A small prefabricated component rapid demolding device and method

Abstract

The application discloses a kind of small prefabricated component quick demolding device and method, it is related to prefabricated component production technical field, comprising: demolding frame;Die bearing table is installed on the base plate of demolding frame, integrated with multipoint temperature sensor and acoustic vibration signal collector;Ejection demolding assembly, it is liftably installed on the column of demolding frame, including top plate assembly, top plate assembly is provided with ejection force sensor and high-frequency vibrator;Visual identification module is installed on demolding frame;Controller is electrically connected with multipoint temperature sensor, acoustic vibration signal collector, ejection force sensor, high-frequency vibrator, visual identification module and the drive mechanism of ejection demolding assembly respectively.The application fuses multi-source sensing information, accurately judges component condensation state and demolding opportunity, and adaptively controls ejection force and vibration in demolding process, realizes accurate, flexible control to demolding opportunity and process, significantly improves demolding success rate and component yield.

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. Curing and setting is a chemical and physical process for the component to obtain internal strength, while demolding is a physical separation process to completely remove the component from the mold. The success of the demolding process is directly related to the yield, appearance quality and production efficiency of the prefabricated component, and is a critical technical node in the entire production chain. Ideal demolding operation requires that the component be smoothly and completely separated when it has sufficient strength to resist its own weight and demolding force, with minimal additional stress and maximum efficiency.

[0003] However, the existing small prefabricated component demolding technology generally has low intelligence and poor process control. Currently, 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 humidity, concrete batch differences, and lacks scientificity and consistency in the judgment result. Premature demolding can cause the component to crack, deform or even be damaged due to insufficient strength, while late demolding can reduce the turnover rate of the mold, affecting production efficiency, and may require more force to remove due to excessive adhesion, increasing the risk of component damage. In the demolding execution phase, traditional demolding equipment usually uses constant speed and force to eject, or performs global vibration without distinction, which is a blind and feedback-free open-loop control method. It cannot sense the actual and dynamic adhesion and friction between the component and the mold during the demolding process. Once local jamming or uneven adhesion occurs, the continuous application of rigid ejection force can easily cause stress concentration, resulting in quality defects such as micro-cracks, edge damage or surface scratches in the component, making the demolding success rate and yield 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 to solve 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:

[0006] A demolding frame;

[0007] A mold carrying table is installed on a base plate of the demolding frame, and the mold carrying table is integrated with a multi-point temperature sensor and a vibration signal collector;

[0008] An ejection demolding assembly is installed on a vertical column of the demolding frame in a lifting manner, and the ejection demolding assembly comprises a top plate assembly provided with an ejection force sensor and a high-frequency vibrator;

[0009] A visual recognition module is installed on the demolding frame and used for monitoring a separation state between a prefabricated component and a mold;

[0010] and a controller electrically connected with the multi-point temperature sensor, the vibration signal collector, the ejection force sensor, the high-frequency vibrator, the visual recognition module, and a driving mechanism of the ejection demolding assembly.

[0011] Preferably, the demolding frame is a C-shaped open frame, and a linear guide rail for guiding lifting of the ejection demolding assembly is arranged on the inner side of the vertical column.

[0012] Preferably, the ejection demolding assembly comprises a servo motor connected with the demolding frame, and the servo motor drives the top plate assembly to perform vertical linear motion along the linear guide rail through a ball screw mechanism.

[0013] Preferably, the visual recognition module comprises an industrial camera and a structured light emitter, and the structured light emitter is used for projecting a grating fringe to a joint area of the prefabricated component and the mold.

