmation mechanism effectively avoids misjudgment caused by local separation first, ensures that the demolding command is issued when the component is fully ready, and prevents torsional damage to the component caused by forced demolding in an uneven state.

[0015] The demoulding execution process is transformed from a rigid, fixed mode to a flexible, adaptive intelligent control process. During the ejection period, the ejection speed can be dynamically adjusted according to the resistance size monitored in real time. By analyzing the acoustic vibration signal, the risk areas where local sticking or microcracks may occur can be located. Then, targeted vibration drag reduction or deceleration and stress release can be actively carried out, realizing refined and low-damage control of the demoulding process, and significantly improving the success rate of demoulding and the integrity rate of components under complex conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description only constitute some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor. Figure 1 is a schematic diagram of the overall structure of the device outside the device; Figure 2 is a schematic diagram of the structure of the top plate assembly; Figure 3 is a schematic diagram of the structure of the ejection demolding assembly; Figure 4 is a schematic diagram of the structure of the top plate assembly; Figure 5 is a flowchart of the method in the present application; 100, demolding frame; 200, mold carrier table; 210, multi-point temperature sensor; 220, acoustic vibration signal collector; 300, ejection demolding assembly; 310, top plate assembly; 320, ejection force sensor; 330, high-frequency vibrator; 400, visual recognition module. DETAILED DESCRIPTION

[0017] The technical solutions in the embodiments of the present application will be described clearly and completely below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments only constitute some embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0018] Please refer to Figure 1-4 The present application provides a small prefabricated component rapid demolding device, which comprises: a demolding frame 100; A mold carrier table 200 is installed on the base plate of the demolding frame 100, and the mold carrier table 200 is integrated with a multi-point temperature sensor 210 and an acoustic vibration signal collector 220; An ejection demolding assembly 300 is installed on the stand column of the demolding frame 100 in a lifting manner, and the ejection demolding assembly 300 comprises a top plate assembly 310, wherein the top plate assembly 310 is provided with an ejection force sensor 320 and a high-frequency vibrator 330; A visual recognition module 400 is installed on the demolding frame 100 and is used for monitoring the separation state between the prefabricated component and the mold; and a controller electrically connected with the multi-point temperature sensor 210, the acoustic vibration signal collector 220, the ejection force sensor 320, the high-frequency vibrator 330, the visual recognition module 400 and the driving mechanism of the ejection and demolding assembly 300 respectively.

[0019] The small prefabricated component rapid demolding device provided by the embodiment aims to solve the problems of low demolding success rate and component damage in the prior art due to the inability to accurately determine the component condensation state and demolding timing; the core of the device is that a mechanical structure integrating a multi-source sensing system is coordinated by a central controller to realize accurate perception and control of the demolding process; the demolding rack 100 provides a stable working basis for all components; the mold bearing table 200 not only supports the mold, but also replaces the traditional judgment method relying on manual experience by integrating the multi-point temperature sensor 210 and the acoustic vibration signal collector 220, and the purpose is to obtain the condensation information inside the component from two dimensions of temperature and structural strength; the ejection and demolding assembly 300 is responsible for the final physical separation action, and the ejection force sensor 320 and the high-frequency vibrator 330 arranged on the top plate assembly 310 of the ejection and demolding assembly 300 make the applied ejection force and auxiliary vibration no longer blind but accurately measurable and controllable; the visual recognition module 400 provides a non-contact external observation angle for real-time monitoring of the separation progress between the component and the mold at the microscopic level, and makes up for the defect that the uniformity of separation cannot be judged by the force sensor alone; the controller collects and processes all the sensing information and issues instructions to the driving mechanism of the ejection and demolding assembly 300 and the high-frequency vibrator 330, and the purpose is to integrate the previously isolated perception, decision and execution links into a collaborative system, thereby improving the accuracy of demolding timing judgment and the fineness of process control.

