Two-component emulsified asphalt crack pouring material for robot and preparation method of two-component emulsified asphalt crack pouring material

Abstract

The invention provides a two-component emulsified asphalt crack pouring material for a robot and a preparation method of the two-component emulsified asphalt crack pouring material, and relates to the technical field of preparation of emulsified asphalt. The two-component emulsified asphalt crack pouring material comprises a component A and a component B, wherein the component A comprises the following raw materials: composite modified asphalt, a composite emulsifier, a thickening agent and nano SiO2; the composite modified asphalt is prepared from base asphalt, rubber powder, polyurethane, a compatilizer and sulfur; the compound emulsifier is prepared from a cationic emulsifier, a nonionic emulsifier and polyvinyl alcohol; the component B comprises the following raw materials: anhydrous calcium chloride, a coagulant, a wetting agent and a corrosion inhibitor; the coagulant is aluminum sulfate; the wetting agent is alkylphenol polyoxyethylene ether; the corrosion inhibitor is sodium molybdate. The two-component emulsified asphalt crack pouring material for the robot has the advantages of being high in low-temperature ductility, elastic recovery rate and bonding strength, high in adaptability when being used for robot construction and short in demulsification time.

Description

Technical Field

[0001] The present invention relates to the technical field of the preparation of emulsified asphalt, and particularly relates to a two-component emulsified asphalt crack filling material for robots and a preparation method thereof. Background Art

[0002] Asphalt pavement crack filling is an important means of preventive maintenance, which can effectively prevent moisture and impurities from invading cracks, delay pavement damage, and extend the service life of roads. Traditional manual crack filling methods have problems such as low construction efficiency, unstable quality, and high labor intensity. Road crack filling robots can significantly improve the efficiency and quality of crack filling operations. Their automated and precise construction characteristics can achieve continuous and uniform crack filling, greatly reducing labor costs and enhancing long-term durability. However, most of the existing crack filling materials are developed based on manual construction methods and cannot meet the rapid construction requirements of robot crack filling.

[0003] Robot crack filling has high requirements for crack filling materials. The existing asphalt pavement crack filling materials often use new materials, resulting in high costs. To reduce production costs and at the same time solve the problem of the recycling of waste polyurethane foam and rubber materials, our technical team has been committed to the research on preparing asphalt pavement crack filling materials from waste materials for many years. However, due to the immaturity of waste material recycling technology, the road crack filling materials prepared from waste materials in the existing technology often have the following problems: poor low-temperature ductility, low elastic recovery rate, and low bond strength.

[0004] In the existing technology, the patent document with the application number 202311634482.1 discloses a high-performance composite modified emulsified asphalt, which uses SBS resin and inorganic fillers for synergistic modification. Through the process route of "modifying first, emulsifying, and then modifying again", the storage stability and road performance of the emulsified asphalt are significantly improved. However, this technology still has problems such as high modifier cost and complex process. The technical solution disclosed in the patent document with the application number 201310476358.7 mixes an emulsifier aqueous solution with polymer modified asphalt to make a crack filling material, which has the advantages of simple operation and strong penetration. Compared with the hot construction technology, it has indeed made progress. However, after in-depth analysis, this existing technology cannot meet the requirements of robot crack filling and has the problem of insufficient curing speed. Conventional emulsified asphalt relies on the evaporation of water to naturally demulsify, and the curing time usually takes 2 - 4 hours, which cannot meet the rapid construction requirements.

[0005] In summary, although the existing technical solutions have improved certain properties of asphalt crack filling materials to a certain extent, the crack sealants prepared on the basis of using recycled materials such as waste rubber still have the following defects: insufficient low-temperature ductility, elastic recovery rate, and bond strength, and a long demulsification time, with poor adaptability to robot construction. Summary of the Invention

[0006] To solve the above problems existing in the prior art, the present invention provides a two-component emulsified asphalt sealant for robots and its preparation method, and achieves the following invention objectives: improving the low-temperature ductility, elastic recovery rate, and bonding strength of the emulsified asphalt sealant prepared from waste polyurethane foam and waste rubber; the prepared emulsified asphalt sealant has a high adaptability for robot construction and a short demulsification time, and the road surface can be quickly restored to traffic by using it for crack filling.

[0007] To achieve the above objectives, the following technical solutions are adopted: A two-component emulsified asphalt sealant for robots comprises component A and component B. Component A is a modified emulsified asphalt, and its raw materials include: compound modified asphalt, compound emulsifier, thickener, and nano-SiO₂; The mass ratio of the compound modified asphalt to the compound emulsifier is 3:2; the thickener is a cellulose-based thickener with a viscosity of 1000 - 5000 mPa・s, and the dosage of the thickener is 0.1 - 0.2% of the total mass of component A.

[0008] The dosage of nano-SiO₂ is 0.03 - 0.05% of the total mass of component A, and the particle size of nano-SiO₂ is 70 - 90 nm.

[0009] The compound modified asphalt is prepared from base asphalt, rubber powder, polyurethane, compatibilizer, and sulfur; the base asphalt is 70# or 90# road petroleum asphalt with a penetration (25℃) of 60 - 80 (0.1 mm) and a softening point of 46 - 50℃; the polyurethane foam is polyurethane foam from building insulation waste or automobile seat waste with an apparent density of 30 - 50 kg / m³; the rubber powder is waste tire rubber powder with a particle size of 0.25 - 0.42 mm; the compatibilizer is styrene-maleic anhydride copolymer with a density of 1.06 - 1.27 g / cm³.

[0010] The raw material ratio of the compound emulsifier is: cationic emulsifier 1.2 - 1.5%, non-ionic emulsifier 0.5 - 0.8%, polyvinyl alcohol 0.2 - 0.3%, and the balance is deionized water. The above percentages are all mass percentages; the cationic emulsifier is octadecyl trimethyl ammonium chloride with an HLB value of 15 - 16; the non-ionic emulsifier is fatty alcohol polyoxyethylene ether with an HLB value of 6 - 14.

[0011] Component B is a demulsifier, and its raw material ratio is: anhydrous calcium chloride 15 - 20%, coagulant 1 - 2%, wetting agent 0.1 - 0.2%, corrosion inhibitor 0.05 - 0.1%, and the balance is deionized water. The above percentages are all mass percentages.

[0012] The coagulant is aluminum sulfate with a particle size of 80 - 200 mesh.

[0013] The wetting agent is alkylphenol polyoxyethylene ether with an HLB value of 10 - 15.

[0014] The corrosion inhibitor is sodium molybdate with a particle size of 80 - 200 mesh.

[0015] The present invention also provides a preparation method for a two - component emulsified asphalt crack sealant for robots, and the steps are as follows: Step 1. Pretreatment of waste materials The waste polyurethane foam undergoes three - stage pretreatment including mechanical crushing, fine grinding, and surface activation to obtain pretreated polyurethane particles.