[0014] A small prefabricated component rapid demolding method is also provided, comprising:

[0015] The controller collects temperature field data provided by the multi-point temperature sensor and vibration characteristic data provided by the vibration signal collector, to generate a condensation state comprehensive index and a condensation uniformity index;

[0016] When the condensation state comprehensive index and the condensation uniformity index both reach preset demolding access threshold values, the controller drives the ejection demolding assembly to apply an initial ejection force, and synchronously collects ejection force data and interface separation state data;

[0017] The controller generates an interface separation uniformity index based on the interface separation state data, and identifies a separation critical point when a growth slope of the ejection force data decreases and the interface separation uniformity index reaches a preset separation surface percentage threshold value;

[0018] After identifying the separation critical point, the controller drives the ejection demolding assembly to perform the ejection action, and dynamically adjusts the ejection speed and controls the high-frequency vibrator to perform auxiliary drag reduction based on the real-time collected ejection force data and demolding process acoustic vibration signals.

[0019] Preferably, the step of generating the condensation state comprehensive index is used to take the elastic modulus growth trend converted from the acoustic vibration characteristic data as the main judgment basis, and take the change trend of the temperature field data as an auxiliary correction term for fusion calculation.

[0020] 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 comprises:

[0021] The controller locates the sticking area based on the interface separation state data, and drives the high-frequency vibrator near the sticking area to perform targeted vibration until the interface separation uniformity index reaches the separation surface percentage threshold.

[0022] Preferably, the step of controlling the high-frequency vibrator to perform auxiliary drag reduction is used to increase the amplitude of the high-frequency vibrator 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.

[0023] Compared with the prior art, the present application has the following beneficial effects:

[0024] By integrating multiple source sensors to comprehensively quantify the internal state of the component, the chemical reaction process is combined with the physical strength growth trend, so that it is scientifically and accurately determined whether the component has reached an internal state suitable for demolding, replacing the traditional mode which relies on fixed time or artificial experience, and fundamentally ensuring that the demolding operation is initiated at an optimal time point with sufficient physical basis, effectively avoiding component damage caused by premature or late demolding.

[0025] A correlation verification mechanism of mechanical and visual features is introduced in identifying the demolding opportunity, the ejection force and the micro-dynamics of the interface separation gap are monitored synchronously while the initial thrust force is applied, only when the yield tendency appears mechanically and the separation surface reaches a sufficient width visually, it is determined as the real separation critical point, this double confirmation mechanism effectively avoids the misjudgment caused by local first separation, ensures that the demolding instruction is issued at the time when the component is ready as a whole, and prevents the torsional damage to the component caused by forcibly demolding in an uneven state.

[0026] The demolding execution process is changed from a rigid and fixed mode to a flexible and adaptive intelligent control process. During ejection, the ejection speed can be dynamically adjusted according to the size of the real-time monitored resistance, and the risk area where local sticking or micro-cracks may occur can be located by analyzing the acoustic vibration signal, so that targeted vibration resistance reduction or deceleration stress release can be actively carried out, the demolding process is fine and low-damage controlled, and the success rate of demolding under complex conditions and the intact rate of the component are significantly improved. BRIEF DESCRIPTION OF DRAWINGS

[0027] 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 the prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0028] Figure 1 is a schematic diagram of the overall structure outside the device;

[0029] Figure 2 is a schematic diagram of the structure of the top plate assembly;

[0030] Figure 3 is a schematic diagram of the structure of the ejection and demolding assembly;

[0031] Figure 4 is a schematic diagram of the structure of the top plate assembly;

[0032] Figure 5 is a flowchart of the method in the present application;

[0033] 100, demolding rack; 200, mold support table; 210, multi-point temperature sensor; 220, acoustic vibration signal collector; 300, ejection and demolding assembly; 310, top plate assembly; 320, ejection force sensor; 330, high-frequency vibrator; 400, visual recognition module. DETAILED DESCRIPTION

[0034] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0035] Please refer to Figures 1-4 The present application provides a small prefabricated component rapid demolding device, which comprises a demolding rack 100.

[0036] A mold carrying table 200 is installed on the base plate of the demolding frame 100, and a multi-point temperature sensor 210 and a vibration signal collector 220 are integrated on the mold carrying table 200;

[0037] An ejection demolding assembly 300 is installed on the column of the demolding frame 100 in a liftable manner, and the ejection demolding assembly 300 comprises a top plate assembly 310, and an ejection force sensor 320 and a high-frequency vibrator 330 are arranged on the top plate assembly 310;

[0038] 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;

[0039] and a controller is electrically connected with the multi-point temperature sensor 210, the 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 demolding assembly 300 respectively.