[0020] The demolding rack 100 is a C-shaped open frame, and a linear guide rail for guiding the lifting of the ejection and demolding assembly 300 is arranged on the inner side of the vertical column.

[0021] The demolding rack 100 in the embodiment adopts a C-shaped open frame structure; the purpose of this design is to provide a convenient operation space for the taking and placing of the mold and the observation of the visual recognition module 400, and the accessibility of operation is better than that of a fully enclosed frame; in order to ensure the stability and pointing accuracy of the ejection and demolding assembly 300 during lifting, a linear guide rail is arranged on the inner side of the vertical column of the demolding rack 100; the linear guide rail is a standardized transmission component, which provides a high-precision guide for the vertical movement of the ejection and demolding assembly 300 through the rolling or sliding cooperation between the slider and the guide rail, so as to reduce the friction resistance and lateral deflection during movement, which is crucial for ensuring that the top plate assembly 310 stably contacts the component and uniformly applies force.

[0022] The ejection and demoulding assembly 300 includes a servo motor connected to the demoulding frame 100 , and the servo motor drives the ejector plate assembly 310 to perform vertical linear motion along the linear guide rail through a ball screw mechanism.

[0023] The drive mechanism of the ejection demolding assembly 300 in this embodiment is specifically composed of a servo motor and a ball screw mechanism. The servo motor serves as a power source, and its functional connection with the demolding frame 100 is intended to stably transmit the power of the motor to the transmission system. For example, the servo motor can be fixed to the top crossbeam of the demolding frame 100 through a dedicated bracket. The ball screw mechanism serves as a transmission component, and its function is to efficiently and accurately convert the rotational motion output by the servo motor into the vertical linear motion of the ejector plate assembly 310. The connection between the servo motor and the ball screw mechanism can be achieved as long as it can achieve reliable torque transmission. For example, they can be connected through a coupling. The purpose of choosing a servo motor instead of an ordinary motor is that its speed and angle of rotation can be precisely controlled by the controller, thereby achieving millisecond-level dynamic adjustment of the ejection speed and ejection position. Compared with an ordinary screw, the ball screw mechanism has the characteristics of high transmission efficiency, low friction, and high positioning accuracy. This allows small speed adjustment instructions issued by the controller to be executed without compromise, providing a basis for the subsequent implementation of adaptive speed control based on force feedback.

[0024] The visual recognition module 400 includes an industrial camera and a structured light emitter, and the structured light emitter is used to project grating stripes onto the joint area between the prefabricated component and the mold.

[0025] The visual recognition module 400 in this embodiment is composed of an industrial camera and a structured light emitter. During the demolding process, the separation gap between the component and the mold is very small. Especially in the initial stage of separation, ordinary cameras have difficulty in stably identifying it under poor ambient lighting or reflective surface conditions. The function of the structured light emitter is to project a light with a specific pattern (such as grating stripes) onto the joint area between the prefabricated component and the mold. When the component and the mold undergo relative displacement, the grating stripes projected on the surface of the component will move or deform accordingly, and the industrial camera will capture this deformation. By analyzing the changes in the stripes, the controller can calculate the precise width and length of the gap. This method of actively projecting light sources is intended to enhance the saliency and distinguishability of visual features, reduce the interference of ambient lighting changes on the recognition results, make it possible to monitor the separation state at the micron level, and provide reliable visual data input for subsequent accurate judgment of the separation critical point and separation uniformity.

[0026] See also Figure 5 The present invention also provides a method for rapid demoulding of small prefabricated components, comprising: The controller collects the temperature field data provided by the multi-point temperature sensor 210 and the acoustic vibration characteristic data provided by the acoustic vibration signal collector 220 to generate a condensation state comprehensive index and a condensation uniformity index.