[0016] For the mechanical crushing: The waste polyurethane foam is crushed by a double - shaft shredder to obtain polyurethane materials with a particle size of 50 - 100 mm. For the fine grinding: The polyurethane materials are ground into polyurethane particles with a particle size of 1 - 3 mm using a low - temperature grinding unit under the condition of - 30 to - 40 °C. For the surface activation: The polyurethane particles are immersed in an ethanol solution containing a silane coupling agent, soaked for 30 - 40 min, and then dried. The drying temperature is 50 - 60 °C. The ethanol solution containing the silane coupling agent: The silane coupling agent is KH550, and the content of the silane coupling agent is 1 - 2%.

[0017] The waste rubber powder undergoes two processes of desulfurization treatment and surface modification to obtain pretreated rubber powder.

[0018] For the desulfurization treatment: The waste rubber powder is mixed evenly with a regenerating agent and stirred and reacted at 180 - 190 °C for 30 - 40 min. The regenerating agent is tetramethylthiuram disulfide, and the dosage of the regenerating agent is 3 - 5% of the mass of the rubber powder.

[0019] For the surface modification: The rubber powder after desulfurization treatment is mixed with an ethanol solution of a titanate coupling agent and sodium dodecylbenzenesulfonate according to a mass ratio of 100:3 - 5:1 - 2, and mechanically stirred at 60 - 70 °C for 30 - 60 min. Then the mixture is transferred to an oven at 100 - 120 °C and statically cured for 1 - 2 h. The ethanol solution of the titanate coupling agent: The titanate coupling agent is NDZ - 101, and the content of the titanate coupling agent is 8 - 10%.

[0020] Step 2. Preparation of composite modified asphalt Heat the base asphalt to 155 - 165 °C, pour it into a high-shear mixing tank, add the pretreated rubber powder, and shear and stir at a speed of 2000 - 2500 rpm for 30 - 40 min. The dosage of the pretreated rubber powder is 12 - 15% of the mass of the base asphalt; then swell and develop at 160 - 170 °C for 1.5 - 2 h; then lower the temperature to 135 - 145 °C, add the pretreated polyurethane particles and the compatibilizer, shear at a speed of 3000 - 3500 rpm for 40 - 50 min, add sulfur and mix evenly to obtain a mixture. The dosage of the pretreated polyurethane particles is 6 - 8% of the mass of the base asphalt. The compatibilizer is styrene-maleic anhydride copolymer, and its dosage is 0.3 - 0.5% of the mass of the base asphalt; the sulfur: the particle size is 200 - 800 mesh, and its dosage is 0.1 - 0.2% of the mass of the base asphalt.

[0021] Transfer the mixture to a development tank and develop for 2 - 3 h at a temperature of 150 - 160 °C and a stirring rate of 50 - 60 rpm to obtain a compound modified asphalt; the obtained compound modified asphalt: the softening point reaches 65 - 75 °C, and the ductility at 5 °C ≥ 30 cm.

[0022] Step Three: Preparation of Compound Emulsifier The raw material formula for preparing the compound emulsifier is: cationic emulsifier 1.2 - 1.5%, non-ionic emulsifier 0.5 - 0.8%, polyvinyl alcohol 0.2 - 0.3%, and the balance is deionized water. The above percentages are all mass percentages.

[0023] Heat the deionized water to 60 - 70 °C, add the cationic emulsifier, and after an interval of 5 - 8 min, add the non-ionic emulsifier. After an interval of 5 - 8 min, add polyvinyl alcohol, and finally adjust the pH value to 2 - 3 with hydrochloric acid to prepare the compound emulsifier; keep it at a constant temperature of 55 - 60 °C for standby.

[0024] The cationic emulsifier is octadecyltrimethylammonium chloride; the non-ionic emulsifier is fatty alcohol polyoxyethylene ether; the hydrochloric acid is 12 mol / L.

[0025] Step Four: Obtain Component A Preheat the compound modified asphalt to 125 - 130 °C and the compound emulsifier to 55 - 60 °C, then pump the compound modified asphalt and the compound emulsifier into a colloid mill respectively. Start the colloid mill, set the colloid mill gap to 0.1 - 0.2 mm, and set the rotation speed to 2000 - 2500 rpm. The dosage ratio of the compound modified asphalt to the compound emulsifier is 3:2 (mass ratio); collect the primary emulsification product and conduct cyclic grinding. A total of 2 - 4 times of cyclic grinding are carried out, and the temperature at the outlet of the colloid mill is controlled at 70 - 90 °C. After grinding, add a thickener and nano-SiO2, mix evenly, and then filter through a 60 - 70 mesh sieve and store it in a storage tank to obtain a modified emulsified asphalt, which is Component A.

[0026] The dosage of the thickener is 0.1 - 0.2% of the total mass of component A. The thickener is a cellulose - based thickener, preferably sodium carboxymethylcellulose; The dosage of nano - SiO₂ is 0.03 - 0.05% of the total mass of component A, and the particle size of nano - SiO₂ is 70 - 90 nm.

[0027] Step Five: Preparation of Component B The raw material formula of component B (demulsifier solution) is: 15 - 20% anhydrous calcium chloride, 1 - 2% coagulant, 0.1 - 0.2% wetting agent, 0.05 - 0.1% corrosion inhibitor, and the balance is deionized water. The above percentages are all mass percentages. The coagulant is aluminum sulfate, the wetting agent is alkylphenol polyoxyethylene ether, and the corrosion inhibitor is sodium molybdate.

[0028] Heat the deionized water to 40 - 50 °C, and sequentially add anhydrous calcium chloride, coagulant, wetting agent, and corrosion inhibitor, stir well until completely dissolved, then adjust the pH value of the solution to 4 - 5 with hydrochloric acid, and store it in a plastic container to obtain the demulsifier solution, which is component B.

[0029] The hydrochloric acid is 12 mol / L.

[0030] An application of a two - component emulsified asphalt crack - filling material for robots. Mix component A and component B of the crack - filling material in a volume ratio of 4:1 for the crack - filling robot to fill the cracks in the asphalt road; during crack - filling, component A is continuously stirred at a rate of 30 - 40 rpm, the temperature is controlled at 15 - 30 °C, component B maintains a temperature of 30 - 40 °C, the mixing pressure is controlled at 0.4 - 0.6 MPa, and the atomization pressure is 0.3 - 0.5 MPa. During crack - filling, the traveling speed of the crack - filling robot is controlled at 3 - 5 m / min, the crack - filling depth is 2 - 5 cm, and the width is 8 - 12 mm; at an ambient temperature of 25 °C, the curing time of the crack - filling material is 3 - 5 min.