[0040] The small prefabricated component rapid demolding device provided by the embodiment aims to solve the problems of low demolding success rate and easy damage of the component caused by the inability to accurately judge the component condensation state and demolding time in the prior art. The core of the device is that a mechanical structure integrated with a multi-source sensing system is used, and a central controller is used for unified coordination to realize accurate perception and control of the demolding process. The demolding frame 100 provides a stable working basis for all components. The mold carrying table 200 is not only used for supporting the mold, but also integrates the multi-point temperature sensor 210 and the vibration signal collector 220, which replaces the traditional judgment method relying on manual experience. The purpose is to obtain the condensation information inside the component from two dimensions of temperature and structural strength. The ejection demolding assembly 300 is responsible for performing the final physical separation action. The ejection force sensor 320 and the high-frequency vibrator 330 arranged on the top plate assembly 310 of the ejection demolding assembly 300 make the applied ejection force and auxiliary vibration no longer blind, but can be accurately measured and controlled. The function of the visual recognition module 400 is to provide a non-contact external observation angle for real-time monitoring of the separation progress between the component and the mold at the microscopic level, which makes up for the defect that the uniformity of separation cannot be judged by relying on the force sensor alone. The controller collects and processes all the sensing information, and issues instructions to the driving mechanism of the ejection demolding assembly 300 and the high-frequency vibrator 330. The purpose is to integrate the original isolated perception, decision and execution links into a collaborative system, so as to improve the accuracy of demolding time judgment and the delicacy of process control.

[0041] The demolding frame 100 is a C-shaped open frame, and a linear guide rail is arranged on the inner side of the vertical column for guiding the lifting of the ejection demolding assembly 300.

[0042] The demolding frame 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 compared with a fully enclosed frame, the accessibility of operation is better; in order to ensure the stability and pointing accuracy of the ejection demolding assembly 300 during lifting, a linear guide rail is arranged on the inner side of the vertical column of the demolding frame 100; the linear guide rail is a standardized transmission component, which provides a high-precision guide for the vertical movement of the ejection 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.

[0043] The ejection demolding assembly 300 includes a servo motor connected with the demolding frame 100, and the servo motor drives the top plate assembly 310 to perform vertical linear motion along the linear guide rail through a ball screw mechanism.

[0044] The driving mechanism of the ejection demolding assembly 300 in the embodiment specifically consists 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 aims to stably transmit the power of the motor to the transmission system, for example, the servo motor can be fixed to the top beam of the demolding frame 100 through a special support; the ball screw mechanism serves as a transmission component, which efficiently and accurately converts the rotary motion output by the servo motor into the vertical linear motion of the top plate assembly 310; the connection between the servo motor and the ball screw mechanism only needs to reliably transmit the torque, for example, the connection can be achieved through a shaft coupling; the purpose of selecting a servo motor instead of an ordinary motor is that the speed and angle of rotation can be accurately controlled by the controller, so as to realize 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, small friction and high positioning accuracy, which enables the small speed adjustment instructions issued by the controller to be executed without discount, thereby providing a basis for subsequent adaptive speed control based on force feedback.

[0045] The visual recognition module 400 includes an industrial camera and a structured light emitter, and the structured light emitter is used to project a grating fringe to the joint area of the prefabricated component and the mold.

[0046] 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, and ordinary cameras are difficult to recognize stably in poor ambient light or when the component surface reflects light; the role of the structured light emitter is to project a light with a specific pattern (such as a grating fringe) onto the joint area between the preformed component and the mold; when the component and the mold move relative to each other, the grating fringe projected on the component surface will move or deform accordingly, and the industrial camera captures this deformation; by analyzing the changes in the fringe, the controller can calculate the precise width and length of the gap; the purpose of this active light source is to enhance the visibility and distinguishability of visual features, reduce the interference of environmental light changes on the recognition result, and make it possible to monitor the micron-level separation state and provide reliable visual data input for subsequent accurate judgment of the separation critical point and separation uniformity.