[0027] When both the coagulation state comprehensive index and the coagulation uniformity index reach the preset demoulding admission threshold, the controller drives the ejection and demoulding assembly 300 to apply an initial ejection force and simultaneously collects ejection force data and interface separation state data; The controller generates an interface separation uniformity index based on the interface separation state data, and identifies a separation critical point when the growth slope of the ejection force data decreases and the interface separation uniformity index reaches a preset separation surface percentage threshold; After identifying the separation critical point, the controller drives the ejection and demolding assembly 300 to perform the ejection action, and based on the ejection force data and the acoustic vibration signal of the demolding process collected in real time, dynamically adjusts the ejection speed and controls the high-frequency vibrator 330 to assist in drag reduction.

[0028] The rapid demolding method for small prefabricated components provided in this embodiment is designed to decompose the demolding process into three stages: setting assessment, timing capture, and adaptive execution. During the component setting and curing stage, the controller collects temperature field data and acoustic and vibration characteristic data. The purpose is not to analyze them independently, but to fuse the two to generate a comprehensive setting state index and a setting uniformity index. This step replaces the traditional rough estimation based on a fixed curing time. Through data fusion, the internal strength and curing consistency of the component are quantified, providing a scientific basis for initiating demolding. The preset demolding entry threshold is not a fixed universal value, but an empirical value obtained through offline experimental calibration of concrete components with specific formulations. The specific method is to prepare multiple component samples from the same batch, synchronously measure their compressive strength and elastic modulus at different curing time points (for example, every hour), and record the corresponding comprehensive setting state index and setting uniformity index. Comprehensive index of condensation state Used to judge the overall coagulation degree and macroscopic physical strength of the component; its calculation integrates the instantaneous value of the elastic modulus, the elastic modulus growth rate, and the hydration heat reaction rate of the component, reflecting the comprehensive evaluation principle of physical strength as the main factor and chemical process as the auxiliary factor; a specific calculation formula is: ; It is a comprehensive index of coagulation state, used to judge the overall coagulation degree and macroscopic physical strength of the component; For maintenance time; For the moment The average elastic modulus of the component calculated from data collected from multiple acoustic vibration signal collection points (unit: GPa); The target elastic modulus reference value when the component reaches the design strength (unit: GPa); is the growth rate of the average elastic modulus, which directly reflects the speed of strength development (unit: GPa / h); is the standard reference value of the elastic modulus growth rate under normal curing conditions (unit: GPa / h); is the average temperature change rate of the component measured by multiple point temperature sensors (unit: °C / h); is the reference value of the temperature change rate during the peak period of hydration reaction (unit: °C / h); is the weight coefficient of the instantaneous value of elastic modulus; is the weight coefficient of the elastic modulus growth rate; is the weight coefficient of temperature change rate; (the sum of the weight coefficients is 1), usually (The physical strength weight is much greater than the temperature weight), (normalized comprehensive index range); Condensation uniformity index It is used to measure the consistency of the spatial distribution of the internal solidification state of the component. It is calculated by evaluating the discrete degree of elastic modulus data at multiple measuring points to avoid the risk of demoulding due to local slow solidification. A specific calculation method is: ; for The standard deviation of the elastic modulus values ​​converted from multiple acoustic vibration measurement points at the time; the closer the index value is to 1, the more uniform the degree of condensation in each part of the component; The index value corresponding to the critical point where the component reaches the design strength requirement (such as C30) is multiplied by a safety factor (such as 0.9-1.0) as the demolding entry threshold for the batch of components; the threshold is stored in the controller and can be selected or recalibrated when producing different types of components; when the two indexes reach the preset demolding entry threshold, it indicates that the component has met the basic conditions for demolding. At this time, the controller drives the ejection demolding assembly 300 to apply the initial ejection force and simultaneously collects the ejection force data and the interface separation status data provided by the visual recognition module 400; the core of this step is to find a separation critical point where mechanical and visual signals verify each other; the preset separation surface percentage threshold The threshold is the ratio of the perimeter of the separation gap detected by the visual recognition module 400 to the total perimeter of the contact surface between the component and the mold. This threshold is typically set at a relatively high value, such as 70%-90%. Its specific value is also calibrated experimentally: while ensuring successful demolding, the optimal percentage threshold is determined by observing the separation ratio that results in the smoothest subsequent ejection process with minimal damage. The controller generates an interface separation uniformity index based on the interface separation state data. When the growth slope of the ejection force data decreases, indicating that the static friction between the component and the mold is beginning to be overcome, and the interface separation uniformity index reaches the threshold, indicating that separation has occurred over a sufficiently large area. when and After both reach the demoulding threshold preset through experimental calibration, the controller drives the ejection demoulding assembly 300 to apply a slowly increasing initial ejection force. During this process, the controller simultaneously collects ejection force data provided by the ejection force sensor 320 and interface separation status data provided by the visual recognition module 400. The controller calculates the interface separation completeness index in real time based on visual data , which is used to quantify the proportion of separated boundaries to the total boundaries; its calculation formula is: ; is the cumulative perimeter of the separation gaps above the micron level identified and calculated by the visual recognition module 400; is the total contact perimeter between the prefabricated component and the mold at the monitoring plane; The controller searches for the separation critical point by correlating and analyzing the mechanical and visual data. When the growth slope of the ejection force data decreases significantly (indicating that the static friction begins to be overcome), and at the same time the interface separation integrity index decreases, the controller searches for the separation critical point by correlating and analyzing the mechanical and visual data. When the preset separation surface percentage threshold (e.g. 80%) is reached, the system determines that the separation critical point has been reached. This double confirmation mechanism ensures that the demoulding command is issued when the entire component is ready. The two events are associated to avoid misjudgment caused by the local bonding point first separating, and to ensure that the demolding instruction is issued when the entire component is ready; after identifying the separation critical point, the controller performs the ejection action; the controller dynamically adjusts the ejection speed and controls the high-frequency vibrator 330 based on the real-time collected ejection force data and demolding process acoustic vibration signals; this means that demolding is no longer a constant-speed process, but a flexible process that is adjusted in real time according to the actual resistance and the internal stress state of the component, with the purpose of ensuring efficiency while actively avoiding component damage caused by local jamming or internal micro-cracks.