[0031] The beneficial effects of the present invention are as follows: (1) The two - component emulsified asphalt crack - filling material for robots of the present invention, through specific raw material components, ratios, and process controls, enables waste polyurethane and rubber to produce a synergistic modification effect, not only reducing costs but also realizing resource recycling. Appropriately treated waste rubber powder can form a stable interpenetrating network structure with asphalt, while waste polyurethane can provide excellent elasticity and adhesion.

[0032] (2) The two-component emulsified asphalt joint sealant for robots in the present invention has relatively high softening point, low-temperature ductility, elastic recovery rate, and bonding strength. The softening point reaches 81.4 - 84.8 °C. The higher the softening point, the stronger the ability of the material to resist softening, flowing, and deformation in high-temperature environments; the low-temperature ductility reaches 20.7 - 29.7 cm. The greater the low-temperature ductility, the better the flexibility and ductility of the material, and it can effectively resist the tensile stress generated by low-temperature shrinkage or frost heave of the road surface; the elastic recovery rate is 80.4 - 84.3%. A high elastic recovery rate indicates that the material can quickly rebound after being stretched or compressed, reducing permanent deformation; the bonding strength reaches 0.7 - 2.1 MPa. The high bonding strength can ensure that the joint sealant is tightly combined with the crack wall, improving the overall structural stability of the road surface.

[0033] (3) The two-component emulsified asphalt joint sealant for robots in the present invention has a short demulsification time and opening traffic time. The demulsification time is 2.3 - 2.9 min, and the opening traffic time is 3.9 - 4.8 min. Through the innovative two-component design, the material quickly demulsifies and solidifies after spraying and mixing, perfectly matching the high-efficiency operation characteristics of the joint sealing robot, effectively reducing the road closure time and the interference to traffic flow, and is especially suitable for rapid repair of urban roads or busy traffic sections. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Attached Figure 1 is the film-forming state diagram of the two-component emulsified asphalt joint sealant for robots in the present invention after curing for 1 minute; Attached Figure 2 is the state diagram of the two-component emulsified asphalt joint sealant for robots in the present invention observed under a fluorescence microscope. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0035] To make the objectives, technical solutions, and advantages of the present invention clearer, the following will further describe the embodiments of the present invention in detail. It should be understood that the specific embodiments described herein are only for explaining and illustrating the present invention, and are not used to limit the present invention.

[0036] Example 1 A preparation method of a two-component emulsified asphalt joint sealant for robots, the steps are as follows: Step 1. Pretreatment of waste materials Waste polyurethane foam undergoes three-level pretreatment of mechanical crushing, fine grinding, and surface activation to obtain pretreated polyurethane particles.

[0037] The mechanical crushing: Crush the waste polyurethane foam with a double-shaft shredder to obtain polyurethane materials with a particle size of 50 mm; The fine grinding: Use a cryogenic grinding unit to grind the polyurethane materials to polyurethane particles with a particle size of 1 mm at -30 °C; The surface activation: Immerse the polyurethane particles in an ethanol solution containing a silane coupling agent for 30 min, and then dry them. The drying temperature is 50 °C. The ethanol solution containing the silane coupling agent: The silane coupling agent is KH550, and the content of the silane coupling agent is 1%.

[0038] The waste rubber powder is treated through two processes of desulfurization treatment and surface modification to obtain the pretreated rubber powder.

[0039] The desulfurization treatment: Mix the waste rubber powder and the regenerant evenly, and stir and react at 180 °C for 30 min. The regenerant is tetramethylthiuram disulfide, and the dosage of the regenerant is 3% of the mass of the rubber powder.

[0040] The surface modification: Mix the rubber powder after desulfurization treatment, the ethanol solution of titanate coupling agent, and sodium dodecylbenzenesulfonate according to a mass ratio of 100:3:1, and mechanically stir at 60 °C for 30 min. Then transfer the mixture to an oven at 100 °C and statically cure for 1 h. The ethanol solution of titanate coupling agent: The titanate coupling agent is NDZ-101, and the content of the titanate coupling agent is 8%.

[0041] Step 2. Preparation of the composite modified asphalt Heat the base asphalt to 155 °C, pour it into a high-shear mixing tank, add the pretreated rubber powder, and shear and stir at a speed of 2000 rpm for 30 min. Then swell and develop at 160 °C for 1.5 h; then lower the temperature to 135 °C, add the pretreated polyurethane particles and the compatibilizer, shear at a speed of 3000 rpm for 40 min, and add sulfur and mix evenly to obtain a mixture. The compatibilizer is styrene-maleic anhydride copolymer.

[0042] Transfer the mixture to a development tank and develop for 2 h at a temperature of 150 °C and a stirring rate of 50 rpm to obtain the composite modified asphalt; the obtained composite modified asphalt: the softening point reaches 65 - 75 °C, and the ductility at 5 °C ≥ 30 cm.

[0043] The dosage of the pretreated rubber powder is 15% of the mass of the base asphalt; The dosage of the pretreated polyurethane particles is 8% of the mass of the base asphalt; The dosage of the compatibilizer is 0.3% of the mass of the base asphalt; The dosage of the sulfur is 0.1% of the mass of the base asphalt.

[0044] Step 3. Preparation of the composite emulsifier The raw material ratio of the composite emulsifier is: cationic emulsifier 1.2%, non-ionic emulsifier 0.8%, polyvinyl alcohol 0.2%, and the balance is deionized water. The above percentages are all mass percentages.

[0045] Heat the deionized water to 60 °C, add the cationic emulsifier, and after an interval of 5 minutes, add the non-ionic emulsifier. After an interval of 5 minutes, add polyvinyl alcohol, and finally adjust the pH value to 2 with hydrochloric acid to obtain the composite emulsifier; keep it at a constant temperature of 55 °C for standby.

[0046] The cationic emulsifier is octadecyl trimethyl ammonium chloride; the non-ionic emulsifier is fatty alcohol polyoxyethylene ether; the hydrochloric acid is 12 mol / L.

[0047] Step Four: Prepare Component A Preheat the composite modified asphalt to 125 °C and the composite emulsifier to 55 °C, then pump the composite modified asphalt and the composite emulsifier into the colloid mill respectively. Start the colloid mill, set the gap of the colloid mill to 0.1 mm and the rotation speed to 2000 rpm. The dosage ratio of the composite modified asphalt to the composite emulsifier is 3:2 (mass ratio); collect the primary emulsified product and conduct cyclic grinding. A total of 2 cycles of grinding are carried out, and the outlet temperature of the colloid mill is controlled at 70 °C. After the grinding is completed, add the thickener and nano-SiO2, mix evenly, and then filter through a 60-mesh sieve and store it in a storage tank to obtain the modified emulsified asphalt, which is Component A.