[0047] Please refer to Figure 5 The application also provides a small preformed component rapid demolding method, comprising:

[0048] The controller collects temperature field data provided by the multi-point temperature sensor 210 and acoustic vibration feature data provided by the acoustic vibration signal collector 220 to generate a condensation state comprehensive index and a condensation uniformity index.

[0049] When the condensation state comprehensive index and the condensation uniformity index both reach the preset demolding access threshold, the controller drives the ejection demolding assembly 300 to apply an initial ejection force, and synchronously collects ejection force data and interface separation state data;

[0050] The controller generates an interface separation uniformity index based on the interface separation state data, and when the growth slope of the ejection force data decreases and the interface separation uniformity index reaches a preset separation surface percentage threshold, the separation critical point is identified;

[0051] After identifying the separation critical point, the controller drives the ejection demolding assembly 300 to perform an ejection action, and dynamically adjusts the ejection speed and controls the high-frequency vibrator 330 to perform auxiliary drag reduction based on the real-time collected ejection force data and demolding process acoustic vibration signals, respectively.

[0052] The small prefabricated component rapid demolding method provided by the embodiment has a process design aiming to divide the demolding process into three stages of coagulation evaluation, opportunity capture and adaptive execution; in the component coagulation maintenance stage, the controller collects temperature field data and acoustic vibration characteristic data, and the purpose is not independent analysis, but to fuse the two to generate a coagulation state comprehensive index and a coagulation uniformity index; this step replaces the traditional rough estimation relying on fixed maintenance time, and through data fusion, the internal strength and consistency of solidification of the component are quantified, thereby providing a scientific basis for starting demolding; the preset demolding access threshold is not a fixed universal value, but an empirical value obtained by offline experimental calibration on a specific formula concrete component; the specific method is: making multiple component samples of the same batch, synchronously measuring the compressive strength and elastic modulus of the components at different maintenance time points (for example, every 1 hour), and recording the corresponding coagulation state comprehensive index and coagulation uniformity index.

[0053] coagulation state comprehensive index used for judging the coagulation degree and macroscopic physical strength of the component; the calculation fuses the instantaneous value of the elastic modulus of the component, the growth rate of the elastic modulus and the hydration heat reaction rate, and embodies the comprehensive evaluation principle of giving priority to physical strength and supplementing chemical progress; a specific calculation formula is:

[0054] ;

[0055] coagulation state comprehensive index, used for judging the coagulation degree and macroscopic physical strength of the component;

[0056] maintenance time

[0057] target elastic modulus reference value (unit: GPa) of the component when reaching the design strength average elastic modulus (unit: GPa) of the component calculated from the data of multiple acoustic vibration signal collection points

[0058] target elastic modulus reference value (unit: GPa) of the component when reaching the design strength

[0059] growth rate of the average elastic modulus, directly reflecting the speed of strength development (unit: GPa / h)

[0060] standard reference value of the growth rate of the elastic modulus under normal maintenance conditions (unit: GPa / h)

[0061] average temperature change rate (unit: ℃ / h) of the component measured by the multi-point temperature sensor

[0062] the reference value of the temperature change rate (unit: ℃ / h) for the peak of the hydration reaction;

[0063] the weight coefficient of the instantaneous value of the elastic modulus;

[0064] the weight coefficient of the growth rate of the elastic modulus;

[0065] the weight coefficient of the temperature change rate;

[0066] (the sum of the weight coefficients is 1), usually (the weight of physical strength is much greater than the weight of temperature), (the range of the normalized comprehensive index);

[0067] the condensation uniformity index for measuring the consistency of the internal condensation state of the component in spatial distribution, calculated by evaluating the dispersion degree of the elastic modulus data of multiple measuring points, to avoid the risk of demolding caused by local condensation delay; a specific calculation method is:

[0068] ;

[0069] is the standard deviation of the elastic modulus value converted by multiple acoustic vibration measuring points at the moment; the closer the index value is to 1, the more uniform the condensation degree of each part of the component;