[0029] The step of generating the condensation state comprehensive index is to use the elastic modulus growth trend converted from the acoustic vibration characteristic data as the main basis for judgment, and use the temperature field data change trend as an auxiliary correction term for fusion calculation.

[0030] The specific calculation method of generating the condensation state comprehensive index in this embodiment embodies a deep understanding of the physical meaning; the acoustic vibration characteristic data collected by the acoustic vibration signal collector 220 can be converted to the elastic modulus of the component after processing, and the elastic modulus directly reflects the material's ability to resist deformation, which is a core indicator for measuring its macroscopic physical strength, so the growth trend is used as the main basis for judgment; the temperature field data collected by the multi-point temperature sensor 210 mainly reflects the chemical process of the cement hydration heat reaction; the change trend of the temperature field data is used as an auxiliary correction term, which aims to supplement and calibrate the judgment of the elastic modulus; for example, even if the elastic modulus reaches a certain value, but if the temperature field shows that the hydration heat reaction still has a sharp fluctuation, it may mean that the internal structure is not stable; by fusing the elastic modulus representing the physical strength with the temperature field representing the chemical reaction process, the condensation state comprehensive index obtained can more comprehensively and accurately reflect the real condensation state of the component.

[0031] Before identifying the separation critical point, if the ejection force data reaches a plateau and the interface separation uniformity index does not reach the separation surface percentage threshold, it further includes: The controller locates the sticking area based on the interface separation state data, and drives the high-frequency vibrator 330 near the sticking area to perform targeted vibration until the interface separation uniformity index reaches the separation surface percentage threshold.