[0048] The dosage of the thickener is 0.2% of the total mass of Component A. The thickener is a cellulose-based thickener, preferably sodium carboxymethyl cellulose; The dosage of nano-SiO2 is 0.03% of the total mass of Component A, and the particle size of nano-SiO2 is 70 - 90 nm.

[0049] Step Five: Preparation of Component B The raw material formula of Component B (demulsifier solution) is: anhydrous calcium chloride 15%, coagulant 1%, wetting agent 0.2%, corrosion inhibitor 0.1%, and the balance is deionized water. The above percentages are all mass percentages. The coagulant is aluminum sulfate, the wetting agent is alkylphenol polyoxyethylene ether, and the corrosion inhibitor is sodium molybdate.

[0050] Heat the deionized water to 40 °C, and successively add anhydrous calcium chloride, coagulant, wetting agent, and corrosion inhibitor, stir well until completely dissolved, and then adjust the pH value of the solution to 4 with hydrochloric acid, and store it in a plastic container to obtain the demulsifier solution, which is Component B.

[0051] The hydrochloric acid is 12 mol / L.

[0052] Example 2 A preparation method of a two-component emulsified asphalt crack filler for robots is as follows: Step One: Pretreatment of waste materials The waste polyurethane foam undergoes three-level pretreatment of mechanical crushing, fine pulverization, and surface activation to obtain pretreated polyurethane particles.

[0053] The mechanical crushing: The waste polyurethane foam is crushed by a double-shaft shredder to obtain polyurethane materials with a particle size of 60 mm; The fine crushing: The polyurethane materials are crushed into polyurethane particles with a particle size of 2 mm by using a low-temperature crushing unit at -35°C; The surface activation: The polyurethane particles are immersed in an ethanol solution containing a silane coupling agent for 35 min, and then dried. The drying temperature is 55°C. The ethanol solution containing the silane coupling agent: The silane coupling agent is KH550, and the content of the silane coupling agent is 1.5%.

[0054] The waste rubber powder is treated through two processes of desulfurization treatment and surface modification to obtain pretreated rubber powder.

[0055] The desulfurization treatment: The waste rubber powder is uniformly mixed with a regenerant and stirred and reacted at 185°C for 35 min. The regenerant is tetramethylthiuram disulfide, and the dosage of the regenerant is 4% of the mass of the rubber powder.

[0056] The surface modification: The rubber powder after desulfurization treatment is mixed with an ethanol solution of a titanate coupling agent and sodium dodecylbenzenesulfonate according to a mass ratio of 100:4:1.5, and mechanically stirred at 60°C for 30 min. Then the mixture is transferred to an oven at 105°C and statically cured for 1.5 h. The ethanol solution of the titanate coupling agent: The titanate coupling agent is NDZ-101, and the content of the titanate coupling agent is 9%.

[0057] Step 2. Preparation of the compound modified asphalt The base asphalt is heated to 160°C, poured into a high-shear mixing tank, and the pretreated rubber powder is added. It is sheared and stirred at a speed of 2200 rpm for 35 min, and then swelled and developed at 165°C for 1.5 h; then the temperature is lowered to 140°C, the pretreated polyurethane particles and a compatibilizer are added, and it is sheared at a speed of 3200 rpm for 45 min, and sulfur is added and mixed evenly to obtain a mixture. The compatibilizer is a styrene-maleic anhydride copolymer.

[0058] The mixture is transferred to a development tank and developed for 2.5 h at a temperature of 155°C and a stirring rate of 55 rpm to obtain the compound modified asphalt; The obtained compound modified asphalt: The softening point reaches 65 - 75°C, and the ductility at 5°C ≥ 30 cm.

[0059] The dosage of the pretreated rubber powder is 13% of the mass of the base asphalt; The dosage of the pretreated polyurethane particles is 7% of the mass of the base asphalt; The dosage of the compatibilizer is 0.4% of the mass of the base asphalt; The dosage of the sulfur is 0.15% of the mass of the base asphalt.

[0060] Step 3: Preparation of the composite emulsifier The raw material ratio of the composite emulsifier is as follows: cationic emulsifier 1.3%, non-ionic emulsifier 0.6%, polyvinyl alcohol 0.25%, and the balance is deionized water. All the above percentages are mass percentages.

[0061] Heat the deionized water to 63°C, add the cationic emulsifier, and after a 6-minute interval, add the non-ionic emulsifier. After a 6-minute interval, add polyvinyl alcohol, and finally adjust the pH value to 2 with hydrochloric acid to obtain the composite emulsifier; keep it at a constant temperature of 57°C for standby.

[0062] The cationic emulsifier is octadecyl trimethyl ammonium chloride; the non-ionic emulsifier is fatty alcohol polyoxyethylene ether; the hydrochloric acid is 12 mol / L.

[0063] Step 4: Preparation of Component A Preheat the composite modified asphalt to 127°C and the composite emulsifier to 57°C. Then pump the composite modified asphalt and the composite emulsifier into the colloid mill respectively. Start the colloid mill, set the colloid mill gap to 0.15 mm, and the rotation speed to 2200 rpm. The dosage ratio of the composite modified asphalt to the composite emulsifier is 3:2 (mass ratio); collect the primary emulsified product and conduct cyclic grinding. A total of 3 cycles of grinding are carried out, and the outlet temperature of the colloid mill is controlled at 75°C. After the grinding is completed, add a thickener and nano-SiO2, mix evenly, and then filter through a 65-mesh sieve and store it in a storage tank to obtain the modified emulsified asphalt, which is Component A.

[0064] The dosage of the thickener is 0.15% of the total mass of Component A. The thickener is a cellulose-based thickener, preferably sodium carboxymethyl cellulose; The dosage of nano-SiO2 is 0.03% of the total mass of Component A, and the particle size of nano-SiO2 is 70 - 90 nm.

[0065] Step 5: Preparation of Component B The raw material formula of Component B (demulsifier solution) is as follows: anhydrous calcium chloride 16%, coagulant 1.5%, wetting agent 0.15%, corrosion inhibitor 0.06%, and the balance is deionized water. All the above percentages are mass percentages. The coagulant is aluminum sulfate, the wetting agent is alkylphenol polyoxyethylene ether, and the corrosion inhibitor is sodium molybdate.

[0066] Heat the deionized water to 45°C, and successively add anhydrous calcium chloride, coagulant, wetting agent, and corrosion inhibitor, and stir well until completely dissolved. Then adjust the pH value of the solution to 4 with hydrochloric acid and store it in a plastic container to obtain the demulsifier solution, which is Component B.

[0067] The hydrochloric acid is 12 mol / L.

[0068] Example 3 Preparation method of a two-component emulsified asphalt joint sealant for robots, the steps are as follows: Step 1. Pretreatment of waste materials The waste polyurethane foam is subjected to three-stage pretreatment of mechanical crushing, fine pulverization, and surface activation to obtain pretreated polyurethane particles.