[0070] The index value corresponding to the critical point of the component reaching the design strength requirement (such as C30) is multiplied by a safety factor (for example, 0.9-1.0) to serve as the demolding access threshold of 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 access threshold, it indicates that the component has the basic conditions for demolding, at which time the controller drives the ejection demolding assembly 300 to apply an initial ejection force, and synchronously collects the ejection force data and the interface separation state data provided by the visual recognition module 400; the core of this step is to find a separation critical point verified by mechanical and visual signals; the preset separation surface percentage threshold refers to the proportion of the length of the separation gap that has appeared in the total length of the contact surface of the component and the mold monitored by the visual recognition module 400; the threshold is usually set to a high value, for example, 70%-90%; the specific value is also calibrated by experiment: under the premise of ensuring successful demolding, observe when the separation ratio reaches a certain value, the subsequent ejection process is the most stable and the damage is the smallest, so as to determine an optimal percentage threshold; 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, it indicates that the static friction between the component and the mold is beginning to be overcome, and at the same time, the interface separation uniformity index reaches the threshold, indicating that separation has occurred on a large enough area;

[0071] When and both reach the preset demolding access threshold calibrated by experiment, the controller drives the ejection demolding assembly 300 to apply an initial ejection force that slowly increases; in this process, the controller synchronously collects the ejection force data provided by the ejection force sensor 320 and the interface separation state data provided by the visual recognition module 400;

[0072] The controller calculates the interface separation completeness index based on the visual data in real time, which is used to quantify the proportion of the boundary that has separated to the total boundary; the calculation formula is:

[0073] ;

[0074] is the cumulative length of the separation gap that has been produced by the visual recognition module 400;

[0075] is the total length of the contact between the prefabricated component and the mold on the monitoring plane;

[0076] The controller finds the separation critical point by correlating the mechanical and visual data; when a significant decrease in the growth slope of the ejection force data is monitored (indicating that the static friction is beginning to be overcome), and at the same time, the interface separation completeness index When the preset interface separation 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 demolding instruction is issued when the entire component is ready;

[0077] The two events are associated to avoid false positives caused by the local bonding point separating first 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.

[0078] 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 fuse the change trend of the temperature field data as an auxiliary correction term for calculation.

[0079] The specific calculation method of generating the condensation state comprehensive index in this embodiment reflects 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; the elastic modulus directly reflects the material's ability to resist deformation and is a core indicator for measuring its macroscopic physical strength, so its growth trend is used as the main basis for judgment; the change trend of 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 is still fluctuating sharply, it may mean that the internal structure is not stable; by fusing the elastic modulus representing physical strength with the temperature field representing the chemical reaction process, the condensation state comprehensive index obtained can more comprehensively and accurately reflect the true condensation state of the component.

[0080] Before identifying the separation critical point, if the ejection force data reaches a plateau and the interface separation uniformity index does not reach the interface separation percentage threshold, the method further includes:

[0081] 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 interface separation percentage threshold.

[0082] The method of the embodiment includes a specific subprogram for dealing with local sticking; during the process of applying initial ejection force, a situation may occur that the growth of 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 areas have reached the separation edge, but a small number of stubborn sticking areas 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 vibration-where-sticking-vibration-where approach 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.

[0083] 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.