[0032] The method of the embodiment includes a specific subroutine for dealing with local sticking; during the process of applying the initial pushing force, a situation may occur that the growth of the ejection force data has stopped and entered a plateau, which usually means that the applied force is equal to or slightly greater than the overall static friction force, but the interface separation uniformity index fed back by the visual recognition module 400 has not reached the threshold value; this situation indicates that most of the areas have reached the separation edge, but there are a few stubborn sticking areas that hinder the overall separation; at this time, if the ejection force continues to increase, it is easy to cause the components in the separated area to be damaged due to excessive force; therefore, the design of the method is that the controller reversely locates the sticking areas that have not yet generated a separation gap based on the interface separation state data provided by the visual recognition module 400; then, the controller drives the specific high-frequency vibrator 330 located near these sticking areas to perform targeted vibration; the purpose of this way of vibrating where it is sticking is to concentrate the vibration energy on the problem area to efficiently destroy the local sticking with the smallest energy disturbance, while avoiding unnecessary impact on other areas of the component that are already in a critical state, until the interface separation uniformity index meets the standard, thereby guiding the entire separation surface to uniformly and smoothly enter the pre-mold release state.

[0033] The step of controlling the high-frequency vibrator 330 to perform auxiliary drag reduction is used to increase the amplitude of the high-frequency vibrator 330 and reduce the ejection speed when the characteristic frequency energy related to the micro-cracks of the component in the demolding process acoustic vibration signal suddenly increases.

[0034] In this embodiment, the step of controlling the high-frequency vibrator 330 to assist in drag reduction is centered on an early warning and intervention mechanism based on acoustic vibration signals. During the ejection process, the acoustic vibration signal collector 220 continues to work, but the controller does not monitor all sounds. Instead, it focuses on a specific characteristic frequency range that is directly related to the generation of microcracks in the component. This frequency range is determined during the equipment debugging phase by applying a destructive load to the sample to calibrate the unique acoustic emission signal frequency band emitted when microcracks are generated. During actual demolding, once the controller detects a sudden increase in signal energy within this characteristic frequency range, the system determines that microcracks may be forming inside the component, or that severe scraping has occurred with the mold wall. At this time, the controller's response is twofold: on the one hand, it instructs the high-frequency vibrator 330 to increase its amplitude, using stronger vibration to loosen the bonding or stuck points that generate huge resistance; on the other hand, it simultaneously instructs the servo motor to reduce the ejection speed. Allow time for the internal stress of the component to release and redistribute. This acoustic event-based intervention aims to nip damage in the bud and proactively take avoidance measures when signs of risk are detected, rather than passively bearing the consequences after damage occurs, thereby improving the safety of the demoulding process and increasing the yield rate. The characteristic frequency associated with component microcracks refers to the specific frequency band of the acoustic emission signal emitted by the concrete material when internal microcracks are generated under pressure. This frequency band is pre-calibrated in the following way: in an experimental environment, a gradually increasing destructive load is applied to the precast component sample, and a highly sensitive acoustic vibration signal collector is used to record the acoustic signal of the entire process. Through spectrum analysis, the frequency range where energy is significantly concentrated during the yield and cracking stages of the component is found (for example, characteristic peaks usually appear in the range of 1kHz-50kHz). This range is defined as the characteristic frequency of the microcrack and is preset in the controller for real-time monitoring.

[0035] The above are merely preferred embodiments of the present invention and do not limit the present invention in any other form. Any technician familiar with the profession may use the technical content disclosed above to change or modify it into an equivalent embodiment with equivalent changes and apply it to other fields. However, any simple modification, equivalent change and modification made to the above embodiment based on the technical essence of the present invention without departing from the content of the technical solution of the present invention shall still fall within the scope of protection of the technical solution of the present invention.