[0069] The mechanical crushing: The waste polyurethane foam is crushed by a double-shaft shredder to obtain polyurethane materials with a particle size of 75 mm; The fine pulverization: The polyurethane materials are pulverized to polyurethane particles with a particle size of 2 mm using a low-temperature pulverization unit at -35°C; The surface activation: The polyurethane particles are immersed in an ethanol solution containing a silane coupling agent, soaked for 35 min, and then dried, and the drying temperature is 55°C. The ethanol solution containing the silane coupling agent: The silane coupling agent is KH550, and the content of the silane coupling agent is 1.5%.

[0070] The waste rubber powder is treated through two processes of desulfurization treatment and surface modification to obtain pretreated rubber powder.

[0071] The desulfurization treatment: The waste rubber powder is mixed evenly with a regenerating agent, and stirred and reacted at 185°C for 35 min. The regenerating agent is tetramethylthiuram disulfide, and the dosage of the regenerating agent is 4% of the mass of the rubber powder.

[0072] The surface modification: The rubber powder after desulfurization treatment is mixed with an ethanol solution of a titanate coupling agent and sodium dodecylbenzenesulfonate according to a mass ratio of 100:5:2, and mechanically stirred at 60°C for 30 min. Then the mixture is transferred to an oven at 110°C and statically cured for 1.5 h. The ethanol solution of the titanate coupling agent: The titanate coupling agent is NDZ-101, and the content of the titanate coupling agent is 9%.

[0073] Step 2. Preparation of the composite modified asphalt The base asphalt is heated to 160°C, poured into a high-shear mixing tank, and the pretreated rubber powder is added, and sheared and stirred at a speed of 2300 rpm for 35 min, and then swollen and developed at 165°C for 1.8 h; then the temperature is lowered to 140°C, the pretreated polyurethane particles and a compatibilizer are added, and sheared at a speed of 3300 rpm for 45 min, and sulfur is added and mixed evenly to obtain a mixture. The compatibilizer is a styrene-maleic anhydride copolymer.

[0074] The mixture is transferred to a development tank and developed for 2.5 h, the temperature is set at 155°C, and the stirring rate is 55 rpm to obtain the composite modified asphalt; the obtained composite modified asphalt: the softening point reaches 65 - 75°C, and the ductility at 5°C ≥ 30 cm.

[0075] The dosage of the pretreated rubber powder is 13.5% of the mass of the base asphalt; The dosage of the pretreated polyurethane particles is 7% of the mass of the base asphalt; The dosage of the compatibilizer is 0.4% of the mass of the base asphalt; The dosage of the sulfur is 0.15% of the mass of the base asphalt.

[0076] Step Three: Preparation of the composite emulsifier The raw material formula for preparing the composite emulsifier is: 1.35% of cationic emulsifier, 0.65% of nonionic emulsifier, 0.25% of polyvinyl alcohol, and the balance is deionized water. The above percentages are all mass percentages.

[0077] Heat the deionized water to 65 °C, add the cationic emulsifier. After an interval of 6.5 minutes, add the nonionic emulsifier. After an interval of 6.5 minutes, add polyvinyl alcohol. Finally, adjust the pH value to 2.5 with hydrochloric acid to obtain the composite emulsifier; keep it at a constant temperature of 58 °C for standby.

[0078] The cationic emulsifier is octadecyl trimethyl ammonium chloride; the nonionic emulsifier is fatty alcohol polyoxyethylene ether; the hydrochloric acid is 12 mol / L.

[0079] Step Four: Obtaining Component A Preheat the composite modified asphalt to 128 °C and the composite emulsifier to 58 °C. Then pump the composite modified asphalt and the composite emulsifier into a colloid mill respectively. Start the colloid mill, set the colloid mill gap to 0.15 mm and the rotation speed to 2300 rpm. The dosage ratio of the composite modified asphalt to the composite emulsifier is 3:2 (mass ratio); collect the primary emulsification product and conduct cyclic grinding. A total of 3 cycles of grinding are carried out, and the temperature at the outlet of the colloid mill is controlled at 80 °C. After the grinding is completed, add a thickener and nano-SiO₂, mix evenly, and then filter through a 65-mesh sieve and store it in a storage tank to obtain the modified emulsified asphalt, which is Component A.

[0080] The dosage of the thickener is 0.15% of the total mass of Component A. The thickener is a cellulose-based thickener, preferably sodium carboxymethyl cellulose; The dosage of nano-SiO₂ is 0.04% of the total mass of Component A, and the particle size of nano-SiO₂ is 70 - 90 nm.

[0081] Step Five: Preparation of Component B The raw material formula of Component B (demulsifier solution) is: 17.5% of anhydrous calcium chloride, 1.5% of coagulant, 0.15% of wetting agent, 0.07% of corrosion inhibitor, and the balance is deionized water. The above percentages are all mass percentages. The coagulant is aluminum sulfate, the wetting agent is alkylphenol polyoxyethylene ether, and the corrosion inhibitor is sodium molybdate.

[0082] Heat deionized water to 45°C, and sequentially add anhydrous calcium chloride, coagulant, wetting agent, and corrosion inhibitor. Stir well until completely dissolved, and then adjust the pH value of the solution to 4.5 with hydrochloric acid. Store it in a plastic container to obtain the demulsifier solution, which is Component B.

[0083] The hydrochloric acid is 12 mol / L.

[0084] Example 4 A preparation method of a two-component emulsified asphalt joint sealant for robots is as follows: Step 1. Pretreatment of waste materials The waste polyurethane foam undergoes three-stage pretreatment of mechanical crushing, fine grinding, and surface activation to obtain pretreated polyurethane particles.

[0085] The mechanical crushing: Crush the waste polyurethane foam with a double-shaft shredder to obtain polyurethane materials with a particle size of 90 mm; The fine grinding: Use a cryogenic grinding unit to grind the polyurethane materials to polyurethane particles with a particle size of 2 mm at -35°C; The surface activation: Immerse the polyurethane particles in an ethanol solution containing a silane coupling agent, soak for 35 min, and then dry. The drying temperature is 55°C. The ethanol solution containing a silane coupling agent: The silane coupling agent is KH550, and the content of the silane coupling agent is 1.5%.

[0086] The waste rubber powder undergoes two processes of desulfurization treatment and surface modification to obtain pretreated rubber powder.

[0087] The desulfurization treatment: Mix the waste rubber powder with a regenerating agent evenly, and stir and react at 185°C for 35 min. The regenerating agent is tetramethylthiuram disulfide, and the dosage of the regenerating agent is 4% of the mass of the rubber powder.