[0084] The core of the step of controlling the high-frequency vibrator 330 to assist in reducing resistance in the embodiment is a pre-warning and intervention mechanism based on acoustic vibration signals. During the ejection process, the acoustic vibration signal collector 220 continuously works, but the controller does not listen to all sounds, but focuses on a specific characteristic frequency range directly related to the generation of micro-cracks in the component. This frequency range is calibrated in the device debugging stage by applying a destructive load to the sample to determine the unique acoustic emission signal frequency band emitted when micro-cracks are generated. During actual demolding, once the controller detects a sudden increase in signal energy in this characteristic frequency range, the system determines that micro-cracks may be forming inside the component or that there is a violent scraping with the mold wall. At this time, the response of the controller is dual: on the one hand, it instructs the high-frequency vibrator 330 to increase the amplitude, and through stronger vibration, it knocks off the bonding or jamming point that generates great resistance; on the other hand, it simultaneously instructs the servo motor to reduce the ejection speed, giving the component internal stress a time to release and redistribute. This intervention based on acoustic events aims to suppress damage in its infancy and take proactive measures to avoid risks when signs of danger are detected, rather than passively bearing the consequences after damage occurs, thereby improving the safety of the demolding process and improving the yield rate. The characteristic frequency related to the micro-cracks in the component refers to the specific frequency band of the acoustic emission signal emitted by the concrete material when it is under pressure and internal micro-cracks are generated. This frequency band is pre-calibrated in the following way: in an experimental environment, gradually increase the destructive load applied to the precast component sample, and at the same time, use a high-sensitivity acoustic vibration signal collector to record the acoustic signals throughout the process. Through frequency spectrum analysis, find the frequency range where the energy is significantly concentrated during the yield and cracking of the component (for example, a characteristic peak value usually appears in the 1kHz-50kHz range), which is defined as the characteristic frequency of micro-cracks and is preset in the controller for real-time monitoring.

[0085] The above is only a preferred embodiment of the present application, and does not limit the present application in other forms. Any skilled person in the art can modify or change the above disclosed technical content to equivalent embodiments applied to other fields, but any simple modification, equivalent change and modification made according to the technical essence of the present application to the above embodiments without departing from the technical solution content of the present application still belongs to the protection scope of the present application.

Claims

1. A method for rapid demolding of small prefabricated components, characterized in that The application is applied to a small prefabricated component rapid demolding device, and the device comprises: a demolding frame (100); a mold bearing table (200) installed on the base plate of the demolding frame (100), the mold bearing table (200) is integrated with a multi-point temperature sensor (210) and a vibration signal collector (220); an ejection demolding assembly (300) which is installed on the vertical column of the demolding frame (100) in a lifting manner, the ejection demolding assembly (300) comprises a top plate assembly (310) provided with an ejection force sensor (320) and a high-frequency vibrator (330); a visual recognition module (400) installed on the demolding frame (100) and used for monitoring the separation state between the prefabricated component and the mold; and a controller which is electrically connected with the multi-point temperature sensor (210), the 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 demolding assembly (300) respectively; the demolding frame (100) is a C-shaped open frame, and a linear guide rail for guiding the lifting of the ejection demolding assembly (300) is arranged on the inner side of the vertical column; the ejection demolding assembly (300) comprises a servo motor connected with the demolding frame (100), and the servo motor drives the top plate assembly (310) to perform vertical linear motion along the linear guide rail through a ball screw mechanism; the visual recognition module (400) comprises an industrial camera and a structured light emitter, and the structured light emitter is used for projecting a grating fringe to the joint area of the prefabricated component and the mold; the controller collects temperature field data provided by the multi-point temperature sensor (210) and vibration characteristic data provided by the vibration signal collector (220) to generate a condensation state comprehensive index and a condensation uniformity index; when the condensation state comprehensive index and the condensation uniformity index both reach a preset demolding access threshold, the controller drives the ejection demolding assembly (300) to apply an initial ejection force and synchronously 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 demolding assembly (300) to perform an ejection action, and dynamically adjusts the ejection speed and controls the high-frequency vibrator (330) to perform auxiliary drag reduction based on the real-time collected ejection force data and demolding process vibration signals.

2. A method of rapid demoulding of small prefabricated elements according to claim 1, characterized in that, The step of generating the condensation state comprehensive index is to convert the elastic modulus growth trend of the vibration characteristic data as the main judgment basis and fuse the change trend of the temperature field data as an auxiliary correction term for calculation.

3. A method of rapid demoulding of small precast elements according to claim 1, 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, further comprising: 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.

4. A method of rapid demoulding of small precast elements according to claim 1, characterized in that, The step of controlling the high-frequency vibrator (330) to assist in 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.

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