Claims

1. A small prefabricated component rapid demoulding device, characterized in that: include: Demolding rack (100); A mold bearing platform (200), the mold bearing platform (200) being mounted on a base plate of the demoulding frame (100), and the mold bearing platform (200) being integrated with a multi-point temperature sensor (210) and an acoustic vibration signal collector (220); An ejection and demoulding assembly (300), the ejection and demoulding assembly (300) being escalably mounted on a column of the demoulding frame (100), the ejection and demoulding assembly (300) comprising a top plate assembly (310), and an ejection force sensor (320) and a high-frequency vibrator (330) being provided on the top plate assembly (310); a visual recognition module (400), the visual recognition module (400) being mounted on the demoulding frame (100) and used to monitor the separation state between the prefabricated component and the mold; and a controller, the controller being electrically connected to the multi-point temperature sensor (210), the acoustic vibration signal collector (220), the ejection force sensor (320), the high-frequency vibrator (330), the visual recognition module (400), and the driving mechanism of the ejection and demoulding assembly (300), respectively.

2. A small prefabricated component rapid demoulding device according to claim 1, characterized in that: The demoulding frame (100) is a C-shaped open frame, and a linear guide rail for guiding the ejection and demoulding assembly (300) to rise and fall is provided on the inner side of a vertical column.

3. A small prefabricated component rapid demoulding device according to claim 2, characterized in that: The ejection and demoulding assembly (300) comprises a servo motor connected to the demoulding frame (100), and the servo motor drives the top plate assembly (310) to perform vertical linear motion along the linear guide rail via a ball screw mechanism.

4. A small prefabricated component rapid demoulding device according to claim 1, characterized in that: The visual recognition module (400) comprises an industrial camera and a structured light emitter, wherein the structured light emitter is used to project grating stripes onto a joint area between a prefabricated component and a mold.

5. A method for rapid demoulding of small prefabricated components, characterized in that: A small prefabricated component rapid demoulding device according to any one of claims 1 to 4, comprising: The controller collects the temperature field data provided by the multi-point temperature sensor (210) and the acoustic vibration characteristic data provided by the acoustic vibration signal collector (220) for generating a condensation state comprehensive index and a condensation uniformity index; When both the coagulation state comprehensive index and the coagulation uniformity index reach a preset demoulding admission threshold, the controller drives the ejection and demoulding assembly (300) to apply an initial ejection force, and simultaneously collects ejection force data and interface separation state data; The controller generates an interface separation uniformity index based on the interface separation state data, and identifies a separation critical point when the growth slope of the ejection force data decreases and the interface separation uniformity index reaches a preset separation surface percentage threshold; After identifying the separation critical point, the controller drives the ejection and demoulding assembly (300) to perform an ejection action, and based on the ejection force data and demoulding process acoustic vibration signals collected in real time, dynamically adjusts the ejection speed and controls the high-frequency vibrator (330) to assist in drag reduction.

6. A method for rapid demoulding of small prefabricated components according to claim 5, characterized in that: The step of generating the comprehensive index of the condensation state is to use the growth trend of the elastic modulus converted from the acoustic vibration characteristic data as the main judgment basis, and to use the change trend of the temperature field data as an auxiliary correction item for fusion calculation.

7. A method for rapid demoulding of small prefabricated components according to claim 5, characterized in that: Before identifying the separation critical point, if the ejection force data reaches a plateau and the interface separation uniformity index does not reach the separation surface percentage threshold, the method further includes: The controller locates the sticky area based on the interface separation state data, and drives the high-frequency vibrator (330) near the sticky area to perform targeted vibration until the interface separation uniformity index reaches the separation surface percentage threshold.

8. A method for rapid demoulding of small prefabricated components according to claim 5, characterized in that: The step of controlling the high-frequency vibrator (330) to perform auxiliary drag reduction is used to increase the amplitude of the high-frequency vibrator (330) and reduce the ejection speed when a sudden increase occurs in the characteristic frequency energy associated with component microcracks in the acoustic vibration signal during the demoulding process.

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