[0088] The surface modification: Mix the rubber powder after desulfurization treatment with an ethanol solution of a titanate coupling agent and sodium dodecylbenzenesulfonate according to a mass ratio of 100:4:1, and mechanically stir at 60°C for 30 min. Then transfer the mixture to an oven at 115°C and statically cure for 1.5 h. The ethanol solution of the titanate coupling agent: The titanate coupling agent is NDZ-101, and the content of the titanate coupling agent is 9%.

[0089] Step 2. Preparation of the composite modified asphalt Heat the base asphalt to 160°C, pour it into a high-shear mixing tank, add the pretreated rubber powder, and shear and stir at a speed of 2300 rpm for 35 min. Then swell and develop at 165°C for 1.8 h; then lower the temperature to 140°C, add the pretreated polyurethane particles and a compatibilizer, shear at a speed of 3300 rpm for 45 min, and add sulfur and mix evenly to obtain a mixture. The compatibilizer is a styrene-maleic anhydride copolymer.

[0090] Transfer the mixture into the development tank for 2.5 h at a temperature of 155 °C and a stirring rate of 55 rpm to obtain the compound modified asphalt; the obtained compound modified asphalt has a softening point of 65 - 75 °C and a 5 °C ductility of ≥ 30 cm.

[0091] The dosage of the pretreated rubber powder is 13% of the mass of the base asphalt; The dosage of the pretreated polyurethane particles is 7% of the mass of the base asphalt; The dosage of the compatibilizer is 0.4% of the mass of the base asphalt; The dosage of the sulfur is 0.15% of the mass of the base asphalt.

[0092] Step Three: Preparation of the compound emulsifier The raw material formula for preparing the compound emulsifier is: 1.4% of cationic emulsifier, 0.7% of nonionic emulsifier, 0.25% of polyvinyl alcohol, and the balance is deionized water. The above percentages are all mass percentages.

[0093] Heat the deionized water to 65 °C, add the cationic emulsifier, add the nonionic emulsifier after an interval of 7 min, add polyvinyl alcohol after another interval of 7 min, and finally adjust the pH value to 2.5 with hydrochloric acid to obtain the compound emulsifier; keep it at a constant temperature of 58 °C for standby.

[0094] The cationic emulsifier is octadecyl trimethyl ammonium chloride; the nonionic emulsifier is fatty alcohol polyoxyethylene ether; the hydrochloric acid is 12 mol / L.

[0095] Step Four: Obtain Component A Preheat the compound modified asphalt to 128 °C and the compound emulsifier to 58 °C, then pump the compound modified asphalt and the compound emulsifier into the colloid mill respectively, start the colloid mill, set the colloid mill gap to 0.15 mm and the rotation speed to 2300 rpm. The dosage ratio of the compound modified asphalt to the compound emulsifier is 3:2 (mass ratio); collect the primary emulsification product and conduct cyclic grinding for a total of 3 times. Control the outlet temperature of the colloid mill at 80 °C. After grinding, add the thickener and nano - SiO₂, mix evenly, and then filter through a 65 - mesh sieve and store it in the storage tank to obtain the modified emulsified asphalt, which is Component A.

[0096] The dosage of the thickener is 0.15% of the total mass of Component A. The thickener is a cellulose - based thickener, preferably sodium carboxymethyl cellulose; The dosage of nano - SiO₂ is 0.04% of the total mass of Component A, and the particle size of nano - SiO₂ is 70 - 90 nm.

[0097] Step Five: Preparation of Component B The raw material formula of Component B (demulsifier solution) is as follows: anhydrous calcium chloride 19%, coagulant 2%, wetting agent 0.15%, corrosion inhibitor 0.06%, and the balance is deionized water. All the above percentages are mass percentages. The coagulant is aluminum sulfate, the wetting agent is alkylphenol polyoxyethylene ether, and the corrosion inhibitor is sodium molybdate.

[0098] Heat the deionized water to 45°C, and sequentially add anhydrous calcium chloride, coagulant, wetting agent, and corrosion inhibitor. Stir well until completely dissolved, and then adjust the pH value of the solution to 4.5 with hydrochloric acid. Store it in a plastic container to obtain the demulsifier solution, which is Component B.

[0099] The hydrochloric acid is 12 mol / L.

[0100] Example 5 A preparation method of a two-component emulsified asphalt crack filler for robots is as follows: Step 1. Pretreatment of waste materials The waste polyurethane foam is subjected to three-stage pretreatment of mechanical crushing, fine grinding, and surface activation to obtain pretreated polyurethane particles.

[0101] For the mechanical crushing: Crush the waste polyurethane foam with a double-shaft shredder to obtain polyurethane materials with a particle size of 100 mm. For the fine grinding: Use a low-temperature grinding unit to grind the polyurethane materials to polyurethane particles with a particle size of 3 mm at -40°C. For the surface activation: Immerse the polyurethane particles in an ethanol solution containing a silane coupling agent, soak for 40 min, and then dry. The drying temperature is 60°C. The ethanol solution containing a silane coupling agent: The silane coupling agent is KH550, and the content of the silane coupling agent is 2%.

[0102] The waste rubber powder is processed through two processes of desulfurization treatment and surface modification to obtain pretreated rubber powder.

[0103] For the desulfurization treatment: Mix the waste rubber powder evenly with a regenerating agent, and stir and react at 190°C for 40 min. The regenerating agent is tetramethylthiuram disulfide, and the dosage of the regenerating agent is 5% of the mass of the rubber powder.

[0104] For the surface modification: Mix the rubber powder after desulfurization treatment with an ethanol solution of a titanate coupling agent and sodium dodecylbenzenesulfonate in a mass ratio of 100:5:2, and mechanically stir at 60°C for 30 min. Then transfer the mixture to an oven at 120°C and statically cure for 2 h. The ethanol solution of the titanate coupling agent: The titanate coupling agent is NDZ-101, and the content of the titanate coupling agent is 10%.

[0105] Step 2. Preparation of the composite modified asphalt Heat the base asphalt to 165°C, pour it into a high-shear mixing tank, add the pretreated rubber powder, shear and stir at a speed of 2500 rpm for 40 min, and then swell and develop at 170°C for 2 h; then lower the temperature to 145°C, add the pretreated polyurethane particles and compatibilizer, shear at a speed of 3500 rpm for 50 min, add sulfur and mix evenly to obtain a mixture. The compatibilizer is styrene-maleic anhydride copolymer.

[0106] Transfer the mixture to a development tank and develop for 3 h at a temperature of 160°C and a stirring rate of 60 rpm to obtain a composite modified asphalt; the obtained composite modified asphalt: the softening point reaches 65 - 75°C, and the ductility at 5°C ≥ 30 cm.

[0107] The dosage of the pretreated rubber powder is 12% of the mass of the base asphalt; The dosage of the pretreated polyurethane particles is 6% of the mass of the base asphalt; The dosage of the compatibilizer is 0.5% of the mass of the base asphalt; The dosage of the sulfur is 0.2% of the mass of the base asphalt.

[0108] Step Three: Preparation of Composite Emulsifier The raw material formula for preparing the composite emulsifier is: cationic emulsifier 1.5%, non-ionic emulsifier 0.5%, polyvinyl alcohol 0.3%, and the balance is deionized water. The above percentages are all mass percentages.

[0109] Heat the deionized water to 70°C, add the cationic emulsifier, after an interval of 8 min, add the non-ionic emulsifier, after an interval of 8 min, add polyvinyl alcohol, and finally adjust the pH value to 3 with hydrochloric acid to prepare the composite emulsifier; keep it at a constant temperature of 60°C for standby.

[0110] The cationic emulsifier is octadecyl trimethyl ammonium chloride; the non-ionic emulsifier is fatty alcohol polyoxyethylene ether; the hydrochloric acid is 12 mol / L.

[0111] Step Four: Obtain Component A Preheat the composite modified asphalt to 130°C and the composite emulsifier to 60°C, then pump the composite modified asphalt and the composite emulsifier into a colloid mill respectively, start the colloid mill, set the colloid mill gap to 0.2 mm, set the rotation speed to 2500 rpm, and the dosage ratio of the composite modified asphalt to the composite emulsifier is 3:2 (mass ratio); collect the primary emulsification product and conduct cyclic grinding, a total of 4 times of cyclic grinding, control the outlet temperature of the colloid mill at 90°C, after grinding, add a thickener and nano-SiO2, mix evenly, and then filter through a 70-mesh sieve and store it in a storage tank to obtain a modified emulsified asphalt, which is Component A.

[0112] The dosage of the thickener is 0.1% of the total mass of component A. The thickener is a cellulose-based thickener, preferably sodium carboxymethylcellulose; The dosage of nano-SiO₂ is 0.05% of the total mass of component A, and the particle size of nano-SiO₂ is 70 - 90 nm.

[0113] Step Five: Preparation of Component B The raw material formula of component B (demulsifier solution) is: 20% anhydrous calcium chloride, 2% coagulant, 0.1% wetting agent, 0.05% corrosion inhibitor, and the balance is deionized water. The above percentages are all mass percentages. The coagulant is aluminum sulfate, the wetting agent is alkylphenol polyoxyethylene ether, and the corrosion inhibitor is sodium molybdate.

[0114] Heat the deionized water to 50 °C, add anhydrous calcium chloride, coagulant, wetting agent, and corrosion inhibitor in sequence, stir well until completely dissolved, then adjust the pH value of the solution to 5 with hydrochloric acid, and store it in a plastic container to obtain the demulsifier solution, which is component B.

[0115] The hydrochloric acid is 12 mol / L.

[0116] Example 6 Application of a two-component emulsified asphalt joint sealant for robots An application of a two-component emulsified asphalt joint sealant for robots. Mix component A and component B of the joint sealant in a volume ratio of 4:1 and use it for a joint sealing robot to seal asphalt road cracks; during joint sealing, component A is continuously stirred at a rate of 40 rpm, the temperature is controlled at 30 °C, component B maintains a temperature of 40 °C, the mixing pressure is controlled at 0.6 MPa, and the atomization pressure is 0.5 MPa.

[0117] Example 7 Performance Test (I) Test the softening point, low-temperature ductility, elastic recovery, and bond strength of the emulsified asphalt joint sealants in Examples 1 - 5. The specific test results are shown in Table 1.

[0118] Table 1 Test standard Example 1 Example 2 Example 3 Example 4 Example 5 Softening point / °C GB / T 4507-2014 81.4 82.2 83.0 83.6 84.8 Low temperature ductility (5 °C) / cm GB / T 4508-2010 29.7 27.6 25.1 24.3 20.7 Elastic recovery rate (25 °C) / % JT / T 740-2015 84.3 83.8 82.5 81.7 80.4 Bonding strength (25 °C) / MPa JC / T 975-2005 0.7 0.9 1.7 1.8 2.1 As can be seen from the test results in Table 1, the emulsified asphalt sealants of Examples 1-5 have relatively high softening points, low-temperature ductility, elastic recovery rates, and bonding strengths. The softening points reach 81.4 - 84.8 °C, the low-temperature ductility reaches 20.7 - 29.7 cm, the elastic recovery rate is 80.4 - 84.3%, and the bonding strength reaches 0.7 - 2.1 MPa. The higher the softening point, the stronger the ability of the material to resist softening, flowing, and deformation in high-temperature environments, avoiding problems such as the sealant sticking to the wheels, bleeding, or being extruded due to high temperatures. The greater the low-temperature ductility, the better the flexibility and ductility of the material, which can effectively resist the tensile stress caused by low-temperature shrinkage or frost heave of the road surface, preventing the sealant from cracking itself or peeling off from the crack interface. A high elastic recovery rate indicates that the material can quickly rebound after being stretched or compressed, reducing permanent deformation and the risk of fatigue cracking of the sealant caused by long-term vibration and deformation of the road surface. The high bonding strength ensures that the sealant is tightly bonded to the crack wall, preventing the intrusion of moisture, soil, etc. into the crack interior and enhancing the overall structural stability of the road surface.

[0119] (2) Perform tests on the storage stability, demulsification time, and other properties of the emulsified asphalt sealants of Examples 1-5. The specific test results are shown in Table 2.

[0120] Table 2 Test standard Example 1 Example 2 Example 3 Example 4 Example 5 Storage stability (5 days) / delamination rate % GB / T 11147-2010 5.0 4.3 3.7 3.1 2.8 Demulsification time / min ASTM D244-09 2.9 2.7 2.6 2.4 2.3 As can be seen from the test results in Table 2, the emulsified asphalt sealants of Examples 1-5 have excellent storage stability and a short demulsification time. The storage stability reaches 2.8 - 5.0%, and the demulsification time is 2.3 - 2.9 min. Higher storage stability means that no additional stirring or pretreatment is required, ensuring uniform material properties, reducing construction losses and quality fluctuations. The short demulsification time not only ensures the fluidity of the material during construction but also enables it to solidify and form strength in a timely manner, which is suitable for mechanized construction such as sealant robots, ensuring that the material demulsifies within a short time during automated operations and meeting the construction efficiency requirements.

[0121] Example 8 Application Performance Test Use the emulsified asphalt sealants of Examples 1-5 to perform crack sealing construction according to the method of Example 6. During crack sealing, the traveling speed of the crack sealing robot is controlled at 5 m / min, the crack sealing depth is 5 cm, and the width is 12 mm. Construction is carried out at an ambient temperature of 25 °C, and the curing time of the sealant is tested. The specific results are shown in Table 3; Table 3 Test standard Example 1 Example 2 Example 3 Example 4 Example 5 Curing time / min SH / T 0737-2003 4.8 4.7 4.5 4.2 3.9 As can be seen from Table 3, the curing time of the emulsified asphalt sealant of the present invention is 3 - 5 min. Therefore, the road opening and traffic time of the construction section is short, and traffic can be quickly restored after construction, reducing the road closure time and minimizing interference to traffic flow. It is especially suitable for rapid repair of urban roads or busy traffic sections.

[0122] In summary, from the performance test analysis of Examples 1-5, it can be seen that a two-component emulsified asphalt crack filling material for robots of the present invention has successfully developed a high-performance crack filling material suitable for road crack filling robots through the composite modification technology of waste polyurethane and rubber, a stable emulsification process, and an innovative two-component rapid construction system. This technology has significant environmental benefits, outstanding economy, high construction performance, and excellent road performance, providing an ideal material solution for intelligent road maintenance and having broad application prospects and market value.

[0123] For the two-component emulsified asphalt prepared by the preparation method, the film-forming state in the laboratory within 1 minute is as Figure 1 shown. It can be seen that the rapid film-forming state of the emulsified asphalt is good. By observing the emulsified asphalt film under a fluorescence microscope, it can be found that the polymer modifier is evenly distributed in the emulsified asphalt. It can be seen that the emulsified asphalt modification method proposed in the present invention can effectively promote the compatibility between the polymer modifier and the asphalt.

[0124] The specific parameters of the raw materials used in the present invention are as follows: The road petroleum asphalt is 70# or 90# road petroleum asphalt, with a penetration (25°C) of 60-80 (0.1 mm) and a softening point of 46-50°C.

[0125] The polyurethane foam is polyurethane foam from building insulation waste or automotive seat waste, with an apparent density of 30-50 kg / m³.

[0126] The rubber powder is waste tire rubber powder, with a particle size of 0.25-0.42 mm.

[0127] The styrene-maleic anhydride copolymer: density is 1.06-1.27 g / cm³.

[0128] Obviously, under the concept of the present invention, there are many specific implementation methods that can be changed. Here, it should be stated that any changes made under the inventive concept of the present invention will fall within the protection scope of the present invention.

Claims

1. A two-component emulsified asphalt joint sealant for robots, characterized in that: The two-component emulsified asphalt crack sealant comprises component A and component B. The raw materials of component A include: compound modified asphalt, compound emulsifier, thickener, and nano-SiO₂; The compound modified asphalt is prepared from base asphalt, rubber powder, polyurethane, compatibilizer, and sulfur; The compound emulsifier is prepared from cationic emulsifier, non-ionic emulsifier, and polyvinyl alcohol; The raw materials of component B include anhydrous calcium chloride, coagulant promoter, wetting agent, and corrosion inhibitor; the coagulant promoter is aluminum sulfate; the wetting agent is alkylphenol polyoxyethylene ether; the corrosion inhibitor is sodium molybdate.

2. The two-component emulsified asphalt crack sealant for a robot according to claim 1, wherein: The raw material ratio of component B is: anhydrous calcium chloride 15-20%, coagulant promoter 1-2%, wetting agent 0.1-0.2%, corrosion inhibitor 0.05-0.1%, and the balance is deionized water. The above percentages are all mass percentages.

3. The two-component emulsified asphalt joint sealant for a robot according to claim 1, characterized in that: The thickener is a cellulose thickener, the compatibilizer is a styrene-maleic anhydride copolymer, the cationic emulsifier is octadecyltrimethylammonium chloride; the non-ionic emulsifier is fatty alcohol polyoxyethylene ether.

4. The two-component emulsified asphalt joint sealant for a robot according to claim 1, wherein: The raw material ratio of the compound emulsifier is: cationic emulsifier 1.2-1.5%, non-ionic emulsifier 0.5-0.8%, polyvinyl alcohol 0.2-0.3%, and the balance is deionized water. The above percentages are all mass percentages.

5. A preparation method of a two-component emulsified asphalt joint sealant for a robot according to any one of claims 1-4, characterized in that: It includes steps of waste material pretreatment, preparation of compound modified asphalt, preparation of compound emulsifier, preparation of component A, and preparation of component B; The waste material pretreatment: includes rubber powder pretreatment and polyurethane pretreatment; The rubber powder pretreatment includes desulfurization treatment and surface modification. For the desulfurization treatment: uniformly mix waste rubber powder with a regenerating agent, and stir and react at 180-190°C for 30-40 min. The regenerating agent is tetramethylthiuram disulfide; for the surface modification: mix the rubber powder after desulfurization treatment with a titanium acid ester coupling agent ethanol solution and sodium dodecylbenzenesulfonate according to a mass ratio of 100:3-5:1-2, and react at 100-120°C for 1-2 h to obtain pretreated rubber powder; The polyurethane pretreatment: waste polyurethane foam undergoes mechanical crushing, fine pulverization, and surface activation to obtain pretreated polyurethane particles; for the surface activation: the surface activator used is a silane coupling agent.

6. The preparation method of a two-component emulsified asphalt joint sealant for a robot according to claim 5, characterized in that: The preparation of the compound modified asphalt: heat the base asphalt to 155-165°C, mix it with the pretreated rubber powder, and then swell and develop at 160-170°C for 1.5-2 h; then lower the temperature to 135-145°C, and then mix it with the pretreated polyurethane particles, compatibilizer, and sulfur to obtain a mixture; develop the mixture at 150-160°C for 2-3 h to obtain compound modified asphalt.

7. The preparation method of a two-component emulsified asphalt joint sealant for a robot according to claim 5, characterized in that: The preparation of the compound emulsifier: heat deionized water to 60-70°C, add the cationic emulsifier, and after an interval of 5-8 min, add the non-ionic emulsifier, and after an interval of 5-8 min, add polyvinyl alcohol, and finally adjust the pH value to 2-3 with hydrochloric acid to obtain the compound emulsifier.

8. The preparation method of a two-component emulsified asphalt joint sealant for a robot according to claim 3, characterized in that: The prepared component A: Preheat the composite modified asphalt to 125 - 130 °C and the composite emulsifier to 55 - 60 °C, then pump the composite modified asphalt and the composite emulsifier into a colloid mill for grinding respectively, and control the outlet temperature of the colloid mill at 70 - 90 °C. After grinding, add a thickening agent and nano-SiO₂ and mix evenly.

9. The preparation method of a two-component emulsified asphalt joint sealant for a robot according to claim 8, wherein: The colloid mill: The gap is set to 0.1 - 0.2 mm and the rotation speed is set to 2000 - 2500 rpm.

10. The preparation method of a two-component emulsified asphalt joint sealant for a robot according to claim 5, characterized in that: The preparation of component B: Heat deionized water to 40 °C, add anhydrous calcium chloride, a coagulation promoter, a wetting agent, and a corrosion inhibitor, and adjust the pH value of the solution to 4.

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